US 12,233,902 B2
Systems and methods for determining steer while stopped behavior for a vehicle using dynamic limits
Alice Kassar, Detroit, MI (US); and Jing Huang, Pittsburgh, PA (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed on Nov. 21, 2022, as Appl. No. 18/057,291.
Prior Publication US 2024/0166231 A1, May 23, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/02 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 40/02 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2554/80 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A method for operating a vehicle, comprising:
obtaining, by a processor, a vehicle trajectory for the vehicle and a location of an object in an environment;
generating, by the processor, a margin comprising a first vehicle trajectory indicating a series of locations of the vehicle while contacting the object, a boundary of a drivable area or lane mark during a time interval in which the vehicle will travel past the object;
generating, by the processor, a reachable boundary using a condition of the vehicle, a longitudinal speed profile and steering limits of the vehicle, wherein the reachable boundary comprises a second vehicle trajectory indicating a series of locations of the vehicle while traveling in a forward direction with a certain speed and using full steering limits;
comparing, by the processor, the reachable boundary and the margin;
concluding, by the processor, that the vehicle should steer while stopped when the reachable boundary is at any point within a threshold distance from the margin or that the vehicle should not steer while stopped when the reachable boundary is at no point within the threshold distance from the margin; and
controlling, by the processor, steering of the vehicle when a conclusion is made that the vehicle should steer while stopped.