Ford Global Technolgoies, LLC

Christopher Pontisakos

Alex Maurice Miller

Yuhao Liu

Purushothaman Rayalsamy

Steven Joseph Szwabowski

Nanjun Liu

Rajiv Sithiravel

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to determine a host kinematic state of a host vehicle, determine a target kinematic state of a target vehicle, determine a quantity characterizing an intersection of a host path of the host vehicle and a target path of the target vehicle, and actuate a component of the host vehicle based on the quantity. The host path is based on the host kinematic state, and the target path is based on the target kinematic state. At least one of the host path or the target path is curved.

Interaction between host vehicle and target vehicle

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to receive range data from a ranging sensor of a vehicle, the range data including a stationary object and an apparent moving object; determine that a path of the apparent moving object is within a threshold distance of the stationary object; and upon determining that the path is within the threshold distance of the stationary object, discard the apparent moving object.

Phantom objects in sensor data

A computer includes a processor and a memory, the memory including instructions executable by the processor to predict a collision time between a corner point of a host vehicle and a target vehicle, predict a reach time for the corner point of the host vehicle to reach the target vehicle based on a predicted relative heading angle between the host vehicle and the target vehicle, and determine a threat number based on the lower of the collision time and the reach time.

Enhanced threat assessment

A computer includes a processor and a memory, the memory storing instructions executable by the processor to predict a heading angle of a target vehicle, determine a distance between a host vehicle and a center line of the target vehicle based on the predicted heading angle, and perform a threat assessment for the target vehicle when the distance is below a threshold.

Enhanced threat selection

A computer includes a processor and a memory, the memory storing instructions executable by the processor to determine at least one of: a brake threat number of a host vehicle, a brake threat number of a target vehicle, a steering threat number, or an acceleration threat number and to actuate the host vehicle to change at least one of direction or speed based on at least one of the threat numbers. The brake threat number of the host vehicle is based on a predicted lateral distance between the host vehicle and the target vehicle. The brake threat number of the target vehicle is based on a velocity of the target vehicle adjusted by an acceleration of the target vehicle and an actuation time of a brake. The steering threat number is a lateral acceleration being a predicted lateral distance adjusted by an actuation time of a steering component. The acceleration threat number is based on a predicted lateral offset adjusted by a predicted heading angle of the host vehicle.

Enhanced collision avoidance

A system includes a computer including a processor and a memory, the memory storing instructions executable by the processor to, upon determining a front threat number exceeds a threat threshold, determine a rear time to collision between a turning host vehicle and a target, and, upon determining that the rear time to collision is below a time threshold, actuate a component based on a rear threat number for the target.

Collision mitigation and avoidance

A computer includes a processor and a memory, the memory storing instructions executable by the processor to identify an initial lateral distance and an initial longitudinal distance of a host vehicle in a turn at an initiation of the turn, predict a heading angle of the host vehicle at a specified time after the initiation of the turn, predict a final lateral distance and a final longitudinal distance between the host vehicle and a target at the specified time based on the identified lateral distance, the identified longitudinal position, and the predicted heading angle, determine a lateral offset at a longitudinal time to collision based on the final lateral distance and the final longitudinal distance, and actuate a brake of the host vehicle according to a threat assessment based on the lateral offset.

Enhanced collision mitigation

A computer includes a processor and a memory, the memory storing instructions executable by the processor to assign each of a plurality of targets to a classification based on respective motions of the targets at an initiation of a turn by a host vehicle, determine a distance threshold for each target associated with the classification, and perform a threat assessment on each of the plurality of targets having a respective distance from the host vehicle that is below a distance threshold and a respective time to collision below a time threshold.

A computer includes a processor and a memory, the memory storing instructions executable by the processor to, upon determining that a yaw rate for a host vehicle is below a threshold, identify a front corner point of a target, and to suppress threat mitigation when a time to collision between the host vehicle and front corner point of the target exceeds a time threshold.

In a host vehicle a threat number is determined for a target vehicle based on respective dimensions of the target and host vehicles, and a heading angle of the host vehicle. A host vehicle subsystem is actuated based on the threat number.

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Allen Park, MI, United States of America

Christopher Pontisakos