System and method for collision avoidance maneuver path determination with jerk limit

• US 9,318,023 B2
• Filed: 08/31/2011
• Issued: 04/19/2016
• Est. Priority Date: 08/31/2011
• 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, Zagorski, Chad T., Chatterjee, Aamrapali
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): NGUYEN, ROBERT T
• Application Number:
  US13/222,499
• Publication Number:
  US 20130054128A1
• Time in Patent Office: 1,693 Days
• Field of Search: 701/301, 701/300
• US Class Current: 1/1
• 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 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the 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 1/165 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

In a vehicle, an optimal path curvature limited by one or more constraints may be determined. The constraints may be related to lateral jerk and one or more vehicle dynamics constraints. Based on the optimal path curvature, an optimal vehicle path around an object may be determined. The optimal vehicle path may be output to a collision avoidance control system. The collision avoidance control system may cause the vehicle to take a certain path.

Claims

1. A method for performing a vehicular, collision avoidance maneuver comprising:

using a processor in the vehicle to determine a travel path from sensor data responsively to detection of a threshold distance between a vehicle and an object, the travel path having a series of path segments defined by alternating cubic and quadratic polynomial equations,

wherein each of the cubic equations has a second derivative whose slope defines a trajectory curvature rate constraint,

wherein each of the quadratic equations has a second derivative whose constant value defines a trajectory curvature limit,

wherein lateral position y and longitudinal position x are measured from a center of gravity of the vehicle such that;

a first path segment of the series of path segments is defined as;

2. The method of claim 1, wherein the processor is further configured to determine a sixth path segment of the series of path segments, the sixth path segment defined as y₆(x)=y_lane(x), x>

x₅, wherein y_lane =½

β

x₅²+γ

x₅+δ

, wherein β

is lane curvature, γ

is lane heading, and δ

is lane offset.

3. The method of claim 1, wherein the lateral acceleration rate constraint has a value ranging between 1 g/s to about 2 g/s.

4. The method of claim 1, wherein the lateral acceleration constraint is implemented as 6 m/s².

5. The method of claim 3, wherein the lateral acceleration constraint is implemented as 6 m/s².

6. A system for determining a travel path for a vehicular collision avoidance maneuver comprising:

a processor in a vehicle configured to determine a travel path from sensor data responsively to detection of a threshold distance between the vehicle and an object, the travel path having a series of path segments defined by alternating cubic and quadratic polynomial equations,

wherein each of the cubic equations has a second derivative whose slope defines a trajectory curvature rate constraint,

wherein each of the quadratic equations has a second derivative whose constant value defines a trajectory curvature limit,

wherein lateral position y and longitudinal position x are measured from a center of gravity of the vehicle such that;

a first path segment of the series of path segments is defined as;

7. The system of claim 6, wherein the processor is further configured to determine a sixth path segment of the series of path segments defined as y₆ (x)=y_lane (x), x>

x₅ , wherein y_lane =½

β

x₅²+γ

x₅+δ

, wherein β

is lane curvature, γ

is lane heading, and δ

is lane offset.

8. The system of claim 6, wherein the lateral acceleration rate constraint has a value ranging between 1 g/s to about 2 g/s.

9. The system of claim 6, wherein the lateral acceleration constraint is implemented as 6 m/s².

10. The system of claim 8 wherein the lateral acceleration constraint is implemented as 6 m/s².