Collision avoidance system and method of operating the same
View Patent ↗A collision avoidance system and method that may be used to prevent, avoid and/or mitigate a collision between a host vehicle and a target vehicle by engaging in autonomous braking once an imminent crash is detected. Unlike other methods that are only capable of autonomous braking according to predetermined and static brake commands, the present method may use dynamic brake commands throughout an autonomous braking event so that the deceleration of the host vehicle can be continuously adjusted such that it concludes at a reasonable distance away from the target vehicle. According to one example, the collision avoidance system maintains a relative distance (Δd) and/or a relative velocity (Δv) between the host and target vehicles during the autonomous braking event.
1. A method for use with a collision avoidance system installed on a host vehicle, comprising the steps of:
(a) receiving target readings from a target sensor installed on the host vehicle;
(b) using the target readings to determine if the host vehicle is likely to collide with a target vehicle; and
(c) if the host vehicle is likely to collide with the target vehicle, then engaging one or more braking devices in an autonomous braking event that includes adjusting or modifying dynamic brake commands so that braking of the host vehicle is actively controlled throughout the autonomous braking event, wherein a deceleration avoidance value (a AVOID ) representative of a deceleration needed to prevent a collision between the host and target vehicles is used to generate the dynamic brake commands, and the dynamic brake commands are designed to achieve a relative distance (Δd) between the host and target vehicles at the end of the autonomous braking event.
2. The method of claim 1 , wherein step (a) further comprises receiving a target vehicle acceleration value (a TAR ), a relative velocity reading (Δv), and a relative distance reading (Δd) from the target sensor; and step (b) further comprises using the target vehicle acceleration value (a TAR ), the relative velocity reading (Δv), and the relative distance reading (Δd) to determine if the host vehicle is likely to collide with the target vehicle.
3. The method of claim 1 , wherein step (c) further comprises comparing a relative distance (Δd) between the host and target vehicles to a minimum collision avoidance distance (d MINAVOID ), and setting the deceleration avoidance value (a AVOID ) to a maximum braking capability when the relative distance (Δd) is less than the minimum collision avoidance distance (d MINAVOID ).
4. The method of claim 1 , wherein step (c) further comprises determining the deceleration avoidance value (a AVOID ) with a formula that includes a term (v HOST −v TAR ), which is related to a difference between the velocities of the host and target vehicles.
5. The method of claim 4 , wherein step (c) further comprises determining the deceleration avoidance value (a AVOID ) with a formula that includes a term ((v HOST −v TAR )+K) 2 , which is related to the difference between the velocities of the host and target vehicles, as well as a correction value K that takes into account the fact that vehicle brakes cannot brake instantaneously.
6. The method of claim 1 , wherein step (c) further comprises determining the deceleration avoidance value (a AVOID ) with a formula that includes a term (Δd−d STOPPING ), which is related to a difference between a relative distance between the host and target vehicles and a desired stopping distance.
7. The method of claim 1 , wherein step (c) further comprises determining the deceleration avoidance value (a AVOID ) with the following formula:
a AVOID =(( v HOST −v TAR )+ K ) 2 /2(Δ d−d STOPPING )
wherein v HOST is a host vehicle velocity, v TAR is a target vehicle velocity, K is a correction factor, Δd is a relative distance between the host and target vehicles, and d STOPPING is a desired stopping distance.
8. The method of claim 1 , wherein step (c) further comprises setting the deceleration avoidance value (a AVOID ) to zero if the deceleration avoidance value (a AVOID ) is a positive number representing an actual acceleration.
9. The method of claim 1 , wherein step (c) further comprises comparing the deceleration avoidance value (a AVOID ) to a threshold (a THRESH ), and setting the deceleration avoidance value (a AVOID ) to a maximum braking capability if the deceleration avoidance value (a AVOID ) is a more aggressive deceleration than the threshold (a THRESH ).
10. The method of claim 1 , wherein step (c) further comprises using the deceleration avoidance value (a AVOID ) to determine if the host vehicle should engage in the autonomous braking event.
11. The method of claim 10 , wherein step (c) further comprises comparing the deceleration avoidance value (a AVOID ) to a threshold, and engaging in the autonomous braking event if the deceleration avoidance value (a AVOID ) is a more aggressive deceleration than the threshold.
12. The method of claim 1 , wherein step (c) further comprises sending dynamic brake commands to one or more braking devices so that the host vehicle decelerates according to different decelerations throughout the autonomous braking event.
13. The method of claim 1 , wherein step (c) further comprises sending dynamic brake commands to one or more braking devices so that the host vehicle maintains a relative distance (Δd) and a relative velocity (Δv) between the host and target vehicles for at least a portion of the autonomous braking event.
14. The method of claim 1 , wherein step (c) further comprises disengaging in the autonomous braking event if a relative distance (Δd) or a relative velocity (Δv) between the host and target vehicles indicates that the autonomous braking event is no longer needed.
15. A method for use with a collision avoidance system installed on a host vehicle, comprising the steps of:
(a) receiving target readings from a target sensor installed on the host vehicle, the target readings include a relative distance (Δd) between the host and target vehicles;
(b) using the target readings to determine a deceleration avoidance value (a AVOID ) that is generally representative of a deceleration needed to prevent a collision between the host and target vehicles, wherein determining the deceleration avoidance value (a AVOID ) includes comparing the relative distance (Δd) to a minimum collision avoidance distance (d MINAVOID ) and setting the deceleration avoidance value (a AVOID ) to a maximum braking capability when the relative distance (Δd) is less than the minimum collision avoidance distance (d MINAVOID ); and
(c) using the deceleration avoidance value (a AVOID ) to generate dynamic brake commands that adjust or modify a deceleration of the host vehicle throughout an autonomous braking event.
16. A collision avoidance system installed on a host vehicle, comprising:
a target sensor configured to provide target readings;
one or more braking device(s) configured to receive command signals and to decelerate the host vehicle accordingly; and
a control module coupled to the target sensor for receiving the target readings and coupled to the braking device(s) for providing the command signals, wherein the control module is configured to provide dynamic command signals based on deceleration avoidance values (a AVOID ) to the braking device(s) so that the deceleration of the host vehicle is actively adjusted or modified throughout an autonomous braking event, and the dynamic brake commands are designed to achieve a relative distance (Δd) between the host and target vehicles at the end of the autonomous braking event.