US 11,807,206 B2
Emergency maneuvering using lateral sliding
Yan Ming Jonathan Goh, Palo Alto, CA (US); John Subosits, Menlo Park, CA (US); Michael Thompson, San Juan Capistrano, CA (US); Alexander R. Green, Redwood City, CA (US); and Avinash Balachandran, Sunnyvale, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on Mar. 25, 2021, as Appl. No. 17/212,269.
Prior Publication US 2022/0306059 A1, Sep. 29, 2022
Int. Cl. B60T 8/1755 (2006.01); B60T 8/176 (2006.01)
CPC B60T 8/17558 (2013.01) [B60T 8/176 (2013.01); B60T 8/17551 (2013.01); B60T 2250/04 (2013.01); B60T 2270/10 (2013.01); B60T 2270/30 (2013.01)] 20 Claims
OG exemplary drawing
 
9. A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to:
determine a vehicle state for a vehicle according to sensor data about a surrounding environment;
compute, using the sensor data and the vehicle state, lateral accelerations that are yaw-free for the vehicle that is without a change in yaw acceleration;
in response to detecting that the vehicle state is associated with an emergency event of an obstacle in a path of the vehicle, select a maneuver from the lateral accelerations; and
control the vehicle according to the maneuver to induce controlled lateral sliding of the vehicle to avoid the obstacle.