US7016783B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Collision avoidance with active steering and braking
Assignee: BWI Co Ltd SA
•
Filing: 2003-03-28
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Granted: 2006-03-21
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Expires: 2023-03-28
Abstract
Abstract A method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between the obstacle and the vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around the obstacle. The method also includes: applying braking if at least one of, the first distance exceeds the actual distance and the first distance is within a selected threshold of the actual distance. If the actual distance exceeds the second distance and a lane change is permitted, steering control to affect a lane change is applied.
Inventors
- 👤 Aleksander B. Hac
- 👤 John E. Dickinson
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 17:08
CPC Classifications
B; B60; B60T; B60T8/00; B60T8/17; B60T8/1755; B60T8/17558; B60K; B60K31/00; B60K31/0008; B60T7/00; B60T7/12; B60T7/22; B60W; B60W10/00; B60W10/04; B60W10/06; B60W10/08; B60W30/00; B60W30/08; B60W30/09; B62; B62D; B62D15/00; B62D15/02; B62D15/025; B62D15/0265; G; G08; G08G; G08G1/00; G08G1/16; G08G1/166; G08G1/167; B60T2201/00; B60T2201/02; B60W50/00; B60W2050/0001; B60W2050/0002; B60W2050/0012; B60W2050/0062; B60W2050/0075; B60W2050/009; B60W2520/00; B60W2520/14; B60W2540/00; B60W2540/18; B60W2552/00; B60W2552/40; B60W2554/00; B60W2554/40; B60W2554/404; B60W2554/4041; B60W2554/4042; B60W2554/80; B60W2554/804; G01; G01S; G01S13/00; G01S13/86; G01S13/862; G01S13/867
Claims Analysis
Total Claims: 47
Claim 1
Independent Claim
111 words
A method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between said obstacle and said vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle; applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
Claim 2
Independent Claim
111 words
A method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between said obstacle and said vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle; applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
Claim 3
Dependent Claim
32 words
The method of claim 1 wherein a lane change is permitted if at least one of: an operator cue is detected; and a detection system determines that an adjacent lane is clear.
Claim 4
Dependent Claim
13 words
The method of claim 1 further including determining a velocity of said obstacle.
Claim 5
Dependent Claim
12 words
The method of claim 1 further including determining a vehicle yaw rate.
Claim 6
Dependent Claim
13 words
The method of claim 1 further including determining a surface coefficient of adhesion.
Claim 7
Dependent Claim
14 words
The method of claim 1 further including determining if said lane change is complete.
Claim 8
Dependent Claim
59 words
The method of claim 6 wherein said lane change is complete if: a heading angle magnitude is less than a selected threshold, a lateral position error magnitude is less than a selected threshold, and at least one of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.
Claim 9
Dependent Claim
13 words
The method of claim 7 further including setting said steering control to null.
Claim 10
Dependent Claim
14 words
The method of claim 7 further including determining if gradual exit conditions are satisfied.
Claim 11
Dependent Claim
16 words
The method of claim 7 further including reducing steering control to null at a selected rate.
Claim 12
Dependent Claim
77 words
The method of claim 1 wherein said steering control comprises: using a feedforward control component and a feedback control components; said feedforward control component employing a selected steering pattern based on vehicle speed and an estimated surface coefficient of adhesion; and said feedback control component using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.
Claim 13
Independent Claim
188 words
A system for collision avoidance in a vehicle using automated braking and steering comprising: an active braking system comprising: a wheel actuator in operable communication with a vehicle wheel, a wheel speed sensor, and a sensor for detecting an application of braking by an operator, said active braking system including antilock braking functionality; an active steering system comprising: an operator input device, an actuator in operable communication with a steerable wheel, said actuator configured to adjust a steering angle of said steerable wheel independent of an input to said operator input device; a first steering angle sensor in operable communication with said operator input device for detecting a steering angle indicative of an operator input, a second steering angle sensor in operable communication with said steerable wheel for detecting another angle indicative of a position of said steerable wheel; a detection system comprising a sensor configured to detect an obstacle in a path of said vehicle; and a controller in operable communication with said active braking system, said active steering system, and said detection system said controller executing a method for collision avoidance using automated braking and steering.
