Motor vehicle warning and control system and method

  • US 6,553,130 B1
  • Filed: 06/28/1996
  • Issued: 04/22/2003
  • Est. Priority Date: 08/11/1993
  • Status: Expired due to Term
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First Claim
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1. A method for controlling the travel of a powered vehicle having manual steering and acceleration controls and supporting a ranging apparatus comprising:

  • (a) as the powered vehicle travels a roadway, measuring the distance to and relative velocity with respect to the vehicle of a plurality of objects in the vicinity of the vehicle;

    (b) calculating, with respect to each of the objects, whether the object and the powered vehicle are on a collision course;

    (c) when the calculation reveals that a collision is imminent, (i) selecting one of a plurality of state vectors based on which of a plurality of directions from the vehicle there are detected objects on a collision course with respect to the vehicle and whether or not another object is detected in each other of the plurality of directions, (ii) using the selected state vector to select one of a plurality of sets of fuzzy logic inference rules, and (iii) using the selected set of rules to determine a combination of steering and acceleration that is coordinated to attempt to avoid a collision between the powered vehicle and the detected objects;

    (d) wherein the fuzzy logic inference rules in each of the plurality of sets are each dependent on at least (i) the distance and relative velocity with respect to the vehicle of at least one of the detected objects on a collision course with respect to the powered vehicle and (ii) in which of the plurality of directions relative to the powered vehicle other detected objects are located; and

    (e) applying the determined combination of steering and acceleration to automatically control the steering and acceleration of the powered vehicle.

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