Escape-path-planning system for an automated vehicle

• US 9,910,440 B2
• Filed: 05/13/2016
• Issued: 03/06/2018
• Est. Priority Date: 05/13/2016
• Status: Active Grant

• Current Assignee: Aptiv Technologies Limited (BorgWarner Incorporated)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Wei, Junqing, Xu, Wenda, Snider, Jarrod M.
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/154,192
• Publication Number:
  US 20170329338A1
• Time in Patent Office: 662 Days
• Field of Search: 701 25, 701 26, 180168, 180170, 180401, 318587, 340435, 342457, 34235725
• CPC Class Codes: B60K 2031/0025 Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
• CPC Class Codes: B60K 2031/0033 Detecting longitudinal speed or acceleration of target vehicle
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2552/10 Number of lanes
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

An escape-path-planning system to operate an automated vehicle includes an object-detector and a controller. The object-detector is suitable for use on a host-vehicle. The object-detector is used to detect an other-vehicle in an adjacent-lane next to a present-lane traveled by the host-vehicle. The controller is in communication with the object-detector. The controller is configured to, in response to a lane-change-request, determine a first-route-plan that steers the host-vehicle from the present-lane to the adjacent-lane, determine a second-route-plan that steers the host-vehicle into the present-lane, initiate the first-route-plan when a forecasted-distance between the other-vehicle and the host-vehicle is greater than a distance-threshold, and cancel the first-route-plan and select the second-route-plan when the forecasted-distance between the other-vehicle and the host-vehicle becomes less than the distance-threshold after the first-route-plan is initiated. The second-route-plan is a pre-planned escape-path that is instantly available if needed that provides a smoother travel-experience for an occupant of the host-vehicle.

Claims

1. An escape-path-planning system to operate an automated vehicle, said system comprising:

an object-detector suitable for use on a host-vehicle, said object-detector used to detect an other-vehicle behind the host-vehicle and in an adjacent-lane next to a present-lane traveled by the host-vehicle; and

a controller in communication with the object-detector, said controller configured to, in response to a lane-change-request, determine a first-route-plan that steers the host-vehicle from the present-lane to the adjacent-lane in front of the other-vehicle, determine a second-route-plan that steers the host-vehicle into the present-lane, initiate the first-route-plan when the other-vehicle is behind the host-vehicle and a forecasted-distance between the other-vehicle and the host-vehicle is greater than a distance-threshold, and cancel the first-route-plan after the first-route-plan is initiated and then select the second-route-plan when the forecasted-distance between the other-vehicle and the host-vehicle becomes less than the distance-threshold after the first-route-plan is initiated.

2. The system in accordance with claim 1, wherein the system includes a turn-signal of the host-vehicle, and the controller is configured to activate the turn-signal to initiate the first-route-plan.

3. The system in accordance with claim 1, wherein the controller is configured to determine repeatedly on a periodic basis the second-route-plan after the first-route-plan is initiated.