US 9,318,023 B2Granted

System and method for collision avoidance maneuver path determination with jerk limit

AssigneeGM Global Technology Operations LLC

InventorsNikolai K. Moshchuk, Shih-Ken Chen, Chad T. Zagorski, Aamrapali Chatterjee

Life of this patent

Estimating the term…

Abstract

In a vehicle, an optimal path curvature limited by one or more constraints may be determined. The constraints may be related to lateral jerk and one or more vehicle dynamics constraints. Based on the optimal path curvature, an optimal vehicle path around an object may be determined. The optimal vehicle path may be output to a collision avoidance control system. The collision avoidance control system may cause the vehicle to take a certain path.

Claims10

Dependent claims

A method for performing a vehicular, collision avoidance maneuver comprising:

using a processor in the vehicle to determine a travel path from sensor data responsively to detection of a threshold distance between a vehicle and an object, the travel path having a series of path segments defined by alternating cubic and quadratic polynomial equations,
wherein each of the cubic equations has a second derivative whose slope defines a trajectory curvature rate constraint,
wherein each of the quadratic equations has a second derivative whose constant value defines a trajectory curvature limit,
wherein lateral position y and longitudinal position x are measured from a center of gravity of the vehicle such that:
a first path segment of the series of path segments is defined as:
y
1
⁡
(
x
)
=
a
1
⁢
x
3
6
,
x
∈
[
0
,
x
1
]
,
wherein
a
1
=
η
max
V
3
,
wherein ηmax is lateral acceleration rate constraint and V is vehicle longitudinal velocity;
a second path segment of the series of path segments is defined as:
y
2
⁡
(
x
)
=
b
2
⁡
(
x
-
x
1
)
2
2
+
c
2
⁡
(
x
-
x
1
)
+
d
2
,
x
∈
[
x
1
,
x
2
]
,
wherein d2=⅙a1x13, c2=½a1x12, and b2=a1x1;
a third path segment of the series of path segments is defined as:
y
3
⁡
(
x
)
=
a
3
⁡
(
x
-
x
2
)
3
6
+
b
3
⁡
(
x
-
x
2
)
2
2
+
c
3
⁡
(
x
-
x
2
)
+
d
3
,
x
∈
[
x
2
,
x
3
]
,
wherein d3=½b2(x2−x1)2+c2(x2−x1)+d2, and c3=b2(x2−x1)+c2, b3=b2, and a3=−a1;
a fourth path segment of the series of path segments is defined as:
y
4
⁡
(
x
)
=
b
4
⁡
(
x
-
x
3
)
2
2
+
c
4
⁡
(
x
-
x
3
)
+
d
4
,
x
∈
[
x
3
,
x
4
]
,
wherein d4=⅙a3(x3−x2)3+½b3(x3−x2)+c3(x3−x2)+d3, c4=½a3(x3−x2)2+b3(x3−x2)+c3, and b4=a3(x3−x2)+b3;
a fifth path segment of the series of path segments is defined as:
y
5
⁡
(
x
)
=
a
5
⁡
(
x
-
x
4
)
3
6
+
b
5
⁡
(
x
-
x
4
)
2
2
+
c
5
⁡
(
x
-
x
4
)
+
d
5
,
x
∈
[
x
4
,
x
5
]
,
wherein d5=½b4(x4−x3)2+c4(x4−x3)+d4, c5=b4(x4−x3)+c4, b5=b4,and a5=a1;
and
guiding the vehicle in accordance with the series of path segments.

237 more elements

A system for determining a travel path for a vehicular collision avoidance maneuver comprising:

a processor in a vehicle configured to determine a travel path from sensor data responsively to detection of a threshold distance between the vehicle and an object, the travel path having a series of path segments defined by alternating cubic and quadratic polynomial equations,
wherein each of the cubic equations has a second derivative whose slope defines a trajectory curvature rate constraint,
wherein each of the quadratic equations has a second derivative whose constant value defines a trajectory curvature limit,
wherein lateral position y and longitudinal position x are measured from a center of gravity of the vehicle such that:
a first path segment of the series of path segments is defined as:
y
1
⁡
(
x
)
=
a
1
⁢
x
3
6
,
x
∈
[
0
,
x
1
]
,
wherein
a
1
=
η
max
V
3
,
wherein ηmax is lateral acceleration rate constraint and V is vehicle longitudinal velocity;
a second path segment of the series of path segments is defined as:
y
2
⁡
(
x
)
=
b
2
⁡
(
x
-
x
1
)
2
2
+
c
2
⁡
(
x
-
x
1
)
+
d
2
,
x
∈
[
x
1
,
x
2
]
,
wherein d2=⅙a1x31, c2=½a1x12, and b2=a1x1;
a third path segment of the series of path segments is defined as:
y
3
⁡
(
x
)
=
a
3
⁡
(
x
-
x
2
)
3
6
+
b
3
⁡
(
x
-
x
2
)
2
2
+
c
3
⁡
(
x
-
x
2
)
+
d
3
,
x
∈
[
x
2
,
x
3
]
,
wherein d3=½b2(x2−x1)2+c2(x2−x1)+d2, and c3=b2(x2−x1)+c2, b3=b2, and a3=−a1;
a fourth path segment of the series of path segments is defined as:
y
4
⁡
(
x
)
=
b
4
⁡
(
x
-
x
3
)
2
2
+
c
4
⁡
(
x
-
x
3
)
+
d
4
,
x
∈
[
x
3
,
x
4
]
,
wherein d4=⅙a3(x3−x2)3+½b3 (x3−x2)+c3(x3−x2)+d3, c4=½a3(x3−x2)2+b3(x3−x2)+c3, and b4=a3(x3−x2)+b3;
a fifth path segment of the series of path segments is defined as:
y
5
⁡
(
x
)
=
a
5
⁡
(
x
-
x
4
)
3
6
+
b
5
⁡
(
x
-
x
4
)
2
2
+
c
5
⁡
(
x
-
x
4
)
+
d
5
,
x
∈
[
x
4
,
x
5
]
,
wherein d5=½b4(x4−x3)2+c4(x4−x3)+d4, and c5=b4(x4−x3)+c4, and b5=b4, and a5=a1;
and
an automated steering control system configured to actuate steering in accordance with the series of path segments.

