IP Library › Granted Patent US 12662113

Granted Patent B2

US 12662113 · App. 18/602,386 · Granted Jun 23, 2026

Determination of evasive maneuver action to avoid oncoming road hazard of a vehicle

Inventors: Iman Fadakar (Richmond Hill, CA); Milad Jalaliyazdi (Richmond Hill, CA); Reza Zarringhalam (Whitby, CA)

Assignee: GM Global Technology Operations LLC

B60W30/09 B60W30/0956 B60W2510/20 B60W2520/105 B60W2554/802

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Quick Facts

Patent No.: US 12662113
App. No.: 18/602,386
Granted: Jun 23, 2026
Kind: B2

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Abstract

Herein, a technology that facilitates a determination of evasive maneuver action to avoid oncoming road hazard of a vehicle is discussed. The technology includes obtaining sensor data about a host vehicle and about an oncoming hazard and obtaining evasive maneuvering (EM) constraints. Using the technology, the vehicle may determine if a vehicle-hazard incident may be avoided. If so, then the vehicle can determine the last point of action (LPA) at which the vehicle may take EM action to avoid the vehicle-hazard incident. At that LPA, the vehicle triggers taking the EM action to avoid the vehicle-hazard incident.

Claims (54)

1 . A method of executing evasive maneuvering actions to avoid an oncoming hazard of a host vehicle, the method comprising:

obtaining host sensor data indicating a real-time longitudinal velocity of the host vehicle;

obtaining hazard sensor data indicating a relative real-time longitudinal velocity (v T ) of the oncoming hazard, a relative real-time longitudinal acceleration (a T ) of the oncoming hazard, and a present longitudinal relative distance (X 0 ) between the host vehicle and the oncoming hazard;

obtaining evasive maneuvering (EM) constraints of the host vehicle, the EM constraints including a minimum evasive-maneuver lateral offset (w) of the host vehicle;

determining, based, at least in part, on the obtained host and hazard sensor data and the obtained EM constraints, a vehicle-hazard incident is avoidable by application of one or more of the EM actions by the host vehicle, wherein the vehicle-hazard incident is physical impact of the host vehicle with the oncoming hazard, and wherein determining the vehicle-hazard incident is avoidable includes calculating a host vehicle acceleration (a τ ) and a time value (t) constrained by the EM constraints as: (1) x(a τ ,t)−0.5a T t 2 −v T t 2 −X 0 =0; and (2) y(a τ ,t)=w;

determining, in response to determining the vehicle-hazard incident is avoidable, a last point of action (LPA) and the one or more EM actions that, when performed by the host vehicle, will avoid the vehicle-hazard incident at the LPA, the LPA being a last moment that the vehicle-hazard incident may be avoided by application of the one or more EM actions by the host vehicle;

tracking, in real time, a time to impact (TTI) between the host vehicle and the oncoming hazard; and

triggering, in response to the TTI matching the calculated LPA, the one or more EM actions by the host vehicle.

2 . The method of claim 1 , wherein the relative real-time longitudinal velocity of the oncoming hazard is relative to the real-time longitudinal velocity of the host vehicle, and the relative real-time longitudinal acceleration of the oncoming hazard is relative to a real-time longitudinal acceleration of the host vehicle.

3 . The method of claim 1 , wherein the EM constraints of the host vehicle further include maximum thresholds of longitudinal and transverse acceleration of the host vehicle, and wherein the minimum evasive-maneuver lateral offset is for the host vehicle to maneuver around oncoming hazards.

4 . The method of claim 1 , further comprising:

determining, based, at least in part, on the obtained host and hazard sensor data and the obtained EM constraints, the vehicle-hazard incident is unavoidable by application of the one or more EM actions by the host vehicle; and

activating, in response to determining the vehicle-hazard incident is unavoidable, incident mitigation actions by the host vehicle to ameliorate a forthcoming physical impact of the host vehicle with the oncoming hazard.

