Safety stoppage device and method for safety stoppage of an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-10106135-B2
Application number	US-201615203010-A
Country	US
Kind code	B2
Filing date	Jul 6, 2016
Priority date	Jul 13, 2015
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

A safety stoppage device and method for safety stoppage of an autonomous vehicle including control networks and sensors for monitoring the autonomous vehicle surroundings and motion includes a brake-control unit for a brake system including wheel brakes of the autonomous vehicle, and a signaling processing system for processing sensor signals enabling an autonomous drive mode thereof. Where a drivable space exists is predicted based on data from the sensors and sensor fusion, and a safe trajectory to a stop within the drivable space is calculated and sent to the brake-control unit and stored therein. The brake-control unit is shielded against electromagnetic compatibility problems and configured to monitor if the control networks are operational and, if determined incapacitated, control the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space using differential braking of the wheel brakes thereof in order to effectuate steering.

First claim

What is claimed is:

1. A safety stoppage device for an autonomous vehicle having a control network and sensors for monitoring surroundings and motion of the autonomous vehicle, the safety stoppage device comprising:
a brake-control unit for a brake system including wheel brakes of the autonomous vehicle, the brake-control unit comprising a processor;
a signaling processing system comprising a processor for processing sensor signals enabling an autonomous drive mode of the autonomous vehicle, wherein the signaling processing system is configured to predict where a drivable space exists based on data from the sensors, calculate a safe trajectory to a stop within the drivable space, and send the calculated safe trajectory to the brake-control unit via the control network;
wherein the brake-control unit is shielded against electromagnetic interference, and is configured to store a most recently calculated safe trajectory to a stop within the drivable space, and monitor if the control network of the autonomous vehicle is operational;
wherein, if the brake-control unit determines that the control network of the autonomous vehicle is incapacitated, the brake-control unit is configured to control the wheel brakes of the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space stored by the brake-control unit using differential braking of the wheel brakes in order to effectuate steering along the safe trajectory.

2. The safety stoppage device according to claim 1 wherein the signaling processing system is configured to continuously calculate the safe trajectory to a stop within the drivable space as the trajectory incurring the lowest risk of the autonomous vehicle becoming involved in an accident.

3. The safety stoppage device according to claim 1 wherein the brake-control unit is shielded against electromagnetic compatibility problems by a conductive enclosure.

4. The safety stoppage device according to claim 3 wherein the conductive enclosure is a metallic housing surrounding the brake-control unit.

5. The safety stoppage device according to claim 1 wherein the brake-control unit is configured to control the wheel brakes of the autonomous vehicle to follow the most recently calculated safe trajectory using an open-loop brake-controller comprising a processor.

6. The safety stoppage device according to claim 1 wherein the brake-control unit is configured to control the wheel brakes of the autonomous vehicle to follow the most recently calculated safe trajectory using a closed-loop brake-controller comprising a processor.

7. The safety stoppage device according to claim 6 wherein the closed-loop brake-controller is configured to use feedback on its adherence to the most recently calculated safe trajectory from a course determination unit comprising a processor integrated to the brake-control unit.

8. A method for safety stoppage using a brake system including a brake-control unit and wheel brakes of an autonomous vehicle, the brake-control unit comprising a processor, the autonomous vehicle having a control network and sensors for monitoring surroundings and motion of the autonomous vehicle, and a signaling processing system comprising a processor for processing sensor signals enabling an autonomous drive mode of the autonomous vehicle, the method comprising:
predicting, by the signaling processing system, where a drivable space exists based on data from the sensors;
calculating, by the signaling processing system, a safe trajectory to a stop within the drivable space;
sending the calculated safe trajectory to the brake-control unit via the control network;
shielding the brake-control unit against electromagnetic interference;
storing, in the brake-control unit, a most recently calculated safe trajectory to a stop within the drivable space;
monitoring, by the brake-control unit, if the control network of the autonomous vehicle is operational; and
if it is determined that the control network of the autonomous vehicle is incapacitated, controlling, by the brake-control unit, the wheel brakes of the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space stored by the brake-control unit using differential braking of the wheel brakes in order to effectuate steering along the safe trajectory.

9. The method according to claim 8 further comprising calculating the safe trajectory to a stop within the drivable space as the trajectory incurring the lowest risk of the autonomous vehicle becoming involved in an accident.

10. The method according to claim 8 further comprising shielding the brake-control unit against electromagnetic compatibility problems using a conductive enclosure.

11. The method according to claim 10 further comprising shielding the brake-control unit against electromagnetic compatibility problems through arranging a metallic housing to surround the brake-control unit as the conductive enclosure.

12. The method according to claim 8 further comprising controlling, by the brake-control unit, the wheel brakes of the autonomous vehicle to follow the most recently calculated safe trajectory using an open-loop brake-controller comprising a processor.

13. The method according to claim 8 further comprising controlling, by the brake-control unit, the wheel brakes of the autonomous vehicle to follow the most recently calculated safe trajectory using a closed-loop brake-controller comprising a processor.

14. The method according to claim 13 wherein the closed-loop brake-controller uses feedback on its adherence to the most recently calculated safe trajectory from a course determination unit comprising a processor integrated to the brake-control unit.

15. An autonomous vehicle comprising:
a brake system including wheel brakes;
a control network and sensors for monitoring surroundings and motion of the autonomous vehicle; and
a safety stoppage device comprising:
a brake-control unit for the brake system, the brake-control unit comprising a processor;
a signaling processing system comprising a processor for processing sensor signals enabling an autonomous drive mode of the autonomous vehicle;

wherein the signaling processing system is configured to predict where a drivable space exists based on data from the sensors, calculate a safe trajectory to a stop within the drivable space, and send the calculated safe trajectory to the brake-control unit via the control network;
wherein the brake-control unit is shielded against electromagnetic interference, and is configured to store a most recently calculated safe trajectory to a stop within the drivable space, and monitor if the control network of the autonomous vehicle is operational;
wherein, if the brake-control unit determines that the control network of the autonomous vehicle is incapacitated, the brake-control unit is configured to control the wheel brakes of the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space stored by the brake-control unit using differential braking of the wheel brakes in order to effectuate steering along the safe trajectory.

Assignees

• Volvo Car Corp

Inventors

• Coelingh Erik
• Kindberg Leif

Classifications

• G06F18/251

  of input or preprocessed data · CPC title

• B60W10/18 Primary

  including control of braking systems · CPC title

• B60T7/12

  for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} · CPC title

• B60W2050/0012

  Feedforward or open loop systems · CPC title

• B60W2050/0008

  Feedback, closed loop systems or details of feedback error signal · CPC title