Collision mitigation and avoidance

Patent metadata

Field	Value
Publication number	US-10351129-B2
Application number	US-201715498078-A
Country	US
Kind code	B2
Filing date	Apr 26, 2017
Priority date	Jan 13, 2017
Publication date	Jul 16, 2019
Grant date	Jul 16, 2019

Abstract

A respective confidence level of a potential collision is determined for each of a plurality of targets based on each target's heading angle and distance from a host vehicle. A threat number is determined for each target when its respective confidence level is above a threshold. A vehicle component is actuated based on the threat number.

First claim

What is claimed is:

1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
classify each of a plurality of targets according to a type of each target, the type indicating an angle range of a target's heading angle and a distance from the host vehicle;
determine confidence levels of respective likelihoods of potential collisions for each of a plurality of targets based on each target's type and a number of times the type of the target was previously classified;
determine an overall threat number based on at least one of a braking, steering, and acceleration threat number, for each target when its respective confidence level is above a threshold; and
actuate a vehicle component based on the overall threat number.

2. The system of claim 1 , wherein the instructions further include instructions to classify each of the targets as one of a laterally moving target and a longitudinally oncoming target.

3. The system of claim 1 , wherein the instructions further include instructions to determine whether the target heading angle is within a first heading angle range.

4. The system of claim 1 , wherein the instructions further include instructions to determine, for one of the targets, whether the target heading angle is within a second heading angle range and the target was previously determined to have a confidence level above the threshold.

5. The system of claim 1 , wherein the instructions further include instructions to determine whether the distance is below a distance threshold.

6. The system of claim 1 , wherein the instructions further include instructions to select a predetermined maximum number of targets based on the distance when the plurality of targets exceeds the predetermined maximum number of targets.

7. The system of claim 6 , wherein the instructions further include instructions to remove a farthest target from the selected targets upon identifying a closer target.

8. The system of claim 6 , wherein the instructions further include instructions to increase a confidence counter for one of the targets when the target was previously one of the selected targets.

9. The system of claim 8 , wherein the instructions further include instructions to increase the confidence level for one of the targets based on the confidence counter of the target.

10. The system of claim 1 , wherein the instructions further include instructions to determine the confidence level based on a previously determined confidence level.

11. A method, comprising:
classifying each of a plurality of targets according to a type of each target, the type indicating an angle range of a target's heading angle and a distance from the host vehicle;
determining confidence levels of respective likelihoods of potential collisions for each of a plurality of targets based on each target's type and a number of times the type of the target was previously classified;
determining an overall threat number based on at least one of a braking, steering, and acceleration threat number, for each target when its respective confidence level is above a threshold; and
actuating a vehicle component based on the overall threat number.

12. The method of claim 11 , further comprising classifying each of the targets as one of a laterally moving target and a longitudinally oncoming target.

13. The method of claim 11 , further comprising determining whether the target heading angle is within a first heading angle range.

14. The method of claim 11 , further comprising determining, for one of the targets, whether the target heading angle is within a second heading angle range and the target was previously determined to have a confidence level above the threshold.

15. The method of claim 11 , further comprising determining whether the distance is below a distance threshold.

16. The method of claim 11 , further comprising selecting a predetermined maximum number of targets based on the distance when the plurality of targets exceeds the predetermined maximum number of targets.

17. The method of claim 16 , further comprising removing a farthest target from the selected targets upon identifying a closer target.

18. The method of claim 16 , further comprising increasing a confidence counter for one of the targets when the target was previously one of the selected targets.

19. The method of claim 18 , further comprising increasing the confidence level for one of the targets based on the confidence counter of the target.

20. The method of claim 11 , further comprising determining the confidence level based on a previously determined confidence level.

Assignees

• Ford Global Tech Llc

Inventors

• Luo Wangdong
• Liu Nanjun
• Deng Kun
• Miller Alex Maurice

Classifications

• B60W2554/801

  Lateral distance · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60W2710/10

  Change speed gearings · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W2710/20

  Steering systems · CPC title