Adaptive cruise control with stationary object recognition

• US 9,085,236 B2
• Filed: 10/29/2013
• Issued: 07/21/2015
• Est. Priority Date: 05/09/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Schwindt, Oliver, Chakraborty, Bhavana
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US14/065,539
• Publication Number:
  US 20140336898A1
• Time in Patent Office: 630 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

An ACC system and object detection method for a vehicle. The ACC system includes a vehicle parameter sensor, an object detection sensor, and a controller. The controller is configured to calculate the vehicle'"'"'s path based on a signal from the parameter sensor, detect an object based on the vehicle'"'"'s path and a signal from the object detection sensor, determine an acceleration of the vehicle, and prevent the acceleration of the vehicle from increasing while the object is detected and the acceleration of the vehicle is greater than a predetermined acceleration threshold. The object detection method includes identifying stationary objects in a path of a vehicle and limiting an acceleration of the vehicle when the acceleration is above a threshold and a stationary object is identified.

Claims

1. A method for controlling a vehicle, the method comprising:

using a controller to

predict the vehicle'"'"'s path;

detect a stationary object within the predicted path based on a signal received from an object detection sensor;

determine an acceleration of the vehicle is greater than a predetermined acceleration threshold; and

,

maintain the acceleration;

wherein using a controller to predict the vehicle'"'"'s path includes

predicting a vehicle trajectory based on a vehicle yaw rate, and

generating a path width based on the predicted vehicle trajectory and a width of the vehicle; and

wherein generating a path width includes

detecting a change in direction, and

increasing the path width based on a magnitude of the change in direction.

2. The method according to claim 1, wherein the change in direction is detected by a steering direction sensor.

3. The method according to claim 1, wherein detecting a stationary object includes detecting objects within the predicted path that are within a pre-determined distance ahead of the vehicle.

4. The method according to claim 3, wherein the pre-determined distance is a pre-defined time-until-collision.

5. The method according to claim 3, wherein the pre-determined distance is based on a deceleration of the vehicle.

6. The method according to claim 3, wherein the pre-determined distance is a pre-defined maximum distance.

7. The method according to claim 1, further comprising, accelerating normally when the stationary object is no longer detected.

8. An adaptive cruise control (ACC) system for a vehicle, the ACC system comprising:

a vehicle parameter sensor;

a yaw rate sensor;

a steering direction sensor;

an object detection sensor; and

,

a controller configured to;

calculate the vehicle'"'"'s path based on a yaw rate and a steering direction;

detect a stationary object based on the vehicle'"'"'s path and a signal from the object detection sensor;

determine an acceleration of the vehicle; and

,

when the acceleration of the vehicle is greater than a predetermined acceleration threshold, prevent the acceleration of the vehicle from increasing while the stationary object is detected;

wherein the vehicle'"'"'s path includes

a vehicle trajectory based on the yaw rate, and

a path width based on the vehicle trajectory and a width of the vehicle; and

wherein the path width includes

a detected change in direction, and

an increase in the path width based on a magnitude of the change in direction.

9. The system of claim 8, wherein the object detection sensor includes a radar sensor.

10. The system of claim 8, wherein the object detection sensor includes a video camera configured to capture images ahead of the vehicle.

11. The system of claim 8, wherein the parameter sensor is at least one of a group consisting of a yaw rate sensor, an acceleration sensor, and a steering direction sensor.

12. The system of claim 8, wherein the change in direction is a change in the steering direction.

13. The system of claim 8, wherein the vehicle'"'"'s path includes a pre-determined distance ahead of the vehicle.

14. The system of claim 13, wherein the pre-determined distance is a pre-defined time-until-collision.

15. The system of claim 13, wherein the pre-determined distance is based on a deceleration of the vehicle.

16. The system of claim 13, wherein the pre-determined distance is a pre-defined maximum distance.