237 more elements

Dependencies are inferred from the claim text.

Facts

Application: 13/222,499Filed 31 Aug 2011
Published: US 2013/0054128 A128 Feb 2013
Granted: 19 Apr 2016
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

G08G 1/167
Anti-collision systems: driving aids for lane monitoring, lane changing, e.g. blind spot detection
B60W 10/18
Conjoint control of vehicle sub-units of different type or different function: including control of braking systems
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…

Family

US 2013/0054128 A1Pre-grant publication · published 28 Feb 2013
US 9,318,023 B2This patent

From the US filing history. Foreign family members aren’t listed.

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Abstract

A method for performing a vehicular, collision avoidance maneuver comprising:

using a processor in the vehicle to determine a travel path from sensor data responsively to detection of a threshold distance between a vehicle and an object, the travel path having a series of path segments defined by alternating cubic and quadratic polynomial equations,
wherein each of the cubic equations has a second derivative whose slope defines a trajectory curvature rate constraint,
wherein each of the quadratic equations has a second derivative whose constant value defines a trajectory curvature limit,
wherein lateral position y and longitudinal position x are measured from a center of gravity of the vehicle such that:
a first path segment of the series of path segments is defined as:
y
1
⁡
(
x
)
=
a
1
⁢
x
3
6
,
x
∈
[
0
,
x
1
]
,
wherein
a
1
=
η
max
V
3
,
wherein ηmax is lateral acceleration rate constraint and V is vehicle longitudinal velocity;
a second path segment of the series of path segments is defined as:
y
2
⁡
(
x
)
=
b
2
⁡
(
x
-
x
1
)
2
2
+
c
2
⁡
(
x
-
x
1
)
+
d
2
,
x
∈
[
x
1
,
x
2
]
,
wherein d2=⅙a1x13, c2=½a1x12, and b2=a1x1;
a third path segment of the series of path segments is defined as:
y
3
⁡
(
x
)
=
a
3
⁡
(
x
-
x
2
)
3
6
+
b
3
⁡
(
x
-
x
2
)
2
2
+
c
3
⁡
(
x
-
x
2
)
+
d
3
,
x
∈
[
x
2
,
x
3
]
,
wherein d3=½b2(x2−x1)2+c2(x2−x1)+d2, and c3=b2(x2−x1)+c2, b3=b2, and a3=−a1;
a fourth path segment of the series of path segments is defined as:
y
4
⁡
(
x
)
=
b
4
⁡
(
x
-
x
3
)
2
2
+
c
4
⁡
(
x
-
x
3
)
+
d
4
,
x
∈
[
x
3
,
x
4
]
,
wherein d4=⅙a3(x3−x2)3+½b3(x3−x2)+c3(x3−x2)+d3, c4=½a3(x3−x2)2+b3(x3−x2)+c3, and b4=a3(x3−x2)+b3;
a fifth path segment of the series of path segments is defined as:
y
5
⁡
(
x
)
=
a
5
⁡
(
x
-
x
4
)
3
6
+
b
5
⁡
(
x
-
x
4
)
2
2
+
c
5
⁡
(
x
-
x
4
)
+
d
5
,
x
∈
[
x
4
,
x
5
]
,
wherein d5=½b4(x4−x3)2+c4(x4−x3)+d4, c5=b4(x4−x3)+c4, b5=b4,and a5=a1;
and
guiding the vehicle in accordance with the series of path segments.

237 more elements

Facts

Application

13/222,499Filed 31 Aug 2011

Published

US 2013/0054128 A128 Feb 2013

Granted

19 Apr 2016

Term ends

Not estimatedThe source records don’t support an estimate.

Classification16 codes

G08G 1/167
Anti-collision systems: driving aids for lane monitoring, lane changing, e.g. blind spot detection
B60W 10/18
Conjoint control of vehicle sub-units of different type or different function: including control of braking systems
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…