US 12,434,767 B2
Method for determining whether an automatic collision avoidance steering maneuver should be executed or not
Giuseppe Giordano, Gothenburg (SE); and Lars Johannesson Mårdh, Torslanda (SE)
Assigned to ZENSEACT AB, Gothenburg (SE)
Filed by ZENSEACT AB, Gothenburg (SE)
Filed on Sep. 28, 2023, as Appl. No. 18/476,407.
Claims priority of application No. 22201807 (EP), filed on Oct. 17, 2022.
Prior Publication US 2024/0124060 A1, Apr. 18, 2024
Int. Cl. B62D 15/02 (2006.01); B60W 30/09 (2012.01)
CPC B62D 15/0265 (2013.01) [B60W 30/09 (2013.01); B60W 2520/125 (2013.01); B60W 2710/20 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A computer-implemented method for determining whether an automatic collision avoidance steering maneuver for a vehicle equipped with an automated driving system (ADS) should be executed or not, the method comprising:
obtaining a predicted vehicle trajectory for execution of the collision avoidance steering maneuver, wherein the predicted vehicle trajectory comprises a predicted lateral acceleration and a predicted lateral jerk of the vehicle along the predicted vehicle trajectory;
obtaining a first threshold of attainable lateral acceleration and a second threshold of attainable lateral jerk of the vehicle;
determining whether the predicted vehicle trajectory is attainable or not by comparing the predicted lateral acceleration with the first threshold and the predicted lateral jerk with the second threshold;
in response to the predicted vehicle trajectory being attainable, communicating, to a control system of the vehicle, that the automatic collision avoidance steering maneuver shall be executed; and
in response to the predicted vehicle trajectory not being attainable:
determining a lateral offset of the vehicle along the predicted vehicle trajectory based on the predicted lateral acceleration and the predicted lateral jerk of the predicted vehicle trajectory and the first and second threshold;
in response to the lateral offset being smaller than or equal to a third threshold, communicating, to the control system of the vehicle, that the automatic collision avoidance steering maneuver shall be executed; and
in response to the lateral offset being greater than the third threshold, communicating to the control system of the vehicle, that the automatic collision avoidance steering maneuver shall not be executed.