Collision mitigation and avoidance

Patent metadata

Field	Value
Publication number	US-10232849-B2
Application number	US-201715412138-A
Country	US
Kind code	B2
Filing date	Jan 23, 2017
Priority date	Jan 23, 2017
Publication date	Mar 19, 2019
Grant date	Mar 19, 2019

Abstract

A time to collision is determined between a turning host vehicle and each of a plurality of targets. Based on a lateral distance and a longitudinal distance, a minimum distance is determined between the turning host vehicle and each of the plurality of targets. A threat number is determined for each target selected based on the time to collision and the minimum distance. A vehicle component is actuated based on the threat number.

First claim

The invention claimed is:

1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
determine a time to collision and, based on a lateral distance and a longitudinal distance, a minimum distance between a turning host vehicle and each of a plurality of targets;
then select a target from the plurality of targets based on the time to collision and the minimum distance;
determine a threat number for the selected target; and
actuate a vehicle component based on the threat number.

2. The system of claim 1 , wherein the instructions further include instructions to actuate the vehicle component when the threat number is above a threat number threshold.

3. The system of claim 1 , wherein the minimum distance is based at least in part on a turn rate of the host vehicle.

4. The system of claim 1 , wherein the minimum distance is based at least in part on a lateral velocity of the target and a longitudinal velocity of the target.

5. The system of claim 1 , wherein the minimum distance is based at least in part on a lateral acceleration of the target and a longitudinal acceleration of the target.

6. The system of claim 1 , wherein the instructions further include instructions to determine the minimum distance for each of the plurality of targets based at least in part on a predicted distance between the host vehicle and the respective target over a predetermined time period.

7. The system of claim 1 , wherein the instructions further include instructions to select the target from the plurality of targets when the minimum distance between the target and the host vehicle is below a distance threshold and the time to collision is below a time threshold.

8. The system of claim 1 , wherein the instructions further include instructions to determine the minimum distance for each of the plurality of targets when the time to collision is below a time threshold.

9. The system of claim 8 , wherein the instructions further include instructions to select the target from the plurality of targets when the minimum distance is below a distance threshold.

10. The system of claim 9 , wherein the instructions further include instructions to actuate the vehicle component when the threat number is above a threat number threshold.

11. A method, comprising:
determining a time to collision and, based on a lateral distance and a longitudinal distance, a minimum distance between a turning host vehicle and each of a plurality of targets;
then selecting a target from the plurality of targets based on the time to collision and the minimum distance;
determining a threat number for the selected target; and
actuating a vehicle component based on the threat number.

12. The method of claim 11 , further comprising actuating the vehicle component when the threat number is above a threat number threshold.

13. The method of claim 11 , wherein the minimum distance is based at least in part on a turn rate of the host vehicle.

14. The method of claim 11 , wherein the minimum distance is based at least in part on a lateral velocity of the target and a longitudinal velocity of the target.

15. The method of claim 11 , wherein the minimum distance is based at least in part on a lateral acceleration of the target and a longitudinal acceleration of the target.

16. The method of claim 11 , further comprising determining the minimum distance for each of the plurality of targets based on a predicted distance between the host vehicle and the respective target over a predetermined time period.

17. The method of claim 11 , further comprising selecting the target from the plurality of targets when the minimum distance between the target and the host vehicle is below a distance threshold and the time to collision is below a time threshold.

18. The method of claim 11 , further comprising determining the minimum distance for each of the plurality of targets when the time to collision is below a time threshold.

19. The method of claim 18 , further comprising selecting the target from the plurality of targets when the minimum distance below a distance threshold.

20. The method of claim 19 , further comprising actuating the vehicle component when the threat number is above a threat number threshold.

Assignees

• Ford Global Tech Llc

Inventors

• Liu Nanjun
• Deng Kun
• Luo Wangdong
• Miller Alex Maurice
• Engelman Gerald H

Classifications

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W30/0953

  the prediction being responsive to vehicle dynamic parameters · CPC title

• B60W2720/24

  Direction of travel · CPC title