Method and system for obstacle avoidance, involving the control of steering and differential braking systems
AssigneesRenault S. A. S., Nissan Motor Co., Ltd.
InventorAnh Lam Do
Life of this patent
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Abstract
An obstacle-avoidance method includes detecting an obstacle in a vicinity of a motor vehicle and planning an obstacle-avoidance path for avoiding the obstacle; and commanding steering and differential braking systems to handle the avoidance path.
Claims12
An obstacle-avoidance method, comprising:
- detecting an obstacle in a vicinity of a motor vehicle and planning an obstacle-avoidance path for avoiding said obstacle;
- and
- commanding steering and differential braking systems configured to handle the avoidance path,
- wherein, when the steering and differential braking systems are commanded, there is defined a controllability constraint during which a steering torque is limited in amplitude and in gradient and defines a stability constraint during which a slip rate and a yaw rate of the vehicle are bounded.
A module configured to control steering and differential braking systems and configured to issue a wheel steering setpoint to a wheel-steering computer of a motor vehicle and a yaw moment setpoint to a braking computer of said motor vehicle, wherein the module is configured to define a controllability constraint during which a steering torque is limited in amplitude and in gradient and define a vehicle stability constraint during which a slip rate and a yaw rate of the vehicle are bounded.
An obstacle-avoidance method, comprising:
- detecting an obstacle in a vicinity of a motor vehicle and planning an obstacle-avoidance path for avoiding said obstacle;
- and
- commanding steering and differential braking systems configured to handle the avoidance path,
- wherein the following hypotheses are postulated:
- the steering torque does not exceed a controllability limit in amplitude and in gradient,
- the avoidance path is predefined,
- the behavior of the differential braking is modeled by a yaw moment;
- and
- the curvature of the road is zero.
Dependencies are inferred from the claim text.