Unobtrusive driving assistance method and system for a vehicle to avoid hazards

Abstract

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.

What is claimed is: 
     
         1 . A method for calculating the range of safe driving commands for a vehicle to avoid detected hazards, comprising the steps of:
 a) partitioning all detected hazards into multiple zones around said vehicle;   b) identifying one or more critical points on said vehicle for each of said zones;   c) computing one critical trajectory for each of said critical points to avoid each hazard in the zone that is corresponding to said critical point;   d) calculating the curvature of each critical trajectory;   e) measuring the vehicle attitude and estimating its stability;   f) calculating the range of safe curvatures for each of said hazards with said range's boundaries defined by said critical trajectories; and   g) calculating the intersection all ranges of safe curvatures.   
     
     
         2 . The method according to  claim 1  wherein the size of said partitioned zones are sized 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:
 a) partitioning all detected hazards into one or more zones around said vehicle;   b) identifying one or more critical points on said vehicle for each of said one or more zones; and   c) 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.