VEHICLE DETECTION AND AVOIDANCE

• US 20190096255A1
• Filed: 09/22/2017
• Published: 03/28/2019
• Est. Priority Date: 09/22/2017
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Mills, Aaron L., Surnilla, Gopichandra, Hearn, Chet
• Granted Patent: US 10,446,033 B2
• Time in Patent Office: Days
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• 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: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/00 Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
• CPC Class Codes: G01S 17/00 Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G08G 1/162 event-triggered
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: H04W 8/005 Discovery of network devices, e.g. terminals
• CPC Class Codes: H04W 84/00 Network topologies
• CPC Class Codes: H04W 84/005 Moving wireless networks

Abstract

A communication from a second vehicle is received. Upon failing to detect the second vehicle based on first vehicle sensor data, a message indicating a forward collision warning is sent. Upon detecting the second vehicle based on the first vehicle sensor data, the forward collision warning is suppressed and a first vehicle brake is actuated.

Claims

1. A system for a first vehicle, comprising a computer programmed to:

receive a communication from a second vehicle;

upon failing to detect the second vehicle based on first vehicle sensor data, send a message indicating a forward collision warning; and

upon detecting the second vehicle based on the first vehicle sensor data, suppress the forward collision warning and actuate a first vehicle brake.

2. The system of claim 1, wherein the computer is further programmed to determine a threat level of the second vehicle and, upon failing to detect the second vehicle, to send the message indicating the forward collision warning when the threat level of the second vehicle exceeds a threat threshold.

3. The system of claim 2, wherein the computer is further programmed to, upon detecting the second vehicle, actuate the brake until the threat level drops below the threat threshold.

4. The system of claim 1, wherein the computer is further programmed to determine a time to collision between the first and second vehicles, and to send the message indicating the forward collision warning when the time to collision is greater than a time threshold.

5. The system of claim 1, wherein the computer is further programmed to determine a time to collision between the first and second vehicles, and to actuate the brake when the time to collision is less than a time threshold.

6. The system of claim 1, wherein the computer is further programmed to receive data about the second vehicle in the communication including at least one of a speed, a heading, and a location of the second vehicle.

7. The system of claim 6, wherein the computer is further programmed to determine a threat level for the second vehicle based on the data in the communication.

8. The system of claim 1, wherein the computer is further programmed to send the message with the forward collision warning after actuating the first vehicle brake.

9. The system of claim 1, wherein the computer is further programmed to, upon detecting the second vehicle, project a trajectory of the second vehicle and to actuate the brake based on the projected trajectory.

10. The system of claim 1, wherein the computer is further programmed to determine a range for a sensor to collect data about the second vehicle, and to determine that the sensor has failed to detect the second vehicle when the location data from the communication from the second vehicle is within the range of the sensor and the collected data do not identify the second vehicle within the range of the sensor.

11. A method, comprising:

receiving a communication from a second vehicle;

upon failing to detect the second vehicle based on first vehicle sensor data, sending a message indicating a forward collision warning; and

upon detecting the second vehicle based on the first vehicle sensor data, suppressing the forward collision warning and actuating a first vehicle brake.

12. The method of claim 11, further comprising determining a threat level of the second vehicle and, upon failing to detect the second vehicle, sending the message indicating the forward collision warning when the threat level of the second vehicle exceeds a threat threshold.

13. The method of claim 12, further comprising, upon detecting the second vehicle, actuating the brake until the threat level drops below the threat threshold.

14. The method of claim 11, further comprising determining a time to collision between the first and second vehicles, and sending the message indicating the forward collision warning when the time to collision is greater than a time threshold.

15. The method of claim 11, further comprising determining a time to collision between the first and second vehicles and actuating the brake when the time to collision is less than a time threshold.

16. The method of claim 11, further comprising receiving data about the second vehicle in the communication including at least one of a speed, a heading, and a location of the second vehicle.

17. The method of claim 16, further comprising determining a threat level for the second vehicle based on the data in the communication.

18. The method of claim 11, further comprising sending the message with the forward collision warning after actuating the first vehicle brake.

19. The method of claim 11, further comprising, upon detecting the second vehicle, projecting a trajectory of the second vehicle and actuating the brake based on the projected trajectory.

20. The method of claim 11, further comprising determining a range for a sensor to collect data about the second vehicle, and determining that the sensor has failed to detect the second vehicle when the location data from the communication from the second vehicle is within the range of the sensor and the collected data do not identify the second vehicle within the range of the sensor.