Systems and methods for hazard mitigation

• US 10,507,829 B2
• Filed: 08/28/2018
• Issued: 12/17/2019
• Est. Priority Date: 04/11/2016
• Status: Active Grant

• Current Assignee: David E. Newman, Massengill R. Kemp
• Original Assignee: Autonomous Roadway Intelligence, LLC
• Inventors: Newman, David E., Massengill, R. Kemp
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US16/114,950
• Publication Number:
  US 20180362033A1
• Time in Patent Office: 476 Days
• Field of Search: 701 36-115
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• 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 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2420/60 Doppler effect
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• 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 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2710/00 Output or target parameters relating to a particular sub-units
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/085 : Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• 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 30/0956 : the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/12 : Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 : Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/617 : Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80
• CPC Class Codes: G08G 1/16 : 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 Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A system and method to avoid collisions on highways, and to minimize the fatalities, injury, and damage when a collision is unavoidable. The system includes sensor means to detect other vehicles, and computing means to evaluate when a collision is imminent and to determine whether the collision is avoidable. If the collision is avoidable by a sequence of controlled accelerations and decelerations and steering, the system implements that sequence of actions automatically. If the collision is unavoidable, a different sequence is implemented to minimize the overall harm of the unavoidable collision. The system further includes indirect mitigation steps such as flashing the brake lights automatically. An optional post-collision strategy is implemented to prevent secondary collisions, particularly if the driver is incapacitated. Adjustment means enable the driver to set the type and timing of automatic interventions.

Claims

1. A system for avoiding or minimizing the harm of a collision between a subject vehicle and a second vehicle, comprising:

a first processor configured to determine whether the subject vehicle will collide with the second vehicle when no evasive actions are taken;

a second processor configured to calculate future trajectories of the subject and second vehicles according to respective sequences of actions, each action comprising an acceleration or a deceleration or a steering action or a waiting time;

a third processor configured to implement one of the respective sequences of actions based on the future trajectories calculated by the second processor, the implemented sequence of actions projected to avoid the collision;

a fourth processor configured to calculate the expected harm associated with the collision according to one or more of the sequences of actions based on the future trajectories calculated by the second processor; and

a fifth processor configured to implement a particular one of the sequences of actions, calculated by the fourth processor, that is projected to minimize the harm of the collision;

wherein the first through fifth processors are implemented on a single processing element or on multiple processing elements; and

wherein the sequences of actions are determined and calculated by the second processor and the expected harm is calculated by the fourth processor before the sequences of actions are implemented by the third or fifth processor.

2. The system of claim 1, wherein a processor is further configured to:

vary parameters of a sequence of actions;

determine if the collision can be avoided by accelerating the subject vehicle according to the sequence of actions so varied; and

determine whether the expected harm is reduced when the subject vehicle is accelerated according to the sequence of actions so varied.

3. The system of claim 2, wherein the parameters are in the list of:

a starting time of a particular action;

a duration of a particular action;

an intensity of a particular duration;

a particular limit or threshold value; and

a waiting time.

4. The system of claim 1, wherein a processor is further configured to begin implementing the first calculated sequence that is determined to either avoid the collision or cause less harm than taking no action.

5. The system of claim 4, wherein a processor is further configured to stop an ongoing implementation if a subsequent implementation is calculated to avoid the collision or cause less harm than the ongoing implementation.

6. The system of claim 1, further comprising an adjustable control configured to adjust one of:

a time delay;

a degree of assistance; and

an intervention threshold.

7. The system of claim 6, wherein the adjustable control is adjustable only when the subject vehicle is stationary and only after a password has been entered.

8. The system of claim 1, further comprising an adjustable control which is adjustable by a spoken command.

9. A non-transitory computer-readable medium comprising instructions for causing a computing environment mounted on a subject vehicle to perform a method for mitigating an imminent collision, comprising:

receiving a signal from a sensor mounted on the subject vehicle;

causing a throttle, brakes, or steering, or a combination of these, to change the motion of the subject vehicle according to a first sequence of actions to avoid an avoidable collision, the first sequence of actions based in part on the received signal;

causing a throttle, brakes, or steering, or a combination of these, to change the motion of the subject vehicle according to a second sequence of actions to minimize the harm of an unavoidable collision, the second sequence of actions based in part on the received signal; and

wherein the first sequence of actions comprises at least a first plurality of separate sequential predetermined actions, and the second sequence of actions comprises at least a second plurality of separate sequential predetermined actions.

10. The method of claim 9, further comprising suspending the implementing of sequences of actions, and suspending further calculations of sequences of actions, responsive to two successive taps of the subject vehicle brake pedal.

11. The method of claim 10, further comprising automatically resuming the suspended calculating and implementing of sequences of actions after a time period.

12. The method of claim 11, wherein the time period is one minute.

13. The method of claim 10, wherein, the calculating and implementing of sequences of actions remain suspended until restarted by a user-operated control.

14. The method of claim 10, further comprising automatically resuming the calculating and implementing of sequences of actions when the subject vehicle is turned on.

15. A non-transitory computer-readable medium in a subject vehicle comprising instructions for causing a computing environment to perform a method for mitigating vehicle collisions, comprising:

processing data from one or more external sensors, thereby detecting a second vehicle proximate to the subject vehicle;

calculating future trajectories of the subject and second vehicle, and thereby determining whether the subject and second vehicle will collide if no corrective action is taken;

calculating whether the collision can be avoided if the subject vehicle is caused to change trajectory according to one or more sequences of actions; and

if none of the sequences of actions is calculated to avoid the collision, then implementing a sequence of actions configured to minimize the harm of the collision;

wherein each sequence of actions comprises at least a plurality of separate sequential actions; and

wherein each action comprises a specified acceleration or deceleration or steering action with a specified intensity, or a waiting period, occurring at a specified time and for a specified duration.

16. The method of claim 15, further comprising:

reading a plurality of previously-prepared sequences of actions from non-transient computer-readable media; and

selecting a subset of the previously-prepared sequences according to parameters of the projected collision.

17. The method of claim 16, wherein the subset comprises sequences of actions that have successfully mitigated collisions that have parameters corresponding to the currently projected collision.

18. The method of claim 15, wherein the actions include at least two of:

periods of positive acceleration;

periods of braking;

periods of steering; and

periods of waiting.

19. The method of claim 15, wherein the actions include conditional instructions.

20. The method of claim 19, wherein the conditional instructions include at least one of:

changing the speed of the subject vehicle to match the speed of another vehicle;

changing the speed of the subject vehicle to match the average of two other vehicle speeds;

changing the position of the subject vehicle relative to another vehicle; and

changing the speed of the subject vehicle responsive to the brake lights of another vehicle.

21. The method of claim 15, further comprising instructing the subject vehicle driver to take an action indicating responsiveness after a collision.

22. The method of claim 21, wherein the action indicating responsiveness is in the list of pressing the brake pedal, pressing the accelerator pedal, turning the steering wheel, and pressing a button.

23. The method of claim 15, further comprising:

determining whether the subject vehicle driver is still responsive after a collision; and

driving the subject vehicle to a side of a road if the subject vehicle driver is determined to be unresponsive.

24. The method of claim 15, further comprising:

determining that the subject vehicle driver is unresponsive;

while the subject vehicle driver is unresponsive, autonomously driving the subject vehicle toward a side of a road; and

detecting that the subject vehicle driver has performed an action indicating responsiveness; and

relinquishing control of the subject vehicle to the subject vehicle driver.