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US 9,809,219 B2Granted
System for accommodating a pedestrian during autonomous vehicle operation
AssigneeContinental Automotive Systems, Inc.
InventorsDavid Leslie Agnew, Graham Lanier Fletcher
Life of this patent
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Abstract
A collision avoidance system for a vehicle includes an electronic brake system capable of applying wheel brakes to decelerate the vehicle, a steering system capable of changing a steering angle for the vehicle, and a controller. The controller instructions for performing a pedestrian avoidance maneuver including at least one of steering the vehicle to the maximum available separation distance and braking the vehicle to the maximum safe speed while the vehicle is passing the pedestrian.
Claims16
A method of controlling a vehicle comprising:
- detecting an object proximate to a vehicle with at least one sensor;
- analyzing data from the at least one sensor with a controller to determine when the object detected is a pedestrian proximate to the vehicle;
- determining a maximum separation distance from the pedestrian while maintaining the vehicle within a current lane of travel;
- determining a maximum safe speed for the vehicle to pass the pedestrian based upon the maximum separation distance available;
- performing a pedestrian safety zone maintenance maneuver comprising adjusting a lateral position of the vehicle to the maximum separation distance prior to application of a vehicle brake followed by slowing the vehicle to the maximum safe speed for the maximum separation distance possible while maintaining the vehicle within the current lane of travel when a speed of the vehicle is above the maximum safe speed of the vehicle while the vehicle is passing the pedestrian.
2 more elements
A collision avoidance system for a vehicle comprising:
- an electronic brake system capable of applying wheel brakes to decelerate the vehicle;
- a steering system capable of changing a steering angle for the vehicle;
- and
- a controller including instructions for:
- detecting an object proximate to a vehicle with at least one sensor;
- analyzing data from the at least one sensor with a controller to determine when the object detected is a pedestrian proximate to the vehicle;
- determining a maximum separation distance from the pedestrian while maintaining the vehicle within a current lane of travel;
- determining a maximum safe speed for the vehicle to pass the pedestrian based upon the maximum separation distance available;
- and
- performing a pedestrian avoidance maneuver including adjusting a lateral position of the vehicle to the maximum separation distance followed by slowing the vehicle to the maximum safe speed corresponding to the maximum separation distance possible while maintaining the vehicle within the current lane of travel when a speed of the vehicle is above the maximum safe speed of the vehicle while the vehicle is passing the pedestrian.
7 more elements
An autonomous vehicle control system comprising:
- an electronic brake system capable of applying wheel brakes to decelerate the vehicle;
- a steering system capable of changing a steering angle for the vehicle;
- and
- a controller including instructions for:
- detecting an object proximate to a vehicle with at least one sensor;
- analyzing data from the at least one sensor with a controller to determine when the object detected is a pedestrian proximate to the vehicle;
- determining a maximum separation distance from the pedestrian while maintaining the vehicle within a current lane of travel;
- determining a maximum safe speed for the vehicle to pass the pedestrian based upon the maximum separation distance available;
- and
- performing a pedestrian avoidance maneuver including adjusting a lateral position of the vehicle to the maximum separation distance followed by slowing the vehicle to the maximum safe speed while maintaining the vehicle within the current lane of travel when a speed of the vehicle is above the maximum safe speed of the vehicle while the vehicle is passing the pedestrian.
7 more elements
Dependencies are inferred from the claim text.