Active steering safety system

• US 9,555,801 B2
• Filed: 11/04/2014
• Issued: 01/31/2017
• Est. Priority Date: 03/05/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation, Denso International America Incorporated (DENSO Corporation)
• Original Assignee: DENSO Corporation, Denso International America Incorporated (DENSO Corporation)
• Inventors: Yester, John, Riparip, Hans, Sun, Bo, Hattori, Hiroshi, Akamatsu, Katsuhiko
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US14/532,614
• Publication Number:
  US 20150251656A1
• Time in Patent Office: 819 Days
• Field of Search: 701/41, 701/44, 701/48, 701/70, 701/519, 701/300, 701/301, 340/436, 340/435, 180/169, 180/274, 180/275, 180/280, 180/282
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

The present teachings provide for an active steering system for controlling a vehicle. The system can include at least one sensor and a control module. The at least one sensor can be configured to detect a leading obstacle. The control module can be configured to receive a signal from the at least one sensor, to determine a steering profile, and to execute a lane change maneuver based on the steering profile. The steering profile can include a plurality of steering angles and corresponding vehicle positions for maneuvering the vehicle from a current lane to an adjacent lane. The steering angles can be calculated to not increase the acceleration of the vehicle above an occupant comfort threshold value and to not cause the vehicle to cross an outer boundary of the adjacent lane.

Claims

1. An active steering system for controlling a vehicle, the system comprising:

at least one sensor configured to detect a leading obstacle; and

a control module configured to receive a signal from the at least one sensor, to determine a steering profile, and to execute a lane change maneuver based on the steering profile;

wherein;

the steering profile includes a plurality of steering angles and corresponding vehicle positions for maneuvering the vehicle from a current lane to an adjacent lane, the steering angles being calculated to not increase the acceleration of the vehicle above an occupant comfort threshold value and to not cause the vehicle to cross an outer boundary of the adjacent lane;

the control module is configured to compare an available deceleration rate of the vehicle with a required deceleration rate of the vehicle that is required to avoid the leading obstacle;

if the available deceleration rate of the vehicle is greater than the required deceleration rate of the vehicle, the control module determines that no lane change maneuver is required to avoid the leading obstacle;

if the available deceleration rate of the vehicle is less than the required deceleration rate of the vehicle, the control module determines that the lane change maneuver is required to avoid the leading obstacle;

the lane change maneuver includes determining the following by the controller;

a first lateral distance to the outer boundary of the adjacent lane;

a maximum steering rate for the current lane, the maximum steering rate includes a maximum rate at which a steering angle of the wheels can be changed without losing traction;

a second lateral distance, within the maximum steering rate, that the vehicle must move to avoid the leading obstacle;

an adequate front distance between the vehicle and the leading obstacle for changing lanes based on the determined second lateral distance and the maximum steering rate;

a lane change to avoid the leading obstacle is available if actual distance between the vehicle and the leading obstacle is not less than the adequate distance because there is adequate room between the vehicle and the leading obstacle and the first lateral distance to the outer boundary of the adjacent lane is adequate to accommodate the vehicle; and

a lane change to avoid the leading vehicle is not available if actual distance between the vehicle and the leading obstacle is less than the adequate distance because there is inadequate room between the vehicle and the leading obstacle for changing lanes.

2. The system of claim 1, wherein the control module is configured to calculate the steering profile using a value representative of a coefficient of friction between a pair of wheels of the vehicle and the current lane.

3. The system of claim 2, wherein the control module is configured to calculate the steering profile using a value representative of a coefficient of friction between the pair of wheels and the adjacent lane.

4. The system of claim 1, wherein the control module is configured to control a brake system to selectively decelerate the vehicle.

5. The system of claim 1, wherein the at least one sensor is configured to detect a leading adjacent obstacle in the adjacent lane and ahead of the vehicle, and a trailing adjacent obstacle in the adjacent lane and behind the vehicle, wherein the control module is configured to calculate the steering profile based on a relative velocity of the vehicle and at least one of the leading adjacent obstacle and the trailing adjacent obstacle, and wherein the control module is configured to calculate the steering profile based on a distance between the vehicle and at least one of the leading adjacent obstacle and the trailing adjacent obstacle.

6. The system of claim 1, further comprising a database configured to provide pre-programmed data to the control module, wherein the control module is configured to calculate the steering profile based on the pre-programmed data from the database.

7. The system of claim 1, wherein the at least one sensor is configured to detect an object in an adjacent lane, and the control module is configured to only execute the lane change maneuver when the lane change maneuver can be completed without the object in the adjacent lane becoming closer than a safe distance to the vehicle.

8. An active steering system for controlling a vehicle, the system comprising:

at least one sensor configured to detect a leading obstacle and an adjacent obstacle; and

a control module configured to receive a signal from the at least one sensor, to calculate a steering profile, and to execute a lane change maneuver based on the steering profile;

wherein;

the steering profile includes a plurality of steering angles and corresponding vehicle positions for maneuvering the vehicle from a current lane to an adjacent lane, the steering angles being calculated by the control module to not increase the acceleration of the vehicle above an occupant comfort threshold value and to not cause the vehicle to cross an outer boundary of the adjacent lane;

the steering profile is calculated based on at least one of;

a relative distance and velocity of the vehicle and the leading obstacle; and

a relative distance and velocity of the vehicle and the adjacent obstacle;

the control module is configured to compare an available deceleration rate of the vehicle with a required deceleration rate of the vehicle that is required to avoid the leading obstacle;

if the available deceleration rate of the vehicle is greater than the required deceleration rate of the vehicle, the control module determines that no lane change maneuver is required to avoid the leading obstacle;

if the available deceleration rate of the vehicle is less than the required deceleration rate of the vehicle, the control module determines that the lane change maneuver is required to avoid the leading obstacle;

the lane change maneuver includes determining the following by the controller;

a first lateral distance to the outer boundary of the adjacent lane;

a maximum steering rate for the current lane, the maximum steering rate includes a maximum rate at which a steering angle of the wheels can be changed without losing traction;

a second lateral distance, within the maximum steering rate, that the vehicle must move to avoid the leading obstacle;

an adequate front distance between the vehicle and the leading obstacle for changing lanes based on the determined second lateral distance and the maximum steering rate;

a lane change to avoid the leading obstacle is available if actual distance between the vehicle and the leading obstacle is not less than the adequate distance because there is adequate room between the vehicle and the leading obstacle and the first lateral distance to the outer boundary of the adjacent lane is adequate to accommodate the vehicle; and

a lane change to avoid the leading vehicle is not available if actual distance between the vehicle and the leading obstacle is less than the adequate distance because there is inadequate room between the vehicle and the leading obstacle for changing lanes.

9. The system of claim 8, wherein the control module is configured to control a brake system to selectively decelerate the vehicle.

10. The system of claim 8, wherein the control module is configured to calculate the steering profile using at least one value representative of a coefficient of friction between a pair of wheels of the vehicle and the current lane, the adjacent lane, or both the current lane and the adjacent lane.

11. The system of claim 8, further comprising a database configured to provide pre-programmed data to the control module, wherein the control module is configured to calculate the steering profile based on the pre-programmed data from the database.