Collision mitigation and avoidance

• US 10,232,849 B2
• Filed: 01/23/2017
• Issued: 03/19/2019
• Est. Priority Date: 01/23/2017
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Liu, Nanjun, Deng, Kun, Luo, Wangdong, Miller, Alex Maurice, Engelman, Gerald H.
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US15/412,138
• Publication Number:
  US 20180208186A1
• Time in Patent Office: 785 Days
• Field of Search: None
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters

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.

Claims

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.