Collision-warning system

Patent metadata

Field	Value
Publication number	US-10025319-B2
Application number	US-201615252389-A
Country	US
Kind code	B2
Filing date	Aug 31, 2016
Priority date	Aug 31, 2016
Publication date	Jul 17, 2018
Grant date	Jul 17, 2018

Abstract

A controller includes a processor and a memory storing processor-executable instructions in a host vehicle. The processor is programmed to designate a target vehicle as a collision risk upon determining that an intersection angle between the host vehicle and the target vehicle is between preset lower and upper bounds and an absolute value of an azimuth angle rate of change of the host vehicle is below a preset threshold.

First claim

What is claimed is:

1. A controller comprising a processor and a memory storing processor-executable instructions in a host vehicle such that the processor is programmed to:
designate a target vehicle as a collision risk upon determining that
an intersection angle between the host vehicle and the target vehicle is between preset lower and upper bounds and
an absolute value of an azimuth angle rate of change of the host vehicle is below a preset threshold; and

control a vehicle subsystem to evade the target vehicle if designated as a collision risk.

2. The controller of claim 1 , wherein the processor is further programmed to determine whether the target vehicle is within a preset range of the host vehicle.

3. The controller of claim 1 , wherein the preset lower bound is greater than zero degrees.

4. The controller of claim 3 , wherein the preset upper bound is less than 180 degrees.

5. The controller of claim 1 , wherein controlling the vehicle subsystem includes instructing brakes to brake.

6. The controller of claim 1 , wherein controlling the vehicle subsystem includes instructing a steering system to turn.

7. The controller of claim 1 , wherein the processor is further programmed to confirm the collision risk independently of the azimuth angle rate of change of the host vehicle.

8. The controller of claim 1 , wherein the processor is further programmed to instruct a vehicle subsystem to evade the target vehicle if designated as a collision risk and if the collision risk is confirmed independently of the azimuth angle rate of change of the host vehicle.

9. The controller of claim 1 , wherein the processor is further programmed to calculate a threat score based on the preset threshold and the azimuth angle rate of change of the host vehicle.

10. A method comprising:
designating a target vehicle as a collision risk upon determining that
an intersection angle between a host vehicle and the target vehicle is between preset lower and upper bounds and
an absolute value of an azimuth angle rate of change of the host vehicle is below a preset threshold; and

controlling, by a computer controller, a vehicle subsystem to evade the target vehicle if designated as a collision risk.

11. The method of claim 10 , further comprising determining whether the target vehicle is within a preset range of the host vehicle.

12. The method of claim 10 , wherein the preset lower bound is greater than zero degrees.

13. The method of claim 12 , wherein the preset upper bound is less than 180 degrees.

14. The method of claim 10 , wherein controlling the vehicle subsystem includes instructing brakes to brake.

15. The method of claim 10 , wherein controlling the vehicle subsystem includes instructing a steering system to turn.

16. The method of claim 10 , further comprising confirming the collision risk independently of the azimuth angle rate of change of the host vehicle.

17. The method of claim 10 , further comprising instructing a vehicle subsystem to evade the target vehicle if designated as a collision risk and if the collision risk is confirmed independently of the azimuth angle rate of change of the host vehicle.

18. The method of claim 10 , further comprising calculating a threat score based on the preset threshold and the azimuth angle rate of change of the host vehicle.

19. A controller comprising a processor and a memory storing processor-executable instructions in a host vehicle such that the processor is programmed to:
designate a target vehicle as a collision risk upon determining that
an intersection angle between the host vehicle and the target vehicle is between preset lower and upper bounds and
an absolute value of an azimuth angle rate of change of the host vehicle is below a preset threshold; and

instruct a vehicle subsystem to evade the target vehicle if designated as a collision risk and if the collision risk is confirmed independently of the azimuth angle rate of change of the host vehicle.

20. The controller of claim 19 , wherein instructing the vehicle subsystem includes at least one of instructing brakes to brake and instructing a steering system to turn.

Assignees

• Ford Global Tech Llc

Inventors

• Liu Nanjun
• Engelman Jerry H
• Qamar Ahsan
• Drotar Timothy
• Deng Kun
• Miller Alex Maurice

Classifications

• B60W2554/805

  Azimuth angle · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title