Collision avoidance with active steering and braking

• US 7,016,783 B2
• Filed: 03/28/2003
• Issued: 03/21/2006
• Est. Priority Date: 03/28/2003
• Status: Expired due to Term

• Current Assignee: BWI Company Limited SA (Shougang Corporation)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Hac, Aleksander B., Dickinson, John E.
• Primary Examiner(s): Keith, Jack
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US10/402,400
• Publication Number:
  US 20040193374A1
• Time in Patent Office: 1,089 Days
• Field of Search: 701 70- 73, 701/93, 701/301, 180/167, 180/169, 340/902, 340/903, 303/113.1, 303/146, 303/150
• US Class Current: 701/301
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• 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 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 2050/0012 Feedforward or open loop systems
• CPC Class Codes: B60W 2050/009 Priority selection
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between the obstacle and the vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around the obstacle. The method also includes: applying braking if at least one of, the first distance exceeds the actual distance and the first distance is within a selected threshold of the actual distance. If the actual distance exceeds the second distance and a lane change is permitted, steering control to affect a lane change is applied.

Claims

1. A method for collision avoidance using automated braking and steering comprising:

determining an actual distance to an obstacle in a path of a vehicle;

determining a relative velocity between said obstacle and said vehicle;

determining a first distance sufficient to avoid collision by braking only;

determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;

applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and

if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.

2. The method of claim 1 wherein a lane change is permitted if at least one of:

an operator cue is detected; and

a detection system determines that an adjacent lane is clear.

3. The method of claim 1 further including determining a velocity of said obstacle.

4. The method of claim 1 further including determining a vehicle yaw rate.

5. The method of claim 1 further including determining a surface coefficient of adhesion.

6. The method of claim 1 further including determining if said lane change is complete.

7. The method of claim 6 wherein said lane change is complete if:

a heading angle magnitude is less than a selected threshold, a lateral position error magnitude is less than a selected threshold, and at least one of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.

8. The method of claim 7 further including setting said steering control to null.

9. The method of claim 7 further including determining if gradual exit conditions are satisfied.

10. The method of claim 7 further including reducing steering control to null at a selected rate.

11. The method of claim 1 wherein said steering control comprises:

using a feedforward control component and a feedback control components;

said feedforward control component employing a selected steering pattern based on vehicle speed and an estimated surface coefficient of adhesion; and

said feedback control component using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.

12. A system for collision avoidance in a vehicle using automated braking and steering comprising:

an active braking system comprising;

a wheel actuator in operable communication with a vehicle wheel,

a wheel speed sensor, and

a sensor for detecting an application of braking by an operator,

said active braking system including antilock braking functionality;

an active steering system comprising;

an operator input device,

an actuator in operable communication with a steerable wheel, said actuator configured to adjust a steering angle of said steerable wheel independent of an input to said operator input device;

a first steering angle sensor in operable communication with said operator input device for detecting a steering angle indicative of an operator input,

a second steering angle sensor in operable communication with said steerable wheel for detecting another angle indicative of a position of said steerable wheel;

a detection system comprising a sensor configured to detect an obstacle in a path of said vehicle; and

a controller in operable communication with said active braking system, said active steering system, and said detection system said controller executing a method for collision avoidance using automated braking and steering.

13. The system of claim 12 wherein said active braking system includes a brake-by-wire system.

14. The system of claim 12 wherein said active braking system wheel actuator comprises at least one of an electro hydraulic, electromechanical, and electromagnetic actuator.

15. The system of claim 12 wherein said active steering system comprises at least one of an front steering system with differential actuator, a steer-by-wire system, and a rear wheel steer system.

16. The system of claim 12 wherein said detection system further includes a side detection sensor in operable communication with said controller configured to facilitate detection of an obstacle laterally from said vehicle.

17. The system of claim 12 wherein said detection system further includes side detection sensos.

18. The system of claim 12 wherein said controller determines that a lane change is permitted if at least one of:

an operator cue is detected; and

said detection system determines that an adjacent lane is clear.

