Method for the calculation of a collision-preventing trajectory for a driving maneuver of a vehicle

• US 8,630,762 B2
• Filed: 01/31/2008
• Issued: 01/14/2014
• Est. Priority Date: 03/16/2007
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Staempfle, Martin, Schmidt, Christian, Branz, Wolfgang
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): HUYNH, LUAT T
• Application Number:
  US12/308,636
• Publication Number:
  US 20110106361A1
• Time in Patent Office: 2,175 Days
• Field of Search: 701/301, 701/1, 701/300, 701/23, 340/436, 340/901
• US Class Current: 701/23
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/12 Lateral speed
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

A method for calculating a collision-avoiding trajectory for a driving maneuver of a vehicle, in particular a motor vehicle, in order to evade at least one obstacle approaching the motor vehicle during driving operation. The lateral speed of the motor vehicle is taken into account in the calculation independently of the longitudinal speed of the motor vehicle.

Claims

1. A method for evading at least one obstacle approaching a motor vehicle by maneuvering the motor vehicle, the method comprising:

determining, by a processor of a vehicle control device, a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation;

wherein the determining includes, for each of a plurality of longitudinal distances from the vehicle, calculating an associated attainable lateral position range of the motor vehicle by taking the lateral speed of the motor vehicle into account independently of a longitudinal speed of the motor vehicle, and

wherein the attainable lateral position range is at least one of cut off and bounded by a blocking region of the at least one obstacle, so as to result in a passing gate.

2. The method of claim 1, wherein blocking regions, which must not be traveled in by the motor vehicle because of a very high probability of collision with the obstacle, are defined in a space surrounding the motor vehicle on the basis of a longitudinal motion of the motor vehicle and a lateral position of the at least one obstacle.

3. The method of claim 1, wherein by way of the passing gates, a possible collision-avoiding trajectory is described which is attainable by the motor vehicle in accordance with its predetermined vehicle-dynamics properties, and which leads in collision-free fashion past the at least one obstacle.

4. The method of claim 3, wherein the collision-avoiding trajectory that leads through the passing gates is calculated with the aid of an optimization process, an upper bound and a lower bound of the lateral position range being taken into account in the optimization as a boundary condition.

5. The method of claim 1, wherein an accelerated motion of at least one of the motor vehicle and of the at least one obstacle is taken into account in determining the collision-avoiding trajectory.

6. A method for evading at least one obstacle approaching a motor vehicle by maneuvering the motor vehicle, the method comprising:

determining, by a processor of a vehicle control device, a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation;

wherein the lateral speed of the motor vehicle is taken into account, in the determining, independently of a longitudinal speed of the motor vehicle,

wherein blocking regions, which must not be traveled in by the motor vehicle, are defined in a space surrounding the motor vehicle on the basis of a longitudinal motion of the motor vehicle and a lateral position of the at least one obstacle, and

wherein the blocking regions are equipped with additional safety regions that take into account a geometry of the motor vehicle and its possible rotation in the context of a yaw angle conditioned by travel along the collision-avoiding trajectory.

7. The method of claim 6, wherein the attainable lateral position range is at least one of cut off and bounded by the blocking region of the at least one obstacle, so as to result in a passing gate.

8. The method of claim 7, wherein by way of the passing gates, a possible collision-avoiding trajectory is described which is attainable by the motor vehicle in accordance with its predetermined vehicle-dynamics properties, and which leads in collision-free fashion past the at least one obstacle.

9. The method of claim 8, wherein the collision-avoiding trajectory that leads through the passing gates is calculated with the aid of an optimization process, an upper bound and a lower bound of the lateral position range being taken into account in the optimization as a boundary condition.

10. The method of claim 6, wherein the collision-avoiding trajectory is described by at least one of a constant-curvature spline and a polyline having equidistant interpolation points.

11. The method of claim 6, wherein an accelerated motion of at least one of the motor vehicle and of the at least one obstacle is taken into account in determining the collision-avoiding trajectory.

12. The method of claim 6, further comprising:

in the context of the obstacle approaching during driving operation, proposing or performing, by the vehicle control device, a driving maneuver of the motor vehicle for evasion autonomously or semiautonomously, wherein the driving maneuver is based on the determined collision-avoiding trajectory.

13. A method for evading at least one obstacle approaching a motor vehicle by maneuvering the motor vehicle, the method comprising:

determining, by a processor of a vehicle control device, a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation;

wherein the lateral speed of the motor vehicle is taken into account, in the determining, independently of a longitudinal speed of the motor vehicle, and

wherein the collision-avoiding trajectory is described by at least one of a constant-curvature spline and a polyline having equidistant interpolation points.

14. A method for evading at least one obstacle approaching a motor vehicle by maneuvering the motor vehicle, the method comprising:

determining, by a processor of a vehicle control device, a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation, wherein the determining includes, for each of a plurality of longitudinal distances from the vehicle, calculating an associated attainable lateral position range of the motor vehicle by taking the lateral speed of the motor vehicle into account independently of a longitudinal speed of the motor vehicle; and

in the context of the obstacle approaching during driving operation, proposing or performing, by the vehicle control device, a driving maneuver of the motor vehicle for evasion autonomously or semiautonomously, wherein the driving maneuver is based on the determined collision-avoiding trajectory.

15. A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having program code for performing the following;

determining a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation, wherein the determining includes, for each of a plurality of longitudinal distances from the vehicle, calculating an associated attainable lateral position range of the motor vehicle by taking the lateral speed of the motor vehicle into account independently of a longitudinal speed of the motor vehicle; and

in the context of the obstacle approaching during driving operation, proposing or performing, by a vehicle control device, a driving maneuver of the motor vehicle for evasion autonomously or semiautonomously, wherein the driving maneuver is based on the determined collision-avoiding trajectory.

16. A control device of a driver assistance system, comprising:

a processor; and

a non-transitory computer readable medium having a computer program, which is executable by the processor to perform the following;

determining a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation, wherein the determining includes, for each of a plurality of longitudinal distances from the vehicle, calculating an associated attainable lateral position range of the motor vehicle by taking the lateral speed of the motor vehicle into account independently of a longitudinal speed of the motor vehicle; and

in the context of the obstacle approaching during driving operation, proposing or performing, by the control device, a driving maneuver of the motor vehicle for evasion autonomously or semiautonomously, wherein the driving maneuver is based on the determined collision-avoiding trajectory.

17. A driver assistance system of a motor vehicle, comprising:

at least one sensing arrangement for detecting obstacles in an area surrounding the motor vehicle; and

a control device, which is connected to the at least one sensing arrangement, including a processor and a non-transitory computer readable medium having a computer program, which is executable by the processor to perform the following;

determining a collision-avoiding trajectory for the driving maneuver of the motor vehicle, so as to evade the at least one obstacle approaching the motor vehicle during a driving operation, wherein the determining includes, for each of a plurality of longitudinal distances from the vehicle, calculating an associated attainable lateral position range of the motor vehicle by taking the lateral speed of the motor vehicle into account independently of a longitudinal speed of the motor vehicle; and

in the context of the obstacle approaching during driving operation, proposing or performing, by the control device, a driving maneuver of the motor vehicle for evasion autonomously or semiautonomously, wherein the driving maneuver is based on the determined collision-avoiding trajectory.