METHOD TO CONTROL A VEHICLE PATH DURING AUTONOMOUS BRAKING

• US 20150251664A1
• Filed: 03/10/2014
• Published: 09/10/2015
• Est. Priority Date: 03/10/2014
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: ZAGORSKI, CHAD T.
• Granted Patent: US 9,233,692 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 40/068 Road friction coefficient
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/006 using a measured or estimated road friction coefficient
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel

Abstract

Methods, systems are provided for controlling a travel path of a vehicle. The method includes the steps of detecting a braking of the vehicle by a computing device, calculating a friction ellipse for the vehicle based on the current state of the vehicle, defecting an intended travel path of the vehicle, detecting an actual travel path of the motor vehicle during the braking and determining if there is a path error where the actual travel path is outside the intended travel path when the braking is detected. When the actual travel path is outside the intended travel path then the method calculates a prospective friction ellipse for the vehicle, determines a compensating yaw moment to correct the path error, determines a maximum acceleration based on the prospective friction ellipse, and transmits a command to the autonomous braking system based on the maximum acceleration and the compensating yaw moment.

Claims

1. A travel path control method for a vehicle comprising, comprising steps of:

detecting a braking of the vehicle by a computing device;

calculating a friction ellipse for the vehicle based on a current state of the vehicle;

determining if there is a path error where an actual vehicle travel path is outside an intended vehicle travel path when the braking is detected;

when the actual vehicle travel path is outside the intended vehicle travel path, calculating a new friction ellipse for the vehicle;

determining a compensating yaw moment to correct the path error;

determining a maximum acceleration based on the prospective friction ellipse; and

transmitting a command to a controller based on the maximum acceleration and the compensating yaw moment.

2. The travel path control method of claim 1, wherein the braking is an initiation of a manual braking.

3. The travel path control method of claim 1, wherein the braking is an initiation of an autonomous braking.

4. The travel path control method of claim 1, wherein determining the maximum acceleration comprises determining the maximum longitudinal acceleration.

5. The travel path control method of claim 1, wherein determining the maximum acceleration comprises determining the maximum lateral acceleration.

6. The travel path control method of claim 1, wherein the intended travel path of the vehicle is a portion of a selected route executing a GPS system.

7. The travel path control method of claim 1, is determined by a steering angle of a steering wheel during the braking.

8. The travel path control method of claim 1, wherein the path error is determined by a comparison between the intended vehicle travel path and the actual vehicle travel path.

9. The travel path control method of claim 1, wherein the new friction ellipse is determined from sensor measurements.

10. The travel path control method of claim 1, wherein the new friction ellipse is determined from a predefined scaling factor in an iterative fashion.

11. The travel path control method of claim 1, wherein the controller is a steering controller.

12. The travel path control method of claim 1, wherein the controller is a braking system controller.

13. A travel path control system for a motor vehicle, comprising:

a braking system;

a collision preparation system interfaced with said braking system, wherein said collision preparation system selectively implements autonomous braking of the motor vehicle during activation thereof responsive to predetermined conditions of travel of the motor vehicle;

a collision preparation system braking adjustment controller interfaced with said braking system;

and at least one source of data available to said collision preparation system braking adjustment controller, said source of data comprising a vehicle acceleration, an actual vehicle travel path and a driver intended vehicle travel path;

wherein, said collision preparation system braking adjustment controller compares the driver intended vehicle travel path to the actual vehicle travel path during the activation,

when the actual vehicle travel path is outside desired travel path said collision preparation system is configured to;

calculate a prospective friction ellipse of the vehicle;

determine a compensating yaw moment to correct the actual vehicle travel path;

determine a maximum longitudinal and lateral accelerations based on the prospective friction ellipse; and

transmit a braking command based on the maximum acceleration and the compensating yaw moment.

14. The travel path control system of claim 13, wherein the braking command is transmitted to the collision preparation system braking adjustment controller based on the maximum acceleration and the compensating yaw moment.

15. The travel path control system of claim 13, further comprising a steering controller.

16. The travel path control system of claim 15, wherein the braking command is transmitted to the steering controller based on the maximum acceleration and the compensating yaw moment.

17. A motor vehicle comprising;

at least two wheels and a braking system engagable with the wheels;

a collision preparation system interfaced with said braking system, wherein said collision preparation system selectively implements autonomous braking of the motor vehicle during activation thereof responsive to predetermined conditions of travel of the motor vehicle;

a collision preparation system braking adjustment controller interfaced with said braking system;

and at least one source of data available to said collision preparation system braking adjustment controller, said data comprising vehicle acceleration, actual vehicle travel path and driver intended vehicle travel path;

wherein, said collision preparation system braking adjustment controller compares the desired travel path to the actual vehicle travel path during the activation,

when the actual vehicle travel path is outside desired travel path said collision preparation system is configured to;

calculate a prospective new friction ellipse of the vehicle;

determine a compensating yaw moment to correct the error in path;

determine a maximum longitudinal and lateral accelerations based on the prospective friction ellipse; and

transmit an braking command to the braking system based on the maximum acceleration and the compensating yaw moment.

18. The travel path control system of claim 17, wherein the braking command is transmitted to the collision preparation system braking adjustment controller based on the maximum acceleration and the compensating yaw moment.

19. The vehicle of claim 17, further comprising a steering controller.

20. The vehicle of claim 19, wherein the braking command is transmitted to the steering controller based on the maximum acceleration and the compensating yaw moment.