US2023391369A1PendingUtilityA1
Vehicle for performing minimal risk maneuver and method for operating the same
Est. expiryOct 27, 2040(~14.2 yrs left)· nominal 20-yr term from priority
B60W 2556/50B60W 2552/00B60Y 2300/08B60W 30/18163B60W 60/0059B60W 60/0053B60W 30/0956B60W 60/0015B60W 2554/802B60W 2554/801B60W 2420/408B60W 2420/403B60W 40/02B60W 30/09B60W 30/08B60W 2554/80B60Q 9/008B60W 50/14B60W 2756/10G08G 1/16B60W 40/06
63
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Claims
Abstract
Disclosed is a vehicle which supports a minimal risk maneuver. The vehicle performs driving, perform the minimal risk maneuver when a specific event occurs during the driving, eliminates the risk of the vehicle in accordance with the initiation of the minimal risk maneuver, ends the minimal risk maneuver when the risk of the vehicle is eliminated, and performs the driving again after ending the minimal risk maneuver.
Claims
exact text as granted — not AI-modified1 . A vehicle for performing a minimal risk maneuver, the vehicle comprising:
a sensor which senses an environment around the vehicle and generates data related to the environment; a processor which monitors a state of the vehicle to generate data related to the state of the vehicle, and controls autonomous driving of the vehicle; a controller which controls operations of the vehicle according to the control of the processor; and wherein the processor obtains a detectable distance of the sensor, determines any one of a plurality of types as a minimal risk maneuver type based on the detectable distance and a predetermined minimum detection distance when there is a request for the minimal risk maneuver, and controls the controller to perform the minimal risk maneuver in accordance with contents of the minimal risk maneuver type.
2 . The vehicle of claim 1 , wherein the plurality of types comprises:
a straight stop as a level 1 type; an in-lane stop as a level 2 type; a lane change plus stop in traffic lane as a level 3 type; a shoulder stop as a level 4 type; and a parking lane stop as a level 5 type, wherein at least two of the plurality of types have different minimum detection distances as a determination standard, and wherein the processor determines a type having a minimum detection distance smaller than the detectable distance as the minimal risk maneuver type.
3 . The vehicle of claim 2 , wherein, in the plurality of types, a higher-level type has a greater minimum detection distance as the determination standard.
4 . The vehicle of claim 2 , wherein, in the plurality of types, a higher-level type has a smaller minimum detection distance as the determination standard.
5 . The vehicle of claim 1 ,
wherein the minimal risk maneuver type is a straight stop, wherein the minimum detection distance comprises a longitudinal distance and a lateral distance, wherein a size of the longitudinal distance is as follows,
d
=
{
V
o
2
2
·
a
max
,
V
o
2
2
·
a
max
10
,
otherwise
>
10
(where, V o is a speed of the vehicle and a max is a predetermined maximum deceleration of the vehicle),
wherein a size of the lateral distance is a width of the vehicle, and
wherein the processor controls the controller to perform the minimal risk maneuver based on the detectable distance and the minimum detection distance.
6 . The vehicle of claim 5 , wherein, when the detectable distance is smaller than the minimum detection distance, the processor controls the controller to allow the vehicle to brake at the maximum deceleration.
7 . The vehicle of claim 6 , wherein, when the detectable distance is greater than the minimum detection distance, the processor controls the controller to allow the vehicle to brake at a deceleration less than the maximum deceleration.
8 . The vehicle of claim 1 ,
wherein the minimal risk maneuver type is an in-lane stop, wherein the minimum detection distance comprises a longitudinal distance and a lateral distance, and wherein the processor controls the controller to perform the minimal risk maneuver based on the detectable distance and the minimum detection distance.
9 . The vehicle of claim 8 ,
wherein a size of the longitudinal distance is as follows,
d
=
{
V
o
2
2
·
a
max
,
V
o
2
2
·
a
max
10
,
otherwise
>
10
(where, V o is a speed of the vehicle and a max is a predetermined maximum deceleration of the vehicle),
wherein a size of the lateral distance is a width of a current lane in consideration of a predetermined curvature, and
wherein, when the detectable distance is smaller than the minimum detection distance, the processor controls the controller to allow the vehicle to brake at the predetermined maximum deceleration.
10 . The vehicle of claim 9 , wherein, when the detectable distance is greater than the minimum detection distance, the processor controls the controller to allow the vehicle to brake at a deceleration less than the maximum deceleration.
11 . A method for operating a vehicle for performing a minimal risk maneuver, the method comprising:
a first step of obtaining a detectable distance of a sensor of the vehicle; a second step of determining any one of a plurality of types as a minimal risk maneuver type based on the detectable distance and a predetermined minimum detection distance when there is a request for the minimal risk maneuver; and a third step of performing the minimal risk maneuver in accordance with contents of the minimal risk maneuver type.
12 . The method of claim 11 , wherein the plurality of types comprises:
a straight stop as a level 1 type; an in-lane stop as a level 2 type; a lane change plus stop in traffic lane as a level 3 type; a shoulder stop as a level 4 type; and a parking lane stop as a level 5 type, wherein at least two of the plurality of types have different minimum detection distances as a determination standard, and wherein the second step comprises determining a type having a minimum detection distance smaller than the detectable distance as the minimal risk maneuver type.
13 . The method of claim 12 , wherein, in the plurality of types, a higher-level type has a greater minimum detection distance as the determination standard.
14 . The method of claim 12 , wherein, in the plurality of types, a higher-level type has a smaller minimum detection distance as the determination standard.
15 . The method of claim 11 ,
wherein the minimal risk maneuver type is a straight stop,
wherein the minimum detection distance comprises a longitudinal distance and a lateral distance,
wherein a size of the longitudinal distance is as follows,
d
=
{
V
o
2
2
·
a
max
,
V
o
2
2
·
a
max
10
,
otherwise
>
10
(where, V o is a speed of the vehicle and a max is a predetermined maximum deceleration of the vehicle),
wherein a size of the lateral distance is a width of the vehicle,
wherein the third step comprises performing the minimal risk maneuver based on the detectable distance and the minimum detection distance.
16 . The method of claim 15 , wherein, when the detectable distance is smaller than the minimum detection distance, the third step comprises a step of allowing the vehicle to brake at the maximum deceleration.
17 . The method of claim 16 , wherein, when the detectable distance is greater than the minimum detection distance, the third step comprises a step of allowing the vehicle to brake at a deceleration less than the maximum deceleration.
18 . The method of claim 11 ,
wherein the minimal risk maneuver type is an in-lane stop, wherein the minimum detection distance comprises a longitudinal distance and a lateral distance, and wherein the third step comprises performing the minimal risk maneuver based on the detectable distance and the minimum detection distance.
19 . The method of claim 18 ,
wherein a size of the longitudinal distance is as follows,
d
=
{
V
o
2
2
·
a
max
,
V
o
2
2
·
a
max
10
,
otherwise
>
10
(where, V o is a speed of the vehicle and a max is a predetermined maximum deceleration of the vehicle),
wherein a size of the lateral distance is a width of a current lane in consideration of a predetermined curvature,
and wherein, when the detectable distance is smaller than the minimum detection distance, the third step comprises allowing the vehicle to brake at the predetermined maximum deceleration.
20 . The method of claim 19 , wherein, when the detectable distance is greater than the minimum detection distance, the third step comprises allowing the vehicle to brake at a deceleration less than the maximum deceleration.Join the waitlist — get patent alerts
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