Device that identifies the composition of an object using a non-contact chemical sensor

Abstract

Device that identifies a composition (310) of an object using a non-contact chemical sensor (100), the device comprising: at least one memory (103) containing computer-executable instructions; and at least one processor configured to read and execute computer-executable instructions, wherein the computer-executable instructions cause the at least one processor to: to recognize an object based on information supplied by a multitude of sensors; to control the transmission of a chemical detection signal from a non-contact chemical sensor (100) at the detected object; to identify a composition (310) of the detected object based on an attenuation of the chemical detection signal; to determine whether a path change is required, based on the identified composition (310) of the detected object; and to control one or more actuators to stop a vehicle (110) or to adjust the path of the vehicle (110) when a path change is required; further comprising the non-contact chemical sensor (100) configured to transmit the chemical detection signal, which has a millimeter wave signal; wherein the composition (310) comprises a gaseous composition (311), a solid composition (313) and a liquid composition (312); and wherein the computer-executable instructions cause the at least one processor to identify the composition (310) of the detected object on the basis of reflections of the chemical detection signal by comparing a profile of the reflections of the chemical detection signal with a spectral profile corresponding to the composition.

Description

[0001] The description refers to the detection of objects when controlling a vehicle.

[0002] In particular, the description refers to devices relating to the identification of solid objects, gases and liquids.

[0003] US 9,234,618 B1 describes a light detection and distance measuring device connected to an autonomous vehicle that scans a scan area while emitting pulses of light and receives reflected signals corresponding to the light pulses. The reflected signals display a three-dimensional point map of the distribution of reflective points within the scan area. A hyperspectral sensor maps a portion of the scan area corresponding to a reflective feature displayed by the three-dimensional point map. The output of the hyperspectral sensor includes spectral information that characterizes the spectral distribution of the radiation received from the reflective feature. The spectral properties of the reflective feature allow for the differentiation between solid objects and non-solid reflective features, and a map of the solid objects is provided to enable real-time navigation decisions.

[0004] US 6,072,173 A describes an animal carcass detection system suitable for mounting on a vehicle, capable of easily and accurately determining the presence of an animal. Specifically, it uses electromagnetic waves to detect the distance to an object in front of the vehicle and simultaneously distinguish whether the object is an animal. The system includes transmitting and receiving devices for emitting a radio wave with a first frequency of 10 GHz and a second frequency of 60 GHz, the latter being higher than the first, in the same direction, and for receiving reflected waves. It also includes distinguishing devices for generating material identification data that indicate whether a combination (i.e., a ratio or product) of the received levels of the reflected waves at the respective frequencies is a combination indicating that the reflecting object is an animal carcass.It also includes a detector for determining the distance to the reflecting object based on the emitted waves and the received reflected waves. During night driving, the system uses the ability to distinguish whether the object is an animal or not, and the measured distance to that object, to control the distance between vehicles and the vehicle speed.

[0005] DE 199 32 094 A1 describes a millimeter-wave radar and at least one infrared laser radar, which are combined to predictively detect the condition of the road surface in the direction of travel of a vehicle. The echo signals from the radar sensors are combined, and the road surface condition is classified into predefined condition categories. By adding further categories, automatic functional testing of individual sensors of the device is possible. Furthermore, the vehicle's pitch angle relative to the road surface can be determined through suitable evaluation.

[0006] DE 195 06 550 A1 describes a method and a device for determining the surface condition, in particular of highways, with regard to dryness, wetness, or icing. The surface is irradiated with a radiation source that includes an infrared component, and the reflected radiation is simultaneously measured in different wavelength ranges that characterize water and ice. At least four wavelength ranges are selected that allow the radiation to penetrate the surface sufficiently. A first and a second wavelength range are selected so that they are only very slightly affected by the absorption of water molecules, and a third and a fourth wavelength range are selected so that they are characteristic of water and ice.The influence of the subsurface on the signals measured in the third and fourth wavelength ranges is compensated for by the information provided by the signals measured in the first and second wavelength ranges. In this way, it is possible to obtain information about the state of the surface as a function of the measured signals.

[0007] According to the description, a device is provided that distinguishes between a solid object and a gaseous or liquid composition using a non-contact chemical sensor. In particular, a device is provided that distinguishes between a solid object and a gaseous or liquid composition using a non-contact chemical sensor and controls a vehicle to move through the gaseous or liquid composition and stop, or to drive around a solid object.