5 . The method of claim 1 , wherein determining the vehicle-hazard incident is avoidable includes calculating:

that the present longitudinal relative distance is sufficient to fully decelerate to zero the real-time longitudinal velocity of the host vehicle given the real-time longitudinal velocity and a real-time longitudinal acceleration of the host vehicle and the relative real-time longitudinal velocity and the relative real-time longitudinal acceleration of the oncoming hazard, and/or

that the minimum evasive-maneuver lateral offset of the host vehicle to maneuver around oncoming hazards, which is part of the obtained EM constraints of the host vehicle, is sufficient for the host vehicle to maneuver around the oncoming hazard given the real-time longitudinal acceleration of the host vehicle and the time to impact of the host vehicle with the oncoming hazard.

6 . The method of claim 1 , wherein the EM actions include a calculated amount of steering alone, a calculated amount of steering with acceleration, and/or a calculated amount of steering with deceleration to be performed by the host vehicle at the LPA to avoid the vehicle-hazard incident.

7 . The method of claim 1 , further comprising, in response to the TTI matching the calculated LPA, repeating the obtaining of the host and hazard sensor data, the obtaining of the EM constraints, the determining that the vehicle-hazard incident is avoidable, and the determining the LPA and the one or more EM actions.

8 . The method of claim 1 , further comprising:

detecting the oncoming hazard prior to obtaining the hazard sensor data; and

in response to detecting the oncoming hazard, initiating the obtaining of the hazard sensor data.

9 . The method of claim 1 , further comprising confirming the host vehicle successfully avoiding a physical impact with the oncoming hazard.

10 . A method of operating a host vehicle, the method comprising:

obtaining host sensor data indicating a real-time longitudinal velocity of the host vehicle;

obtaining hazard sensor data indicating a relative real-time longitudinal velocity (v T ) of an oncoming hazard, a relative real-time longitudinal acceleration (a T ) of the oncoming hazard, and a present longitudinal relative distance (X 0 ) between the host vehicle and the oncoming hazard;

obtaining evasive maneuvering (EM) constraints of the host vehicle, the EM constraints including a minimum evasive-maneuver lateral offset (w) of the host vehicle;

determining, based, at least in part, on the obtained host and hazard sensor data and the obtained EM constraints, a vehicle-hazard incident is unavoidable by application of one or more EM actions by the host vehicle;

activating, in response to determining the vehicle-hazard incident is unavoidable, one or more incident mitigation actions by the host vehicle to ameliorate a forthcoming physical impact of the host vehicle with the oncoming hazard;

determining, based, at least in part, on the obtained host and hazard sensor data and the obtained EM constraints, the vehicle-hazard incident is avoidable by application of the one or more EM actions by the host vehicle, wherein the vehicle-hazard incident is physical impact of the host vehicle with the oncoming hazard, and wherein determining the vehicle-hazard incident is avoidable includes calculating a host vehicle acceleration (a τ ) and a time value (t) constrained by the EM constraints as: (1) x(a τ ,t)−0.5a T t 2 −v T t-X 0 =0; and (2) y(a τ ,t)=w;

determining, in response to determining the vehicle-hazard incident is avoidable, calculating a last point of action (LPA) and the one or more EM actions that, when performed by the host vehicle, will avoid the vehicle-hazard incident at the LPA, the LPA being a last moment that the vehicle-hazard incident may be avoided by application of the EM actions by the host vehicle;

tracking, in real time, a time to impact (TTI) between the host vehicle and the oncoming hazard; and

triggering, in response to the TTI matching the calculated LPA, the one or more EM actions by the host vehicle.

11 . The method of claim 10 , wherein the relative real-time longitudinal velocity of the oncoming hazard is relative to the real-time longitudinal velocity of the host vehicle, and the relative real-time longitudinal acceleration of the oncoming hazard is relative to a real-time longitudinal acceleration of the host vehicle.

