Method for avoiding obstacles

Patent metadata

Field	Value
Publication number	US-12559094-B2
Application number	US-202218547081-A
Country	US
Kind code	B2
Filing date	Feb 3, 2022
Priority date	Feb 19, 2021
Publication date	Feb 24, 2026
Grant date	Feb 24, 2026

Abstract

A method for object avoidance by a motor vehicle includes: detecting objects located in the surroundings of the motor vehicle; acquiring data characterizing the position and/or dynamics of each object, then, if several objects have been detected; verifying whether at least one criterion of proximity between at least two of the detected objects is met and, if so; combining the two objects into one group; calculating the data characterizing the position and/or dynamics of the group; and activating a system for obstacle avoidance and/or determining an avoidance trajectory, according to the data characterizing the position and/or dynamics of the group.

First claim

The invention claimed is:

1 . An avoidance method for avoiding objects for a motor vehicle, comprising:
detecting objects located in surroundings of the motor vehicle, acquiring data characterizing a position or dynamics of each detected object, wherein, when multiple objects have been detected, the avoidance method further comprises:
checking whether at least one criterion of proximity between at least two of the detected objects is met, and when the at least one criterion is met,
combining the two objects into a group,
computing data characterizing the position or the dynamics of said group, and
activating an obstacle avoidance system or determining an avoidance trajectory according to the data characterizing the position or the dynamics of said group,
wherein said proximity criterion relates to a lateral distance between the two objects, wherein, in the acquiring, one of the data is a lateral trajectory deviation that the motor vehicle has to take in order to avoid each object, and wherein the proximity criterion includes checking whether a difference between the lateral trajectory deviation to be taken to avoid a first of the two objects on a side oriented toward the second object and the lateral trajectory deviation to be taken to avoid the second object on a side oriented toward the first object is greater than or equal to a predetermined threshold, the method further comprising: ranking, when at least three objects have been detected, the objects in an order of succession from a first lateral edge of the road to a second lateral edge of the road that is opposite to the first lateral edge of the road, and checking whether the proximity criterion is met between each pair of successive objects in said order of succession.

2 . The avoidance method as claimed in claim 1 , wherein provision is made to compute a relative lateral speed based on a deviation between a lateral speed of the motor vehicle with respect to the road on which it is traveling in a first reference frame oriented along a tangent to the road at the level of the motor vehicle and a lateral speed of the object with respect to the road in a second reference frame oriented along a tangent to the road at the level of said object, and wherein each lateral trajectory deviation is determined based on a relative lateral speed.

3 . The avoidance method as claimed in claim 1 , wherein, in the acquiring, one of the data is a lateral trajectory deviation to be taken to avoid each object on one and the same left or right side, and wherein, in the computing, one of the data characterizing the group is chosen to be equal to a largest of the lateral trajectory deviations to be taken to avoid each object of the group on a same side.

4 . The avoidance method as claimed in claim 1 , wherein, in the acquiring, one of the data characterizing each object is a remaining time before the motor vehicle hits each object, and wherein, in the computing, one of the data characterizing the group is chosen to be equal to a smallest of the remaining times before the motor vehicle hits each object of the group.

5 . A motor vehicle comprising:
at least one steered wheel, a steering system for each steered wheel configured to be maneuvered by an actuator controlled by at least one processor, wherein the at least one processor is configured to, detect objects located in surroundings of the motor vehicle, acquire data characterizing a position or dynamics of each detected object, wherein, when multiple objects have been detected, the at least one processor is further configured to:
check whether at least one criterion of proximity between at least two of the detected objects is met, and when the at least one criterion is met,
combine the two objects into a group,
compute data characterizing the position or the dynamics of said group, and
activate an obstacle avoidance system or determining an avoidance trajectory according to the data characterizing the position or the dynamics of said group,
wherein said proximity criterion relates to a lateral distance between the two objects, wherein, one of the data is a lateral trajectory deviation that the motor vehicle has to take in order to avoid each object, and wherein the proximity criterion includes checking whether a difference between the lateral trajectory deviation to be taken to avoid a first of the two objects on a side oriented toward the second object and the lateral trajectory deviation to be taken to avoid the second object on a side oriented toward the first object is greater than or equal to a predetermined threshold, the at least one processor is further configured to: rank, when at least three objects have been detected, the objects in an order of succession from a first lateral edge of the road to a second lateral edge of the road that is opposite to the first lateral edge of the road, and check whether the proximity criterion is met between each pair of successive objects in said order of succession.

6 . The motor vehicle as claimed in claim 5 , wherein provision is made to compute a relative lateral speed based on a deviation between a lateral speed of the motor vehicle with respect to the road on which it is traveling in a first reference frame oriented along a tangent to the road at the level of the motor vehicle and a lateral speed of the object with respect to the road in a second reference frame oriented along a tangent to the road at the level of said object, and wherein each lateral trajectory deviation is determined based on a relative lateral speed.

7 . The motor vehicle as claimed in claim 5 , wherein an additional proximity criterion relates to a longitudinal distance between the two objects.

8 . The motor vehicle as claimed in claim 7 , wherein, one of the data relates to a remaining time before the motor vehicle hits each object, and wherein, to check that said additional proximity criterion is met, the at least one processor is configured to check whether the deviation between the times to collision with the two objects is less than a threshold.

9 . The motor vehicle as claimed in claim 5 , wherein, one of the data is a lateral trajectory deviation to be taken to avoid each object on one and the same left or right side, and wherein, one of the data characterizing the group is chosen to be equal to a largest of the lateral trajectory deviations to be taken to avoid each object of the group on a same side.

10 . The motor vehicle as claimed in claim 5 , wherein, one of the data characterizing each object is a remaining time before the motor vehicle hits each object, and wherein, one of the data characterizing the group is chosen to be equal to a smallest of the remaining times before the motor vehicle hits each object of the group.

Assignees

• Renault Sas
• Ampere Sas

Inventors

• Bruno Geoffrey
• Do Anh-Lam
• Lehim Marouane

Classifications

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60Y2300/095

  Predicting travel path or likelihood of collision · CPC title

• B60Y2300/09

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

• B60W2554/406

  Traffic density · CPC title