Method to assess risk associated with operating an autonomic vehicle control system

• US 8,244,408 B2
• Filed: 03/09/2009
• Issued: 08/14/2012
• Est. Priority Date: 03/09/2009
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Lee, Jin-Woo, Salinger, Jeremy A., Chen, Xingping
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): BROWDER, LINDSAY
• Application Number:
  US12/400,029
• Publication Number:
  US 20100228419A1
• Time in Patent Office: 1,254 Days
• Field of Search: 701/23, 701 25- 27, 701117-119, 701/300, 701/301, 340/425.5, 340/435
• US Class Current: 700/301
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A vehicle is configured to execute an autonomic lane change maneuver and is equipped with a spatial monitoring system. Each of a plurality of objects located proximate to the vehicle is monitored. Locations of each of the objects are predicted relative to a projected trajectory of the vehicle. A collision risk level between the vehicle and each of the objects is assessed.

Claims

1. Method for assessing a risk of collision associated with operation of a subject vehicle including a spatial monitoring system, the subject vehicle configured to execute an autonomic lane change maneuver, comprising:

monitoring a plurality of object vehicles located proximate to the subject vehicle;

predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle at future time-steps including estimating a longitudinal distance, longitudinal speed, and longitudinal acceleration of each object vehicle relative to the subject vehicle and projecting a longitudinal relative distance between the subject vehicle and each object vehicle for elapsed time periods corresponding to the future time-steps associated with the longitudinal distance, longitudinal speed, and longitudinal acceleration of the object vehicle relative to the subject vehicle;

determining lateral overlaps between the subject vehicle and the object vehicles;

predicting potential operating behaviors of the object vehicles;

predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle and associated with the potential operating behaviors at the future time-steps;

assessing a collision risk level between the subject vehicle and the object vehicles at the future time-steps based upon the lateral overlaps and comparisons between the longitudinal relative distances and an allowable margin associated with the predicted locations of the object vehicles, the allowable margin comprising a heading margin and a rear margin determined relative to a longitudinal axis parallel to the trajectory of the subject vehicle;

initiating an autonomic lane change maneuver in response to a lane change maneuver request and setting a risk tolerance associated therewith; and

granting permission to execute and complete the autonomic lane change maneuver in response to the risk tolerance and the collision risk level;

wherein assessing the collision risk level between the subject vehicle and the object vehicles at the future time-steps based upon the lateral overlaps and the comparisons between the longitudinal relative distances and said allowable margin associated with the predicted locations of the object vehicles comprises assessing there to be no collision risk level when there is no combination of longitudinal overlap between the longitudinal relative distances and the allowable margin and no lateral overlap at the future time-steps for the potential operating behaviors, the potential operating behaviors comprising acceleration conditions comprising fixed acceleration, mild braking and hard braking of the object vehicles.

2. The method of claim 1, wherein the risk tolerance comprises one of a conservative risk, a moderate risk, and an aggressive risk corresponding to whether said lane change maneuver has been requested, whether said lane change maneuver has started, and whether said lane boundary has been crossed subsequent to initiating the autonomic lane change maneuver, respectively.

3. The method of claim 1, wherein predicting potential operating behaviors of the object vehicles comprises predicting operating behaviors comprising selected longitudinal acceleration rates for the selected object vehicle;

and wherein assessing the collision risk level between the subject vehicle and the selected object vehicle at the future time-steps associated with the predicted locations of the selected object vehicle comprises assessing the collision risk level between the subject vehicle and the selected object vehicle at the future time-steps associated with each of the selected longitudinal acceleration rates.

4. The method of claim 1, wherein predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle at future time-steps including estimating a longitudinal distance, longitudinal speed, and longitudinal acceleration of each object vehicle relative to the subject vehicle comprises:

predicting operating behaviors comprising selected longitudinal acceleration rates of each object vehicle; and

projecting a longitudinal relative distance between the subject vehicle and each object vehicle for elapsed time periods corresponding to the future time-steps associated with the longitudinal distance, longitudinal speed, and the selected longitudinal acceleration of each object vehicle relative to the subject vehicle.

5. The method of claim 4, wherein the selected longitudinal acceleration of each object vehicle includes a present acceleration rate, a mild vehicle braking rate, and a hard vehicle braking rate.

6. The method of claim 2, wherein granting permission to execute and complete the autonomic lane change maneuver in response to the risk tolerance and the assessed collision risk level between the subject vehicle and the monitored object vehicles comprises granting permission to execute and complete the autonomic lane change maneuver only when the risk tolerance comprises the conservative risk tolerance and when there has been no collision risk in the most recent 0.3 seconds.

7. The method of claim 2, wherein granting permission to execute and complete the autonomic lane change maneuver in response to the risk tolerance and the assessed collision risk level between the subject vehicle and the monitored object vehicles comprises granting permission to execute and complete the autonomic lane change maneuver only when the risk tolerance comprises the moderate risk tolerance and when the collision risk is one of a low risk and no risk.

8. The method of claim 2, wherein granting permission to execute and complete the autonomic lane change maneuver in response to the risk tolerance and the assessed collision risk level between the subject vehicle and the monitored object vehicles comprises granting permission to execute and complete the autonomic lane change maneuver only when the risk tolerance comprises the aggressive risk tolerance and when the collision risk is a medium risk or less.

9. The method of claim 2, wherein assessing the collision risk level between the subject vehicle and the object vehicles comprises assessing collision risk levels in a front host lane, a rear host lane, a front target lane, a side target lane, and a rear target lane.