12 . The method of claim 10 , wherein the EM constraints of the host vehicle further include maximum thresholds of longitudinal and transverse acceleration of the host vehicle, and wherein the minimum evasive-maneuver lateral offset is for the host vehicle to maneuver around oncoming hazards.

13 . The method of claim 10 , wherein determining the vehicle-hazard incident is avoidable includes calculating:

14 . The method of claim 10 , wherein the EM actions include a calculated amount of steering alone, a calculated amount of steering with acceleration, and/or a calculated amount of steering with deceleration to be performed by the host vehicle at the LPA to avoid the vehicle-hazard incident.

15 . The method of claim 10 , further comprising, in response to the TTI matching the calculated LPA, repeating the obtaining of the host and hazard sensor data, the obtaining of the EM constraints, the determining that the vehicle-hazard incident is avoidable, and the determining the LPA and the one or more EM actions.

16 . A host vehicle that includes a non-transitory machine-readable storage medium encoded with instructions executable by one or more processors that, when executed, direct one or more processors to perform operations that facilitate evasive maneuvering actions to avoid an oncoming hazard of a host vehicle, the operations comprising:

obtaining sensor data indicating a real-time longitudinal velocity of the host vehicle, a relative real-time longitudinal velocity (vr) of the oncoming hazard, a relative real-time longitudinal acceleration (a T ) of the oncoming hazard, and a present longitudinal relative distance (X 0 ) between the host vehicle and the oncoming hazard;

obtaining evasive maneuvering (EM) constraints of the host vehicle, the EM constraints including a minimum evasive-maneuver lateral offset (w) of the host vehicle;

based, at least in part, on the obtained sensor data and the obtained EM constraints, determining a vehicle-hazard incident is avoidable by application of one or more of the EM actions by the host vehicle, wherein the vehicle-hazard incident is physical impact of the host vehicle with the oncoming hazard, and wherein determining the vehicle-hazard incident is avoidable includes calculating a host vehicle acceleration (a τ ) and a time value (t) constrained by the EM constraints as: (1) x(a τ ,t)−0.5a T t 2 −v T t−X 0 =0; and (2) y(a τ ,t)=w;

in response to determining the vehicle-hazard incident is avoidable, calculating a last point of action (LPA) and determining the one or more EM actions that, when performed by the host vehicle, will avoid the vehicle-hazard incident at the LPA, the LPA being a last moment that the vehicle-hazard incident may be avoided by application of the EM actions by the host vehicle;

in real time, tracking a time to impact (TTI) between the host vehicle and the oncoming hazard; and

in response to the TTI matching the calculated LPA, triggering the one or more EM actions by the host vehicle.

17 . The host vehicle with a non-transitory machine-readable storage medium of claim 16 , wherein the relative real-time longitudinal velocity of the oncoming hazard is relative to the real-time longitudinal velocity of the host vehicle, and the relative real-time longitudinal acceleration of the oncoming hazard is relative to a real-time longitudinal acceleration of the host vehicle.

18 . The host vehicle with a non-transitory machine-readable storage medium of claim 16 , wherein the EM constraints of the host vehicle further include maximum thresholds of longitudinal and transverse acceleration of the host vehicle, and wherein the minimum evasive-maneuver lateral offset is for the host vehicle to maneuver around oncoming hazards.

19 . The host vehicle with a non-transitory machine-readable storage medium of claim 16 , the operations further comprising:

based, at least in part, on the obtained sensor data and the obtained EM constraints, determining the vehicle-hazard incident is unavoidable by application of the one or more EM actions by the host vehicle;

in response to determining the vehicle-hazard incident is unavoidable, activating incident mitigation actions by the host vehicle to ameliorate a forthcoming physical impact of the host vehicle with the oncoming hazard.

20 . The host vehicle with a non-transitory machine-readable storage medium of claim 16 , wherein determining the vehicle-hazard incident is avoidable includes calculating: