Method for executing an evasive maneuver, computer program product and motor vehicle

• US 9,637,121 B2
• Filed: 11/25/2015
• Issued: 05/02/2017
• Est. Priority Date: 11/27/2014
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Bonarens, Frank, Yi, Boliang
• Primary Examiner(s): TARCZA, THOMAS H
• Assistant Examiner(s): Goldman, Richard
• Application Number:
  US14/951,860
• Publication Number:
  US 20160152236A1
• Time in Patent Office: 524 Days
• Field of Search: 701301, 701302, 701 36, 701 41, 701 42, 701 43, 701 44, 701 78, 701 79, 701 80, 701 81, 340436, 340903
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering

Abstract

A method, control unit and computer program product is disclosed for executing an evasive maneuver of a motor vehicle. If an obstacle is detected in the vehicle'"'"'s path, the evasive maneuver is initiated and a nominal trajectory is calculated. Control devices of the motor vehicle are actuated in such a way that the motor vehicle drives along the nominal trajectory under normal road conditions. The evasive maneuver is executed as calculated if the motor vehicle moves along the nominal trajectory. An alternative trajectory, which is actually possible with respect to the driving dynamics under the given road conditions, is calculated based on the reaction of the motor vehicle to the actuation of its control devices if the motor vehicle does not move along the nominal trajectory. The evasive maneuver is executed along the alternative trajectory.

Claims

1. A method for executing an evasive maneuver of a motor vehicle having at least one control device for operating the motor vehicle, the method comprising:

initiating, by a processor, an evasive maneuver when an obstacle is detected in a drive path of the motor vehicle;

determining, by the processor a nominal trajectory of the motor vehicle to execute the evasive maneuver;

actuating, by the processor the at least one control device causing the motor vehicle to drive along the nominal trajectory under normal road conditions;

determining, by the processor, when the motor vehicle is not travelling along the nominal trajectory by comparing the nominal trajectory and an actual trajectory of the motor vehicle;

determining current driving dynamics and road conditions based upon the difference between the nominal trajectory and the actual trajectory;

determining, by the processor, an alternative trajectory as a function of the determined current driving dynamics and road conditions when the motor vehicle is not travelling along the nominal trajectory; and

actuating, by the processor, the at least one control device causing the motor vehicle to drive along the alternative trajectory.

2. The method of claim 1, wherein determining if the motor vehicle is travelling along the nominal trajectory is made within a pre-determined time period from actuating the at least one control device.

3. The method of claim 1, further comprising storing vehicle-related driving dynamics parameters in a database in the motor vehicle.

4. The method of claim 3, wherein the method further comprises updating the vehicle-related driving dynamics parameters of the motor vehicle.

5. The method of claim 3, wherein the method further comprises calculating the nominal trajectory in a model-based fashion with the aid of the driving dynamics parameters in the database.

6. The method of claim 1, wherein the actuating further comprises executing at least one of an automatic steering control action and an automatic braking control action to perform the evasive maneuver.

7. The method of claim 6, wherein the method further comprises executing a counter steering control action when the motor vehicle is swerving to bring the motor vehicle under control.

8. The method of claim 6 wherein the method further comprises initiating a braking maneuver to minimize a kinetic energy of the vehicle when the road conditions make it impossible to evade the obstacle.

9. A computer program product with a non-transitory machine-readable storage medium, on which commands are embedded that, when executed by a control unit, cause the control unit to carry out a method according to claim 1.

10. A motor vehicle comprising a control unit featuring a memory with a computer program product of claim 9.

11. The motor vehicle of claim 10, wherein the motor vehicle further comprises at least one object detection sensor that points in the driving direction.

12. The motor vehicle of claim 10, wherein the control unit is operably connected to the at least one control device of the motor vehicle.