Systems and methods for hazard mitigation

• US 9,701,307 B1
• Filed: 11/09/2016
• Issued: 07/11/2017
• Est. Priority Date: 04/11/2016
• Status: Active Grant

• Current Assignee: David E. Newman, Massengill R. Kemp
• Original Assignee: David E. Newman, Massengill R. Kemp
• Inventors: Massengill, R. Kemp, Newman, David E.
• Primary Examiner(s): Jeanglaude, Gertrude Arthur
• Application Number:
  US15/347,612
• Time in Patent Office: 244 Days
• Field of Search: 701 23, 701 24, 701 27, 701 41, 701301, 701469, 340436, 340438, 340903, 340988, 342455
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2420/60 Doppler effect
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2710/00 Output or target parameters relating to a particular sub-units
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/085 : Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 : Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 : the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/12 : Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 : Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A system and method to avoid collisions on highways, and to minimize the fatalities, injury, and damage when a collision is unavoidable. The system includes sensors to detect other vehicles, and computing environments programmed to evaluate when a collision is imminent and to determine whether the collision is avoidable. If the collision is avoidable by a sequence of controlled accelerations and decelerations and steering, the system implements that sequence of actions automatically. If the collision is unavoidable, a different sequence is implemented to minimize the overall harm of the unavoidable collision. The system further includes indirect mitigation steps such as flashing the brake lights automatically. An optional post-collision strategy is implemented to prevent secondary collisions, particularly if the driver is incapacitated. Adjustment devices are provided to enable the driver to set the type and timing of automatic interventions.

Claims

1. A system, comprising:

one or more sensors configured to acquire sensor data related to a second vehicle proximate to a subject vehicle;

a first processor component programmed to analyze the sensor data to determine one or more of a position, a velocity, and/or an acceleration, of the second vehicle;

a second processor component programmed to analyze or evaluate the determined position, velocity, and/or acceleration, of the second vehicle, thereby determining whether a collision between the subject vehicle and the second vehicle is imminent;

a third processor component programmed to calculate sequences of accelerations or decelerations or steering actions, the sequences designed to avoid an imminent collision or to minimize harm from an imminent collision;

a fourth processor component programmed to determine whether an imminent collision is avoidable or unavoidable, based at least in part on one or more of the calculated sequences;

a fifth processor component programmed to select, when the imminent collision is determined as avoidable, an avoidance sequence, the avoidance sequence designed to avoid the imminent collision, the fifth processor component further programmed to select, when the imminent collision is determined as unavoidable, a harm-minimization sequence, the harm-minimization sequence designed to minimize harm from the imminent collision; and

a sixth processor component programmed to implement the selected avoidance or harm minimization sequence by sending control signals, according to the selected sequence, to means for accelerating or decelerating or steering the subject vehicle.

2. The system of claim 1, wherein the first processor is configured to analyze the sensor data to evaluate a relative position, velocity, or acceleration, of the second vehicle, relative to the subject vehicle.

3. The system of claim 1, wherein the first processor is configured to analyze the sensor data to evaluate an absolute position, velocity, or acceleration, of the second vehicle.

4. The system of claim 1, wherein the one or more sensors are selected from the group consisting of internal sensors and external sensors.

5. The system of claim 4, wherein the internal sensors are configured to measure a position, a velocity, an acceleration, a deceleration, a steering status, or a steering action, of the subject vehicle.

6. The system of claim 4, wherein the external sensors are configured to measure an image, a position, a velocity, an acceleration, or a deceleration, of the second vehicle.

7. The system of claim 1, wherein a plurality of the processor components are embodied in a single electronic computing circuit.

8. The system of claim 1, wherein a plurality of the processor components run on respective different threads of a multi threading processor.

9. The system of claim 1, wherein a plurality of the processor components run on respective different cores of a multi-core processor.

10. The system of claim 1, further comprising a collision warning device including one or more of an acoustical signal generator, a light flasher, or a haptic vibrator, such that the collision warning device is configured to be activated when the collision is calculated to be imminent.

11. The system of claim 10, wherein the collision warning device is further configured to render, when a collision with the second vehicle is determined to be imminent, information about a direction from which the second vehicle is approaching the subject vehicle.

12. The system of claim 11, further comprising a voice-like speech generator configured to render the direction information.