Claim 14
Independent Claim
188 words
A system for collision avoidance in a vehicle using automated braking and steering comprising: an active braking system comprising: a wheel actuator in operable communication with a vehicle wheel, a wheel speed sensor, and a sensor for detecting an application of braking by an operator, said active braking system including antilock braking functionality; an active steering system comprising: an operator input device, an actuator in operable communication with a steerable wheel, said actuator configured to adjust a steering angle of said steerable wheel independent of an input to said operator input device; a first steering angle sensor in operable communication with said operator input device for detecting a steering angle indicative of an operator input, a second steering angle sensor in operable communication with said steerable wheel for detecting another angle indicative of a position of said steerable wheel; a detection system comprising a sensor configured to detect an obstacle in a path of said vehicle; and a controller in operable communication with said active braking system, said active steering system, and said detection system said controller executing a method for collision avoidance using automated braking and steering.
Claim 15
Dependent Claim
14 words
The system of claim 12 wherein said active braking system includes a brake-by-wire system.
Claim 16
Dependent Claim
24 words
The system of claim 12 wherein said active braking system wheel actuator comprises at least one of an electro hydraulic, electromechanical, and electromagnetic actuator.
Claim 17
Dependent Claim
31 words
The system of claim 12 wherein said active steering system comprises at least one of an front steering system with differential actuator, a steer-by-wire system, and a rear wheel steer system.
Claim 18
Dependent Claim
32 words
The system of claim 12 wherein said detection system further includes a side detection sensor in operable communication with said controller configured to facilitate detection of an obstacle laterally from said vehicle.
Claim 19
Dependent Claim
14 words
The system of claim 12 wherein said detection system further includes side detection sensos.
Claim 20
Dependent Claim
36 words
The system of claim 12 wherein said controller determines that a lane change is permitted if at least one of: an operator cue is detected; and said detection system determines that an adjacent lane is clear.
Claim 21
Dependent Claim
14 words
The system of claim 12 wherein said controller determines a velocity of said obstacle.
Claim 22
Dependent Claim
13 words
The system of claim 12 wherein said controller determines a vehicle yaw rate.
Claim 23
Dependent Claim
14 words
The system of claim 12 wherein said controller determines a surface coefficient of adhesion.
Claim 24
Dependent Claim
15 words
The system of claim 12 wherein said controller determines if said lane change is complete.
Claim 25
Dependent Claim
59 words
The system of claim 22 wherein said lane change is complete if: a heading angle magnitude is less than a selected threshold, a lateral position error magnitude is less than a selected threshold, and at least one of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.
Claim 26
Dependent Claim
14 words
The system of claim 23 wherein said controller sets said steering control to null.
Claim 27
Dependent Claim
15 words
The system of claim 23 wherein said controller determines if gradual exit conditions are satisfied.
Claim 28
Dependent Claim
17 words
The system of claim 23 wherein said controller reduces steering control to null at a selected rate.
Claim 29
Dependent Claim
76 words
The system of claim 12 wherein said steering control comprises: a feedforward control component and a feedback control components; said feedforward control component employing a selected steering pattern based on vehicle speed and an estimated surface coefficient of adhesion; and said feedback control component using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.
Claim 30
Independent Claim
137 words
A system for collision avoidance in a vehicle using automated braking and steering comprising: a means for determining an actual distance to an obstacle in a path of a vehicle; a means for determining a relative velocity between said obstacle and said vehicle; a means for determining a first distance sufficient to avoid collision by braking only; a means for determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle; a means for applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and a means for determining if said actual distance exceeds said second distance and a lane change is permitted, and a means for applying steering control to affect a lane change.
Claim 31
Independent Claim
137 words
A system for collision avoidance in a vehicle using automated braking and steering comprising: a means for determining an actual distance to an obstacle in a path of a vehicle; a means for determining a relative velocity between said obstacle and said vehicle; a means for determining a first distance sufficient to avoid collision by braking only; a means for determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle; a means for applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and a means for determining if said actual distance exceeds said second distance and a lane change is permitted, and a means for applying steering control to affect a lane change.
