Method for avoiding a collision of a vehicle with an object

• US 10,065,637 B2
• Filed: 07/06/2016
• Issued: 09/04/2018
• Est. Priority Date: 07/06/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Arndt, Christoph, Notelaers, Sabine, Bosch, Helmuth, Zegelaar, Peter W. A., Mills, Aaron L., Schondorf, Steven Yellin
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US15/203,523
• Publication Number:
  US 20170008518A1
• Time in Patent Office: 790 Days
• Field of Search: 701 1, 701 41
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2220/03 Driver counter-steering; Avoidance of conflicts with ESP control
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• 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: B60Y 2300/09 Taking automatic action to avoid collision, e.g. braking or steering
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A method for operating a driver assistance system (DAS) to avoid a collision of a vehicle with an object At least one object in the vehicle environment is detected by vehicle-mounted environmental sensors, and is evaluated in terms of risk of collision with the vehicle, an an automatic intervention into the vehicle movement is carried out depending on this evaluation. During the automatic intervention, the following steps are performed: 1) Carrying out an automatic braking of the vehicle depending on the evaluation of collision risk, and 2) permitting a steering intervention by the driver to perform an evasive steering maneuver, in reaction to which the automatic braking is terminated. The driver-initiated steering intervention must occur before a point-in-time at which the DAS has determined the collision cannot be avoided by steering.

Claims

1. A method for operating a driver assistance system of a vehicle to avoid a collision, comprising:

operating a sensor to detect an object;

determining that a risk of collision with the object exceeds a threshold;

beginning automatic braking;

monitoring control inputs by the driver; and

in reaction to a steering intervention by the driver to execute an evasive steering maneuver, terminating the automatic braking and making a steering input assisting the evasive steering maneuver.

2. The method of claim 1, further comprising:

terminating the automatic braking only if the steering intervention is made prior to a point-in-time at which collision with the object is determined by the driver assistance system to be unavoidable by the evasive steering maneuver.

3. The method of claim 1, wherein the steering input is based at least in part on a collision avoidance trajectory calculated by the driver assistance system.

4. The method of claim 3, further comprising terminating the steering input in response to the driver making a further steering and/or braking intervention that conflicts with the collision avoidance trajectory.

5. The method of claim 1, wherein the steering input is based at least in part on a level of the collision risk.

6. The method of claim 1, wherein the steering input is based at least in part on a vehicle velocity.

7. The method of claim 1, further comprising further assisting the evasive steering maneuver by making a braking input.

8. A method for operating a driver assistance system of a vehicle to avoid a collision, comprising:

operating a sensor to detect an object in a vehicle environment;

determining that a risk of collision with the object exceeds a threshold;

beginning automatic braking to slow the vehicle;

monitoring control inputs by the driver; and

upon detection of a driver steering intervention to execute an evasive steering maneuver prior to a point at which collision with the object is unavoidable by steering, terminating the automatic braking and making a steering input assisting the evasive steering maneuver.

9. The method of claim 8, wherein the steering input is based at least in part on a collision avoidance trajectory calculated by the driver assistance system.

10. The method of claim 9, further comprising terminating the steering input in response to the driver making a further steering and/or braking intervention that conflicts with the collision avoidance trajectory.

11. The method of claim 8, wherein the steering input is based at least in part on a level of the collision risk.

12. The method of claim 8, wherein the steering input is based at least in part on a vehicle velocity.

13. The method of claim 8, further comprising further assisting the evasive steering maneuver by making a braking input.

14. A method for operating a driver assistance system of a vehicle to avoid a collision with an object detected by sensors, comprising:

braking the vehicle in response to a risk of collision with the object reaching a threshold;

terminating braking in response to detection of a steering intervention by the driver to avoid colliding with the object; and

applying a steering input assisting the steering intervention.

15. The method of claim 14, further comprising:

terminating braking only if the steering intervention is made prior to a point-in-time at which collision with the object is determined by the driver assistance system to be unavoidable by an evasive steering maneuver.

16. The method of claim 14, wherein the steering input is based at least in part on a collision avoidance trajectory calculated by the driver assistance system.

17. The method of claim 16, further comprising terminating the steering input in response to the driver making a further steering and/or braking intervention that conflicts with the collision avoidance trajectory.

18. The method of claim 14, wherein the steering input is based at least in part on a level of the collision risk.

19. The method of claim 14, wherein the steering input is based at least in part on a vehicle velocity.

20. The method of claim 14, further comprising further assisting the steering intervention by making a braking input.