US10118610B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10118610-B2 |
| Application number | US-201615252425-A |
| Country | US |
| Kind code | B2 |
| Filing date | Aug 31, 2016 |
| Priority date | Aug 31, 2016 |
| Publication date | Nov 6, 2018 |
| Grant date | Nov 6, 2018 |
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A controller in a host vehicle includes a processor and a memory storing processor-executable instructions. The processor is programmed to calculate an error bound for confidence intervals of a predicted position at a future time of a target vehicle relative laterally to a current position and orientation of the host vehicle at a current time based on a current position and velocity of the target vehicle and the future time.
Opening claim text (preview).
What is claimed is: 1. A controller comprising a processor and a memory storing processor-executable instructions, wherein the processor is programmed to: calculate an error bound for confidence intervals of a predicted position of a target vehicle; and instruct a steering system of a host vehicle to turn based on the error bound; wherein the predicted position is at a future time; the predicted position is relative laterally to a current position and orientation of the host vehicle at a current time; calculating the error bound is based on a current position and velocity of the target vehicle and the future time; and the error bound is a product of the future time and a value that is constant with respect to the future time. 2. The controller of claim 1 , wherein the error bound is further based on a current velocity and yaw rate of the host vehicle. 3. The controller of claim 2 , wherein the error bound is further based on a relative heading angle between the host and target vehicles. 4. The controller of claim 3 , wherein the error bound has a linear relationship with the future time. 5. The controller of claim 4 , wherein the error bound is determined from an equation: ε( t,s )= b ( t )*( s−t )+ c ( t ), in which b ( t ) = 1 1 + cos ( a M ( t ) ) * ( x targ M ( t ) + σ x targ x _ targ ) * ( y targ M ( t ) + σ y targ y _ targ ) * ( v targ M ( t ) + σ v targ v _ targ ) * ( v host M ( t ) + σ v host v _ host ) * ( w host M ( t ) + σ w host w
Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title
Yaw · CPC title
Position · CPC title
including control of braking systems · CPC title
Braking system · CPC title
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