Methods and apparatus for a vehicle emergency control system

摘要

A vehicle control system defines a set of predetermined criteria relating to the motion of the vehicle and a set of vehicle actions associated with the set of predetermined criteria. The vehicle actions each specify a steering action and/or a braking action. Friction data indicative of a frictional attribute (for example, coefficient of friction) of the contact region between the vehicle and the surface is received. The predetermined criteria are modified based on the friction data. When one or more of the predetermined criteria are met, the system applies the corresponding steering and/or braking actions.

主权项

1. A vehicle control method comprising:
defining a set of predetermined driver action lines relating to the motion of a vehicle with respect to a surface, wherein the set of predetermined driver action lines are based in part on a maximum lateral acceleration capability of the vehicle and a maximum longitudinal acceleration capability of the vehicle; defining a set of vehicle actions associated with the set of predetermined driver action lines, wherein the vehicle actions each specify at least one of a steering action and a braking action; determining friction data indicative of a frictional attribute of a contact region between the vehicle and the surface; modifying the set of predetermined driver action lines based on the friction data; controlling the vehicle in accordance the set of vehicle actions and the first predetermined driver action line; re-determining the friction data based on the dynamic behavior of the vehicle while controlling the vehicle; and modifying the set of predetermined driver action lines based on the re-determined friction data.