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WO-2026090825-A1 - AUTONOMOUS EMERGENCY STEERING CONSIDERING ROAD INFORMATION

WO2026090825A1WO 2026090825 A1WO2026090825 A1WO 2026090825A1WO-2026090825-A1

Abstract

Aspects presented herein may improve the overall performance of autonomous emergency steering (AES) for vehicles by enabling the AES to consider road information and/or free space information when providing an emergency path to avoid an obstacle. In one aspect, a UE detects at least one obstacle on a traveling path of a vehicle. The UE verifies whether the detection of the at least one obstacle is consistent with a free space detection. The UE determines a path for the vehicle to avoid colliding with the at least one obstacle if the detection of the at least one obstacle is consistent with the free space detection, where a set of free space borders from the free space detection is used as obstacles for determining the path. The UE outputs the determined path for the vehicle to avoid colliding with the at least one obstacle.

Inventors

  • YU, JINBO
  • QIU, Chunyan
  • JIANG, JOHN

Assignees

  • QUALCOMM INCORPORATED

Dates

Publication Date
20260507
Application Date
20241029

Claims (20)

  1. An apparatus at a user equipment (UE) , comprising: at least one memory; and at least one processor coupled to the at least one memory, the at least one processor, individually or in any combination, is configured to: detect at least one obstacle on a traveling path of a vehicle; verify whether the detection of the at least one obstacle is consistent with a free space detection; determine a path for the vehicle to avoid colliding with the at least one obstacle if the detection of the at least one obstacle is consistent with the free space detection, wherein a set of free space borders from the free space detection is used as obstacles for determining the path; and output the determined path for the vehicle to avoid colliding with the at least one obstacle.
  2. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: perform an object detection using at least one radar or at least one camera, wherein the detection of the at least one obstacle is based on the object detection.
  3. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: perform the free space detection using at least one radar or at least one camera; and compute the set of free space borders based on the free space detection.
  4. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: determine whether the vehicle is likely to collide with the at least one obstacle, wherein the determination of the path for the vehicle to avoid colliding with the at least one obstacle is based on determination that the vehicle is likely to collide with the at least one obstacle.
  5. The apparatus of claim 4, wherein the vehicle is likely to collide with the at least one obstacle if a likelihood of a collision with the at least one obstacle is greater than a threshold.
  6. The apparatus of claim 1, wherein to determine the path for the vehicle to avoid colliding with the at least one obstacle, the at least one processor, individually or in any combination, is configured to: calculate the path based on both the free space detection and the at least one obstacle if the detection of the at least one obstacle is not consistent with the free space detection.
  7. The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: obtain road information that includes a set of non-traversable road edges associated with the traveling path of the vehicle, wherein the set of non-traversable road edges is also used as the obstacles for the determination of the path.
  8. The apparatus of claim 7, wherein to obtain the road information, the at least one processor, individually or in any combination, is configured to: obtain the road information from at least one of a map server or a visual detection.
  9. The apparatus of claim 1, wherein the determined path includes travelling outside of a current lane of the vehicle, the at least one processor, individually or in any combination, is further configured to: verify the vehicle does not cross at least one of a centerline or a road edge when travelling outside of the current lane; and verify the vehicle is unlikely to collide with another object after travelling outside of the current lane, wherein the output of the determined path is based on both the vehicle does not cross at least one of the centerline or the road edge when travelling outside of the current lane and the vehicle is unlikely to collide with the another object after travelling outside of the current lane.
  10. The apparatus of claim 9, wherein the at least one processor, individually or in any combination, is further configured to: update the traveling path of the vehicle from the current lane to a new lane based on the determined path.
  11. The apparatus of claim 1, wherein to output the determined path, the at least one processor, individually or in any combination, is configured to: transmit an indication of the determined path to an autonomous emergency steering (AES) system; or maneuver the vehicle to follow the determined path.
  12. A method at a user equipment (UE) , comprising: detecting at least one obstacle on a traveling path of a vehicle; verifying whether the detection of the at least one obstacle is consistent with a free space detection; determining a path for the vehicle to avoid colliding with the at least one obstacle if the detection of the at least one obstacle is consistent with the free space detection, wherein a set of free space borders from the free space detection is used as obstacles for determining the path; and outputting the determined path for the vehicle to avoid colliding with the at least one obstacle.
  13. The method of claim 12, further comprising: performing an object detection using at least one radar or at least one camera, wherein the detection of the at least one obstacle is based on the object detection.
  14. The method of claim 12, further comprising: performing the free space detection using at least one radar or at least one camera; and computing the set of free space borders based on the free space detection.
  15. The method of claim 12, further comprising: determining whether the vehicle is likely to collide with the at least one obstacle, wherein the determination of the path for the vehicle to avoid colliding with the at least one obstacle is based on determination that the vehicle is likely to collide with the at least one obstacle.
  16. The method of claim 12, wherein determining the path for the vehicle to avoid colliding with the at least one obstacle comprises: calculating the path based on both the free space detection and the at least one obstacle if the detection of the at least one obstacle is not consistent with the free space detection.
  17. The method of claim 12, further comprising: obtaining road information that includes a set of non-traversable road edges associated with the traveling path of the vehicle, wherein the set of non-traversable road edges is also used as the obstacles for the determination of the path.
  18. The method of claim 12, wherein the determined path includes travelling outside of a current lane of the vehicle, the method further comprising: verifying the vehicle does not cross at least one of a centerline or a road edge when travelling outside of the current lane; and verifying the vehicle is unlikely to collide with another object after travelling outside of the current lane, wherein the output of the determined path is based on both the vehicle does not cross at least one of the centerline or the road edge when travelling outside of the current lane and the vehicle is unlikely to collide with the another object after travelling outside of the current lane.
  19. The method of claim 18, further comprising: updating the traveling path of the vehicle from the current lane to a new lane based on the determined path.
  20. A computer-readable medium storing computer executable code at a user equipment (UE) , the code when executed by at least one processor causes the at least one processor to: detect at least one obstacle on a traveling path of a vehicle; verify whether the detection of the at least one obstacle is consistent with a free space detection; determine a path for the vehicle to avoid colliding with the at least one obstacle if the detection of the at least one obstacle is consistent with the free space detection, wherein a set of free space borders from the free space detection is used as obstacles for determining the path; and output the determined path for the vehicle to avoid colliding with the at least one obstacle.

