Vehicle control system with traffic driving control

  • US 9,988,047 B2
  • Filed: 12/12/2014
  • Issued: 06/05/2018
  • Est. Priority Date: 12/12/2013
  • Status: Active Grant
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First Claim
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1. A control system for a vehicle, said control system comprising:

  • a camera disposed at a vehicle equipped with said control system, said camera having a field of view exterior of the equipped vehicle;

    an image processor operable to process image data captured by said camera;

    wherein said image processor is operable to process captured image data to detect at least one of (i) an object in the field of view of said camera and (ii) another vehicle in the field of view of said camera;

    wherein said control system is operable to determine a traffic condition that the equipped vehicle is traveling in and wherein, responsive to determination of the traffic condition, said control system is operable to control a steering system of the equipped vehicle;

    wherein, responsive at least in part to image processing of captured image data by said image processor, said control system is operable to detect a lane splitting vehicle approaching or adjacent to the equipped vehicle;

    wherein, with the equipped vehicle traveling in a traffic lane occupied by the equipped vehicle and responsive to detection, via image processing of captured image data by said image processor, of the lane splitting vehicle approaching or adjacent the equipped vehicle, said control system controls the steering system of the equipped vehicle to move the equipped vehicle in a direction away from a side region of the occupied traffic lane at which the lane splitting vehicle is detected while keeping the equipped vehicle in the occupied traffic lane;

    wherein, after moving the equipped vehicle in the direction away from the side region of the occupied traffic lane at which the lane splitting vehicle is detected, and responsive to determination, via image processing by said image processor of captured image data, that the lane splitting vehicle has passed the equipped vehicle, said control system controls the steering system of the equipped vehicle to move the equipped vehicle back towards a center region of the occupied traffic lane;

    wherein said control system, at least in part responsive to detection of a moving pedestrian in the path of travel of the equipped vehicle, reduces the forward speed of the equipped vehicle to allow the pedestrian time to move out of the path of travel of the moving equipped vehicle;

    wherein said control system provides at least one of (i) lateral control based on a state space controller and (ii) longitudinal control based on a sliding mode controller; and

    wherein said control is operable to control the equipped vehicle based at least in part on a five element state vector comprising (i) a yaw rate vector, (ii) a slip angle vector, (iii) a front wheel steering angle vector, (iv) a heading angle vector of the angle between the equipped vehicle and (v) a target path and a lateral deviation vector of the deviation from the target path.

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