Vehicle Detection and Avoidance

Abstract

A communication is received from the second vehicle. Upon failure to detect the second vehicle based on the first vehicle sensor data, a message is sent indicating a forward collision warning. Upon detection of the second vehicle based on the first vehicle sensor data, the forward collision warning is suppressed and the first vehicle brakes are actuated.

Description

Technical Field

[0001] The present disclosure relates generally to the field of vehicles, and more particularly, to vehicle detection and avoidance. Background Art

[0002] Vehicle collisions often occur at road intersections. A vehicle may detect a target vehicle at the intersection. Collision mitigation between a vehicle and a target vehicle may be difficult and costly to implement. For example, determining a threat assessment of a target vehicle may require data from multiple sensors. However, problems arise when operating the vehicle to actuate an alarm once data is received from a sensor, thereby causing trouble for the vehicle user. One problem is the inability to distinguish and evaluate the data received from the sensors. Summary of the invention

[0003] According to the present invention, there is provided a system for a first vehicle, comprising a computer programmed to:

[0004] receiving a communication from a second vehicle;

[0005] upon failure to detect the second vehicle based on the first vehicle sensor data, sending a message indicating a forward collision warning; and

[0006] Upon detecting the second vehicle based on the first vehicle sensor data, the forward collision warning is suppressed and the first vehicle brakes are actuated.

[0007] According to an embodiment of the present invention, the computer is further programmed to determine a threat level of the second vehicle and, once the second vehicle is not detected, send a message indicating the forward collision warning when the threat level of the second vehicle exceeds a threat threshold.

[0008] According to an embodiment of the present invention, the computer is further programmed to actuate the brakes upon detecting the second vehicle until the threat level drops below the threat threshold.

[0009] According to one embodiment of the present invention, the computer is further programmed to determine a collision time between the first and second vehicles, and to send a message indicating the forward collision warning when the collision time is greater than a time threshold.

[0010] According to one embodiment of the invention, wherein the computer is further programmed to determine a time to collision between the first and second vehicles, and to actuate the brake when the time to collision is less than a time threshold.

[0011] According to an embodiment of the present invention, the computer is further programmed to receive data about the second vehicle in the communication, the data comprising at least one of the speed, the heading and the position of the second vehicle.

[0012] According to an embodiment of the present invention, the computer is further programmed to determine a threat level of the second vehicle based on the data in the communication.

[0013] According to an embodiment of the invention, wherein the computer is further programmed to send the message with the forward collision warning after actuating the first vehicle brake.

[0014] According to an embodiment of the invention, wherein the computer is further programmed to, upon detecting the second vehicle, project a trajectory of the second vehicle and actuate the brakes based on the projected trajectory.

[0015] According to one embodiment of the present invention, the computer is further programmed to determine a range within which the sensor collects data regarding the second vehicle, and to determine that the sensor fails to detect the second vehicle when location data communicated from the second vehicle is within the range of the sensor and the collected data does not identify the second vehicle within the range of the sensor.

[0016] According to the present invention, there is provided a method comprising:

[0017] receiving a communication from a second vehicle;

[0018] upon failure to detect the second vehicle based on the first vehicle sensor data, sending a message indicating a forward collision warning; and

[0019] Upon detecting the second vehicle based on the first vehicle sensor data, the forward collision warning is suppressed and the first vehicle brakes are actuated.

[0020] According to an embodiment of the present invention, the method further comprises: determining a threat level of the second vehicle, and once the second vehicle is not detected, sending a message indicating the forward collision warning when the threat level of the second vehicle exceeds a threat threshold.

[0021] According to an embodiment of the invention, the method further comprises: upon detecting the second vehicle, actuating the brake until the threat level drops below the threat threshold.

[0022] According to an embodiment of the present invention, the method further comprises: determining a collision time between the first and second vehicles, and sending a message indicating the forward collision warning when the collision time is greater than a time threshold.

[0023] According to an embodiment of the invention, the method further comprises: determining a time to collision between the first and second vehicles, and actuating the brake when the time to collision is less than a time threshold.

[0024] According to an embodiment of the present invention, the method further comprises: receiving data about the second vehicle in the communication, the data comprising at least one of a speed, a forward direction and a position of the second vehicle.

[0025] According to an embodiment of the invention, the method further comprises determining a threat level of the second vehicle based on the data in the communication.

[0026] According to an embodiment of the invention, the method further comprises sending said message with said forward collision warning after actuating said first vehicle brake.

[0027] According to an embodiment of the invention, the method further comprises, upon detecting the second vehicle, projecting a trajectory of the second vehicle and actuating the brake based on the projected trajectory.

[0028] According to one embodiment of the present invention, the method also includes: determining a range in which the sensor collects data about the second vehicle, and determining that the sensor fails to detect the second vehicle when the location data of the communication from the second vehicle is within the range of the sensor and the collected data cannot identify the second vehicle within the range of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a block diagram of an example system for operating a vehicle;

[0030] Figure 2 is the vehicle view for detecting the target vehicle;

[0031] Figure 3 is the view of the vehicle sensor that is occluded by the object;

[0032] Figure 4 is a process flow diagram of an example process for operating a vehicle. DETAILED DESCRIPTION

[0033] A system for a first vehicle includes a computer programmed to receive communications from a second vehicle, send a message indicating a forward collision warning upon failure to detect the second vehicle based on first vehicle sensor data, and suppress the forward collision warning and actuate the first vehicle brakes upon detection of the second vehicle based on the first vehicle sensor data.

