US 9,809,219 B2
System for accommodating a pedestrian during autonomous vehicle operation
David Leslie Agnew, Clarkston, MI (US); and Graham Lanier Fletcher, North Augusta, SC (US)
Assigned to Continental Automotive Systems, Inc., Auburn Hills, MI (US)
Filed by Continental Automotive Systems, Inc., Auburn Hills, MI (US)
Filed on Jan. 23, 2015, as Appl. No. 14/603,427.
Claims priority of provisional application 61/933,110, filed on Jan. 29, 2014.
Prior Publication US 2015/0210279 A1, Jul. 30, 2015
Int. Cl. B60W 30/09 (2012.01); B60W 10/184 (2012.01); B60W 10/20 (2006.01); B60W 30/12 (2006.01); B60W 30/14 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 10/184 (2013.01); B60W 10/20 (2013.01); B60W 30/12 (2013.01); B60W 30/143 (2013.01); B60W 2520/10 (2013.01); B60W 2550/10 (2013.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/10 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle comprising:
detecting an object proximate to a vehicle with at least one sensor;
analyzing data from the at least one sensor with a controller to determine when the object detected is a pedestrian proximate to the vehicle;
determining a maximum separation distance from the pedestrian while maintaining the vehicle within a current lane of travel;
determining a maximum safe speed for the vehicle to pass the pedestrian based upon the maximum separation distance available;
performing a pedestrian safety zone maintenance maneuver comprising adjusting a lateral position of the vehicle to the maximum separation distance prior to application of a vehicle brake followed by slowing the vehicle to the maximum safe speed for the maximum separation distance possible while maintaining the vehicle within the current lane of travel when a speed of the vehicle is above the maximum safe speed of the vehicle while the vehicle is passing the pedestrian.