Claim 32
Dependent Claim
132 words
A storage medium encoded with a machine-readable computer program code, said computer program code including instructions for causing controller to implement a method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between said obstacle and said vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle; applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
Claim 33
Dependent Claim
132 words
A storage medium encoded with a machine-readable computer program code, said computer program code including instructions for causing controller to implement a method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between said obstacle and said vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle; applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
Claim 34
Dependent Claim
127 words
A computer data signal, said data signal comprising code configured to cause a controller to implement a method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between said obstacle and said vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle; applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
Claim 35
Dependent Claim
127 words
A computer data signal, said data signal comprising code configured to cause a controller to implement a method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between said obstacle and said vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle; applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
Claim 36
Independent Claim
130 words
A method for collision avoidance using automated braking and steering comprising: determining an obstacle is in a path of a vehicle with which a collision may occur; applying maximum emergency braking without skidding; if a lane change is permitted, applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion; and determining if said lane change is complete, wherein said lane change is complete if a heading angle magnitude is less than elected threshold, a lateral position error magnitude is less than a selected threshold, and at least one of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.
Claim 37
Independent Claim
130 words
A method for collision avoidance using automated braking and steering comprising: determining an obstacle is in a path of a vehicle with which a collision may occur; applying maximum emergency braking without skidding; if a lane change is permitted, applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion; and determining if said lane change is complete, wherein said lane change is complete if a heading angle magnitude is less than elected threshold, a lateral position error magnitude is less than a selected threshold, and at least one of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.
Claim 38
Dependent Claim
32 words
The method of claim 31 wherein a lane change is permitted if at least one of: an operator cue is detected; and a detection system determines that an adjacent lane is clear.
Claim 39
Dependent Claim
13 words
The method of claim 31 further including determining a velocity of said obstacle.
Claim 40
Dependent Claim
12 words
The method of claim 31 further including determining a vehicle yaw rate.
Claim 41
Dependent Claim
13 words
The method of claim 31 further including determining a surface coefficient of adhesion.
Claim 42
Independent Claim
150 words
A system for collision avoidance in a vehicle using automated braking and steering comprising: a means for determining an obstacle is in a path of a vehicle with which a collision may occur; a means for applying maximum emergency braking without skidding; a means for determining: if a lane change is permitted; and a means for applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion; and means for determining if said lane change is complete, wherein said lane change is complete if a heading angle magnitude is less than a selected threshold, a lateral position error magnitude is less than a selected threshold, and at least on of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.
Claim 43
Independent Claim
150 words
A system for collision avoidance in a vehicle using automated braking and steering comprising: a means for determining an obstacle is in a path of a vehicle with which a collision may occur; a means for applying maximum emergency braking without skidding; a means for determining: if a lane change is permitted; and a means for applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion; and means for determining if said lane change is complete, wherein said lane change is complete if a heading angle magnitude is less than a selected threshold, a lateral position error magnitude is less than a selected threshold, and at least on of a desired feedforward steering angle is substantially zero and a time elapsed exceeds a total allowable time for said lane change.
Claim 44
Independent Claim
84 words
A method of controlling a steering angle input in order to automatically perform an emergency lane change using a feedforward control component and a feedback control components; said feedforward control component employing a selected steering pattern based on vehicle speed and an estimated surface coefficient of adhesion; and said feedback control component using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.
Claim 45
Independent Claim
84 words
A method of controlling a steering angle input in order to automatically perform an emergency lane change using a feedforward control component and a feedback control components; said feedforward control component employing a selected steering pattern based on vehicle speed and an estimated surface coefficient of adhesion; and said feedback control component using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.
Claim 46
Independent Claim
137 words
A method for collision avoidance using automated braking and steering comprising: determining an obstacle is in a path of a vehicle with which a collision may occur; applying maximum emergency braking without skidding; if a lane change is permitted, applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion, wherein said applying steering control includes using a feedforward control and a feedback control, said feedforward control employing a maximum lateral acceleration based on vehicle speed and an estimated surface coefficient of adhesion, said feedback control using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.
Claim 47
Independent Claim
137 words
A method for collision avoidance using automated braking and steering comprising: determining an obstacle is in a path of a vehicle with which a collision may occur; applying maximum emergency braking without skidding; if a lane change is permitted, applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion, wherein said applying steering control includes using a feedforward control and a feedback control, said feedforward control employing a maximum lateral acceleration based on vehicle speed and an estimated surface coefficient of adhesion, said feedback control using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2009-03-20 | 2009-09-19 | 2010-03-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2013-03-20 | 2013-09-19 | 2014-03-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2017-03-20 | 2017-09-19 | 2018-03-21 | $7700.00 | Window Closed / Lapsed |