Vehicle collision avoidance

• US 10,011,277 B2
• Filed: 06/02/2016
• Issued: 07/03/2018
• Est. Priority Date: 06/02/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Meinhart, Matthew Joseph, Miller, Alex Maurice, Trombley, Roger Arnold, Song, Gang, Qamar, Ahsan, Jiang, Fangjun
• Primary Examiner(s): Marc-Coleman, Marthe Y
• Application Number:
  US15/171,287
• Publication Number:
  US 20170349168A1
• Time in Patent Office: 761 Days
• Field of Search: 701 70, 340988, 340435
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/18 operated by wayside apparatus
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/18154 Approaching an intersection

Abstract

A path of a target object is predicted. A path of a non-moving host vehicle is predicted based on at least one of a predetermined host vehicle acceleration and a predetermined host vehicle speed. A threat number for the target is determined based at least in part on the predicted path of the host vehicle, the threat number indicating a probability of a collision between the target and the host vehicle. A brake is actuated when the threat number is above a threat number threshold.

Claims

1. A system, comprising:

a computer including a processor and a memory, the memory storing instructions executable by the computer to;

predict a path of a target object;

predict a path of a non-moving host vehicle from a standstill based on at least one of a predetermined host vehicle acceleration and a predetermined host vehicle speed;

determine a threat number for the target based at least in part on the predicted path of the host vehicle, the threat number indicating a probability of a collision between the target and the host vehicle; and

actuate a brake of the host vehicle when the threat number is above a threat number threshold to apply a brake hold to prevent the host vehicle from moving.

2. The system of claim 1, wherein the instructions further include instructions to identify vehicle operator input as a trigger indicating an intent to move the host vehicle and to actuate the brake when the trigger is identified and the threat number is above the threat number threshold.

3. The system of claim 2, wherein the instructions further include instructions to identify the trigger when a pedal position sensor detects that a position of a pedal is beyond a pedal position threshold.

4. The system of claim 2, wherein the instructions further include instructions to identify the trigger when a brake hold feature is disengaged.

5. The system of claim 1, wherein the instructions further include instructions to release the brake hold when an accelerator pedal is depressed for a predetermined period of time.

6. The system of claim 1, wherein the instructions further include instructions to release the brake hold when the threat number drops below the threat number threshold.

7. The system of claim 1, wherein the instructions further include instructions to prompt an operator of the host vehicle when the threat number is below the threat number threshold but above a second threat number threshold.

8. The system of claim 1, wherein the instructions further include instructions to determine the path of the host vehicle based at least in part on the predetermined host vehicle speed, the predetermined host vehicle acceleration, and at least one of a pedal transition time and an average time at a standstill.

9. The system of claim 1, wherein the instructions further include instructions to determine the threat number based at least in part on a deceleration required for the target object to stop at a crossing point between the path of the target object and the path of the host vehicle.

10. A method executable by a computer, comprising:

predicting a path of a target object;

predicting a path of a non-moving host vehicle from a standstill based on at least one of a predetermined host vehicle acceleration and a predetermined host vehicle speed;

determining a threat number for the target based at least in part on the predicted path of the host vehicle, the threat number indicating a probability of a collision between the target and the host vehicle; and

actuating a brake of the host vehicle when the threat number is above a threat number threshold to apply a brake hold to prevent the host vehicle from moving.

11. The method of claim 10, further comprising identifying vehicle operator input as a trigger indicating an intent to move the host vehicle and to actuate the brake when the trigger is identified and the threat number is above the threat number threshold.

12. The method of claim 11, further comprising identifying the trigger when a pedal position sensor detects that a position of a pedal is beyond a pedal position threshold.

13. The method of claim 11, further comprising identifying the trigger when a brake hold feature of the brake is disengaged.

14. The method of claim 10, further comprising releasing the brake hold when an accelerator pedal is depressed for a predetermined period of time.

15. The method of claim 10, further comprising releasing the brake hold when the threat number drops below the threat number threshold.

16. The method of claim 10, further comprising prompting an operator of the host vehicle when the threat number is below the threat number threshold but above a second threat number threshold.

17. The method of claim 10, further comprising determining the path of the host vehicle based at least in part on the predetermined host vehicle speed, the predetermined host vehicle acceleration, and at least one of a pedal transition time and an average time at a standstill.

18. The method of claim 10, further comprising determining the threat number based at least in part on a deceleration required for the target object to stop at a crossing point between the path of the target object and the path of the host vehicle.