Method and system for forward collision avoidance in an automotive vehicle
First Claim
1. A method for autonomous collision avoidance in multiple obstacle scenarios comprising the steps of:
- operating at least one sensor to detect a plurality of obstacles in front of a vehicle hosting the system;
operating a forward collision avoidance system to estimate a position, a velocity and an acceleration of each of the obstacles;
evaluating for each respective one of the obstacles separately a set of collision maneuvers which the vehicle is capable of performing that will lead to a collision with the respective obstacle;
forming a union of the sets of collision maneuvers which will lead to collision with any one of the obstacles;
establishing a set of avoidance maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided;
deciding how to avoid or mitigate collision with any one of the obstacles based at least in part on the set of avoidance maneuvers; and
autonomously executing a collision avoidance maneuver based on the decision.
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Accused Products
Abstract
A method and system for autonomous collision avoidance in multiple obstacle scenarios. A forward collision avoidance system detects obstacles in front of a vehicle hosting the system and estimates a position, a velocity and an acceleration of each of the obstacles. The maneuvers which the vehicle is capable of performing that will lead to a collision with each respective obstacle are evaluated separately. The union of maneuvers which will lead to collision with any one of the obstacles is formed. The set of maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided is established, and the set used for deciding how to avoid or mitigate collision with any one of the obstacles. Finally, a collision avoidance maneuver based on the decision is executed autonomously.
37 Citations
9 Claims
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1. A method for autonomous collision avoidance in multiple obstacle scenarios comprising the steps of:
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operating at least one sensor to detect a plurality of obstacles in front of a vehicle hosting the system; operating a forward collision avoidance system to estimate a position, a velocity and an acceleration of each of the obstacles; evaluating for each respective one of the obstacles separately a set of collision maneuvers which the vehicle is capable of performing that will lead to a collision with the respective obstacle; forming a union of the sets of collision maneuvers which will lead to collision with any one of the obstacles; establishing a set of avoidance maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided; deciding how to avoid or mitigate collision with any one of the obstacles based at least in part on the set of avoidance maneuvers; and autonomously executing a collision avoidance maneuver based on the decision. - View Dependent Claims (2, 3, 4)
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5. A safety system for an automotive vehicle comprising:
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at least one sensor operable to detect a plurality of obstacles in front of the vehicle; and a forward collision avoidance system operative to; receive signals from the at least one sensor and, based at least in part upon the signals, estimate a position, a velocity and an acceleration of each of the obstacles; evaluate for each respective one of the obstacles separately a set of collision maneuvers which the vehicle is capable of performing that will lead to a collision with the respective obstacle; form a union of the sets of collision maneuvers which will lead to collision with any one of the obstacles; establish a set of avoidance maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided; decide how to avoid or mitigate collision with any one of the obstacles using the set of avoidance maneuvers; and direct a collision avoidance maneuver based on the decision. - View Dependent Claims (6, 7, 8)
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9. A method for autonomous collision avoidance in multiple obstacle scenarios comprising the steps of:
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operating at least one sensor to detect a plurality of obstacles in front of a vehicle hosting the system; operating a forward collision avoidance system to estimate a position, a velocity and an acceleration of each of the obstacles; evaluating for each respective one of the obstacles separately a set of collision maneuvers which the vehicle is capable of performing that will lead to a collision with the respective obstacle; forming a union of the sets of collision maneuvers which will lead to collision with any one of the obstacles; establishing a set of avoidance maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided; selecting from the set of avoidance maneuvers a collision avoidance maneuver requiring a minimum level of acceleration experienced by the vehicle; and autonomously executing the collision avoidance maneuver.
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Specification