METHOD AND SYSTEM FOR COLLISION AVOIDANCE
First Claim
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1. ) Method for collision avoidance for a host vehicle (20) comprising the following method steps:
- receiving input data relating to a set of objects external to said host vehicle, said objects being positioned within a detecting range of a sensor system arranged on said host vehicle, wherein an object position (r,φ
), and an object velocity ({dot over (r)}) are associated with each object in said set of objects by said sensor system (18), said input data defining a current state of each object,estimating future trajectories of each external object, while considering influence by the future trajectories of the other external objects;
characterised in that the further method steps are performed;
determining, by use of a lane exit control block, whether the driver is making an attempt to exit a lane;
determining, by use of a future conflict estimator control block, if the future trajectory of the host vehicle is involved in a conflicting event in a neighbouring lane;
applying, by the use of a lane change prevention unit, a torque in the direction against a torque generated by a driver to effect a lane change in the event said future conflict estimator control block detects a conflict event of relevance for the host vehicle in the lane into which the driver attempts to enter.
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Abstract
A method for collision avoidance for a host vehicle includes the following steps; receiving input data relating to a set of objects external to the host vehicle, wherein an object position (r,φ), and an object velocity ({dot over (r)}) are associated with each object by a sensor system arranged on the host vehicle, then estimating future trajectories of each external object, while considering influence by the future trajectories of the other external objects.
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Citations
34 Claims
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1. ) Method for collision avoidance for a host vehicle (20) comprising the following method steps:
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receiving input data relating to a set of objects external to said host vehicle, said objects being positioned within a detecting range of a sensor system arranged on said host vehicle, wherein an object position (r,φ
), and an object velocity ({dot over (r)}) are associated with each object in said set of objects by said sensor system (18), said input data defining a current state of each object,estimating future trajectories of each external object, while considering influence by the future trajectories of the other external objects; characterised in that the further method steps are performed; determining, by use of a lane exit control block, whether the driver is making an attempt to exit a lane; determining, by use of a future conflict estimator control block, if the future trajectory of the host vehicle is involved in a conflicting event in a neighbouring lane; applying, by the use of a lane change prevention unit, a torque in the direction against a torque generated by a driver to effect a lane change in the event said future conflict estimator control block detects a conflict event of relevance for the host vehicle in the lane into which the driver attempts to enter. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. ) An on board system for collision avoidance comprising
a sensor system arranged on a host vehicle, said sensor system being arranged to receive input data relating to a set of objects external to said host vehicle, said objects being positioned within a detecting range of said sensor system, wherein an object position (r,φ - ), and an object velocity ({dot over (r)}) are associated with each object in said set of objects, said input data defining a current state of each object; and
a future trajectory estimator arranged for estimating future trajectories of each external object, while considering influence by the future trajectories of the other external objects; characterised in that the on board system for collision avoidance further includes; a lane exit control block arranged do determine whether the driver is making an attempt to exit the lane; a future conflict estimator control block arranged to determine if the future trajectory of the host vehicle is involved in a conflicting event; and a lane change prevention unit arranged to apply a torque in the direction against a torque generated by a driver to effect a lane change in the event said future conflict estimator control block detects a conflict event of relevance for the host vehicle in the lane into which the driver attempts to enter. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
- ), and an object velocity ({dot over (r)}) are associated with each object in said set of objects, said input data defining a current state of each object; and
Specification