[0008] To understand the functions of the claimed device, a method is described below which includes the steps corresponding to the functions of the claimed device, which identifies an object using a non-contact chemical sensor. The method comprises detecting an object based on information provided by a plurality of sensors, transmitting a chemical detection signal from a non-contact chemical sensor to the detected object, identifying the composition of the detected object based on reflections of the chemical detection signal, determining whether a path change is required based on the identified composition of the detected object, and controlling one or more actuators to stop a vehicle or adjust the vehicle's path when the path change is required.

[0009] The transmission of the chemical detection signal can include the transmission of a millimeter wave signal, and the chemical detection signal can be a signal between 30 GHz and 300 GHz.

[0010] Identifying the composition of the detected object based on the reflections of the chemical detection signal may include determining whether there is attenuation or strength of the reflections of the chemical detection signal within a given range corresponding to a composition.

[0011] The composition can include a gaseous, a solid, and a liquid component.

[0012] Determining whether path modification is required based on the identified composition of the detected object may include determining whether the attenuation or strength of the reflections of the chemical detection signal is greater than a preset threshold.

[0013] The control of one or more actuators may include the application of brakes to stop a vehicle if the required path change is a vehicle stop.

[0014] The control of one or more actuators may include the provision of electronic power steering that steers a vehicle onto a modified path if the required path change is to drive around the identified object.

[0015] Most sensors can include two or more, consisting of a LIDAR, a camera, a sonar, and a radar.

[0016] Identifying the composition of the detected object based on the reflections of the chemical detection signal can involve comparing a profile of the reflections of the chemical detection signal with a spectral profile that corresponds to the composition.

[0017] According to the invention, a device is provided that identifies an object using a non-contact chemical sensor. The device comprises at least one memory containing computer-executable instructions; and at least one processor configured to read and execute the computer-executable instructions.The computer-executable instructions cause the at least one processor to detect an object based on information supplied by a multitude of sensors, to control the transmission of a chemical detection signal from a non-contact chemical sensor to the detected object, to identify the composition of the detected object based on reflections of the chemical detection signal, to determine, based on the identified composition of the detected object, whether a path change is required, and to control one or more actuators to stop a vehicle or adjust the vehicle's path if a path change is required. The device further includes the chemical detection sensor, which is configured to transmit the chemical detection signal, which has a millimeter-wave signal.The composition includes a gaseous composition, a solid composition, and a liquid composition. The computer-executable instructions cause the at least one processor to identify the composition of the detected object based on reflections of the chemical detection signal by comparing a profile of the reflections of the chemical detection signal with a spectral profile corresponding to the composition.

[0018] According to one embodiment, the chemical detection signal has a frequency between 30 GHz and 300 GHz.

[0019] According to another embodiment, the computer-executable instructions cause the at least one processor to identify the composition of the detected object based on the reflections of the chemical detection signal by determining whether there is attenuation or strength of the reflections of the chemical detection signal within a predetermined range corresponding to a composition.

[0020] According to another embodiment, the computer-executable instructions cause the at least one processor to determine, based on the identified composition of the detected object, whether the path change is necessary by determining whether an attenuation or strength of the reflections of the chemical detection signal is greater than a preset threshold.

[0021] According to another embodiment, the computer-executable instructions cause the at least one processor to control one or more actuators by applying the brakes in order to stop a vehicle when the required path change is a vehicle stop.

[0022] According to another embodiment, the computer-executable instructions cause the at least one processor to control one or more actuators by providing electronic power steering that steers a vehicle onto a modified path when the required path change is to drive around the identified object.

[0023] According to another embodiment, the device can include a variety of sensors, including two or more from a LIDAR, a camera, a sonar and a radar.

[0024] Further objects, advantages and novel features of the exemplary embodiments are explained in more detail in the following detailed description of the exemplary embodiments and the accompanying drawings. Fig. Figure 1 shows a block diagram of a device that identifies an object using a non-contact chemical sensor; Fig. Figure 2 shows a flowchart for a procedure for identifying an object using a non-contact chemical sensor; and Fig. Figure 3 shows a graphical representation of the reflection of a signal from the non-contact chemical sensor, as it corresponds to the composition of an object.

[0025] A device and a method that identifies the composition of an object using a non-contact chemical sensor are now described in detail with reference to the Fig. 1-3 described, in which similar reference numbers consistently refer to similar elements.

