Control and systems for autonomously driven vehicles

A control system for a vehicle, comprising:

• an object sensor configured to generate object signals indicative of an object in a vicinity of the vehicle;
• and
• a processor configured to receive said object signals and programmed to
• identify from said object signals said object in the vicinity of the vehicle,
• predict relative locations of the object in relation to the vehicle taking into consideration any movement of the object, a planned travel path, and speed of the vehicle,
• based on the predicted locations, calculate an avoidance path to avoid collision with the object,
• take control of the vehicle to follow the calculated avoidance path when the predicted relative locations of the object intersect a planned path of the vehicle,
• calculate changes in velocity of the vehicle to avoid the object, and
• calculate a deviation of the vehicle from the avoidance path if the object can not be avoided by changing the velocity of the vehicle.

A control system for a vehicle, comprising:

• an object sensor configured to generate object signals indicative of an object in a vicinity of the vehicle;
• and
• a processor configured to receive said object signals and programmed to
• identify from said object signals said object in the vicinity of the vehicle,
• predict relative locations of the object in relation to the vehicle taking into consideration any movement of the object, a planned travel path, and speed of the vehicle,
• based on the predicted locations, calculate an avoidance path to avoid collision with the object,
• issue a warning and take control of the vehicle to follow the calculated avoidance path,
• if after taking control of the vehicle the object can not be avoided upon following the avoidance path, calculate a deviation of the vehicle from the avoidance path, and
• direct said vehicle along said deviation.