# US 10,246,088 B2 · Control system and control method for guiding a motor vehicle along a path and for avoiding a collision with another motor vehicle

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- Number: US 10,246,088 B2
- Document ID: US10246088B2
- Status: Granted
- Kind: B2
- Application number: 15/673,717
- Filed: 2017-08-10
- Published: 2018-02-15
- Granted: 2019-04-02
- Earliest claimed: 2016-08-11
- Assignees: TRW Automotive GmbH
- Applicants: TRW Automotive GmbH
- Inventors: Martin Keller; Christian Goette; Torsten Bertram; Andreas Homann; Christian Wissing; Karl-Heinz Glander; Carsten Hass; Till Nattermann; Markus Buss
- Web page: https://patentgrep.com/patent/US10246088B2

## CPC

- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle}
- B60W 10/18: including control of braking systems
- B60W 10/20: including control of steering systems
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 40/04: Traffic conditions
- B60W 50/16: Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
- B62D 15/0255: {Automatic changing of lane, e.g. for passing another vehicle}
- B62D 15/0265: {Automatic obstacle avoidance by steering}
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60T 2201/022: Collision avoidance systems
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2554/801: Lateral distance
- B60W 2554/802: Longitudinal distance
- B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc
- B60W 2710/202: Steering torque
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A control system which for use in a host motor vehicle is configured and intended for recognizing motor vehicles traveling ahead, to the side, and/or behind and preferably stationary objects situated ahead, based on surroundings data obtained from at least one surroundings sensor associated with the host motor vehicle. The at least one surroundings sensor is configured for providing an electronic controller of the control system with surroundings data that represent an area in front of, next to, or behind the host motor vehicle. The control system is at least configured and intended for detecting another motor vehicle, using the road, relative to the host motor vehicle by means of the at least one surroundings sensor, and determining movements of the other motor vehicle relative to a lane in which the other motor vehicle or the host motor vehicle is present, or relative to the host motor vehicle, determining, starting from an instantaneous location of the host vehicle, a set having a predefined number of trajectories, differing with regard to their length and/or their course, for possible paths of the host motor vehicle, wherein the course of neighboring trajectories differs by a predefined difference between possible different steering angles of the host motor vehicle, correlating the course of the determined trajectories for possible paths of the host motor vehicle with the provided surroundings data, and classifying the determined trajectories as trajectories involving a collision, collision-free trajectories, and/or optimal trajectories, determining an instantaneously traveled trajectory of the host motor vehicle and comparing it to the classified trajectories, and based on this situation recognition for the host motor vehicle, making an intervention decision, and generating at least one signal that assists a driver of the host motor vehicle in controlling the host motor vehicle in order to guide the host motor vehicle at least along a collision-free trajectory, or generating at least one associated control command that causes the host motor vehicle to follow at least one of the collision-free trajectories.

## Claims

### Claim 1

A control system which for use in a host motor vehicle (10) is configured and intended for recognizing motor vehicles traveling ahead, to the side, and/or behind and preferably stationary objects situated ahead, based on surroundings data obtained from at least one surroundings sensor associated with the host motor vehicle (10), wherein the at least one surroundings sensor is configured for providing an electronic controller of the control system with surroundings data that represent an area in front of, next to, or behind the host motor vehicle, the control system comprising:
detecting another motor vehicle (20) using the road, relative to the host motor vehicle (10), by means of the at least one surroundings sensor,
determining movements of the other motor vehicle (20) relative to (i) a lane in which the other motor vehicle (20) or the host motor vehicle (10) is present, or (ii) the host motor vehicle,
determining, starting from an instantaneous location of the host motor vehicle (10), a set having a predefined number of trajectories, differing with regard to their length and/or their course, for possible paths of the host motor vehicle (10), wherein the course of neighboring trajectories differs by a predefined difference between possible different steering angles of the host motor vehicle (10),
correlating the course of the determined trajectories for possible paths of the host motor vehicle (10) with the provided surroundings data, and classifying the determined trajectories as (i) trajectories involving a collision, (ii) collision-free trajectories, and/or (iii) optimal trajectories,
determining an instantaneously traveled trajectory of the host motor vehicle (10) and comparing it to the classified trajectories, and
based on this situation recognition for the host motor vehicle (10), making an intervention decision, and generating at least one signal that assists a driver of the host motor vehicle (10) in controlling the host motor vehicle (10) in order to guide the host motor vehicle (10) at least along a collision-free trajectory, or generating at least one associated control command that causes the host motor vehicle (10) to follow at least one of the collision-free trajectories.

