IMPACT MITIGATION BY INTELLIGENT VEHICLE POSITIONING

• US 20160121884A1
• Filed: 10/29/2014
• Published: 05/05/2016
• Est. Priority Date: 10/29/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Zhu, Xavier, Ciotlos, Iulian, Bhattacharjee, Shuvo, Abraham, Anson, Jones, Robert, Voorheis, Thomas, Lill, Kevin, Sittner, Michel
• Granted Patent: US 9,440,649 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60W 30/085 Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision

Abstract

A method and system for mitigating the impact of a vehicle collision senses location, speed, orientation, and direction of movement data of a host vehicle and an interfering vehicle that has moved or is moving into the path of the host vehicle. A control unit analyzes the data and determines whether a collision is unavoidable. If so, the control unit determines a vehicle path for the host vehicle that will minimize the effects of the collision. By changing the vehicle path, the impact of the collision is less direct and the effect on both of the vehicles is mitigated to some degree.

Claims

1. A method of mitigating a vehicle collision comprising:

sensing location, speed and direction of movement of an interfering vehicle entering a travel path of a host vehicle;

determining whether a collision between the host vehicle and the interfering vehicle is imminent and unavoidable; and

when a collision between the host vehicle and the interfering vehicle is imminent and unavoidable, altering the travel path of the host vehicle to mitigate a collision with the interfering vehicle.

2. The method of mitigating a vehicle collision according to claim 1, further comprising:

determining collision zones for the interfering vehicle; and

wherein the step of altering a travel path of the host vehicle to mitigate a collision with the interfering vehicle comprises altering the travel path of the host vehicle to impact one of the collision zones of the interfering vehicle that mitigates a collision.

3. The method of mitigating a vehicle collision according to claim 2, wherein determining the collision zones comprises determining at least a side door compartment zone for the interfering vehicle, and

wherein the step of altering a travel path of the host vehicle to mitigate a collision with the interfering vehicle comprises altering the travel path to avoid a collision with the side door compartment zone.

4. The method of mitigating a vehicle collision according to claim 3, wherein determining the collision zones comprises determining a rear tire zone, and

wherein the step of altering a travel path of the host vehicle to mitigate a collision with the interfering vehicle comprises altering the travel path to collide with the rear tire zone to mitigate a collision with the interfering vehicle.

5. The method of mitigating a vehicle collision according to claim 3, including:

obtaining location, speed and direction of movement data for the host vehicle,

wherein the step of altering a travel path of the host vehicle to mitigate a collision with the interfering vehicle comprises comparing the location, speed and direction of movement of the interfering vehicle and the location, speed and direction of movement data for the host vehicle to determine the altering of the travel path of the host vehicle.

6. The method of mitigating a vehicle collision according to claim 3, wherein the step of altering a travel path of the host vehicle to mitigate a collision with the interfering vehicle includes predicting a future location and orientation of the host vehicle and the interfering vehicle at a collision therebetween to determine the altering of the travel path.

7. The method of mitigating a vehicle collision according to claim 1, wherein the step of altering a travel path of the host vehicle comprises at least one from the group of providing an active steering input to change a driving direction of the host vehicle and controlling a braking system of the host vehicle to perform differential braking.

18. The method of mitigating a vehicle collision according to claim 1, further comprising:

determining collision zones for the interfering vehicle;

obtaining location, speed and direction data for the host vehicle;

the step of determining whether a collision between the host vehicle and the interfering vehicle is imminent and unavoidable including predicting future locations and orientations of the host vehicle and the interfering vehicle; and

the step of altering a travel path of the host vehicle to mitigate a collision including altering the travel path to collide with one of the collision zones of the interfering vehicle.

19. The method according to claim 18, wherein the step of determining the collision zones for the interfering vehicle comprises determining at least a rear tire zone, a front tire zone, and a side door compartment zone, and wherein the step of altering a travel path comprises altering the travel path so that the host vehicle avoids or minimizes a collision with the side door compartment zone.

20. The method according to claim 19, wherein the step of determining collision zones for the interfering vehicle including sensing a broad side of the interfering vehicle with a video camera, and processing video data to classify features of the interfering vehicle to determine the presence and locations of at least the rear tire zone, the front tire zone, and the side door compartment zone.

8. A vehicle collision mitigation system for a host vehicle to mitigate impact to a crossing vehicle during a collision comprising:

at least one vehicle sensor disposed at a front of the host vehicle for detecting data that includes speed, direction and location of objects entering a travel path of the host vehicle;

a control unit including a non-volatile memory disposed on the host vehicle, the control unit being configured to;

receive data from the at least one vehicle sensor of an interfering vehicle sensed entering the travel path of the host vehicle, the data including location, speed and direction of movement of the interfering vehicle;

determine entry of the interfering vehicle into the travel path of the host vehicle;

determine collision zones for the interfering vehicle, including a rear tire zone and a side door compartment zone;

receive location, speed and direction data for the host vehicle;

determine whether a collision between the host vehicle and the interfering vehicle is imminent and unavoidable; and

when a collision between the host vehicle and the interfering vehicle is imminent and unavoidable, in response to the above determinations and received data, alter the travel path of the host vehicle to contact one of the collision zones of the interfering vehicle away from the side door compartment zone to mitigate a collision.

9. The vehicle collision mitigation system according to claim 8, wherein the control unit is configured to predict a future location and an orientation of the interfering vehicle relative to a future location and an orientation of the host vehicle at impact.

10. The vehicle collision mitigation system according to claim 9, wherein the control unit is configured to adjust which of the collision zones of the interfering vehicle is impacted by performing at least one of the group of providing an active steering input to change a driving direction of the host vehicle and controlling a braking system of the host vehicle to perform differential braking.

11. The vehicle collision mitigation system according to claim 10, wherein the active steering input is controlled by an electronic stability control and the braking system is controlled by an output from the electronic stability control.

12. The vehicle collision mitigation system according to claim 10, wherein the control unit is configured to change the driving direction of the host vehicle to impact the rear tire zone.

13. The vehicle collision mitigation system according to claim 9, wherein the collision mitigation system is triggered by the interfering vehicle entering the travel path of the host vehicle while the host vehicle is moving along the travel path in a forward direction.

14. The vehicle collision mitigation system according to claim 13, wherein the control unit is configured to control the host vehicle so that a front of the host vehicle collides with the rear tire zone of the interfering vehicle.

15. The vehicle collision mitigation system according to claim 8, wherein the at least one vehicle sensor comprises a video camera and at least one of a radar unit and a lidar unit.

16. The vehicle collision mitigation system according to claim 15, wherein the control unit is configured to identify the collision zones of the interfering vehicle from video data received from the video camera.

17. The vehicle collision mitigation system according to claim 9, wherein the control unit is configured to adjust which of the collision zones of the interfering vehicle is impacted by controlling a braking system of the host vehicle to perform differential braking that provides a resulting moment on the host vehicle to affect yaw rate and lateral position, thereby providing a limited steering function.