[0026] The following description will enable a person skilled in the art to put the inventive concept into practice. However, the exemplary embodiments described herein are merely illustrative and do not limit the inventive concept to those described here. Furthermore, descriptions of features or aspects of each exemplary embodiment should typically be considered as available for aspects of other exemplary embodiments.

[0027] It is further agreed that if it is determined herein that a first element is "connected", "attached", "molded" or "arranged" with a second element, the first element may be directly connected, molded or arranged with the second element, or that intermediate elements may exist between the first element and the second element, unless it is determined that a first element is "directly" connected, attached, molded or arranged with the second element.If a first element is configured to "send" or "receive" information from a second element, the first element may, in addition, send the information directly to or receive it from the second element, send or receive it via a bus, send or receive it via a network, or send or receive it via intermediate elements, unless it is specified that the first element should send information "directly" to or receive it from the second element.

[0028] Throughout the entire description, one or more of the described elements can be combined into a single device or into one or more devices. Furthermore, individual elements can be provided on separate devices.

[0029] Vehicles are equipped with various automatic control systems and sensors that provide information to determine a vehicle's position or path, enabling it to follow waypoints to reach a destination or maintain its position on the road. However, current vehicle sensors can struggle to distinguish between the compositions of objects. For example, non-solid objects such as gases and liquids can be detected by sensors. While vehicles can drive through non-solid objects, it can be difficult to differentiate them from solid objects using image and lidar sensors.

[0030] One way to solve the problem of distinguishing solid objects from gases and liquids is to install a non-contact chemical sensor in a vehicle. Adding this sensor will provide additional information that allows a vehicle to determine if its path is clear when a non-solid object, such as fog or rain, is detected, and to proceed through the path and past the object. Furthermore, the detection of specific types of non-solid objects can be used to trigger countermeasures, such as activating fog lights in fog, and using washer fluid and windshield wipers in mud or liquids.

[0031] Fig. Figure 1 shows a block diagram of a device that identifies the composition of an object using a non-contact chemical sensor 100. As shown in Fig. As shown in Figure 1, the device, which identifies the composition of an object using a non-contact chemical sensor 100, comprises, according to an exemplary embodiment, a controller 101, a power supply 102, a memory 103, an output 104, vehicle controls 105, a user input 106, a sensor 107, a communication device 108, and a non-contact chemical sensor 109. However, the device, which identifies the composition of an object using a non-contact chemical sensor 100, is not limited to the configuration mentioned above and can be configured to include additional elements and / or omit one or more of the elements mentioned above.The device, which identifies the composition of an object using a non-contact chemical sensor 100, can be implemented as part of a vehicle 110, as a stand-alone component, as a hybrid between an in-vehicle and a remote-vehicle device, or in another computing device.

[0032] The controller 101 controls the overall operation and function of the device that identifies the composition of an object using a non-contact chemical sensor 100. The controller 101 can control one or more of the memory units 103, outputs 104, vehicle controls 105, user inputs 106, sensors 107, communication devices 108, and non-contact chemical sensors 109 of the device that identifies the composition of an object using a non-contact chemical sensor 100. The controller 101 can contain one or more components, including a processor, microprocessor, central processing unit (CPU), graphics processing unit, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), state machines, circuits, and a combination of hardware, software, and firmware components.

[0033] The controller 101 is configured to send and / or receive information from one or more of the memory locations 103, the output 104, the vehicle controls 105, the user input 106, the sensor 107, the communication device 108, and the non-contact chemical sensor 109 of the device that identifies the composition of an object using a non-contact chemical sensor 100. The information can be sent and received via a bus or network, or it can be read or written directly to / from one or more of the memory locations 103, the output 104, the user input 106, the sensor 107, the communication device 108, and the non-contact chemical sensor 109 of the device that identifies the composition of an object using a non-contact chemical sensor 100.Examples of suitable network connections include a Controller Area Network (CAN), a Media Oriented System Transmission (MOST), a Local Area Link Network (LIN), a Local Area Network (LAN), wireless networks such as Bluetooth and 802.11, and other suitable connections such as Ethernet.

