Vehicle collision management responsive to traction conditions in an avoidance path

• US 9,199,642 B2
• Filed: 01/21/2014
• Issued: 12/01/2015
• Est. Priority Date: 01/21/2014
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Duncan, William David, Hyde, Roderick A., Petroski, Robert C., Wood, Lowell L. Jr.
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US14/160,088
• Publication Number:
  US 20150203113A1
• Time in Patent Office: 679 Days
• Field of Search: 701/1, 701/36, 701/301, 340/438, 340435-436
• US Class Current: 1/1
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

Described embodiments include a system and a method. A system includes a surface evaluation circuit configured to determine a surface fraction characteristic of at least a portion of a driving surface of a possible collision avoidance path of a vehicle. The system includes a rating circuit configured to assign a risk value to the possible collision avoidance path responsive to the determined surface traction characteristic. The system includes a selector circuit having a rule-set configured to select a collision avoidance path from at least two possible collision avoidance paths in response to an evaluation of the respective assigned risk value for each of the at least two possible collision avoidance paths.

Claims

1. A system comprising:

a surface evaluation circuit configured to determine a surface traction characteristic of at least a portion of a driving surface of a possible collision avoidance path of a vehicle;

a rating circuit configured to assign a risk value to the possible collision avoidance path responsive to the determined surface traction characteristic; and

a selector circuit having a rule-set configured to select a collision avoidance path from at least two possible collision avoidance paths in response to an evaluation of the respective assigned risk value for each of the at least two possible collision avoidance paths.

2. The system of claim 1, wherein the surface traction characteristic includes a surface characteristic that affects a handling characteristic of the vehicle.

3. The system of claim 1, wherein the at least a portion of the driving surface includes a degraded driving surface.

4. The system of claim 3, wherein the degraded driving surface includes a surface degraded by a presence of water, marsh, brush, rocks, sand, dirt, grass, or snow.

5. The system of claim 3, wherein the degraded driving surface includes a surface not reasonably expected to support a wheel of the vehicle.

6. The system of claim 1, wherein the at least a portion of the driving surface includes an on-road or off-road portion of the driving surface.

7. The system of claim 1, wherein the surface traction characteristic is determined in response to data indicative of a condition of the driving surface.

8. The system of claim 1, wherein the surface traction characteristic includes a combination of a first surface traction characteristic of a portion of a driving surface of a possible collision avoidance path likely to be traversed by a first wheel of the vehicle and a second surface traction characteristic of the portion of the driving surface likely to be traversed by a second wheel of the vehicle.

9. The system of claim 7, wherein the data indicative of a condition of at least a portion of the surface is acquired by a sensor carried on-board the vehicle.

10. The system of claim 1, wherein the possible collision avoidance path includes a possible collision avoidance path where at least one wheel of the vehicle is off-road during at least a portion of the collision avoidance path.

11. The system of claim 1, wherein the risk value is assigned based upon a capability of the vehicle to respond to the determined surface traction characteristic.

12. The system of claim 11, wherein the risk value is assigned responsive to a capability of the vehicle to respond to the determined surface traction characteristic in view of the vehicle'"'"'s existing speed or existing weather conditions.

13. The system of claim 11, wherein the risk value is assigned responsive to a machine-learned capability of the vehicle to respond to the determined surface traction characteristic.

14. The system of claim 1, wherein the rule-set is structured to select the collision avoidance path having the lowest risk value.

15. The system of claim 1, wherein the rule set is responsive to a comparison of the respective the respective assigned risk value for each of the at least two possible collision avoidance paths.

16. The system of claim 1, further comprising:

a collision avoidance circuit configured to generate a collision avoidance instruction responsive to the selected collision avoidance path.

17. The system of claim 1, further comprising:

a collision avoidance circuit configured to generate at least two possible collision avoidance paths of the vehicle responsive to an environment or situation indicating a possible collision threat.

18. The system of claim 1, further comprising:

a display device configured to display a human perceivable presentation of an aspect of the selected collision avoidance path.

19. The system of claim 1, further comprising:

a vehicle operations controller configured to initiate an implementation of an aspect of the selected collision avoidance path by a control system of the vehicle.

20. The system of claim 19, wherein the vehicle operations controller includes a steering controller of the vehicle.

21. The system of claim 19, wherein the vehicle operations controller includes a braking controller of the vehicle.

22. The system of claim 19, wherein the vehicle operations controller includes a throttle controller of the vehicle.

23. The system of claim 19, wherein the vehicle operations controller is further configured to initiate an implementation of an aspect of the selected collision avoidance path by the vehicle by preparing for the surface traction characteristic ahead of the selection of the collision avoidance path.

24. The system of claim 1, further comprising:

a communication circuit configured to output a signal indicative of the selected collision avoidance path.

25. The system of claim 1, further comprising:

a sensor configured to acquire data indicative of the condition of the portion of the driving surface of the possible collision avoidance path.

26. The system of claim 1, further comprising:

another sensor configured to acquire data indicative of an environment or situation external to the collision-managed vehicle.

27. The system of claim 1, further comprising:

a computer readable storage media configured to save the selected collision avoidance path.

28. A vehicle comprising:

a chassis;

at least two wheels;

a propulsion system;

a body;

a system comprising;

a surface evaluation circuit configured to determine a surface traction characteristic of at least a portion of a driving surface of a possible collision avoidance path of the vehicle;

a rating circuit configured to assign a risk value to the possible collision avoidance path responsive to the determined surface traction characteristic; and

a selector circuit having a rule-set that selects a collision avoidance path from at least two possible collision avoidance paths, the rule-set responsive to an evaluation of a respective assigned risk value for each of the at least two possible collision avoidance paths.

29. The vehicle of claim 28, the system further comprising:

a vehicle operations controller configured to initiate an implementation of an aspect of the selected collision avoidance path by a control system of the vehicle.

30. The vehicle of claim 28, the system further comprising:

a display system configured to display a human perceivable presentation of an aspect of the selected collision avoidance path.

31. A system comprising:

a sensor configured to detect a first surface traction characteristic of a possible path of a vehicle and provide a first sensor signal representative of the first surface traction characteristic;

a decision circuit configured to receive the first sensor signal and determine, based on the first sensor signal and a calculated risk, whether to provide a path deviation signal, the path deviation signal including information representative of risk to staying on the possible path of the vehicle.

32. A method implemented in a self-propelled vehicle, the method comprising:

determining a surface traction characteristic of at least a portion of a driving surface of a possible collision avoidance path of a vehicle;

assigning a risk value to the possible collision avoidance path in response to the determined surface traction characteristic; and

selecting a collision avoidance path from at least two possible collision avoidance paths, the selecting responsive to an evaluation of an assigned risk value for each of the at least two possible collision avoidance paths.

33. The method of claim 32, further comprising:

displaying a human perceivable presentation of an aspect of the selected collision avoidance path.

34. The method of claim 32, further comprising:

initiating an implementation of an aspect of the selected collision avoidance path by a control system of the vehicle.

35. The method of claim 32, further comprising:

acquiring data indicative of the condition of the driving surface of the possible collision avoidance path.