Method and device for avoiding or mitigating a collision of a vehicle with an obstacle

Patent metadata

Field	Value
Publication number	US-10369990-B2
Application number	US-201314403494-A
Country	US
Kind code	B2
Filing date	Apr 16, 2013
Priority date	May 24, 2012
Publication date	Aug 6, 2019
Grant date	Aug 6, 2019

Abstract

A method is described for avoiding or mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, if the obstacle is at least partially blocking a planned travel envelope of the vehicle, the method including a step of detecting and a step of adapting. In the step of detecting, a position and/or trajectory of the obstacle is detected. In the step of adapting, the travel envelope is adapted with the aid of the position and/or the trajectory, in order to avoid or mitigate the collision.

First claim

What is claimed is:

1. A method for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, the method comprising:
generating, by a computing device, a planned travel envelope that represents a predetermined corridor within which the vehicle is to travel, the predetermined corridor having a first side and a second side;
after generating the travel envelope:
detecting at least one of a position and a trajectory of the obstacle, and
adapting the travel envelope by shifting at least one of the sides of the predetermined corridor of the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision, wherein the step of adapting includes adapting the travel envelope within a traffic space, the traffic space including a traffic lane and an area that is detected as drivable in the step of detecting, and which goes beyond a boundary of the traffic lane that is facing away from the obstacle; and

automatically controlling the vehicle in accordance with the adapted travel envelope.

2. The method as recited in claim 1 , wherein the shifting of the least one of the sides is in a direction that is facing away from the obstacle.

3. The method as recited in claim 2 , wherein the step of adapting includes shifting a side of the corridor facing the obstacle toward an edge of the obstacle facing the vehicle within a certain tolerance range.

4. The method as recited in claim 1 , wherein the step of detecting detects the area as drivable even if an object is detected in the area that is classified as belonging to a predefined obstacle class.

5. The method as recited in claim 1 , wherein the step of adapting includes laterally expanding the area up to an edge of a roadway.

6. The method as recited in claim 1 , wherein the step of adapting includes expanding the traffic space beyond an edge of a roadway.

7. The method as recited in claim 1 , wherein the step of adapting includes laterally expanding the area up to at least one of a further obstacle and a protective device.

8. The method as recited in claim 1 , further including supplying a delay signal for the vehicle using the at least one of the position and the trajectory, in order to one of avoid and mitigate the collision.

9. The method as recited in claim 8 , wherein the step of supplying includes supplying the delay signal until the vehicle comes to a standstill.

10. The method as recited in claim 1 , further comprising detecting whether a driver of the vehicle is evading the obstacle, wherein the step of adapting the travel envelope includes suppressing completely at least one of a modification and an adaptation of the travel envelope if it is detected that the driver of the vehicle is evading the obstacle.

11. A method for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, the method comprising:
generating, by a computing device, a planned travel envelope that represents a predetermined corridor within which the vehicle is to travel, the predetermined corridor having a first side and a second side; and
after generating the travel envelope:
detecting at least one of a position and a trajectory of the obstacle, and
adapting the travel envelope by shifting at least one of the sides of the predetermined corridor of the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision, wherein the step of adapting includes reducing a width of the travel envelope to a width of the vehicle; and

automatically controlling the vehicle in accordance with the adapted travel envelope.

12. A device for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle comprising:
an arrangement including a computing device for generating a planned travel envelope that represents a predetermined corridor within which the vehicle is to travel, the predetermined corridor having a first side and a second side; and
an arrangement for detecting, after the travel envelope is generated, at least one of a position and a trajectory of the obstacle; and
an arrangement for adapting, after the travel envelope is generated, the travel envelope by shifting at least one of the sides of the predetermined corridor of the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision, wherein the adapting includes adapting the travel envelope within a traffic space, the traffic space including a traffic lane and an area that is detected as drivable in the step of detecting, and which goes beyond a boundary of the traffic lane that is facing away from the obstacle; and
an arrangement for automatically controlling the vehicle in accordance with the adapted travel envelope.

13. A non-transitory storage medium storing a computer program product having program code that when executed on a device implements a method for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, the method comprising:
generating, by a computing device, a planned travel envelope that represents a predetermined corridor within which the vehicle is to travel, the predetermined corridor having a first side and a second side; and
after generating the travel envelope:
detecting at least one of a position and a trajectory of the obstacle, and
adapting the travel envelope by shifting at least one of the sides of the predetermined corridor of the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision, wherein the step of adapting includes adapting the travel envelope within a traffic space, the traffic space including a traffic lane and an area that is detected as drivable in the step of detecting, and which goes beyond a boundary of the traffic lane that is facing away from the obstacle; and

automatically controlling the vehicle in accordance with the adapted travel envelope.

Assignees

• Bosch Gmbh Robert

Inventors

• Gussner Thomas
• Schlender Thomas
• Buerkle Lutz

Classifications

• B60W2552/00

  Input parameters relating to infrastructure · CPC title

• B60W50/10 Primary

  Interpretation of driver requests or demands · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W10/184

  with wheel brakes · CPC title

• B60W10/18

  including control of braking systems · CPC title