Vehicle adapted for autonomous driving and a method for detecting obstructing objects

• US 9,802,624 B2
• Filed: 01/09/2015
• Issued: 10/31/2017
• Est. Priority Date: 01/16/2014
• Status: Active Grant

• Current Assignee: Polestar Performance AB (Polestar Automotive Holding UK Plc)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Thor, Mikael, Solyom, Stefan, Brannstrom, Mattias Erik
• Primary Examiner(s): Elchanti, Hussein A
• Application Number:
  US14/593,233
• Publication Number:
  US 20150198951A1
• Time in Patent Office: 1,026 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2510/202 Steering torque
• CPC Class Codes: B60W 2510/22 Suspension systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2710/202 Steering torque
• CPC Class Codes: B60W 2710/22 Suspension systems
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G05D 1/0066 for limitation of acceleration or stress
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S

Abstract

The present disclosure relates to a vehicle adapted for autonomous driving, such as an autonomous vehicle, comprising an assisting object detecting system for detecting obstructing objects to the vehicle. The object detecting system is adapted to detect an object by comparing a reference value of a selected parameter with a measured value of the selected parameter. The present disclosure also relates to a method and a computer program product for use in the vehicle.

Claims

1. A vehicle adapted for autonomous driving, the vehicle comprising:

a propulsion unit;

an autonomous driving system configured to control operation of the vehicle without a driver at least during initial motion of the vehicle; and

an object detecting system configured to assist the autonomous driving system, the object detecting system including at least one vehicle state sensor for use in determining at least one measured value representative of a selected parameter, and a computer processing unit configured to compare at least one selected reference value of the selected parameter with the at least one measured value representative of the selected parameter to detect an obstructing object which prevents or limits initial displacement of the vehicle from a standstill position during initial motion of the vehicle by the autonomous driving system, wherein the selected parameter comprises a vehicle state parameter.

2. The vehicle according to claim 1 wherein the selected vehicle state parameter comprises torque.

3. The vehicle according to claim 1 wherein the selected vehicle state parameter is selected from a list of propulsion unit torque, steering torque, suspension pressure, or combinations thereof.

4. The vehicle according to claim 1 wherein the object detecting system is adapted to be disengaged when the vehicle exceeds a predetermined speed and/or travels a predetermined distance from the standstill position.

5. The vehicle according to claim 4 wherein the predetermined speed is less than or equal to 1 m/s.

6. The vehicle according to claim 4 wherein the predetermined distance is 10 m or less.

7. The vehicle according to claim 1 wherein the vehicle is adapted to measure the at least one measured value representative of the selected parameter during a vehicle speed of ≦

1 m/s.

8. The vehicle according to claim 1 wherein the vehicle is adapted to measure the at least one measured value representative of the selected parameter during a vehicle speed of ≦

0.1 m/s.

9. The vehicle according to claim 1 wherein the computer processing unit is configured to provide for a counter action when an obstructing object is detected.

10. The vehicle according to claim 9 wherein the counter action includes stopping the vehicle or sending an alarm signal locally or remotely.

11. The vehicle according to claim 1 wherein the autonomous driving system is configured to control operation of the vehicle in response to an order from a remote device to move the vehicle to a selected destination.

12. A method for detecting an obstructing object to a vehicle during initial motion of the vehicle that is controlled by an autonomous driving system without a driver at least during initial motion of the vehicle, the method comprising:

a) providing or obtaining at least one reference value of a selected parameter, wherein the selected parameter comprises a vehicle state parameter;

b) obtaining at least one measured value representative of the selected parameter using at least one vehicle state sensor of an object detecting system; and

c) comparing, by the object detecting system, the at least one reference value with the at least one measured value, wherein the outcome of the comparison is used as an indication of an obstructing object which prevents or limits initial displacement of the vehicle from a standstill position during initial motion of the vehicle by the autonomous driving system.

13. The method of claim 12 further comprising initiating a counter action when an obstructing object is detected.

14. The method according to claim 12 wherein the at least one reference value is obtained from a locally or remotely stored data base.

15. The method according to claim 12 wherein the at least one reference value is based on an estimation of required propulsion torque and/or required steering torque.

16. The method according to claim 12 wherein the at least one measured value is obtained during a vehicle speed ≦

1 m/s.

17. The method according to claim 12 wherein the at least one measured value is obtained before the vehicle has travelled a distance of 10 m.

18. The method according to claim 12 wherein the comparison is determined as a percentage of the at least one measured value and the at least one reference value.

19. The method according to claim 12 wherein the at least one measured value is obtained by measuring amount of electricity or fuel consumed by a propulsion unit of the vehicle.

20. The method according to claim 12 wherein the selected vehicle state parameter is selected from a list of propulsion unit torque, steering torque, suspension pressure, or combinations thereof.

21. The method according to claim 12 further comprising receiving, from a remote device, an order to move the vehicle to a selected destination, and controlling operation of the vehicle, by the autonomous driving system, in response to the order from the remote device.

22. A computer program product for use in a vehicle adapted for autonomous driving and during initial motion of the vehicle, wherein the vehicle comprises a propulsion unit, an object detecting system including a computer processing unit, and an autonomous driving system configured to control the vehicle without a driver at least during initial motion of the vehicle, the computer program product comprising a non-transitory storage medium having computer executable instructions stored thereon, the instructions comprising:

instructions configured for execution by the processing unit and which instructions when executed cause the object detecting system to

a) provide or obtain at least one reference value of a selected vehicle state parameter;

b) obtain, using at least one vehicle state sensor of the object detecting system, at least one measured value representative of the selected parameter; and

c) compare the at least one reference value with the at least one measured value, wherein the outcome of the comparison is used as an indication of an obstructing object which prevents or limits initial displacement of the vehicle from a standstill position during initial motion of the vehicle by the autonomous driving system.