Dynamic safety shields for situation assessment and decision making in collision avoidance tasks
First Claim
1. A method for identifying potential threats, said method comprising:
- providing one or more computer modules programmed for;
detecting a plurality of objects in a predetermined vicinity around an ego-vehicle using one or more sensors, a vehicle communications system, or a combination thereof;
determining a predetermined measure between each detected object and the ego-vehicle;
defining a virtual dynamic safety shield around each detected object having a size determined by the measure between the object and the ego-vehicle, wherein defining the safety shield includes assigning an uncertainty factor to the safety shield that defines an uncertainty about a location of the object;
defining an action grid around the ego-vehicle;
assessing a potential interaction between each detected object and the ego-vehicle based on whether and how much the shield for that object and the action grid overlap; and
using a control module to control vehicle steering, throttle control, braking control, a driver warning, or a combination thereof if a predetermined potential threat value has been achieved.
3 Assignments
0 Petitions
Accused Products
Abstract
A system and method provided on an ego-vehicle for assessing potential threats in a vehicle collision avoidance system, and/or to plan safety-allowed vehicle trajectories for vehicle path planning. The method includes detecting objects in a predetermined vicinity around the ego-vehicle, and determining the relative velocity or other measure between each detected object and the ego-vehicle. The method defines a virtual dynamic safety shield around each detected object that has a shape, size and orientation that is determined by predetermined properties related to the current state of traffic around the ego-vehicle. The method also defines an action grid around the ego-vehicle. The method assesses the threat level of a potential collision between each detected object based on how the shield for that object and the action grid interact. The interaction between the shields and the grid induces actions aimed at aborting collisions and allows for trajectory planning.
-
Citations
20 Claims
-
1. A method for identifying potential threats, said method comprising:
-
providing one or more computer modules programmed for; detecting a plurality of objects in a predetermined vicinity around an ego-vehicle using one or more sensors, a vehicle communications system, or a combination thereof; determining a predetermined measure between each detected object and the ego-vehicle; defining a virtual dynamic safety shield around each detected object having a size determined by the measure between the object and the ego-vehicle, wherein defining the safety shield includes assigning an uncertainty factor to the safety shield that defines an uncertainty about a location of the object; defining an action grid around the ego-vehicle; assessing a potential interaction between each detected object and the ego-vehicle based on whether and how much the shield for that object and the action grid overlap; and using a control module to control vehicle steering, throttle control, braking control, a driver warning, or a combination thereof if a predetermined potential threat value has been achieved. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
-
15. A method for identifying potential threats in a vehicle collision avoidance system provided on an ego-vehicle, said method comprising:
-
providing at least one computer module that is programmed for; detecting at least one object in a predetermined vicinity around the ego-vehicle using a plurality of sensors; determining a relative kinematic between the detected object and the ego-vehicle; defining a virtual dynamic safety shield around the detected object that has a size determined by the relative kinematic between the object and the ego-vehicle where the size of the dynamic safety shield increases as the relative kinematic increases, wherein defining the safety shield includes assigning an uncertainty factor to the safety shield that defines an uncertainty about a location of the object; defining an action grid around the ego-vehicle, said action grid including a plurality of cells; assessing the threat level of a potential collision with the detected object based on whether the shield for the object and the action grid overlap; and using a control module to control vehicle steering, throttle control, braking control, a driver warning, or a combination thereof if a predetermined potential threat value has been achieved. - View Dependent Claims (16, 17, 18, 19, 20)
-
Specification