System and method for shared control for emergency steering

Patent metadata

Field	Value
Publication number	US-2021107567-A1
Application number	US-202017034362-A
Country	US
Kind code	A1
Filing date	Sep 28, 2020
Priority date	Oct 10, 2019
Publication date	Apr 15, 2021
Grant date	—

Abstract

An emergency steering system for a vehicle includes a memory including instructions that, when executed by a processor, cause the processor to: receive information corresponding to an environment external to the vehicle; identify an obstacle in the environment external to the vehicle using the information; determine a distance between the vehicle and the obstacle; determine whether a collision is imminent; in response to determining that a collision is imminent, determine whether the vehicle can move within a lane of travel to avoid the collision; in response to determining that the vehicle can move within the lane of travel to avoid the collision, determine a trajectory of travel for the vehicle; generate a steering assist angle command based on the trajectory of travel; and control position of a steering mechanism of the vehicle using the steering assist angle command and a measured steering angle.

First claim

Having thus described the invention, it is claimed:

1 . A system for controlling steering of a vehicle, the system comprising:
a processor; and a memory that includes instructions that, when executed by the processor, cause the processor to:
receive, from at least one sensor, information corresponding to an environment external to the vehicle;
identify at least one obstacle in the environment external to the vehicle using the information;
determine a distance between the vehicle and the at least one obstacle;
determine whether a collision between the vehicle and the at least one obstacle is imminent based on the distance between the vehicle and the at least one obstacle and a vehicle speed;
in response to a determination that a collision between the vehicle and the at least one obstacle is imminent, determine whether the vehicle can move within a lane of travel to avoid the collision;
in response to a determination that the vehicle can move within the lane of travel to avoid the collision, determine a trajectory of travel for the vehicle;
generate a steering assist angle command based on the trajectory of travel; and
control position of a steering mechanism of the vehicle using the steering assist angle command and a measured steering angle.

2 . The system of claim 1 , wherein the at least one sensor includes an image-capturing device.

3 . The system of claim 2 , wherein the information includes at least one image captured by the at least one sensor of the environment external to the vehicle.

4 . The system of claim 1 , wherein the at least one sensor includes a radio detection and ranging sensor.

5 . The system of claim 1 , wherein the at least one sensor includes a light detection and ranging sensor.

6 . The system of claim 1 , wherein the at least one sensor includes a sound navigation and ranging sensor.

7 . The system of claim 1 , wherein the at least one sensor includes a global positioning system sensor.

8 . The system of claim 1 , wherein the trajectory of travel of the vehicle includes a transition of the vehicle laterally from a current position to a target position.

9 . The system of claim 8 , wherein the target position includes a position with in the lane of travel of the vehicle furthest from the at least one obstacle.

10 . A method for controlling steering of a vehicle, the method comprising:
receiving, from at least one sensor, information corresponding to an environment external to the vehicle; identifying at least one obstacle in the environment external to the vehicle using the information; determining a distance between the vehicle and the at least one obstacle; determining whether a collision between the vehicle and the at least one obstacle is imminent based on the distance between the vehicle and the at least one obstacle and a vehicle speed; in response to a determination that a collision between the vehicle and the at least one obstacle is imminent, determining whether the vehicle can move within a lane of travel to avoid the collision; in response to a determination that the vehicle can move within the lane of travel to avoid the collision, determining a trajectory of travel for the vehicle; generating a steering assist angle command based on the trajectory of travel; and controlling position of a steering mechanism of the vehicle using the steering assist angle command and a measured steering angle.

11 . The method of claim 10 , wherein the at least one sensor includes an image-capturing device.

12 . The method of claim 11 , wherein the information includes at least one image captured by the at least one sensor of the environment external to the vehicle.

13 . The method of claim 10 , wherein the at least one sensor includes a radio detection and ranging sensor.

14 . The method of claim 10 , wherein the at least one sensor includes a light detection and ranging sensor.

15 . The method of claim 10 , wherein the at least one sensor includes a sound navigation and ranging sensor.

16 . The system of claim 1 , wherein the at least one sensor includes a global positioning system sensor.

17 . The method of claim 10 , wherein the trajectory of travel of the vehicle includes a transition of the vehicle laterally from a current position to a target position.

18 . The method of claim 17 , wherein the target position includes a position with in the lane of travel of the vehicle furthest from the at least one obstacle.

19 . An apparatus for controlling steering of a vehicle, the apparatus comprising:
a processor; and a memory that includes instructions that, when executed by the processor, cause the processor to:
determine a distance between the vehicle and at least one obstacle, the at least one obstacle being indicated by an output of at least one sensor;
determine whether a collision between the vehicle and the at least one obstacle is imminent based on the distance between the vehicle and the at least one obstacle and a vehicle speed;
in response to a determination that a collision between the vehicle and the at least one obstacle is imminent, determine a trajectory of travel for the vehicle that avoids collision with the obstacle while maintaining a lane of travel of the vehicle;
generate a steering assist angle command based on the trajectory of travel; and
control position of a steering mechanism of the vehicle using the steering assist angle command and a measured steering angle.

20 . The apparatus of claim 19 , wherein the trajectory of travel of the vehicle further includes a transition of the vehicle laterally from a current position to a target position.

Assignees

• Steering Solutions Ip Holding

Inventors

• Varunjikar Tejas M
• George Mariam S
• Ryne Zaki

Classifications

• G01S2013/9323

  Alternative operation using light waves · CPC title

• G01S2013/932

  using own vehicle data, e.g. ground speed, steering wheel direction · CPC title

• G01S2013/9318

  Controlling the steering · CPC title

• B60W30/09 Primary

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

• B60W30/08

  Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences · CPC title