METHOD FOR EXECUTING AN EVASIVE MANEUVER, COMPUTER PROGRAM PRODUCT AND MOTOR VEHICLE

• US 20160152236A1
• Filed: 11/25/2015
• Published: 06/02/2016
• Est. Priority Date: 11/27/2014
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: YI, Boliang, Bonarens, Frank
• Granted Patent: US 9,637,121 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering

Abstract

A method, control unit and computer program product is disclosed for executing an evasive maneuver of a motor vehicle. If an obstacle is detected in the vehicle'"'"'s path, the evasive maneuver is initiated and a nominal trajectory is calculated. Control devices of the motor vehicle are actuated in such a way that the motor vehicle drives along the nominal trajectory under normal road conditions. The evasive maneuver is executed as calculated if the motor vehicle moves along the nominal trajectory. An alternative trajectory, which is actually possible with respect to the driving dynamics under the given road conditions, is calculated based on the reaction of the motor vehicle to the actuation of its control devices if the motor vehicle does not move along the nominal trajectory. The evasive maneuver is executed along the alternative trajectory.

Claims

1-15. -15. (canceled)

16. A method for executing an evasive maneuver of a motor vehicle having at least one control device for operating the motor vehicle, the method comprising:

initiating an evasive maneuver when an obstacle is detected in a drive path of the motor vehicle;

determining a nominal trajectory of the motor vehicle to execute the evasive maneuver;

actuating the at least one control device in such a way that the motor vehicle drives along the nominal trajectory under normal road conditions;

determining if the motor vehicle is travelling along the nominal trajectory;

determining an alternative trajectory as a function of current driving dynamics and road conditions based on the reaction of the motor vehicle to the actuation of the at least one control device when the motor vehicle is not travelling along the nominal trajectory; and

actuating the at least one control device is such a way that the motor vehicle drives along the alternative trajectory.

17. The method of claim 16, wherein a control algorithm determine the alternative trajectory when the motor vehicle does not move along the nominal trajectory.

18. The method of claim 16, wherein the method further comprises comparing the nominal trajectory and the actual trajectory and determining a deviation of parameters relevant to the driving dynamics from the comparison.

19. The method of claim 16, wherein determining if the motor vehicle is travelling along the nominal trajectory is made within a pre-determined time period from actuating the at least one control device.

20. The method of claim 16, further comprising storing vehicle-related driving dynamics parameters in a database in the motor vehicle.

21. The method of claim 20, wherein the method further comprises teaching the database specifics of the motor vehicle.

22. The method of claim 20, wherein the method further comprises calculating the nominal trajectory in a model-based fashion with the aid of the driving dynamics parameters in the database.

23. The method of claim 16, wherein actuating the at least one control device in such a way that the motor vehicle drives along the nominal trajectory under normal road conditions comprises executing at least one of an automatic steering control action and an automatic braking control action in order to perform the evasive maneuver.

24. The method of claim 23, wherein the method further comprised executing a counter steering control action in the case of a swerving motor vehicle in order to bring the motor vehicle under control.

25. The method of claim 23 wherein the method further comprised initiating a braking maneuver with the greatest braking power possible if the road conditions make it impossible to evade the obstacle.

26. The method of claim 16, wherein the nominal trajectory is a nominal path.

27. A computer program product with a non-transitory machine-readable storage medium, on which commands are embedded that, when executed by a control unit, cause the control unit to carry out a method according to claim 16.

28. A motor vehicle comprising a control unit featuring a memory with a computer program product of claim 27.

29. The motor vehicle of claim 28, wherein the motor vehicle further comprises at least one object detection sensor that points in the driving direction.

30. The motor vehicle of claim 28, wherein the control unit is operably connected to the at least one control device of the motor vehicle.