US 12,134,392 B2
Method for determining if a vehicle control command precludes a future vehicle safety maneuver
Fredrik Sandblom, Mölndal (SE); Linus Hagvall, Gothenburg (SE); Oskar Wigström, Gothenburg (SE); and Emil Klintberg, Torslanda (SE)
Assigned to VOLVO TRUCK CORPORATION, Gothenburg (SE)
Appl. No. 17/594,976
Filed by VOLVO TRUCK CORPORATION, Gothenburg (SE)
PCT Filed May 8, 2019, PCT No. PCT/EP2019/061858
§ 371(c)(1), (2) Date Nov. 4, 2021,
PCT Pub. No. WO2020/224778, PCT Pub. Date Nov. 12, 2020.
Prior Publication US 2022/0281464 A1, Sep. 8, 2022
Int. Cl. B60W 50/00 (2006.01)
CPC B60W 50/0097 (2013.01) [B60W 50/0098 (2013.01); B60W 2050/0031 (2013.01); B60W 2300/145 (2013.01); B60W 2520/105 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method performed in a safe set check and selection unit for determining if a vehicle control command for controlling a vehicle associated with a current vehicle state precludes a future situation avoidance maneuver (“SAM”) by the vehicle, the method comprising;
obtaining one or more safe sets, wherein each safe set represents a range of vehicle states from which a future SAM can be initialized with prospect for success,
obtaining the current vehicle state and obtaining the control command from a nominal driving system unit separate and independent from the safe set check and selection unit;
predicting a future vehicle state based on the current vehicle state and on the control command, comparing the predicted future vehicle state to the one or more safe sets and determining that the control command precludes the future SAM if the predicted future vehicle state is not comprised in any of the one or more safe sets; and
controlling the vehicle based on the comparing.