[0034] The power supply 102 provides power to one or more of the controller 101, the memory 103, the output 104, the vehicle control 105, the user input 106, the sensor 107, the communication device 108, and the non-contact chemical sensor 109 of the device that identifies the composition of an object using a non-contact chemical sensor 100. The power supply 102 can include one or more components such as a battery, a wall socket, a capacitor, a solar cell, a generator, a wind turbine, an AC generator, etc.

[0035] Memory 103 is configured to store and retrieve information used by the device that identifies the composition of an object using a non-contact chemical sensor 100. Memory 103 can be controlled by the controller 101 to store and retrieve information received from the controller 101, the vehicle controller 105, the sensor 107, the communication device 108, and / or the non-contact chemical sensor 109. Memory 103 can also store computer instructions configured to be executed by a processor to perform the functions of the device that identifies the composition of an object using a non-contact chemical sensor 100.

[0036] Memory 103 can include one or more floppy disks, optical disks, CD-ROMs (Compact Disc-Read Only Memories), magneto-optical disks, ROMs (Read Only Memories), RAMs (Random Access Memories), EPROMs (Erasable Programmable Read Only Memories), EEPROMs (Electrically Erasable Programmable Read Only Memories), magnetic or optical cards, flash memory, cache memory, and other types of media / machine-readable media suitable for storing machine-executable instructions.

[0037] The information can include path information and / or vehicle information, composition information specifying a composition of gaseous, solid, and liquid components, spectral information corresponding to preset damping or signatures, and damping information. The vehicle information can include one or more braking commands and a steering command, such as an electronic power steering command. The path information can include the coordinates of one or more waypoints that the vehicle is to follow over a predetermined distance.

[0038] Output 104 provides information in one or more forms, including visual, auditory, and / or haptic. Output 104 can be controlled by the controller 101 to provide outputs to the user of the device, which identifies the composition of an object using a non-contact chemical sensor 100. Output 104 can include one or more outputs from a loudspeaker, audio device, display, centrally located display, head-up display, windshield display, haptic feedback device, vibration device, tactile feedback device, tap feedback device, holographic display, instrument light, indicator light, etc. Output 104 can provide notifications, including one or more from an auditory notification, a light notification, and a display notification.The notifications may contain information about the composition of a detected object, a request to confirm or reject the detected composition of the object, or a request to confirm or reject the vehicle's path in relation to the detected object.

[0039] The vehicle controllers 105 can contain vehicle system modules (VSMs) in the form of electronic hardware components located throughout the vehicle. These modules typically receive inputs from one or more sensors and use the acquired inputs to perform diagnostic monitoring, control the vehicle for maneuvers, acceleration, braking, deceleration, reporting, and / or other functions. Each VSM can be connected to the other VSMs and to the controller 101 via a communication bus and can be programmed to perform vehicle system and subsystem diagnostic tests. The controller 101 can be configured to send and receive information from the VSMs and to control the VSMs to execute vehicle functions.

[0040] A VSM can be, for example, an engine control module (ECM) that controls various aspects of engine operation such as fuel ignition and ignition timing; another VSM can be an external sensor module configured to receive information from sensors such as cameras, radar, LiDARs, and lasers; another VSM can be a powertrain control module that regulates the operation of one or more components of the vehicle's powertrain; yet another VSM can be the vehicle dynamics sensor that detects an understeer gradient, torque information, vehicle cornering stiffness and compliance with suspension regulations, a steering angle parameter, a speed parameter such as...The vehicle's forward speed, an acceleration parameter or command, a lateral acceleration parameter, and / or a road wheel angle parameter are all possible inputs. Another VSM (Vehicle Stability Management) module can be a body control module that manages various electrical components throughout the vehicle, such as the electric door locks and headlights. As experts appreciate, the VSMs mentioned above are just examples of some of the modules that can be used in a vehicle, as numerous others are also available.

[0041] User input 106 is configured to provide information and commands to the device that identifies the composition of an object using a non-contact chemical sensor 100. User input 106 can be used to provide user input, etc., to the controller 101. User input 106 can receive one or more inputs from a touchscreen, keyboard, soft keypad, button, motion detector, voice input detector, microphone, camera, trackpad, mouse, steering wheel, touchpad, etc. User input 106 can be configured to receive user input to confirm or reject the notification output via output 104.

[0042] The Sensor 107 incorporates an ultra-short-range radar sensor, a sonar, an ultra-wideband radar sensor, and a microwave sensor. The Sensor 107 can be configured to scan an area around a vehicle to detect and provide image information, including an image of the area surrounding the vehicle. The Sensor 107 can be used to compile image information or mapping information or data, including three-dimensional point cloud information.

