Enhanced threat selection
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.
1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
predict a heading angle between a host vehicle and a target vehicle;
predict a lateral distance between a host vehicle and a lateral center line of the target vehicle and a longitudinal distance between the host vehicle and a longitudinal center line of the target vehicle based on the predicted heading angle;
perform a threat assessment for the target vehicle when the lateral distance is below a lateral distance threshold and the longitudinal distance is below a longitudinal distance threshold, wherein the thresholds are determined based on a length and a width of the target vehicle; and
upon performing the threat assessment, actuate one or more components of the host vehicle.
2. The system of claim 1 , wherein the lateral center line and the longitudinal center line intersect at a center of the target vehicle.
3. The system of claim 1 , wherein the instructions further include instructions to determine respective distances between a plurality of points on the host vehicle and the center line of the target vehicle.
4. The system of claim 3 , wherein the plurality of points are corner points of the host vehicle.
5. The system of claim 3 , wherein the instructions further include instructions to perform the threat assessment when at least one of the plurality of points has a respective distance that is below the threshold.
6. The system of claim 1 , wherein the instructions further include instructions to identify a plurality of target vehicles, to determine respective distances between the host vehicle and each of the plurality of target vehicles, and to perform threat assessments on target vehicles having distances below the threshold.
7. A method, comprising:
predicting a heading angle between a host vehicle and a target vehicle;
predicting a lateral distance between a host vehicle and a lateral center line of the target vehicle and a longitudinal distance between the host vehicle and a longitudinal center line of the target vehicle based on the predicted heading angle;
performing a threat assessment for the target vehicle when the lateral distance is below a lateral distance threshold and the longitudinal distance is below a longitudinal distance threshold, wherein the thresholds are determined based on a length and a width of the target vehicle; and
upon performing the threat assessment, actuating one or more components of the host vehicle.
8. The method of claim 7 , further comprising determining respective distances between a plurality of points on the host vehicle and the center line of the target vehicle.
9. The method of claim 8 , wherein the plurality of points are corner points of the host vehicle.
10. The method of claim 8 , further comprising performing the threat assessment when at least one of the plurality of points has a respective distance that is below the threshold.
11. A system, comprising:
a host vehicle including a brake, a steering component, and a propulsion;
means for predicting a heading angle between a host vehicle and a target vehicle;
means for predicting a lateral distance between a host vehicle and a lateral center line of the target vehicle and a longitudinal distance between the host vehicle and a longitudinal center line of the target vehicle based on the predicted heading angle;
means for performing a threat assessment for the target vehicle when the lateral distance is below a lateral distance threshold and the longitudinal distance is below a longitudinal distance threshold, wherein the thresholds are determined based on a length and a width of the target vehicle; and
means for, upon performing the threat assessment, actuating at least one of the brake, the steering component, and the propulsion of the host vehicle.
12. The system of claim 11 , further comprising means for determining respective distances between a plurality of points on the host vehicle and the center line of the target vehicle.
13. The system of claim 12 , wherein the plurality of points are corner points of the host vehicle.
14. The system of claim 12 , further comprising means for performing the threat assessment when at least one of the plurality of points has a respective distance that is below the threshold.