Method and system for controlling vehicle with automated driving system

• US 9,487,212 B1
• Filed: 10/09/2015
• Issued: 11/08/2016
• Est. Priority Date: 10/09/2015
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Adam, Paul A., O'Dea, Kevin A., Feldman, Dmitriy
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Dunn, Alex C
• Application Number:
  US14/879,385
• Time in Patent Office: 396 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants

Abstract

A method and system for controlling a position of a vehicle relative to other vehicles on a road is provided. The method includes controlling a position of a host vehicle travelling in a lane of a road using an automated driving system and monitoring positions of one or more side vehicles located on either side of the host vehicle and traveling in adjacent lanes. The method further includes detecting a condition in which the host vehicle is or will be positioned in a blind spot of a side vehicle disposed on in an adjacent lane and adjusting the position of the host vehicle in response to the condition using the automated driving system such that the amount of time the host vehicle is or will be positioned in the blind spot of the side vehicle is reduced.

Claims

1. A method for controlling a position of a vehicle relative to other vehicles on a road, comprising the steps of:

controlling a position of a host vehicle travelling in a lane of a road using an automated driving system;

monitoring positions of one or more side vehicles located on either side of the host vehicle and traveling in lanes of the road adjacent to the lane of the road in which the host vehicle is travelling;

detecting a first condition in which the host vehicle is or will be positioned in a first blind spot of a first side vehicle disposed on a first side of the host vehicle and in a first adjacent lane to the lane of the road in which the host vehicle is travelling; and

,

adjusting the position of the host vehicle in response to the first condition using the automated driving system such that the amount of time the host vehicle is or will be positioned in the first blind spot of the first side vehicle is reduced.

2. The method of claim 1, wherein the detecting step further comprises:

determining a vehicle type of the first side vehicle;

identifying an area comprising the first blind spot of the first side vehicle responsive to the vehicle type of the first side vehicle; and

,

determining whether the host vehicle is or will be positioned in the first blind spot of the first side vehicle.

3. The method of claim 2, wherein the determining step further comprises:

determining a length of the first side vehicle; and

,

identifying the vehicle type of the first side vehicle based on the length of the first side vehicle.

4. The method of claim 2, wherein the identifying step further comprises:

selecting the area from among a plurality of areas stored in an electronic memory, each of the plurality of areas having a predetermined size; and

,

locating the area relative to a fixed point on the first side vehicle.

5. The method of claim 4 wherein the fixed point is at least one of a B-pillar and a rear end of the first side vehicle.

6. The method of claim 1, wherein the detecting step further comprises:

determining a length of the first side vehicle;

identifying an area comprising the first blind spot of the first side vehicle responsive to the length of the first side vehicle; and

,

determining whether the host vehicle is or will be positioned in the first blind spot of the first side vehicle.

7. The method of claim 6, wherein the identifying step further comprises:

calculating the area comprising the first blind spot of the first side vehicle responsive to the length of the first side vehicle; and

,

locating the area relative to a fixed point on the first side vehicle.

8. The method of claim 1, wherein the detecting step further comprises receiving a wireless signal transmitted by the first side vehicle indicating that the host vehicle is or will be positioned in the first blind sport of the first side vehicle.

9. The method of claim 8, wherein the wireless signal transmitted by the first side vehicle includes information relating to at least one of the type of vehicle of the first side vehicle and the length of the first side vehicle.

10. The method of claim 1, further comprising the step of determining a type of vehicle of the first side vehicle and wherein the adjusting step further comprises adjusting the position of the host vehicle using the automated driving system in response to the first condition and to the type of vehicle of the first side vehicle.

11. The method of claim 1, further comprising the step of determining an amount of time during which the host vehicle will be positioned in the first blind spot and wherein the adjusting step further comprises adjusting the position of the host vehicle using the automated driving system in response to the first condition and to the amount of time that the host vehicle will be positioned in the first blind spot.

12. The method of claim 11, wherein the adjusting step occurs only if the amount of time meets a predetermined condition relative to a threshold amount of time.

