Fast collision detection technique for connected autonomous and manual vehicles
First Claim
1. A method of rapidly identifying potential collision threats between communicating vehicles of a vehicle communication network for actuating a vehicle control action to mitigate potential collisions between the communicating vehicles, the method comprising the steps of:
- determining a vehicle position and trajectory path of a host vehicle;
constructing a trajectory path boundary around the trajectory path and a vehicle boundary around the vehicle position;
receiving a vehicle position and trajectory path of a remote vehicle via the wireless communication network;
identifying a trajectory path boundary around the trajectory path of the remote vehicle and a vehicle boundary around the vehicle position of the remote vehicle;
assessing in a first priority test whether an intersection is present between the vehicle boundary of the host vehicle and the vehicle boundary of the remote vehicle, and actuating a first control action in the host vehicle for mitigating a collision threat only if the intersection is present between the vehicle boundary of the host vehicle and the vehicle boundary of the remote vehicle;
if an intersection is not present in the first priority test, then assessing in a second priority test whether an intersection is present between the trajectory path boundary of one of the host or remote vehicle and vehicle boundary of the other of the host vehicle or remote vehicle, and actuating a second control action in the host vehicle for mitigating a collision threat only if the intersection is present between a respective vehicle boundary and a respective trajectory path boundary;
if an intersection is not present in the second priority test, then assessing in a third priority test whether an intersection is present between the trajectory path boundary of the host vehicle and the trajectory path boundary of the remote vehicle, and actuating a third control action in at least one of the host vehicle or remote vehicle for mitigating a collision threat only if the intersection is present between the trajectory path boundary of the host vehicle and the trajectory path boundary of the remote vehicle.
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Abstract
A method is provided for rapidly identifying potential collision threats between communicating vehicles in a vehicle communication network for actuating a vehicle control action to mitigate potential collisions between the communicating vehicles. Vehicle boundaries and trajectory path boundaries are constructed for the communicating vehicles for efficiently identifying a potential collision. Prioritized assessments are performed to determine which respective boundaries intersect one another. Based on whether respective boundaries that intersect one another will determine if a control vehicle control action is initiated and which control action is imitated. Once the intersecting boundaries are identified, a location of the potential collision can be rapidly identified by a technique that subdivides and regenerates the intersecting trajectory path boundaries of the vehicles. A distance to the potential collision may be determined that is used to further enhance the control action taken for mitigating the potential collision.
105 Citations
20 Claims
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1. A method of rapidly identifying potential collision threats between communicating vehicles of a vehicle communication network for actuating a vehicle control action to mitigate potential collisions between the communicating vehicles, the method comprising the steps of:
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determining a vehicle position and trajectory path of a host vehicle; constructing a trajectory path boundary around the trajectory path and a vehicle boundary around the vehicle position; receiving a vehicle position and trajectory path of a remote vehicle via the wireless communication network; identifying a trajectory path boundary around the trajectory path of the remote vehicle and a vehicle boundary around the vehicle position of the remote vehicle; assessing in a first priority test whether an intersection is present between the vehicle boundary of the host vehicle and the vehicle boundary of the remote vehicle, and actuating a first control action in the host vehicle for mitigating a collision threat only if the intersection is present between the vehicle boundary of the host vehicle and the vehicle boundary of the remote vehicle; if an intersection is not present in the first priority test, then assessing in a second priority test whether an intersection is present between the trajectory path boundary of one of the host or remote vehicle and vehicle boundary of the other of the host vehicle or remote vehicle, and actuating a second control action in the host vehicle for mitigating a collision threat only if the intersection is present between a respective vehicle boundary and a respective trajectory path boundary; if an intersection is not present in the second priority test, then assessing in a third priority test whether an intersection is present between the trajectory path boundary of the host vehicle and the trajectory path boundary of the remote vehicle, and actuating a third control action in at least one of the host vehicle or remote vehicle for mitigating a collision threat only if the intersection is present between the trajectory path boundary of the host vehicle and the trajectory path boundary of the remote vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19)
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18. A collision assessment and mitigation system comprising:
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a vehicle-to-vehicle communication module for transmitting and receiving messages between a host vehicle and a remote vehicle, the messages received from the remote vehicle include a vehicle position of the remote vehicle and a trajectory path of travel of the remote vehicle; a threat assessment module for assessing a potential collision between the host vehicle and the remote vehicle, the threat assessment module identifying a vehicle position and a trajectory path of the host vehicle, the threat assessment module constructing a vehicle boundary around the vehicle position of the host vehicle and a trajectory path boundary around the trajectory path of the host vehicle, the threat assessment module constructing a vehicle boundary around the vehicle position of the remote vehicle and a trajectory path boundary around the trajectory path of the remote vehicle, the vehicle threat assessment module assessing a potential collision based on intersections of the respective boundaries between the host vehicle and the remote vehicle; a vehicle control module for actuating a control action for mitigating the potential collision based on the assessment by the threat assessment module; wherein the threat assessment module is configured to perform the method comprising the steps of; assessing in a first priority test whether an intersection between the vehicle boundary of the host vehicle and the vehicle boundary of the remote vehicle is present, and actuating a first control action in the host vehicle only if the intersection is present between the vehicle boundary of the host vehicle and the vehicle boundary of the remote vehicle; if an intersection is not present in the first priority test, then assessing in a second priority test whether an intersection between the respective trajectory path boundary of one of the host or remote vehicle and a respective vehicle boundary of the other of the host vehicle or remote vehicle is present, and actuating a second control action in the host vehicle only if the intersection is present between a respective vehicle boundary and a respective trajectory path boundary is present; if an intersection is not present in the second priority test, then assessing in a third priority test whether an intersection between the trajectory path boundary of the host vehicle and the trajectory path boundary of the remote vehicle is present, and applying a third control action in at least one of the host vehicle or remote vehicle only if the intersection is present between the trajectory path boundary of the host vehicle and the trajectory path boundary of the remote vehicle.
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20. The system of clam 1 wherein third control action is a negotiated control action, wherein the host vehicle and the remote vehicle communicate for determining which of the host vehicle or remote vehicle performs at least one of a steering maneuver and a speed reduction operation.
Specification