Enhanced collision avoidance

• US 9,988,046 B2
• Filed: 07/26/2016
• Issued: 06/05/2018
• Est. Priority Date: 07/26/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Trombley, Roger Arnold, Lavoie, Erick Michael
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/219,493
• Publication Number:
  US 20180029592A1
• Time in Patent Office: 679 Days
• Field of Search: 701 41
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• 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 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driver input representing a steering maneuver associated with non-autonomous operation of a host vehicle is detected. A first target vehicle in an adjacent lane relative to the host vehicle is identified. The steering maneuver is allowed when a second target vehicle is detected in an original lane relative to the host vehicle. The steering maneuver is prevented when no second target vehicle is detected in the original lane of the host vehicle.

Claims

1. A system, comprising a computer including a processor and a memory storing instructions executable by the processor, the instructions including:

detecting a driver input representing a steering maneuver associated with non-autonomous operation of a host vehicle;

identifying a first target vehicle in an adjacent lane relative to the host vehicle;

determine a threat level associated with the first target vehicle based on a predicted path of the first target vehicle; and

allowing the steering maneuver when a second target vehicle is detected in an original lane relative to the host vehicle and preventing the steering maneuver when no second target vehicle is detected in the original lane of the host vehicle and the threat level exceeds a predetermined threshold.

2. The system of claim 1, wherein the instructions further include actuating a brake to prevent the steering maneuver.

3. The system of claim 2, wherein the instructions further include releasing the brake when an accelerator pedal position angle exceeds a pedal position angle threshold for a predetermined period of time.

4. The system of claim 2, wherein the instructions further include releasing the brake after the first target vehicle passes the host vehicle.

5. The system of claim 1, wherein detecting the driver input includes detecting a direction of rotation of a steering wheel toward the adjacent lane and wherein preventing the steering maneuver includes actuating the steering wheel in a direction opposite the direction of rotation of the driver input.

6. The system of claim 1, wherein the instructions further include allowing the steering maneuver after the first target vehicle passes the host vehicle.

7. The system of claim 6, wherein allowing the steering maneuver includes releasing a brake.

8. The system of claim 1, wherein detecting the driver input includes detecting a direction of rotation of a steering wheel toward the adjacent lane and wherein preventing the steering maneuver includes actuating the steering wheel in a direction opposite the direction of rotation of the driver input.

9. The system of claim 1, wherein preventing the steering maneuver includes limiting a powertrain output to prevent the steering maneuver.

10. A method, comprising:

detecting a driver input representing a steering maneuver associated with non-autonomous operation of a host vehicle;

identifying a first target vehicle in an adjacent lane relative to the host vehicle;

determining a threat level associated with the first target vehicle based on a predicted path of the first target vehicle; and

allowing the steering maneuver when a second target vehicle is detected in an original lane relative to the host vehicle and preventing the steering maneuver when no second target vehicle is detected in the original lane of the host vehicle and the threat level exceeds a predetermined threshold.

11. The method of claim 10, further comprising actuating a brake to prevent the steering maneuver.

12. The method of claim 11, further comprising releasing the brake when an accelerator pedal position angle exceeds a pedal position angle threshold for a predetermined period of time.

13. The method of claim 11, further comprising releasing the brake after the first target vehicle passes the host vehicle.

14. The method of claim 10, wherein detecting the driver input includes detecting a direction of rotation of a steering wheel toward the adjacent lane and wherein preventing the steering maneuver includes actuating the steering wheel in a direction opposite the direction of rotation of the driver input.

15. The method of claim 10, further comprising allowing the steering maneuver after the first target vehicle passes the host vehicle.

16. The method of claim 15, wherein allowing the steering maneuver includes releasing a brake.

17. The method of claim 10, wherein detecting the driver input includes detecting a direction of rotation of a steering wheel toward the adjacent lane and wherein preventing the steering maneuver includes actuating the steering wheel in a direction opposite the direction of rotation of the driver input.

18. The method of claim 10, wherein preventing the steering maneuver includes limiting a powertrain output to prevent the steering maneuver.