Vehicle collision avoidance
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.
1. A method, comprising:
determining, in a host vehicle, respective dimensions of a target and the host vehicle, and a heading angle of the host vehicle;
determining a predicted longitudinal distance between the host vehicle and a predicted lateral distance between the host vehicle and the target vehicle;
based on the respective dimensions of the target and host vehicles, the heading angle of the host vehicle, and the predicted longitudinal and lateral distances between the host and target vehicle, predicting a plurality of times to collision, including at least two of a first time T ReachLong at which the target vehicle is predicted to reach a longitudinal axis of the host vehicle, a second time T ReachLat at which the target vehicle is predicted to reach a lateral axis of the host vehicle, a third time T ClearLong at which the target vehicle is predicted to clear the host vehicle longitudinal axis, and a fourth time T ClearLat at which the target vehicle is predicted to clear the host vehicle lateral axis;
based on the dimensions, and the at least two of the plurality of predicted times to collision, determining a general threat number including at least one of an acceleration threat number that is a longitudinal acceleration for the host vehicle to pass ahead of or behind the target vehicle, and a steering threat number that is a lateral acceleration for the host vehicle to pass ahead of or behind the target vehicle; and
actuating a host vehicle subsystem based on the general threat number.
2. The method of claim 1 , further comprising determining the general threat number based on a heading angle of the target.
3. The method of claim 1 , wherein the general threat number is based on at least one of an acceleration threat number or a steering threat number.
4. The method of claim 3 , wherein the general threat number is a minimum of the acceleration threat number and the steering threat number.
5. The method of claim 1 , wherein actuating the host vehicle subsystem is further based on a specified distance margin.
6. The method of claim 1 , wherein the vehicle subsystem includes one or more of a brake subsystem, a steering subsystem, and a propulsion subsystem.
7. A system, comprising a computer that includes a processor and a memory, the memory storing instructions such that the processor is programmed to:
determine, in a host vehicle, respective dimensions of a target and the host vehicle, and a heading angle of the host vehicle; and
determine a predicted longitudinal distance between the host vehicle and a predicted lateral distance between the host vehicle and the target vehicle;
based on the respective dimensions of the target and host vehicles, the heading angle of the host vehicle, and the predicted longitudinal and lateral distances between the host and target vehicle, predict a plurality of times to collision, including at least two of a first time T ReachLong at which the target vehicle is predicted to reach a longitudinal axis of the host vehicle, a second time T ReachLat at which the target vehicle is predicted to reach a lateral axis of the host vehicle, a third time T ClearLong at which the target vehicle is predicted to clear the host vehicle longitudinal axis, and a fourth time T ClearLat at which the target vehicle is predicted to clear the host vehicle lateral axis;
based on the dimensions, and the at least two of the plurality of predicted times to collision, determine a general threat number including at least one of an acceleration threat number that is a longitudinal acceleration for the host vehicle to pass ahead of or behind the target vehicle, and a steering threat number that is a lateral acceleration for the host vehicle to pass ahead of or behind the target vehicle; and
actuate a host vehicle subsystem based on the general threat number.
8. The system of claim 7 , the instructions further comprising to determine the threat number based on a heading angle of the target.
9. The system of claim 7 , wherein the threat number is based on at least one of an acceleration threat number or a steering threat number.
10. The system of claim 7 , wherein the threat number is a minimum of the acceleration threat number and the steering threat number.
11. The system of claim 7 , wherein actuating the host vehicle subsystem is further based on a specified distance margin.
12. The system of claim 7 , wherein the vehicle subsystem includes one or more of a brake subsystem, a steering subsystem, and a propulsion subsystem.