10. Method for assessing a risk of collision associated with operation of a subject vehicle including a spatial monitoring system, the subject vehicle configured to execute an autonomic lane change maneuver, comprising:

monitoring a plurality of object vehicles located proximate to the subject vehicle;

predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle at future time-steps including estimating a longitudinal distance, longitudinal speed, and longitudinal acceleration of each object vehicle relative to the subject vehicle and projecting a longitudinal relative distance between the subject vehicle and each object vehicle for elapsed time periods corresponding to the future time-steps associated with the longitudinal distance, longitudinal speed, and longitudinal acceleration of the object vehicle relative to the subject vehicle;

determining lateral overlaps between the subject vehicle and the object vehicles;

predicting potential operating behaviors of the object vehicles;

predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle and associated with the potential operating behaviors at the future time-steps;

assessing a collision risk level between the subject vehicle and the object vehicles at the future time-steps based upon the lateral overlaps and comparisons between the longitudinal relative distances and an allowable margin associated with the predicted locations of the object vehicles, the allowable margin comprising a heading margin and a rear margin determined relative to a longitudinal axis parallel to the trajectory of the subject vehicle;

initiating an autonomic lane change maneuver in response to a lane change maneuver request and setting a risk tolerance associated therewith; and

granting permission to execute and complete the autonomic lane change maneuver in response to the risk tolerance and the collision risk level;

wherein assessing the collision risk level between the subject vehicle and the object vehicles at the future time-steps based upon the lateral overlaps and the comparisons between the longitudinal relative distances and said allowable margin associated with the predicted locations of the object vehicles comprises assessing there to be a low collision risk level when there is a combination of longitudinal overlap between the longitudinal relative distances and the allowable margin and a lateral overlap at the future time-steps when the potential operating behavior comprises an acceleration condition comprising hard braking of one of the object vehicles.

11. Method for assessing a risk of collision associated with operation of a subject vehicle including a spatial monitoring system, the subject vehicle configured to execute an autonomic lane change maneuver, comprising:

monitoring a plurality of object vehicles located proximate to the subject vehicle;

predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle at future time-steps including estimating a longitudinal distance, longitudinal speed, and longitudinal acceleration of each object vehicle relative to the subject vehicle and projecting a longitudinal relative distance between the subject vehicle and each object vehicle for elapsed time periods corresponding to the future time-steps associated with the longitudinal distance, longitudinal speed, and longitudinal acceleration of the object vehicle relative to the subject vehicle;

determining lateral overlaps between the subject vehicle and the object vehicles;

predicting potential operating behaviors of the object vehicles;

predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle and associated with the potential operating behaviors at the future time-steps;

assessing a collision risk level between the subject vehicle and the object vehicles at the future time-steps based upon the lateral overlaps and comparisons between the longitudinal relative distances and an allowable margin associated with the predicted locations of the object vehicles, the allowable margin comprising a heading margin and a rear margin determined relative to a longitudinal axis parallel to the trajectory of the subject vehicle;

initiating an autonomic lane change maneuver in response to a lane change maneuver request and setting a risk tolerance associated therewith; and

granting permission to execute and complete the autonomic lane change maneuver in response to the risk tolerance and the collision risk level;

wherein assessing the collision risk level between the subject vehicle and the object vehicles at the future time-steps based upon the lateral overlaps and the comparisons between the longitudinal relative distances and said allowable margin associated with the predicted locations of the object vehicles comprises assessing there to be a medium collision risk level when there is a combination of longitudinal overlap between the longitudinal relative distances and the allowable margin and a lateral overlap at the future time-steps when the potential operating behavior comprises an acceleration condition comprising one of mild braking and hard braking of one of the object vehicles.

12. Method for assessing a risk of collision associated with operation of a subject vehicle including a spatial monitoring system, the subject vehicle configured to execute an autonomic lane change maneuver, comprising:

monitoring a plurality of object vehicles located proximate to the subject vehicle;

predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle at future time-steps including estimating a longitudinal distance, longitudinal speed, and longitudinal acceleration of each object vehicle relative to the subject vehicle and projecting a longitudinal relative distance between the subject vehicle and each object vehicle for elapsed time periods corresponding to the future time-steps associated with the longitudinal distance, longitudinal speed, and longitudinal acceleration of the object vehicle relative to the subject vehicle;

determining lateral overlaps between the subject vehicle and the object vehicles;

predicting potential operating behaviors of the object vehicles;

predicting locations of the object vehicles relative to a projected trajectory of the subject vehicle and associated with the potential operating behaviors at the future time-steps;

assessing a collision risk level between the subject vehicle and the object vehicles at the future time-steps based upon the lateral overlaps and comparisons between the longitudinal relative distances and an allowable margin associated with the predicted locations of the object vehicles, the allowable margin comprising a heading margin and a rear margin determined relative to a longitudinal axis parallel to the trajectory of the subject vehicle;

initiating an autonomic lane change maneuver in response to a lane change maneuver request and setting a risk tolerance associated therewith; and

granting permission to execute and complete the autonomic lane change maneuver in response to the risk tolerance and the collision risk level;

wherein assessing the collision risk level between the subject vehicle and the object vehicles at the future time-steps based upon the lateral overlaps and the comparisons between the longitudinal relative distances and said allowable margin associated with the predicted locations of the object vehicles comprises assessing there to be a high collision risk level when there is a combination of longitudinal overlap between the longitudinal relative distances and the allowable margin and a lateral overlap at the future time-steps when the potential operating behavior comprises an acceleration condition comprising one of fixed acceleration, mild braking and hard braking of one of the object vehicles.