ALGORITHMS FOR AVOIDING AUTOMOTIVE CRASHES AT LEFT AND RIGHT TURN INTERSECTIONS
First Claim
1. A method for collision threat assessment when a host vehicle is turning left or right at an intersection, said method comprising:
- determining if the host vehicle is likely to turn left or right at the intersection with a predetermined level of confidence;
segmenting the intersection and surrounding area into a plurality of different regions where each region has a different level of collision threat risk if the host vehicle is likely to turn left or right at the intersection;
obtaining speed, velocity and position data of the host vehicle;
obtaining speed, velocity and position data of one or more remote vehicles and/or other objects in or near the intersection;
determining a predicted path of the host vehicle based on the speed, velocity and position data as the host vehicle travels through the intersection for each of the different segmented regions;
determining a predicted path of one or more of the remote vehicles based on the speed, velocity and position data as the one or more vehicles travel through the intersection;
determining whether the host vehicle and the one or more remote vehicles will simultaneously occupy a collision zone in the intersection based on the predicted path of the host vehicle and the predicted path of the one or more remote vehicles; and
issuing a warning to a driver of the host vehicle if the host vehicle and the one or more remote vehicles will occupy the collision zone during the same time.
1 Assignment
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Accused Products
Abstract
A system and method for warning a driver of a host vehicle of a potential collision with other vehicles when turning at an intersection. The method includes determining if the host vehicle is likely to turn at the intersection, and if so, segmenting the intersection into a plurality of different regions, where each region has a different level of collision threat risk. The method obtains the speed, velocity and position of the host vehicle and any relevant remote vehicles in the intersection. The method determines a predicted path of the host vehicle and the predicted path of the remote vehicles. The method then determines whether the host vehicle and the remote vehicles will simultaneously occupy a collision zone in the intersection based on the predicted paths, and if so, issues a warning to the driver of the collision risk or apply vehicle controls to avoid or mitigate the collision risk.
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Citations
30 Claims
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1. A method for collision threat assessment when a host vehicle is turning left or right at an intersection, said method comprising:
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determining if the host vehicle is likely to turn left or right at the intersection with a predetermined level of confidence; segmenting the intersection and surrounding area into a plurality of different regions where each region has a different level of collision threat risk if the host vehicle is likely to turn left or right at the intersection; obtaining speed, velocity and position data of the host vehicle; obtaining speed, velocity and position data of one or more remote vehicles and/or other objects in or near the intersection; determining a predicted path of the host vehicle based on the speed, velocity and position data as the host vehicle travels through the intersection for each of the different segmented regions; determining a predicted path of one or more of the remote vehicles based on the speed, velocity and position data as the one or more vehicles travel through the intersection; determining whether the host vehicle and the one or more remote vehicles will simultaneously occupy a collision zone in the intersection based on the predicted path of the host vehicle and the predicted path of the one or more remote vehicles; and issuing a warning to a driver of the host vehicle if the host vehicle and the one or more remote vehicles will occupy the collision zone during the same time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A method for collision threat assessment when a host vehicle is turning left or right at an intersection, said method comprising:
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determining if the host vehicle is likely to turn left or right at the intersection with a predetermined level of confidence; segmenting the intersection and surrounding area into a plurality of different regions where each region has a different level of collision threat risk if the host vehicle is likely to turn left or right at the intersection; obtaining speed, velocity and position data of the host vehicle; obtaining speed, velocity and position data of one or more remote vehicles and/or other objects in or near the intersection; determining a predicted path of the host vehicle based on the speed, velocity and position data as the host vehicle travels through the intersection for each of the different segmented regions; determining a predicted path of one or more of the remote vehicles based on the speed, velocity and position data as the one or more remote vehicles travel through the intersection; determining a duration that the host vehicle will occupy a collision zone based on the speed and the predicted path of the host vehicle; determining a duration that the one or more remote vehicles will occupy the collision zone based on the speed and predicted path of the one or more remote vehicles; determining if the durations overlap; determining that the host vehicle will not stop in the intersection when making the turn; issuing a warning to a driver of the host vehicle if the durations overlap and if a time to enter the collision zone by the host vehicle at a current speed and predicted path of the host vehicle is less than a first predetermined threshold; providing automatic braking of the host vehicle if the time to the collision zone is less than a second predetermined threshold that is shorter than the first predetermined threshold; and providing information of a potential collision to the host vehicle if the time to the collision zone is greater than the first predetermined threshold, but less than a third predetermined threshold. - View Dependent Claims (21, 22, 23, 24)
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25. A method for collision threat assessment when a host vehicle is turning left or right at an intersection, said method comprising:
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determining if the host vehicle is likely to turn left or right at the intersection with a predetermined level of confidence; segmenting the intersection and surrounding area into a plurality of different regions where each region has a different level of collision threat risk if the host vehicle is likely to turn left or right at the intersection; obtaining speed, velocity and position data of the host vehicle; obtaining speed, velocity and position data of one or more remote vehicles and/or other objects in or near the intersection; determining a predicted path of the host vehicle based on the speed, velocity and position data as the host vehicle travels through the intersection for each of the different segmented regions; determining a predicted path of one or more of the remote vehicles based on the speed, velocity and position data as the one or more remote vehicles travel through the intersection; determining a duration that the host vehicle will occupy a collision zone based on the speed and the predicted path of the host vehicle; determining a duration that the one or more remote vehicles will occupy the collision zone based on the speed and predicted path of the one or more remote vehicles; determining if the durations overlap; determining that the host vehicle is coming to or has come to a stop in the intersection in anticipation of making a turn after opposing traffic has cleared; determining a likely path the host vehicle will take when making the turn; calculating a closeness coefficient between the likely path of the host vehicle and the predicted path of the host vehicle; issuing a warning if the closeness coefficient is greater than the predetermined closeness threshold, the time that the one or more remote vehicles will enter the collision zone is less than a predetermined time threshold, and brakes of the host vehicle have been released; providing automatic braking of the host vehicle if the time to the collision zone is less than a second predetermined threshold that is shorter than the first predetermined threshold; and providing information of a potential collision to the host vehicle if the time to the collision zone is greater than the first predetermined threshold, but less than a third predetermined threshold - View Dependent Claims (26, 27, 28, 29, 30)
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Specification