[0043] The communication device 108 can be used by the device that identifies the composition of an object using a non-contact chemical sensor 100 to communicate with various types of external devices according to different communication methods. The communication device 108 can be used to send / receive information, including information about the location of a vehicle, global navigation information, vehicle information, damping information, spectral profile information, path information, image sensor information, etc.

[0044] The Communication Device 108 can contain various communication modules, such as one or more from a telematics unit, a broadcast receiver module, a near-field communication (NFC) module, a GNS receiver, a wired communication module, or a wireless communication module. The broadcast receiver module can include a terrestrial broadcast receiver module with an antenna for receiving a terrestrial broadcast signal, a demodulator, an equalizer, etc. The NFC module is a module that communicates with an external device at close range using an NFC protocol. The GNS receiver is a module that receives a GNS signal from a GPS satellite or other navigation satellite or tower and determines a current location.The wired communication module can be a module that receives information over a wired network such as a local area network (LAN), a controller area network (CAN), or an external network. The wireless communication module is a module that connects to and communicates with an external network via a wireless communication protocol such as IEEE 802.11 protocols, WiMAX, Wi-Fi, or the IEEE communication protocol. The wireless communication module can also include a cellular communication module that accesses a cellular network and communicates according to various cellular communication standards such as 3G. 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), Bluetooth, EVDO, CDMA, GPRS, EDGE or ZigBee.

[0045] The non-contact chemical sensor 109 can include a millimeter-wave signal generator and transmitter, as well as a millimeter-wave signal receiver. The chemical detection sensor can be configured to transmit the chemical detection signal, including a millimeter-wave signal. The non-contact chemical sensor 109 can receive reflections of the chemical detection signal and measure the reflected signal strength, amplitude, and / or attenuation, providing this information to the controller 101. The chemical detection signal can be a signal between 30 GHz and 300 GHz.

[0046] According to an exemplary embodiment, the control unit 101 of the device, which identifies the composition of an object using a non-contact chemical sensor 100, can be configured to recognize an object based on information provided by a plurality of sensors, to transmit a chemical recognition signal from a non-contact chemical sensor to the recognized object, to identify the composition of the recognized object based on attenuation of the chemical recognition signal, to determine whether a path change is required based on the identified composition of the recognized object, and to control one or more actuators to stop a vehicle or to adjust the vehicle's path when the path change is required.

[0047] The control unit 101 of the device, which identifies a composition of an object using a non-contact chemical sensor 100, can further be configured to identify the composition of the detected object based on the reflections of the chemical detection signal by determining whether there is an attenuation or strength of the reflections of the chemical detection signal within a preset range corresponding to a composition.

[0048] The control unit 101 of the device, which identifies the composition of an object using a non-contact chemical sensor 100, can be configured to determine, based on the identified composition of the detected object, whether the path change is required by determining whether the attenuation or strength of the reflections of the chemical detection signal is greater than a preset threshold.

[0049] The control unit 101 of the device, which identifies a composition of an object using a non-contact chemical sensor 100, can be configured to control one or more actuators by applying the brakes to stop a vehicle when the required path change is a vehicle stop.

[0050] The control unit 101 of the device, which identifies a composition of an object using a non-contact chemical sensor 100, can be configured to control one or more actuators by providing electronic power steering that steers a vehicle onto a modified path when the required path change is to drive around the identified object.

[0051] The control unit 101 of the device, which identifies the composition of an object using a non-contact chemical sensor 100, can be configured to identify the composition of the detected object based on the reflections of the chemical detection signal by comparing a profile of the reflections of the chemical detection signal with a spectral profile corresponding to the composition.

[0052] Fig. Figure 2 shows a flowchart for a method for identifying an object using a non-contact chemical sensor according to an exemplary embodiment. The method of Fig. 2 can be carried out by the device that identifies an object using a non-contact chemical sensor 100, or it can be encoded in a computer-readable medium as instructions that can be executed by a computer to carry out the procedure.