Description

AUTONOMOUS EMERGENCY STEERING CONSIDERING ROAD INFORMATION TECHNICAL FIELD The present disclosure relates generally to assisted/autonomous driving, and more particularly, to autonomous emergency steering (AES) systems associated with advanced driver assistance systems (ADAS) and/or assisted/autonomous driving. INTRODUCTION Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, and broadcasts. Typical wireless communication systems may employ multiple-access technologies capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple-access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single-carrier frequency division multiple access (SC-FDMA) systems, and time division synchronous code division multiple access (TD-SCDMA) systems. These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate on a municipal, national, regional, and even global level. An example telecommunication standard is 5G New Radio (NR) . 5G NR is part of a continuous mobile broadband evolution promulgated by Third Generation Partnership Project (3GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., with Internet of Things (IoT) ) , and other requirements. 5G NR includes services associated with enhanced mobile broadband (eMBB) , massive machine type communications (mMTC) , and ultra-reliable low latency communications (URLLC) . Some aspects of 5G NR may be based on the 4G Long Term Evolution (LTE) standard. There exists a need for further improvements in 5G NR technology. These improvements may also be applicable to other multi-access technologies and the telecommunication standards that employ these technologies. BRIEF SUMMARY The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects. This summary neither identifies key or critical elements of all aspects nor delineates the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later. In an aspect of the disclosure, a method, a computer-readable medium, and an apparatus are provided. The apparatus detects at least one obstacle on a traveling path of a vehicle. The apparatus verifies whether the detection of the at least one obstacle is consistent with a free space detection. The apparatus determines a path for the vehicle to avoid colliding with the at least one obstacle if the detection of the at least one obstacle is consistent with the free space detection, where a set of free space borders from the free space detection is used as obstacles for determining the path. The apparatus outputs the determined path for the vehicle to avoid colliding with the at least one obstacle. To the accomplishment of the foregoing and related ends, the one or more aspects may include the features hereinafter fully described and particularly pointed out in the claims. The following description and the drawings set forth in detail certain illustrative features of the one or more aspects. These features are indicative, however, of but a few of the various ways in which the principles of various aspects may be employed. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating an example of a wireless communications system and an access network. FIG. 2A is a diagram illustrating an example of a first frame, in accordance with various aspects of the present disclosure. FIG. 2B is a diagram illustrating an example of downlink (DL) channels within a subframe, in accordance with various aspects of the present disclosure. FIG. 2C is a diagram illustrating an example of a second frame, in accordance with various aspects of the present disclosure. FIG. 2D is a diagram illustrating an example of uplink (UL) channels within a subframe, in accordance with various aspects of the present disclosure. FIG. 3 is a diagram illustrating an example of a base station and user equipment (UE) in an access network. FIG. 4 is a diagram illustrating an example of a vehicle performing road object detection using different types of sensors in accordance with various aspects of the present disclosure. FIG. 5 is a diagram illustrating an example of a vehicle performing map over the air in accordance with various aspects of the present disclosure. FIG. 6 is a diagram illustrating an example autonomous emergency steering (AES) system in accordance with various aspects of the present disclosure.