Collision avoidance based on front wheel off tracking during reverse operation

• US 10,259,453 B2
• Filed: 04/06/2016
• Issued: 04/16/2019
• Est. Priority Date: 04/10/2015
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Inventors: Fletcher, Graham Lanier, McClain, Jeremy J, Agnew, David Leslie, Muharemovic, Ibro, Herzog, Brandon, Chen, Joyce
• Primary Examiner(s): Elchanti, Hussein
• Assistant Examiner(s): Berns, Michael A
• Application Number:
  US15/091,602
• Publication Number:
  US 20160297432A1
• Time in Patent Office: 1,105 Days
• CPC Class Codes: B60D 1/245 for facilitating push back or parking of trailers
• CPC Class Codes: B60D 1/36 for facilitating connection, e.g. hitch catchers , visual guide means, signalling aids B60D1/465 takes precedence; vehicle signalling in general B60Q; optical arrangements specially adapted for viewing trailer-hitches B60R1/003
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• 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 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B62D 13/06 for backing a normally drawn trailer
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

A method of avoiding a collision while operating a vehicle in reverse comprises detecting an object proximate to a vehicle with at least one sensor including detecting objects located along side of a vehicle and determining a predicted vehicle path, including a tracking path for front wheels of the vehicle. A probability is determined with a controller located within the vehicle of collision of one of the front corner and a side of the vehicle with the object while the vehicle is travelling in reverse and at least one collision avoidance response is determined with the controller based on the probability of collision.

Claims

1. A method of avoiding a collision while operating a vehicle in reverse comprising:

detecting an object proximate to a vehicle with at least one sensor including detecting objects located along side of a vehicle;

determining a predicted vehicle path, including a tracking path for front wheels of the vehicle;

determining with a controller located within the vehicle a probability of collision of one of the front corner and a side of the vehicle with the object while the vehicle is travelling in reverse; and

if the determined probability of collision exceeds a predetermined threshold, initiating at least one collision avoidance response with the controller;

wherein determining the predicted vehicle path includes determining an offset of the front wheel path from the rear wheel path based upon a steering angle of the vehicle.

2. The method as recited in claim 1, wherein an object along the side of the vehicle is detected with sensors also used by another vehicle system.

3. The method of claim 1, wherein the at least one collision avoidance response is applying brakes of the vehicle with an automatic brake system.

4. The method of claim 3, wherein applying the vehicle brakes further includes sending instructions to an electronic brake system to apply the vehicle brakes.

5. The method as recited in claim 1, further comprising analyzing data from the at least one sensor with a controller to determine characteristics of the object and if the object detected is an obstacle for the vehicle to avoid.

6. The method as recited in claim 5, including generating a predictive model of the object that includes a range of possible locations of the object at a future time with associated values of probability based on current characteristics of the object.

7. The method of claim 1, wherein the controller includes instructions for calculating a steering maneuver to avoid an object located along side of the vehicle with a probability of collision above the predetermined threshold and sending the instructions to an electric power steering system.

8. The method as recited in claim 1, further comprising controlling the vehicle steering and braking systems with one of a trailer backing assist system and a hitch assist system.

9. The method as recited in claim 8, further comprising controlling the vehicle steering and braking with an independent input device for the trailer backing assist system.

10. The method as recited in claim 8, further comprising controlling the vehicle steering and braking with an independent input device and a controller for the hitch assist system in one of an autonomous and semi-autonomous manner.

11. A method of avoiding a collision while operating a vehicle and trailer in reverse comprising:

detecting an object proximate to the vehicle with at least one sensor including detecting objects located along side of the vehicle;

controlling the vehicle steering and braking systems with an independent input device for a trailer backing assist system;

determining a predicted vehicle path, including a tracking path for front wheels of the vehicle to determine an offset of the front wheel path, from a rear wheel path based upon a steering angle of the vehicle;

determining a probability of collision with the object with a controller located within the vehicle; and

if the determined probability of collision exceeds a predetermined threshold, initiating at least one collision avoidance response with the controller based on the probability of collision;

wherein determining the predicted vehicle path includes determining an offset of the front wheel path, from the rear wheel path based upon a steering angle of the vehicle.

12. The method as recited in claim 11, wherein an object along the side of the vehicle is detected with sensors also used by another vehicle system.

13. The method of claim 11, wherein the at least one collision avoidance action is applying the vehicle brakes with an automatic brake system.

14. The method as recited in claim 11, further comprising analyzing data from the at least one sensor with a controller to determine characteristics of the object and if the object detected is an obstacle for the vehicle to avoid.

15. The method as recited in claim 14, including generating a predictive model of the object that includes a range of possible locations of the object at a future time with associated values of probability based on current characteristics of the object.

16. A backing system for a vehicle comprising:

a camera mounted to a reverse path of a vehicle;

at least one sensor able to detect objects along side of the vehicle;

a steering angle sensor to detect a steering angle of the vehicle; and

a controller including instructions for;

detecting an object proximate to a vehicle with the at least one sensor including detecting objects located along side of a vehicle;

determining a predicted vehicle path, including a tracking path for front wheels of the vehicle;

determining a probability of collision with the object and at least one of a front corner and side of the vehicle; and

if the determined probability of collision exceeds a predetermined threshold, initiating at least one collision avoidance response based on the probability of collision;

wherein determining the predicted vehicle path includes determining an offset of the front wheel path, from the rear wheel path based upon a steering angle of the vehicle.

17. The backing system of claim 16, wherein an electric power steering system is connected to the controller, and wherein the controller includes instructions for calculating a steering maneuver to avoid an object located along side of the vehicle with a probability of collision above the predetermined threshold.

18. The backing system of claim 16, wherein a trailer is attached to the vehicle.

19. The backing system of claim 18, further comprising an independent input device which is controllably connected to steer and brake the vehicle.

20. The backing system of claim 19, wherein the independent input device is wireless.