[0053] With reference to Fig. 2. An object is detected based on information supplied by a variety of sensors in Operation S210. In response to the object to be detected (Operation S210-Yes), a chemical detection signal is sent from a non-contact chemical sensor to the detected object in Operation S220. The object's composition is identified in Operation S230 based on reflections of the non-contact chemical sensor signal. Attenuation, signal strength, spectral information, or another signal signature can be used to identify the composition of the detected object. Based on the identified composition, Operation S240 determines whether a path change is required. If a path change is required (Operation S240-Yes), one or more actuators are controlled to stop a vehicle or adjust the vehicle's path in Operation S250.

[0054] Fig. Figure 3 shows a diagram of the attenuation of the non-contact chemical sensor as it corresponds to the composition of an object according to one aspect of an exemplary embodiment.

[0055] With reference to Fig.Figure 3 represents the non-contact chemical sensor signal line 301, which describes the relationship between the attenuation or reflected signal strength 305 of the non-contact chemical sensor signal on the vertical axis and the composition 310 of an object on the horizontal axis. There are three zones, each corresponding to a gaseous composition 311, a liquid composition 312, and a solid composition 313. The threshold 302 represents a predetermined or calibrated threshold that defines the line between a solid and a non-solid composition (i.e., liquid or gaseous).Furthermore, spectral information from a reflected chemical detection signal in the form of a signature corresponding to the strength, frequency, phase, or other properties of the reflections of the chemical detection signal can be used to determine which zone the signal falls into or which composition the non-contact chemical sensor signal detects.

[0056] The processes, procedures, or algorithms described herein can be supplied to or implemented by a processing device, controller, or computer, including any existing programmable electronic control unit (PEC) or dedicated electronic control unit (DEC). Similarly, the processes, procedures, or algorithms can be stored as data and instructions that can be executed by a controller or computer in many forms, including, but not limited to, information permanently stored on non-writable storage media such as ROM devices, and information modifiably stored on writable storage media such as floppy disks, magnetic tapes, CDs, RAM devices, and other magnetic and optical media. The processes, procedures, or algorithms can also be implemented in an executable software object.Alternatively, the processes, procedures or algorithms can be embodied wholly or partially by suitable hardware components, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), state machines, controllers or other hardware components or devices, or a combination of hardware, software and firmware components.

Claims

[1] Device that identifies a composition (310) of an object using a non-contact chemical sensor (100), the device comprising: at least one memory (103) containing computer-executable instructions; and at least one processor configured to read and execute computer-executable instructions, wherein the computer-executable instructions cause the at least one processor to: to recognize an object based on information supplied by a multitude of sensors; to control the transmission of a chemical detection signal from a non-contact chemical sensor (100) at the detected object; to identify a composition (310) of the detected object based on an attenuation of the chemical detection signal; to determine whether a path change is required, based on the identified composition (310) of the detected object; and to control one or more actuators to stop a vehicle (110) or to adjust the path of the vehicle (110) when a path change is required; further comprising the non-contact chemical sensor (100) configured to transmit the chemical detection signal, which has a millimeter wave signal; wherein the composition (310) comprises a gaseous composition (311), a solid composition (313) and a liquid composition (312); and wherein the computer-executable instructions cause the at least one processor to identify the composition (310) of the detected object on the basis of reflections of the chemical detection signal by comparing a profile of the reflections of the chemical detection signal with a spectral profile corresponding to the composition. [2] Device according to claim 1, wherein the chemical detection signal has a signal between 30 GHz and 300 GHz. [3] Device according to claim 1, wherein the computer-executable instructions cause the at least one processor to identify the composition (310) of the detected object on the basis of the reflections of the chemical detection signal by determining whether there is an attenuation or strength of the reflections of the chemical detection signal within a predetermined range corresponding to a composition (310). [4] Device according to claim 1, wherein the computer-executable instructions cause the at least one processor to determine, on the basis of the identified composition of the detected object, whether the path change is required by determining whether an attenuation or strength of the reflections of the chemical detection signal is greater than a preset threshold. [5] Device according to claim 4, wherein the computer-executable instructions cause the at least one processor to control one or more actuators by actuating brakes in order to stop a vehicle (110) when the required path change is a vehicle stop. [6] Device according to claim 4, wherein the computer-executable instructions cause the at least one processor to control one or more actuators by the processor providing an electronic power steering system that steers a vehicle (110) onto a modified path when the required path change is to drive around the identified object. [7] Device according to claim 1, further comprising a plurality of sensors (107), including two or more of a LIDAR, a camera, a sonar and a radar.

Images