19. The system of claim 12 wherein said controller determines a velocity of said obstacle.

20. The system of claim 12 wherein said controller determines a vehicle yaw rate.

21. The system of claim 12 wherein said controller determines a surface coefficient of adhesion.

22. The system of claim 12 wherein said controller determines if said lane change is complete.

23. The system of claim 22 wherein said lane change is complete if:

a heading angle magnitude is less than a selected threshold, a lateral position error magnitude is less than a selected threshold, and at least one of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.

24. The system of claim 23 wherein said controller sets said steering control to null.

25. The system of claim 23 wherein said controller determines if gradual exit conditions are satisfied.

26. The system of claim 23 wherein said controller reduces steering control to null at a selected rate.

27. The system of claim 12 wherein said steering control comprises:

a feedforward control component and a feedback control components;

said feedforward control component employing a selected steering pattern based on vehicle speed and an estimated surface coefficient of adhesion; and

said feedback control component using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.

28. A system for collision avoidance in a vehicle using automated braking and steering comprising:

a means for determining an actual distance to an obstacle in a path of a vehicle;

a means for determining a relative velocity between said obstacle and said vehicle;

a means for determining a first distance sufficient to avoid collision by braking only;

a means for determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;

a means for applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and

a means for determining if said actual distance exceeds said second distance and a lane change is permitted, and a means for applying steering control to affect a lane change.

29. A storage medium encoded with a machine-readable computer program code, said computer program code including instructions for causing controller to implement a method for collision avoidance using automated braking and steering comprising:

determining an actual distance to an obstacle in a path of a vehicle;

determining a relative velocity between said obstacle and said vehicle;

determining a first distance sufficient to avoid collision by braking only;

determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;

applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and

if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.

30. A computer data signal, said data signal comprising code configured to cause a controller to implement a method for collision avoidance using automated braking and steering comprising:

determining an actual distance to an obstacle in a path of a vehicle;

determining a relative velocity between said obstacle and said vehicle;

determining a first distance sufficient to avoid collision by braking only;

determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;

applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and

if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.

31. A method for collision avoidance using automated braking and steering comprising:

determining an obstacle is in a path of a vehicle with which a collision may occur;

applying maximum emergency braking without skidding;

if a lane change is permitted, applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion; and

determining if said lane change is complete, wherein said lane change is complete if a heading angle magnitude is less than elected threshold, a lateral position error magnitude is less than a selected threshold, and at least one of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.

32. The method of claim 31 wherein a lane change is permitted if at least one of:

an operator cue is detected; and

a detection system determines that an adjacent lane is clear.

33. The method of claim 31 further including determining a velocity of said obstacle.

34. The method of claim 31 further including determining a vehicle yaw rate.

35. The method of claim 31 further including determining a surface coefficient of adhesion.

36. A system for collision avoidance in a vehicle using automated braking and steering comprising:

a means for determining an obstacle is in a path of a vehicle with which a collision may occur;

a means for applying maximum emergency braking without skidding;

a means for determining;

if a lane change is permitted; and

a means for applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion; and

means for determining if said lane change is complete, wherein said lane change is complete if a heading angle magnitude is less than a selected threshold, a lateral position error magnitude is less than a selected threshold, and at least on of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.

37. A method of controlling a steering angle input in order to automatically perform an emergency lane change

using a feedforward control component and a feedback control components;

said feedforward control component employing a selected steering pattern based on vehicle speed and an estimated surface coefficient of adhesion; and

said feedback control component using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.

38. A method for collision avoidance using automated braking and steering comprising:

determining an obstacle is in a path of a vehicle with which a collision may occur;

applying maximum emergency braking without skidding;

if a lane change is permitted, applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion, wherein said applying steering control includes using a feedforward control and a feedback control, said feedforward control employing a maximum lateral acceleration based on vehicle speed and an estimated surface coefficient of adhesion, said feedback control using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.