Unobtrusive driving assistance method and system for a vehicle to avoid hazards
The present disclosure provides a driving assistance method and system for a mobile vehicle to avoid hazards in its environment. This system can detect hazards in a vehicle's surroundings and unobtrusively adjust its driving module's driving commands when necessary to avoid hazards. The system is configured to allow it to provide interference-free assistance to the operator of a human-operated vehicle or the motion controller of an autonomous vehicle to avoid hazards.
1 . A method for calculating the range of safe driving commands for a vehicle to avoid detected hazards, comprising the steps of:
assigning each detected hazard into a zone around said vehicle so that each zone has a detected hazard located therein;
dynamically identifying one or more critical points on said vehicle such that each zone and its corresponding hazard is associated with said one or more critical points on said vehicle;
computing one critical trajectory for each of said one or more critical points to avoid the hazard in the zone that is corresponding to said critical point;
calculating the curvature of each critical trajectory;
measuring the vehicle attitude and estimating its stability;
calculating a range of safe curvatures for each of said zones containing a hazard; and
calculating the intersection of all ranges of safe curvatures.
2 . The method according to claim 1 wherein the size of each zone is determined according to said vehicle's state and said hazards' distribution.
3 . The method according to claim 1 wherein the step of measuring the vehicle attitude and estimating its stability is performed by calculating the position of the center of mass of said vehicle with respect to the contacting point between said vehicle and the ground along said critical trajectories.
4 . A method for computing critical trajectories to avoid hazards in the vicinity of a vehicle, comprising the steps of:
assigning each detected hazard into a zone around said vehicle so that each zone has a detected hazard located therein;
dynamically identifying one or more critical points on said vehicle such that each zone and its corresponding hazard is associated with said one or more critical points on said vehicle;
identifying one or more critical points on said vehicle for each of said one or more zones; and
computing one critical trajectory for each of said critical points to avoid or handle each hazard in the zone that is corresponding to said critical point.
5 . The method according to claim 1 wherein the calculated intersection of all ranges of safe curvatures is used to select the route.
6 . The method according to claim 1 , wherein said vehicle is modelled as being rectangular.