METHOD AND SYSTEM FOR PROVIDING A DRIVER BEHAVIOR ADAPTED EVASIVE MANEUVER

• US 20160339910A1
• Filed: 05/10/2016
• Published: 11/24/2016
• Est. Priority Date: 05/19/2015
• Status: Abandoned Application

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: YANG, Derong, JONASSON, Mats, SILVLIN, Jonatan
• Application Number:
  US15/150,805
• Publication Number:
  US 20160339910A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 50/087 where the control system corrects or modifies a request from the driver
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A method performed by an evasive maneuver system for providing a driver behavior adapted evasive maneuver to a vehicle at risk of an impending or probable collision. The evasive maneuver system detects a driving environment, determines that the vehicle is at risk of colliding with an obstacle, determines a drivable zone considered safe driving for the vehicle, detects a driver initiated collision avoidance maneuver, and intervenes in control of the vehicle, such that the vehicle is maintained within the drivable zone.

Claims

1. A method performed by an evasive maneuver system for providing a driver behavior adapted evasive maneuver to a vehicle at risk of an impending collision, the method comprising:

detecting a driving environment of the vehicle;

determining that the vehicle is at risk of colliding with an obstacle;

determining a drivable zone considered safe driving for the vehicle;

detecting a driver initiated collision avoidance maneuver; and

intervening in control of the vehicle, such that the vehicle is maintained within the drivable zone.

2. The method according to claim 1 wherein the intervening comprises intervening only when the vehicle is moving toward leaving the drivable zone.

3. The method according to claim 1 wherein the intervening comprises intervening in steering and/or braking of the vehicle, such that the vehicle is maintained within the drivable zone.

4. The method according to claim 1 wherein the determining a drivable zone comprises determining a drivable zone considered safe driving for the vehicle based on:

collision avoidance;

avoidance of departing a road along which the vehicle is travelling;

dynamics restrictions derived from vehicle dynamics of the vehicle; and

/or

a stress level restriction of a vehicle occupant pertinent vehicle movement.

5. The method according to claim 1 wherein the determining a drivable zone further comprises determining a drivable zone considered safe driving for the vehicle, wherein a first boundary of the drivable zone is based on a distance between the obstacle and the vehicle and an outer edge of the obstacle, the first boundary representing a tight trajectory passing close to the obstacle.

6. The method according to claim 1 wherein the determining a drivable zone further comprises determining a drivable zone considered safe driving for the vehicle, wherein a second boundary of the drivable zone is based on at least a first environment boundary derived from the detected driving environment, beyond which driving is assumed or known to be unsuitable, the second boundary representing a wide trajectory passing close to the at least first detected environment boundary.

7. The method according to claim 6 wherein the second boundary is based on an outer edge of a road derived from the detected driving environment, along which road the vehicle is travelling.

8. An evasive maneuver system configured for providing a driver behavior adapted evasive maneuver to a vehicle at risk of an impending collision, the evasive maneuver system comprising:

an environment detecting unit adapted for detecting a driving environment of the vehicle;

an impending collision determining unit adapted for determining that the vehicle is at risk of colliding with an obstacle;

a drivable zone determining unit adapted for determining a drivable zone considered safe driving for the vehicle;

a driver maneuver detecting unit adapted for detecting a driver initiated collision avoidance maneuver; and

an intervening unit adapted for intervening in control of the vehicle, such that the vehicle is maintained within the drivable zone.

9. The evasive maneuver system according to claim 8 wherein the intervening unit is adapted for intervening only when the vehicle is moving toward leaving the drivable zone.

10. The evasive maneuver system according to claim 8 wherein the intervening unit is adapted for intervening in steering and/or braking of the vehicle, such that the vehicle is maintained within the drivable zone.

11. The evasive maneuver system according to claim 8 wherein the drivable zone determining unit is adapted for determining a drivable zone considered safe driving for the vehicle based on:

collision avoidance;

avoidance of departing a road along which the vehicle is travelling;

dynamics restrictions derived from vehicle dynamics of the vehicle; and

/or

a stress level restriction of a vehicle occupant pertinent vehicle movement.

12. The evasive maneuver system according to claim 8 wherein the drivable zone determining unit further is adapted for determining a drivable zone considered safe driving for the vehicle, wherein a first boundary of the drivable zone is based on a distance between the obstacle and the vehicle and an outer edge of the obstacle, the first boundary representing a tight trajectory passing close to the obstacle.

13. The evasive maneuver system according to claim 8 wherein the drivable zone determining unit further is adapted for determining a drivable zone considered safe driving for the vehicle, wherein a second boundary of the drivable zone is based on at least a first environment boundary derived from the detected driving environment, beyond which driving is assumed or known to be unsuitable, the second boundary representing a wide trajectory passing close to the at least first detected environment boundary.

14. The evasive maneuver system according to claim 13 wherein the second boundary is based on an outer edge of a road derived from the detected driving environment, along which road the vehicle is travelling.

15. A vehicle comprising at least a portion of an evasive maneuver system according to claim 8 and one or more of:

an environment detecting sensor;

a driver maneuver detecting sensor;

a steering assisting device; and

/or

a braking assisting device.