Autonomous lane control system

• US 9,616,924 B2
• Filed: 10/19/2015
• Issued: 04/11/2017
• Est. Priority Date: 01/17/2012
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Spero, Dorian Jack, Pilutti, Thomas Edward, Rupp, Matthew Y., Joh, Peter Gyumyeong
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US14/886,612
• Publication Number:
  US 20160039458A1
• Time in Patent Office: 540 Days
• Field of Search: 701 26, 701 93, 701 96, 701300, 701301, 701 41, 701 23, 701 70, 701 79, 342455, 342458, 340903, 340435, 340436
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• 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 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral 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 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G01C 21/3667 Display of a road map G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635

Abstract

An autonomous control system for a vehicle that controls the speed and steering system of the vehicle to operate in a lane-keeping mode or a lane-changing mode. Position sensors sense the location of surrounding vehicles. A lane determining system identifies a current lane where the vehicle is located. A source of oncoming lane course data provides information as to the course of the current lane. A controller provides instructions to the steering system and speed control system to maneuver the vehicle in either the lane-keeping mode or the lane-changing mode. The driver may override the control system by providing a manual input to the steering system or the speed control system.

Claims

1. An autonomous lane-changing system for a motor vehicle comprising:

a sensor configured to determine a position of a plurality of surrounding vehicles within a predetermined area and to provide a position signal for each surrounding vehicle; and

a controller configured to

receive the position signals, to generate path data for the motor vehicle, and to provide a series of instructions for a steering system, and

return control of braking, steering, and accelerator systems to a driver in response to receiving at least one of a brake application, a steering input, or an accelerator input.

2. The system of claim 1 further comprising:

a steering system configured to maneuver the vehicle to follow the path data in response to the series of instructions provided by the controller;

a brake sensor configured to provide a brake applied input signal when the driver applies the brakes;

a manual steering sensor configured to provide a manual-steering applied input signal when the driver turns a steering wheel that causes the vehicle to vary from the series of instructions; and

an accelerator pedal sensor configured to provide a manual accelerator input signal when the driver contacts an accelerator.

3. The system of claim 1 wherein the controller is further configured to process the position signals to calculate a gap value between the surrounding vehicles in a target lane.

4. The system of claim 3 wherein the controller is further configured to process the gap value to generate the series of instructions to maneuver the motor vehicle into the target lane.

5. The system of claim 3 further comprising:

a speed control system configured to control the speed of the vehicle,

wherein the series of instructions includes a speed instruction that is provided to the speed control system, and wherein the controller is further configured to process the gap value to determine whether the gap value is less than an adequate clearance value, and, in response to the gap value being less than the adequate clearance value to modify the speed instruction, to change the speed of the motor vehicle.

6. The system of claim 3 wherein the controller is further configured to transmit a signal of the generated path data to a user.

7. The system of claim 6 further comprising a display screen configured to display a visual representation of the generated path data.

8. The system of claim 7 wherein the generated path data includes a series of instructions for the user to follow.

9. The system of claim 7 wherein the display screen is further configured to display a map with the generated path data marked on the map.

10. An autonomous vehicle system comprising:

a sensor configured to provide a position signal indicative of a plurality of surrounding vehicles within a predetermined area of a vehicle; and

a controller configured to

generate a path for the vehicle,

provide instructions for a steering system based on the path, and

return control of the steering system to a driver in response to driver interaction at one of a brake, a steering wheel, or an accelerator.

11. The system of claim 10 wherein the steering system includes the steering wheel, the brake and the accelerator, each configured to receive instructions from the controller based on the generated path.

12. The system of claim 11 further comprising:

a steering system configured to maneuver the vehicle to follow the path in response to the instructions provided by the controller;

a brake sensor configured to provide a brake applied input signal when the driver applies the brakes;

a manual steering sensor configured to provide a manual-steering applied input signal when the driver turns a steering wheel that causes the vehicle to vary from the instructions; and

an accelerator pedal sensor configured to provide a manual accelerator input signal when the driver contacts the accelerator.

13. The system of claim 10 wherein the controller is further configured to process the position signal to calculate a gap value between the surrounding vehicles in a target lane.

14. The system of claim 13 wherein the controller is further configured to process the gap value to generate the instructions to maneuver the vehicle into the target lane.

15. The system of claim 13 further comprising:

a speed control system configured to control the speed of the vehicle,

wherein the instructions include a speed instruction that is provided to the speed control system, and wherein the controller is further configured to process the gap value to determine whether the gap value is less than an adequate clearance value, and, in response to the gap value being less than the adequate clearance value to modify the speed instruction, to change the speed of the vehicle.

16. The system of claim 10 further comprising a display screen configured to display a visual representation of the generated path.

17. The system of claim 16 wherein the generated path includes a series of user instructions.

18. The system of claim 16 wherein the display screen is further configured to display a map with the generated path marked on the map.