System for controlling a vehicle based on wheel angle tracking

• US 10,259,454 B2
• Filed: 12/30/2016
• Issued: 04/16/2019
• Est. Priority Date: 11/16/2016
• Status: Active Grant

• Current Assignee: NIO Technology Company Limited (Shanghai Anbin Technology Co., Ltd.)
• Original Assignee: Nio Usa Inc.
• Inventors: Newman, Austin, Polischuk, Dennis
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/394,925
• Publication Number:
  US 20180134284A1
• Time in Patent Office: 837 Days
• Field of Search: 701 36- 49
• CPC Class Codes: B60W 10/04 including control of propulsion units
• 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 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/001 the torque NOT being among the input parameters
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A control system has at least one sensor configured to track an orientation of a front wheel of a nearby vehicle and provide data indicative of the orientation. The control system also has a computing device including a processor and a memory. The computing device is configured to receive the data from the at least one sensor, determine a wheel angle parameter of the front wheel of the nearby vehicle based on the data, and generate a control command to change at least one of a direction or an acceleration of the vehicle based on the determined wheel angle parameter.

Claims

1. A control system of a vehicle, comprising:

at least one sensor configured to track an angular orientation of a front wheel of a nearby vehicle and provide data indicative of the angular orientation of the front wheel while the nearby vehicle is traveling parallel to a longitudinal axis of the vehicle; and

a computing device including a processor and a memory, the computing device configured to;

receive the data;

determine, while the nearby vehicle is traveling parallel to the longitudinal axis of the vehicle, a wheel angle parameter of the front wheel of the nearby vehicle based on the data, wherein the wheel angle parameter defines an angle of the front wheel relative to the longitudinal axis of the vehicle; and

generate a control command to change at least one of a direction or an acceleration of the vehicle based on the determined wheel angle parameter.

2. The control system of claim 1, wherein the at least one sensor is further configured to track an angular orientation of a body of the nearby vehicle and provide body angle data indicative of an angle of the body relative to the longitudinal axis, wherein the computing device is further configured to receive the body angle data, and wherein the wheel angle parameter corresponds to a change in the angle of the front wheel relative to the angle of the body.

3. The control system of claim 2, wherein the computing device is configured to compare the wheel angle parameter to a threshold value and generate the control command based on the comparison.

4. The control system of claim 3, wherein the computing device is configured to determine the threshold value based on one or more additional detected parameters.

5. The control system of claim 4, wherein the one or more additional detected parameters are selected from the group consisting of:

a distance of the vehicle to the nearby vehicle, a speed of the vehicle, and a speed of the nearby vehicle, a path of the road, and a wheel angle parameter of the vehicle.

6. The control system of claim 2, wherein the computing device is further configured to project a path of the nearby vehicle based on the wheel angle parameter, and determine whether to generate the control command based on the projected path.

7. The control system of claim 1, wherein the at least one sensor includes one or more of a radar sensor, an ultrasonic sensor, a LIDAR sensor, or a camera.

8. The control system of claim 1, wherein the at least one sensor is configured to capture a plurality of images of the front wheel of the nearby vehicle and the computing device is configured to determine the wheel angle parameter from the captured images.

9. The control system of claim 1, wherein the at least one sensor is configured to track at least two points on the nearby vehicle, at least one point being on the front wheel, and the computing device is configured to determine the wheel angle parameter based on the location of the at least two points.

10. The control system of claim 9, wherein at least one point of the at least two points is on the vehicle body.

11. The control system of claim 9, wherein at least two points are on the vehicle front wheel.

12. A method of controlling a vehicle, comprising:

tracking an angular orientation of a front wheel of a nearby vehicle;

tracking an angular orientation of a body of the nearby vehicle while the nearby vehicle is traveling parallel to a longitudinal axis of the vehicle;

determining, while the nearby vehicle is traveling parallel to the longitudinal axis of the vehicle, a change in the tracked angular orientation of the front wheel relative to the angular orientation of the body of the nearby vehicle;

determining a wheel angle parameter of the front wheel of the nearby vehicle based on the determined change in the angular orientation, the wheel angle parameter defining an angle of the front wheel relative to the longitudinal axis of the vehicle;

evaluating the wheel angle parameter; and

adjusting at least one of a direction or an acceleration of the vehicle based on the evaluation.

13. The method of claim 12, wherein tracking the angular orientation of the front wheel includes capturing a plurality of images of the front wheel of the nearby vehicle and determining the wheel angle parameter includes processing image data to identify the wheel angle parameter.

14. The method of claim 12, wherein the change in the angular orientation of the front wheel occurs and is determined before a change in the angular orientation of the body occurs and is determined.

15. The method of claim 12, wherein evaluating the wheel angle parameter includes comparing the wheel angle parameter to a threshold value.

16. The method of claim 12, wherein evaluating the wheel angle parameter includes projecting a path of the nearby vehicle based on the wheel angle parameter.

17. A vehicle, comprising:

a vehicle body;

a power system configured to accelerate the vehicle body;

a braking system configured to decelerate the vehicle body;

a steering system configured to control a direction of the vehicle body; and

a control system configured to control at least one of a direction or an acceleration of the vehicle body, the control system including;

at least one sensor that tracks an angular orientation of a front wheel of a nearby vehicle and provide data indicative of the orientation of the front wheel while the nearby vehicle is traveling adjacent to the vehicle; and

a computing device including a processor and a memory, the computing device programmed to;

receive the data;

determine a wheel angle parameter of the front wheel of the nearby vehicle based on the data, wherein the wheel angle parameter defines an angle of the front wheel relative to a longitudinal axis of the vehicle that is different from an angle of a body of the nearby vehicle relative to the longitudinal axis of the vehicle; and

generate a control command to change at least one of a direction or an acceleration of the vehicle body based on the determined wheel angle parameter.

18. The vehicle of claim 17, wherein the at least one sensor includes a plurality of sensors, including at least one sensor on each side of the vehicle body.

19. The vehicle of claim 18, wherein the plurality of sensors include at least one sensor in each corner area of the vehicle body.

20. The vehicle of claim 17, wherein the at least one sensor includes one or more of a radar sensor, an ultrasonic sensor, a LIDAR sensor, or a camera.