Patent ID: 8775006

Claim:
A method for applying emergency maneuvers to a vehicle to avoid collision, the method comprising: detecting, by a sensor, a threat of collision with an object; activating a collision avoidance control system; detecting, by the collision avoidance control system, whether a driver of the vehicle has initiated an action; responsively to detecting that the driver has initiated an action, performing, by the collision avoidance control system, an assisted emergency maneuver, wherein the assisted emergency maneuver assists the driver in avoiding collision with the object; responsively to detecting that the driver has not initiated an action, performing, by the collision avoidance control system, an automatic emergency maneuver, wherein the automatic emergency maneuver performs actions to avoid collision with the object; determining, in the vehicle, a desired path around the object based on a location of the object relative to the vehicle, a relative speed, a road parameter, and a vehicle control parameter; calculating a vehicle control parameter value which minimizes a predicted deviation from a desired vehicle path; determining whether the vehicle control parameter value would cause the vehicle to exceed a vehicle stability constraint; altering, if the vehicle control parameter value would cause the vehicle to exceed the vehicle stability constraint, the vehicle control parameter value to an alternate vehicle control parameter value, wherein the alternate vehicle control parameter value does not cause the vehicle to exceed the vehicle stability constraint; and outputting the alternate vehicle control parameter value to a vehicle automated control device.