Collision avoidance method and system for a vehicle

Patent metadata

Field	Value
Publication number	US-11738743-B2
Application number	US-202117192258-A
Country	US
Kind code	B2
Filing date	Mar 4, 2021
Priority date	Mar 4, 2021
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A collision avoidance method for a vehicle includes monitoring a lateral distance between the vehicle and a target vehicle while the vehicle is travelling within a first lane and the target vehicle is travelling within an adjacent second lane, activating a warning on the vehicle and automatically adjusting operation of the vehicle to increase the distance between the vehicle and the target vehicle when the lateral distance between the vehicle and the target vehicle is less than the threshold distance while the vehicle is travelling within the first lane. Automatically adjusting operation of the vehicle may include one or both of steering the vehicle laterally away from the target vehicle and adjusting a longitudinal velocity of the vehicle. A related collision avoidance system is also provided.

First claim

What is claimed is:

1. A collision avoidance method for a vehicle, comprising:
monitoring a lateral distance between the vehicle and a target vehicle and determining a lateral relative velocity between the vehicle and the target vehicle while the vehicle is travelling within a first lane and the target vehicle is travelling within an adjacent second lane, the first lane extending laterally between a first boundary and a second boundary, the first boundary being positioned laterally between the vehicle and the target vehicle;
detecting the second boundary of the first lane positioned opposite the target vehicle about the vehicle;
detecting whether the target vehicle is positioned proximate a rear portion of the vehicle or a front portion of the vehicle;
monitoring a side of the vehicle positioned opposite the target vehicle for an object;
activating a warning on the vehicle in response to the lateral distance between the vehicle and the target vehicle being less than a threshold distance while the vehicle is travelling within the first lane, the warning comprising one or both of an audible warning and a visual warning; and
automatically adjusting operation of the vehicle to increase a distance between the vehicle and the target vehicle when the lateral distance between the vehicle and the target vehicle is less than the threshold distance while the vehicle is travelling within the first lane,
wherein automatically adjusting operation of the vehicle comprises one or both of steering the vehicle laterally away from the target vehicle and adjusting a longitudinal velocity of the vehicle,
wherein automatically adjusting operation of the vehicle comprises laterally steering the vehicle towards the second boundary of the first lane at a first lateral velocity and longitudinally decelerating the vehicle when the determined lateral relative velocity between the vehicle and the target vehicle is greater than a threshold velocity, the second boundary of the first lane is a dashed lane marker, and the target vehicle is detected proximate the front portion of the vehicle in order to position the vehicle no less than a first lateral distance from the second boundary of the first lane after automatically adjusting operation of the vehicle.

2. The collision avoidance method of claim 1 , wherein activating the warning comprises operating one or both of a horn and hazard lights of the vehicle.

3. A collision avoidance method for a vehicle, comprising:
monitoring a lateral distance between the vehicle and a target vehicle and determining a lateral relative velocity between the vehicle and the target vehicle while the vehicle is travelling within a first lane and the target vehicle is travelling within an adjacent second lane, the first lane extending laterally between a first boundary and a second boundary, the first boundary being positioned laterally between the vehicle and the target vehicle;
detecting the second boundary of the first lane positioned opposite the target vehicle about the vehicle;
detecting whether the target vehicle is positioned proximate a rear portion of the vehicle or a front portion of the vehicle;
monitoring a side of the vehicle positioned opposite the target vehicle for an object;
determining a lateral relative velocity between the vehicle and the object;
activating a warning on the vehicle in response to the lateral distance between the vehicle and the target vehicle being less than a threshold distance while the vehicle is travelling within the first lane, the warning comprising one or both of an audible warning and a visual warning; and
automatically adjusting operation of the vehicle to increase a distance between the vehicle and the target vehicle when the lateral distance between the vehicle and the target vehicle is less than the threshold distance while the vehicle is travelling within the first lane,
wherein automatically adjusting operation of the vehicle comprises one or both of steering the vehicle laterally away from the target vehicle and adjusting a longitudinal velocity of the vehicle,
wherein, when the object is detected opposite the target vehicle, automatically adjusting operation of the vehicle comprises one or more of:
laterally steering the vehicle towards the second boundary of the first lane at a first lateral velocity and longitudinally accelerating the vehicle forward when the determined lateral relative velocity between the vehicle and the target vehicle is greater than a threshold velocity, the second boundary of the first lane is a dashed lane marker, the determined lateral relative velocity between the vehicle and the object is less than an additional threshold velocity, and the target vehicle is detected proximate the rear portion of the vehicle in order to position the vehicle no less than a first lateral distance from the second boundary of the first lane after automatically adjusting operation of the vehicle;
laterally steering the vehicle towards the second boundary of the first lane at the first lateral velocity and longitudinally accelerating the vehicle forward when the determined lateral relative velocity between the vehicle and the target vehicle is greater than the threshold velocity, the second boundary of the first lane is a solid lane marker, the determined lateral relative velocity between the vehicle and the object is less than the additional threshold velocity, and the target vehicle is detected proximate the rear portion of the vehicle in order to position the vehicle no less than a second lateral distance from the second boundary of the first lane after automatically adjusting operation of the vehicle; and
laterally steering the vehicle towards the second boundary of the first lane at the first lateral velocity and longitudinally accelerating the vehicle forward when the determined lateral relative velocity between the vehicle and the target vehicle is greater than the threshold velocity, the second boundary of the first lane is a curb, the determined lateral relative velocity between the vehicle and the object is less than the additional threshold velocity, and the target vehicle is detected proximate the rear portion of the vehicle in order to position the vehicle no less than a third lateral distance from the second boundary of the first lane after automatically adjusting operation of the vehicle,
wherein the first lateral distance, the second lateral distance, and the third lateral distance are each a different respective lateral distance.

4. A collision avoidance method for a vehicle, comprising:
monitoring a lateral distance between the vehicle and a target vehicle and determining a lateral relative velocity between the vehicle and the target vehicle while the vehicle is travelling within a first lane and the target vehicle is travelling within an adjacent second lane, the first lane extending laterally between a first boundary and a second boundary, the first boundary being positioned laterally between the vehicle and the target vehicle;
detecting the second boundary of the first lane positioned opposite the target vehicle about the vehicle;
detecting whether the target vehicle is positioned proximate a rear portion of the vehicle or a front portion of the vehicle;
monitoring a side of the vehicle positioned opposite the target vehicle for an object;
activating a warning on the vehicle in response to the lateral distance between the vehicle and the target vehicle being less than a threshold distance while the vehicle is travelling within the first lane, the warning comprising one or both of an audible warning and a visual warning; and
automatically adjusting operation of the vehicle to increase a distance between the vehicle and the target vehicle when the lateral distance between the vehicle and the target vehicle is less than the threshold distance while

Assignees

• Zahnradfabrik Friedrichshafen

Inventors

• Pandy Ananda
• Tharp Christopher L

Classifications

• B60W30/09 Primary

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

• B60Q1/46

  for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights {or hazard lights} · CPC title

• B60Q5/006

  indicating risk of collision between vehicles or with pedestrians · CPC title

• B60Q9/008

  for anti-collision purposes · CPC title

• B60W10/04

  including control of propulsion units · CPC title