13. The method of claim 1, further comprising the step of determining a position of at least one of a forward vehicle disposed in front of the host vehicle and a rear vehicle disposed behind the host vehicle in the lane of the road in which the host vehicle is travelling and wherein the adjusting step further comprises adjusting the position of the host vehicle in response to the first condition and to the position of the at least one of the forward vehicle and the rear vehicle.

14. The method of claim 1, wherein the automated driving system comprises an adaptive cruise control system and the method further comprises the steps of:

receiving a speed input indicative of a desired speed of the host vehicle; and

,

receiving a spacing input indicative of a desired spacing between the host vehicle and a forward vehicle located in front of the host vehicle in the lane of the road in which the host vehicle is travelling;

wherein the controlling step further comprises controlling the position of the host vehicle to maintain an actual speed corresponding to the desired speed and an actual spacing corresponding to the desired spacing and the adjusting step further comprises adjusting at least one of the actual speed and the actual spacing in response to the first condition.

15. The method of claim 14, wherein the adjusting step further comprises adjusting the at least one of the actual speed and the actual spacing in response to the first condition and at least one of the desired speed and the desired spacing.

16. The method of claim 1 wherein the adjusting step further comprises the steps of:

assessing the availability of a second adjacent lane to the lane of the road in which the host vehicle is travelling;

adjusting the position of the host vehicle by performing an automated lane change maneuver to the second adjacent lane in response to the first condition and the availability of the second adjacent lane.

17. The method of claim 1, wherein the adjusting step further comprises the step of determining whether an adjusted position of the host vehicle will cause the host vehicle to enter a second blind spot and only adjusting the position of the host vehicle in response to the first condition if the adjusted position of the host vehicle will not cause the host vehicle to enter the second blind spot.

18. A method for controlling a position of a vehicle relative to other vehicles on a road, comprising the steps of:

controlling a position of a host vehicle travelling in a lane of a road using an automated driving system;

monitoring positions of one or more side vehicles located on either side of the host vehicle and traveling in lanes of the road adjacent to the lane of the road in which the host vehicle is travelling;

detecting a first condition in which the host vehicle is or will be positioned in a first blind spot of a first side vehicle disposed on a first side of the host vehicle and in a first adjacent lane to the lane of the road in which the host vehicle is travelling;

detecting a second condition in which the host vehicle is or will be positioned in a second blind spot of one of the first side vehicle and a second side vehicle, the second side vehicle disposed on one of the first side of the host vehicle in the first adjacent lane and a second side of the host vehicle in a second adjacent lane to the lane of the road in which the host vehicle is travelling; and

,

adjusting the position of the host vehicle in response to the first and second conditions using the automated driving system such that the amount of time the host vehicle is or will be positioned in at least one of the first and second blind spots is reduced.

19. The method of claim 18, wherein the adjusting step further comprises adjusting the position of the host vehicle such that the total amount of time the host vehicle is or will be positioned in both of the first and second blind spots is reduced.

20. The method of claim 18, further comprising the step of determining a distance between the first and second blind spots, and wherein the adjusting step further comprises adjusting the position of the host vehicle such that the amount of time the host vehicle is or will be positioned in only one of the first and second blind spots is reduced if the distance meets a predetermined condition relative to a predetermined distance.

21. The method of claim 20, further comprising the step of performing a threat assessment of the first and second blind spots and wherein the adjusting step further comprises adjusting the position of the host vehicle in response to the threat assessment.

22. A system for controlling a position of a vehicle relative to other vehicles on a road, comprising:

an automated driving system configured to control a position of the host vehicle travelling in a lane of a road;

at least one sensor configured to generate a signal indicative of the positions of one or more side vehicles located on either side of the host vehicle and traveling in lanes of the road adjacent to the lane of the road in which the host vehicle is travelling; and

,

a controller configured to

detect a first condition in which the host vehicle is or will be positioned in a first blind spot of a first side vehicle disposed on a first side of the host vehicle and in a first adjacent lane to the lane of the road in which the host vehicle is travelling; and

,

adjust the position of the host vehicle in response to the first condition using the automated driving system such that the amount of time the host vehicle is or will be positioned in the first blind spot of the first side vehicle is reduced.