Collison mitigation and avoidance

Patent metadata

Field	Value
Publication number	US-10403145-B2
Application number	US-201715409641-A
Country	US
Kind code	B2
Filing date	Jan 19, 2017
Priority date	Jan 19, 2017
Publication date	Sep 3, 2019
Grant date	Sep 3, 2019

Abstract

A distance offset is determined based on a determined time to collision, a relative lateral distance, and a relative longitudinal distance between the target and a host vehicle. A threat estimation is determined based on the distance offset and a distance threshold. A component of the host vehicle are actuated based on the threat estimation.

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 lateral time to collision and a longitudinal time to collision;
determine a distance offset, based on, a yaw rate, a relative lateral distance, a relative longitudinal distance, and at least one of the lateral time to collision or the longitudinal time to collision, between a target vehicle and a host vehicle;
determine a threat estimation based on the lateral time to collision, the longitudinal time to collision, the distance offset, and a distance threshold; and
actuate a component of the host vehicle based on the threat estimation.

2. The system of claim 1 , wherein the instructions further include instructions to actuate a brake when the threat estimation exceeds a threshold.

3. The system of claim 1 , wherein the instructions further include instructions to determine the longitudinal distance offset based on the lateral time to collision and the lateral distance offset based on the longitudinal time to collision.

4. The system of claim 1 , wherein the instructions further include instructions to determine the longitudinal distance threshold based on the lateral time to collision and the lateral distance threshold based on the longitudinal time to collision.

5. The system of claim 1 , wherein the threat estimation is a brake threat number being a measure of a change in an acceleration of the host vehicle to allow one of the host vehicle to stop and the target vehicle to pass the host vehicle.

6. The system of claim 1 , wherein the time to collision is based on an acceleration of the host vehicle, a velocity of the host vehicle, and a yaw rate of the host vehicle.

7. The system of claim 1 , wherein the threat estimation is based on a first threat estimation of the host vehicle and a second threat estimation of the target vehicle.

8. The system of claim 1 , wherein the time to collision is based on a predicted position of the target vehicle relative to the host vehicle at a predetermined time period after a current time.

9. A method, comprising:
determining a lateral time to collision and a longitudinal time to collision;
determining a distance offset, based on a yaw rate, a relative lateral distance, a relative longitudinal distance, and at least one of the lateral time to collision or the longitudinal time to collision, between a target vehicle and a host vehicle;
determining a threat estimation based on the lateral time to collision, the longitudinal time to collision, the distance offset, and a distance threshold; and
actuating a component of the host vehicle based on the threat estimation.

10. The method of claim 9 , further comprising actuating a brake when the threat estimation exceeds a threshold.

11. The method of claim 9 , further comprising determining the longitudinal distance offset based on the lateral time to collision and the lateral distance offset based on the longitudinal time to collision.

12. The method of claim 9 , further comprising determining the longitudinal distance threshold based on the lateral time to collision and the lateral distance threshold based on the longitudinal time to collision.

13. The method of claim 9 , wherein the threat estimation is a brake threat number being a measure of a change in an acceleration of the host vehicle to allow one of the host vehicle to stop and the target vehicle to pass the host vehicle.

14. The method of claim 9 , wherein the time to collision is based on an acceleration of the host vehicle, a velocity of the host vehicle, and a yaw rate of the host vehicle.

15. The method of claim 9 , wherein the threat estimation is based on a first threat estimation of the host vehicle and a second threat estimation of the target vehicle.

16. The method of claim 9 , wherein the time to collision is based on a predicted position of the target vehicle relative to the host vehicle at a predetermined time period after a current time.

Assignees

• Ford Global Tech Llc

Inventors

• Deng Kun
• Liu Nanjun
• Miller Alex Maurice

Classifications

• B60W2554/801

  Lateral distance · CPC title

• G08G1/163

  involving continuous checking · CPC title

• B60W30/095 Primary

  Predicting travel path or likelihood of collision · CPC title

• G08G1/056

  with provision for distinguishing direction of travel · CPC title

• B60W30/09

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