13. The system of claim 1, further comprising an adjustment device configured to modify the operation of the one or more of the first through sixth processor components based on an input by a user, wherein the adjustment device may be set to a particular setting.

14. The system of claim 13, further configured to wait, after the collision is calculated to be imminent or avoidable or unavoidable, for an additional time period equal to the delay interval, and then to implement the selected sequence.

15. The system of claim 14, further configured to repeatedly determine, during the delay interval, whether a collision is imminent between the subject vehicle and the second vehicle.

16. The system of claim 15, further configured to inhibit the implementation of the sequence if the collision is calculated to be no longer imminent.

17. The system of claim 13, wherein the particular setting is associated with a particular intervention threshold, and the system is configured to implement the selected strategy if the degree of hazard exceeds the particular intervention threshold.

18. The system of claim 1, further comprising a data storage module.

19. The system of claim 18, wherein the data storage module is coupled to one or more of the first through sixth processor components to store critical data.

20. The system of claim 19, wherein the data storage module is hardened against damage caused by a collision.

21. The system of claim 18, wherein the data storage module is configured to protect, responsive to any collision, the critical data against overwriting.

22. The system of claim 18, wherein the data storage module is configured to protect, responsive to an acceleration exceeding a threshold acceleration, the critical data against overwriting.

23. The system of claim 19, wherein the critical data includes one or more of:

data related to traffic in a time period prior to the collision;

data related to the subject vehicle in a time period prior to the collision;

data related to the collision; and

data related to the selected sequences.

24. A system, comprising:

one or more sensors configured to acquire sensor data related to a second vehicle proximate to a subject vehicle;

one or more processors programmed to perform the following steps;

analyze the sensor data to determine one or more of a position, a velocity, and/or an acceleration, of the second vehicle;

determine, from the position, the velocity, and/or the acceleration of the second vehicle, whether a collision, between the subject vehicle and the second vehicle, is imminent;

calculate one or more sequences designed to avoid an imminent collision or to minimize harm from an imminent collision, wherein each sequence comprises accelerations or deceleration or steering actions;

determine whether an imminent collision is avoidable or unavoidable, based at least in part on one or more of the calculated sequences;

responsive to a determination that the imminent collision is avoidable, select a sequence calculated to avoid the imminent collision, and responsive to a determination that the imminent collision is unavoidable, select a sequence calculated to minimize harm from the imminent collision; and

implement the selected sequence by sending control signals, according to the selected sequence, to means for accelerating or decelerating or steering the subject vehicle.

25. A system, comprising:

one or more sensors configured to acquire sensor data related to a second vehicle proximate to a subject vehicle;

one or more processors programmed to perform the following steps;

analyze the sensor data to determine one or more of a position, a velocity, and/or an acceleration, of the second vehicle;

responsive to a determination that a collision is imminent between the subject vehicle and the second vehicle, calculate a plurality of sequences of accelerations or decelerations or steering actions, each sequence designed to either avoid an imminent collision or to minimize harm from an imminent collision;

when the collision is avoidable, implement a sequence calculated to avoid the imminent collision; and

when the collision is unavoidable, implement a sequence calculated to minimize harm from the collision;

wherein implementing a sequence includes sending control signals, according to the implemented sequence, to means for accelerating or decelerating or steering the subject vehicle.

26. A system, comprising:

one or more sensors configured to acquire sensor data related to one or more second vehicles proximate to a subject vehicle;

one or more processors programmed to perform the following steps;

analyze the sensor data to determine one or more of a position, a velocity, and/or an acceleration, of the second vehicle;

responsive to a determination that a collision is imminent between the subject vehicle and the second vehicle, determine whether the collision is avoidable or unavoidable based at least in part on one or more stored maximum operating parameters of the subject vehicle, the one or more stored maximum operating parameters including a maximum acceleration, a maximum deceleration, and/or a maximum steering action;

responsive to a determination that the collision is avoidable, calculate a collision avoidance strategy,

responsive to a determination that the collision is unavoidable, calculate a harm minimization strategy; and

implement the calculated strategy.

27. The system of claim 26, wherein the collision avoidance strategy includes a sequence of accelerations and/or decelerations and/or steering actions calculated to avoid an imminent collision.

28. The system of claim 26, wherein the harm minimization strategy includes a sequence of accelerations and/or decelerations and/or steering actions calculated to reduce or minimize the harm of an imminent collision.