# US 2019/0168749 A1 · Swerve assist in a transportation vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168749 A1 - Document ID: US20190168749A1 - Status: Published application - Kind: A1 - Application number: 16/325,452 - Filed: 2017-09-04 - Published: 2019-06-06 - Earliest claimed: 2016-10-11 - Assignees: Volkswagen Aktiengesellschaft - Applicants: Volkswagen Aktiengesellschaft - Inventors: Maike WALL - Web page: https://patentgrep.com/patent/US20190168749A1 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60T 8/246: {Change of direction} - B60W 10/18: including control of braking systems - B60W 10/184: with wheel brakes - B60W 10/20: including control of steering systems - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B62D 15/0255: {Automatic changing of lane, e.g. for passing another vehicle} - B62D 15/0265: {Automatic obstacle avoidance by steering} - B60T 2210/32: Vehicle surroundings - B60W 2510/18: Braking system - B60W 2510/20: Steering systems - B60W 2510/202: Steering torque - B60W 2520/10: Longitudinal speed - B60W 2540/12: Brake pedal position - B60W 2540/18: Steering angle - B60W 2554/00: Input parameters relating to objects - B60W 2710/18: Braking system - 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) ## Abstract A swerve assist to assist the driver of a transportation vehicle during an avoidance maneuver so that a collision with an obstacle is avoided. An additional steering torque for amplifying a current steering torque is applied when an avoidance maneuver of the transportation vehicle is detected. A single-wheel braking of the transportation vehicle is actuated to increase a transverse offset of the transportation vehicle. ## Claims ### Claim 1 A method for providing swerve assist for a transportation vehicle, the method comprising: detecting an avoidance maneuver of the transportation vehicle; applying an additional steering torque to boost an existing steering torque in response to the avoidance maneuver being detected, and actuating single wheel braking of the transportation vehicle to increase a lateral displacement of the transportation vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein: the avoidance maneuver is detected by detecting a steering movement by a driver of the transportation vehicle; and the existing steering torque is applied by means of the steering movement. ### Claim 3 (depends on 1) The method of claim 1, wherein the actuation of the single wheel braking is carried out later in time than the application of the additional steering torque. ### Claim 4 (depends on 1) The method of claim 1, further comprising: detecting the avoidance maneuver includes detecting an obstacle; determining a measure of a probability that the transportation vehicle collides with the obstacle; and detecting the avoidance maneuver only in response to the measure exceeding a predetermined threshold value. ### Claim 5 (depends on 4) The method of claim 4, further comprising: determining a trajectory based on the steering movement and a position of the obstacle, so the transportation vehicle does not collide with the obstacle when travelling along the trajectory; and applying the additional steering torque and actuating the single wheel braking so the transportation vehicle drives along the trajectory. ### Claim 6 (depends on 1) The method of claim 1, wherein a strength of a braking effect of the single wheel braking is a function of the speed of the transportation vehicle. ### Claim 7 (depends on 1) The method of claim 1, wherein the additional steering torque is withdrawn while the single wheel braking is actuated. ### Claim 8 (depends on 1) The method of claim 1, further comprising: detecting that the transportation vehicle steering is to be returned; applying a further additional steering torque to initiate and/or to assist returning the steering of the transportation vehicle; and actuating the single wheel braking of the transportation vehicle to increase a lateral displacement of the transportation vehicle produced by returning the steering. ### Claim 9 A device for swerve assist for a transportation vehicle, wherein: the device comprises a controller and steering of the transportation vehicle, the device detects an avoidance maneuver of the transportation vehicle by the controller and applies an additional steering torque to the steering by the controller to boost an existing steering torque, wherein the device comprises individual wheel brakes of the transportation vehicle, and the device actuates at least one of the individual wheel brakes by the controller to increase a lateral displacement of the transportation vehicle. ### Claim 10 (depends on 9) The device of claim 9, wherein the device carries out method of swerve assist for a transportation vehicle, comprising: detecting an avoidance maneuver of the transportation vehicle; applying an additional steering torque to boost an existing steering torque in response to the avoidance maneuver being detected, and actuating single wheel braking of the transportation vehicle to increase a lateral displacement of the transportation vehicle. ### Claim 11 (depends on 9) The device of claim 9, wherein: the avoidance maneuver is detected by detecting a steering movement by a driver of the transportation vehicle; and the existing steering torque is applied by the steering movement. ### Claim 12 (depends on 9) The device of claim 9, wherein the actuation of the single wheel braking is carried out later in time than the application of the additional steering torque. ### Claim 13 (depends on 9) The device of claim 9, wherein the method further comprises: detecting the avoidance maneuver includes detecting an obstacle; determining a measure of a probability that the transportation vehicle collides with the obstacle; and detecting the avoidance maneuver only in response to the measure exceeding a predetermined threshold value. ### Claim 14 (depends on 13) The device of claim 13, wherein the method further comprises: determining a trajectory based on the steering movement and a position of the obstacle, so the transportation vehicle does not collide with the obstacle when travelling along the trajectory; and applying the additional steering torque and actuating the single wheel braking so the transportation vehicle drives along the trajectory. ### Claim 15 (depends on 9) The device of claim 9, wherein a strength of a braking effect of the single wheel braking is a function of the speed of the transportation vehicle. ### Claim 16 (depends on 9) The device of claim 9, wherein the additional steering torque is withdrawn while the single wheel braking is actuated. ### Claim 17 (depends on 9) The device of claim 9, wherein the method further comprises: detecting that the transportation vehicle steering is to be returned; applying a further additional steering torque to initiate and/or to assist returning the steering of the transportation vehicle; and actuating the single wheel braking of the transportation vehicle to increase a lateral displacement of the transportation vehicle produced by returning the steering.