SYSTEM AND METHOD FOR ENHANCED VEHICLE CONTROL

• US 20130218396A1
• Filed: 07/09/2012
• Published: 08/22/2013
• Est. Priority Date: 07/14/2011
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: MOSHCHUK, NIKOLAI K., CHEN, SHIH-KEN, LEE, JIN-WOO, ZAGORSKI, CHAD T., CHATTERJEE, AAMRAPALI
• Granted Patent: US 8,775,006 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• 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 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• 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 method and system may determine, in a vehicle, a desired path around an object based on a location of the object relative to the vehicle, relative speed, road parameters and one or more vehicle parameters. The method and system may calculate one or more vehicle control parameter values which minimize a predicted deviation from the desired vehicle path. The method and system may determine whether the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints. If the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints, the one or more vehicle control parameter values may be reduced to one or more vehicle control parameter values not causing the vehicle to exceed the one or more vehicle stability constraints. The method and system may output the one or more vehicle control parameter values to a vehicle automated control device.

Claims

1-6. -6. (canceled)

7. A method for applying emergency maneuvers to a vehicle to avoid collision, the method comprising:

detecting, by a sensor, a threat of collision with an object;

activating a collision avoidance control system;

detecting, by the collision avoidance control system, whether a driver of the vehicle has initiated an action;

responsively to detecting that the driver has initiated an action, performing, by the collision avoidance control system, an assisted emergency maneuver, wherein the assisted emergency maneuver assists the driver in avoiding collision with the object;

responsively to detecting that the driver has not initiated an action, performing, by the collision avoidance control system, an automatic emergency maneuver, wherein the automatic emergency maneuver performs actions to avoid collision with the object.

8. The method of claim 7, wherein the assisted emergency maneuver comprises a braking procedure.

9. The method of claim 7, wherein the automatic emergency maneuver comprises a procedure selected from a group consisting of:

a braking procedure; and

a steering procedure.

10. The method of claim 7, further comprising:

determining, in the vehicle, a desired path around the object based on a location of the object relative to the vehicle, a relative speed, a road parameter, and a vehicle control parameter;

calculating a vehicle control parameter value which minimizes a predicted deviation from a desired vehicle path;

determining whether the vehicle control parameter value would cause the vehicle to exceed a vehicle stability constraint;

altering, if the vehicle control parameter value would cause the vehicle to exceed the vehicle stability constraint, the vehicle control parameter value to an alternate vehicle control parameter value, wherein the alternate vehicle control parameter value does not cause the vehicle to exceed the vehicle stability constraint; and

outputting the alternate vehicle control parameter value to a vehicle automated control device.

11. The method of claim 10, wherein the vehicle control parameter value comprises a steering angle command.

12. The method of claim 10, wherein calculating the vehicle control parameter value which minimize the predicted deviation from the desired vehicle path comprises calculating a steering angle command which minimizes a cost function.

13. The method of claim 10, wherein the vehicle stability constraint comprises a lateral acceleration constraint.

14. The method of claim 10, wherein the vehicle stability constraint comprises a slip angle constraint.

15. The method of claim 14, wherein the vehicle stability constraint comprises a lateral acceleration constraint.

16. A method for controlling a vehicle to avoid collision with an object, the method comprising:

determining, in the vehicle, a desired path around the object based on a location of the object relative to the vehicle, a relative speed, a road parameter, and a vehicle parameter;

calculating a vehicle control parameter value which minimizes a predicted deviation from a desired vehicle path;

determining whether the vehicle control parameter value would cause the vehicle to exceed a vehicle stability constraint;

altering, if the vehicle control parameter value would cause the vehicle to exceed the vehicle stability constraint, the vehicle control parameter value to an alternate vehicle control parameter value, wherein the alternate vehicle control parameter value does not cause the vehicle to exceed the vehicle stability constraint; and

outputting the alternate vehicle control parameter value to a vehicle automated control device.

17. The method of claim 16, wherein the vehicle control parameter value comprises a steering angle command.

18. The method of claim 16, wherein calculating the vehicle control parameter value which minimize the predicted deviation from the desired vehicle path comprises calculating a steering angle command which minimizes a cost function.

19. The method of claim 16, wherein the vehicle stability constraint comprises a lateral acceleration constraint.

20. The method of claim 16, wherein the vehicle stability constraint comprises a slip angle constraint.

21. The method of claim 20, wherein the vehicle stability constraint comprises a lateral acceleration constraint.

22. A collision avoidance control system for a vehicle to avoid collision with an object, the collision avoidance control system comprising a processor, a memory, a storage, an input device, and an output device, and wherein the collision avoidance control system is configured:

to determine, in the vehicle, a desired path around the object based on a location of the object relative to the vehicle, a relative speed, a road parameter, and a vehicle control parameter;

to calculate a vehicle control parameter value which minimizes a predicted deviation from a desired vehicle path;

to determine whether the vehicle control parameter value would cause the vehicle to exceed a vehicle stability constraint;

to alter, if the vehicle control parameter value would cause the vehicle to exceed the vehicle stability constraint, the vehicle control parameter value to an alternate vehicle control parameter value, wherein the alternate vehicle control parameter value does not cause the vehicle to exceed the vehicle stability constraint; and

to output the alternate vehicle control parameter value to a vehicle automated control device.

23. The collision avoidance control system of claim 22, wherein the vehicle control parameter value comprises a steering angle command.

24. The collision avoidance control system of claim 22, wherein to calculate the vehicle control parameter value which minimize the predicted deviation from the desired vehicle path comprises a calculation of a steering angle command which minimizes a cost function.

25. The collision avoidance control system of claim 22, wherein the vehicle stability constraint comprises a lateral acceleration constraint.

26. The collision avoidance control system of claim 22, wherein the vehicle stability constraint comprises a slip angle constraint.