### Claim 2 (depends on 1)

The control system according to claim 1, which is configured and intended for initiating the signal as an intermittent braking or steering torque overlay in the host motor vehicle, wherein successive individual overlays are preferably spaced at time intervals such that the driver perceives them as a separate intervention in terms of a steering suggestion or directional information.

### Claim 3 (depends on 1)

The control system according to claim 1, wherein the signal is designed as a pulse that rises more quickly than it falls.

### Claim 4

A control method which for use in a host motor vehicle (10) is configured and intended for recognizing motor vehicles traveling ahead, to the side, and/or behind and preferably stationary objects situated ahead, based on surroundings data obtained from at least one surroundings sensor associated with the host motor vehicle (10), wherein the at least one surroundings sensor is configured for providing an electronic controller with surroundings data that represent an area in front of, next to, or behind the host motor vehicle, and the control method comprising:
detecting another motor vehicle (20) using the road, relative to the host motor vehicle (10), by means of the at least one surroundings sensor,
determining movements of the other motor vehicle (20) relative to (i) a lane in which the other motor vehicle (20) or the host motor vehicle (10) is present, or (ii) the host motor vehicle,
determining, starting from an instantaneous location of the host motor vehicle (10), a set having a predefined number of trajectories, differing with regard to their length and/or their course, for possible paths of the host motor vehicle (10), wherein the course of neighboring trajectories differs by a predefined difference between possible different steering angles of the host motor vehicle,
correlating the course of the determined trajectories for possible paths of the host motor vehicle (10) with the provided surroundings data, and classifying the determined trajectories as (i) trajectories involving a collision, (ii) collision-free trajectories, and/or (iii) optimal trajectories,
determining an instantaneously traveled trajectory of the host motor vehicle (10) and comparing it to the classified trajectories, and
based on this situation recognition for the host motor vehicle (10), making an intervention decision, and generating at least one signal that assists a driver of the host motor vehicle (10) in controlling the host motor vehicle (10) in order to guide the host motor vehicle (10) at least along a collision-free trajectory, or generating at least one associated control command that causes the host motor vehicle (10) to follow at least one of the collision-free trajectories.

### Claim 5 (depends on 4)

The control method according to claim 4, which is configured and intended for initiating the signal as an intermittent braking or steering torque overlay in the host motor vehicle, wherein successive individual overlays are preferably spaced at time intervals such that the driver perceives them as a separate intervention in terms of a steering suggestion or directional information.

### Claim 6 (depends on 4)

The control method according to claim 4, wherein the signal is designed as a pulse that rises more quickly than it falls.

### Claim 7

A method of controlling a host motor vehicle having at least one surroundings sensor for obtaining surroundings data around the host motor vehicle, comprising:
detecting another vehicle on the road with the at least one surroundings sensor;
determining movements of the another vehicle;
determining a series of possible trajectories for the host motor vehicle which differ from one another by a predefined steering angle;
correlating the possible trajectories with the surroundings data such that each determined possible trajectory can be classified as (i) a trajectory involving a collision, (ii) a collision-free trajectory or (iii) an optimal trajectory;
comparing the classified trajectories to an instantaneous trajectory of the host motor vehicle; and
generating at least one signal to assist moving the host motor vehicle from the instantaneous trajectory to one of the collision-free trajectories or optimal trajectories.

### Claim 8 (depends on 7)

The control method of claim 7, wherein generating at least one signal comprises generating a signal that assists a driver of the host motor vehicle in moving the host motor vehicle from the instantaneous trajectory to one of the collision-free trajectories or optimal trajectories.

### Claim 9 (depends on 7)

The control method of claim 7, wherein generating at least one signal comprises generating a command signal that causes the host motor vehicle to autonomously move from the instantaneous trajectory to one of the collision-free trajectories or optimal trajectories.