Motor vehicle and autonomous or semi-autonomous maneuvering around an obstacle

Patent metadata

Field	Value
Publication number	US-10933872-B2
Application number	US-201715796600-A
Country	US
Kind code	B2
Filing date	Oct 27, 2017
Priority date	Oct 28, 2016
Publication date	Mar 2, 2021
Grant date	Mar 2, 2021

Abstract

An autonomous or semi-autonomous vehicle and maneuvering method for a vehicle for overcoming an obstacle may include detecting the obstacle in front of and/or behind the motor vehicle by a detection device, moving the motor away from the obstacle to come to a standstill at a defined distance x, wherein the running direction of a wheel is facing towards the obstacle. The method may also include accelerating the motor vehicle toward the obstacle within a power-limiting range of a drive unit of the vehicle. The power-limiting range may be a power-limiting range of an electric motor powering the vehicle.

First claim

What is claimed is:

1. A vehicle comprising:
an engine and an electric motor configured to propel the vehicle;
a sensor configured to detect a measured distance between the vehicle and an obstacle; and
a controller coupled to the engine, the electric motor, and the sensor, the controller programmed to:
move the vehicle away from the obstacle a calculated distance using the electric motor;
stop the vehicle in response to the measured distance detected by the sensor being equal to or exceeding a calculated distance calculated by the controller based on vehicle momentum required to climb the obstacle; and
accelerate the vehicle from a standstill toward the obstacle to climb the obstacle.

2. The vehicle of claim 1 further comprising audio and visual indicators, wherein the controller activates the audio and visual indicators while moving the vehicle away from the obstacle.

3. The vehicle of claim 1 wherein the controller operates the electric motor in a limited-power mode while accelerating the vehicle from the standstill.

4. The vehicle of claim 1 wherein the controller steers wheels of the vehicle toward the obstacle prior to accelerating the vehicle.

5. The vehicle of claim 1 wherein the sensor is further configured to detect a height of the obstacle.

6. The vehicle of claim 1 further comprising a second sensor configured to detect a height of the obstacle.

7. The vehicle of claim 1 wherein the calculated distance is determined from a height of the obstacle, a vehicle wheel radius, and mass of the vehicle.

8. The vehicle of claim 1 wherein the controller is further programmed to determine distance between a vehicle wheel and the obstacle based on the measured distance detected by the sensor.

9. The vehicle of claim 1 wherein the controller stops the engine before moving the vehicle away from the obstacle, and accelerates the vehicle using the electric motor while the engine is stopped.

10. A vehicle comprising:
an electric motor;
a sensor configured to detect distance between the vehicle and an obstacle; and
a controller configured to:
operate the electric motor to autonomously move the vehicle a calculated distance away from the obstacle using the electric motor;
autonomously stop the vehicle when reaching the calculated distance away from the obstacle; and
autonomously accelerate the vehicle toward the obstacle using the electric motor and then climb the obstacle, wherein the calculated distance is based on momentum of the vehicle when contacting the obstacle.

11. The vehicle of claim 10 further comprising an engine, the controller stop stopping the engine before autonomously moving the vehicle away from the obstacle using the electric motor.

12. The vehicle of claim 10 wherein the calculated distance is based on kinetic energy of the vehicle when a vehicle wheel contacts the obstacle.

13. The vehicle of claim 12 further comprising audio and visual indicators, wherein the controller activates at least one of the audio and visual indicators before moving the vehicle away from the obstacle.

14. The vehicle of claim 10 wherein the calculated distance is based on height of the obstacle and mass of the vehicle.

15. The vehicle of claim 10 wherein the controller operates the electric motor in a power-limited operating range while autonomously moving the vehicle away from the obstacle and autonomously accelerating the vehicle toward the obstacle.

16. The vehicle of claim 15 wherein the electric motor is powered by a low-voltage battery having a nominal voltage of 48 volts.

17. A method for controlling a vehicle having an electric motor and a sensor configured to detect a distance to an obstacle, comprising, by a vehicle controller:
moving the vehicle a calculated distance away from the obstacle using the electric motor;
stopping the vehicle at the calculated distance away from the obstacle, wherein the calculated distance is based on calculated vehicle momentum or kinetic energy when contacting the obstacle; and
accelerating the vehicle toward the obstacle using the electric motor to and then climb the obstacle.

18. The method of claim 17 wherein the calculated distance is based on height of the obstacle, vehicle mass, and maximum acceleration using a power-limited range of the electric motor.

19. The method of claim 17 wherein the vehicle includes an engine, the method further comprising stopping the engine before moving the vehicle away from the obstacle and while accelerating the vehicle toward the obstacle.

20. The method of claim 17 wherein the vehicle includes audio and/or visual indicators, the method further comprising activating the audio and/or visual indicators prior to moving the vehicle away from the obstacle.

Assignees

• Ford Global Tech Llc

Inventors

• Stoffels Harald
• Benmimoun Ahmed
• Springer Moritz Klaus
• Chen Guohui
• Linsel Jan

Classifications

• B60L3/0007 Primary

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• B60W30/1843

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• Y02T10/72

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• Y10S903/93

  Conjoint control of different elements · CPC title

• B60W2554/00

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