US 9,174,672 B2Granted

Path planning for evasive steering maneuver in presence of target vehicle and surrounding objects

AssigneeGM Global Technology Operations LLC

InventorsShuqing Zeng, Nikolai K. Moshchuk, Rouhollah Jafari

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Abstract

A method for calculating a virtual target path around a target object that includes providing scan points identifying detected objects and separating the scan points into target object scan points and other object scan points. The method identifies a closest scan point from the target object scan points and identifies a path point that is a predetermined safe distance from the closest scan point. The method determines a straight target line adjacent to the target object that goes through the path point, and determines a distance between the target line and each of the other objects and determines whether all of the distances are greater than a predetermined threshold distance. The method identifies curve points for each other object whose distance is less than the predetermined threshold distance, and identifies a curve path that connects the curve points to be the virtual target path using a quadratic polynomial function.

Claims16

Dependent claims

A method for determining a virtual target path that is used to calculate an evasive steering path for a subject vehicle around a target object in a travel path of the subject vehicle, said method comprising:

providing a plurality of scan points identifying detected objects from one or more sensors on the subject vehicle;
separating the plurality of scan points into target object scan points received from the target object and other object scan points received from any other objects which exist;
determining whether the virtual target path is to a left side or a right side of the target object, including using the plurality of scan points, representing a space between the scan points by triangles using Delaunay triangulation, defining vertices at mid-points of edges of the Delaunay triangles, defining segments as lines that connect to vertices and using Diikstra's algorithm to determine a shortest path between a start node and an end node, where the start node is a vertex with a minimum X-coordinate value and the end node is a vertex with a maximum X-coordinate value, where an X-coordinate value is a longitudinal distance ahead of the subject vehicle in global coordinates, and selecting a particular path that has a wider distance between target object scan points and other object scan points;
identifying a closest scan point from the target object scan points that is the scan point that is closest to the subject vehicle;
identifying a path point that is a predetermined safe distance from the closest scan point;
determining, using a processor, a straight target line adjacent to the target object that goes through the path point and is parallel to a direction of the travel path of the subject vehicle before the subject vehicle follows the evasive steering path;
determining whether the plurality of scan points include the other object scan points;
making the evasive steering path the straight target line if no other object scan points exist;
determining a distance between the target line and each of the other objects identified by the other object scan points if other object scan points do exist;
determining whether all of the distances are greater than a predetermined threshold distance;
making the evasive steering path the straight target line if all of the distances are greater than the threshold distance;
identifying curve points for each other object whose distance is less than the predetermined threshold distance, where each curve point is a predetermined safe distance from the target object and the other object;
identifying a curved path that connects the curve points to be the virtual target path;
and
using the evasive steering path, by a collision avoidance controller, to provide a steering command to the subject vehicle.

12 more elements

A method for determining a virtual target path which is used to calculate an evasive steering path for a subject vehicle around a target vehicle in a travel path of the subject vehicle, said method comprising:

providing a plurality of scan points identifying detected objects from one or more sensors on the subject vehicle;
separating the plurality of scan points into target vehicle scan points received from the target vehicle and other object scan points received from any other objects which exist;
identifying a closest scan point from the target vehicle scan points that is the scan point that is closest to the subject vehicle;
identifying a path point that is a predetermined safe distance from the closest scan point;
determining, using a processor, a straight target line adjacent to the target vehicle that goes through the path point and is parallel to a direction of the travel path of the subject vehicle before the subject vehicle follows the evasive steering path, including using equations:
y
=
-
tan
⁡
(
Φ
)
⁢
(
x
-
p
x
*
)
+
p
y
*
,
⁢
[
p
x
*
p
y
*
]
=
[
cos
⁢
⁢
Φ
sin
⁢
⁢
Φ
-
sin
⁢
⁢
Φ
cos
⁢
⁢
Φ
]
⁡
[
p
X
*
-
X
SV
p
Y
*
-
Y
SV
]
,
where XSV and KSV are the current position of the subject vehicle relative to global coordinates X-Y, py* and px* are components of curve points, Φ is the relative heading angle of the subject vehicle measured in the counter-clockwise direction from a positive X-axis in the global coordinates, and x and y are coordinates in a subject vehicle coordinate system of points which lie on the straight target line;
determining whether the plurality of scan points include the other object scan points;
making the evasive steering path the straight target line if no other object scan points exist;
determining a distance between the target line and each of the other objects identified by the other object scan points if other object scan points do exist;
determining whether all of the distances are greater than a predetermined threshold distance;
making the evasive steering path the straight target line if all of the distances are greater than the threshold distance;
and
using the evasive steering path, by a collision avoidance controller, to provide a steering command to the subject vehicle.

76 more elements

A method for determining a virtual target path which is used to calculate an evasive steering for a subject vehicle around a target vehicle in a travel path of the subject vehicle, said method comprising:

providing a plurality of scan points identifying detected objects from one or more sensors on the subject vehicle;
separating the plurality of scan points into target vehicle scan points received from the target vehicle and other object scan points received from any other objects which exist;
identifying a closest scan point from the target vehicle scan points that is the scan point that is closest to the subject vehicle;
identifying a path point that is a predetermined safe distance from the closest scan point;
determining, using a processor, a straight target line adjacent to the target vehicle that goes through the path point and is parallel to a direction of the travel path of the subject vehicle before the subject vehicle follows the evasive steering path, including using equations:
y
=
-
tan
⁡
(
Φ
)
⁢
(
x
-
p
x
*
)
+
p
y
*
,
⁢
[
p
x
*
p
y
*
]
=
[
cos
⁢
⁢
Φ
sin
⁢
⁢
Φ
-
sin
⁢
⁢
Φ
cos
⁢
⁢
Φ
]
⁡
[
p
X
*
-
X
SV
p
Y
*
-
Y
SV
]
,
where XSV and YSV are the current position of the subject vehicle relative to global coordinates X-Y, py* and px are components of curve points, Φ is the relative heading angle of the subject vehicle measured in the counter-clockwise direction from a positive X-axis in the global coordinates, and x and y are coordinates in a subject vehicle coordinate system of points which lie on the straight target line;
identifying curve points for each other object whose distance is less than a predetermined threshold distance, where each curve point is a predetermined safe distance from the target vehicle and the other object;
identifying a curved path that connects the curve points to be the evasive steering path using a quadratic polynomial function;
and
using the evasive steering path, by a collision avoidance controller, to provide a steering command to the subject vehicle.

73 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/065,235Filed 28 Oct 2013
Published: US 2015/0120137 A130 Apr 2015
Granted: 3 Nov 2015
Term ends: Not estimatedThe source records don’t support an estimate.

Classification17 codes

B62D 6/00
Arrangements for automatically controlling steering depending on driving conditions sensed and responded
B60R 21/0134
Including means for detecting collisions, impending collisions or roll-over: responsive to imminent contact with an obstacle , e.g. using radar…
B60W 10/20
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems
B60W 30/09
Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences: taking automatic action…