[0034] The computer may be further programmed to determine a threat level of the second vehicle and, upon failure to detect the second vehicle, send a message indicating a forward collision warning when the threat level of the second vehicle exceeds a threat threshold. The computer may be further programmed to actuate the brakes upon detection of the second vehicle until the threat level drops below the threat threshold.

[0035] The computer may be further programmed to determine a time to collision between the first and second vehicles and to send a message indicating a forward collision warning when the time to collision is greater than a time threshold.

[0036] The computer may be further programmed to determine a time to collision between the first and second vehicles and to actuate the brakes when the time to collision is less than a time threshold.

[0037] The computer may be further programmed to receive data about the second vehicle in the communication, including at least one of a speed, a heading, and a location of the second vehicle. The computer may be further programmed to determine a threat level of the second vehicle based on the data in the communication.

[0038] The computer may further be programmed to send a message with a forward collision warning after actuating the first vehicle brake.

[0039] The computer may further be programmed to, upon detecting the second vehicle, project a trajectory of the second vehicle and actuate the brakes based on the projected trajectory.

[0040] The computer may be further programmed to determine a range within which the sensor collects data regarding the second vehicle, and determine that the sensor fails to detect the second vehicle when location data communicated from the second vehicle is within the range of the sensor and the collected data cannot identify the second vehicle within the range of the sensor.

[0041] A method includes receiving a communication from a second vehicle, sending a message indicating a forward collision warning upon failure to detect the second vehicle based on first vehicle sensor data, and suppressing the forward collision warning and actuating the first vehicle brakes upon detection of the second vehicle based on the first vehicle sensor.

[0042] The method may further include determining a threat level of the second vehicle and, once the second vehicle is not detected, sending a message indicating a forward collision warning when the threat level of the second vehicle exceeds a threat threshold. The method may also include, once the second vehicle is detected, actuating the brakes until the threat level drops below the threat threshold.

[0043] The method may further include determining a time to collision between the first and second vehicles, and sending a message indicating a forward collision warning when the time to collision is greater than a time threshold.

[0044] The method may further include determining a time to collision between the first and second vehicles and actuating the brakes when the time to collision is less than a time threshold.

[0045] The method may further include receiving data about the second vehicle in the communication, the data including at least one of a speed, a heading, and a position of the second vehicle. The method may also include determining a threat level of the second vehicle based on the data in the communication.

[0046] The method may further include sending a message with a forward collision warning after actuating the first vehicle brake.

[0047] The method may further include, upon detecting the second vehicle, projecting a trajectory of the second vehicle and actuating brakes based on the projected trajectory.

[0048] The method may further include determining a range within which the sensor collects data regarding the second vehicle, and determining that the sensor fails to detect the second vehicle when location data communicated from the second vehicle is within the range of the sensor and the collected data cannot identify the second vehicle within the range of the sensor.

[0049] Further disclosed is a computing device programmed to perform any of the above method steps. Also disclosed is a vehicle including the computing device. Also disclosed is a computer program product including a computer readable medium storing instructions executable by a computer processor to perform any of the above method steps.

[0050] By suppressing forward collision warnings while actuating other vehicle components to resolve a potential collision, the system can reduce the number of obstruction warnings. In addition, the system can distinguish between potential collisions with a collision time that can allow an operator to react (during which a forward collision warning can be sent) and potential collisions with a collision time that can allow the vehicle computer to operate components in an autonomous mode (during which a forward collision warning may be troublesome because the vehicle has already reacted to the potential collision).

[0051] A computer in the vehicle may use data collected from vehicle-to-vehicle communications to detect the presence of an obscured vehicle. Data in vehicle-to-vehicle communications may lack the robustness of data from vehicle sensors. The computer may use data from vehicle-to-vehicle communications to detect the presence of an obscured vehicle and use data from the vehicle sensors to actuate one or more vehicle components to avoid a collision with the obscured vehicle.

[0052] Figure 1An example system 100 for operating a vehicle 101 is shown. A computer 105 in the vehicle 101 is programmed to receive collected data 115 from one or more sensors 110. For example, the vehicle 101 data 115 may include the location of the vehicle 101, the speed of the vehicle 101, etc. The location data may be in a known form, such as known, such as geographic coordinates, such as latitude and longitude coordinates obtained via a navigation system using a global positioning system (GPS). Other examples of data 115 may include measurements of vehicle 101 systems and components, such as vehicle 101 speed, vehicle 101 trajectory, etc.

[0053] As is known, the computer 105 is typically programmed for communication over a vehicle 101 network, such as a communications bus. Via the network, bus, and / or other wired or wireless mechanisms (e.g., a wired or wireless local area network in the vehicle 101), the computer 105 can send messages to various devices in the vehicle 101 and / or receive messages from various devices (e.g., controllers, actuators, sensors, etc.) including the sensor 110. Alternatively or additionally, where the computer 105 actually includes multiple devices, the vehicle network can be used for communication between devices represented as the computer 105 in this disclosure. In addition, the computer 105 can be programmed to communicate with a network 125, as described below, which can include various wired and / or wireless network technologies, such as cellular, Low Energy (BLE), wired and / or wireless packet networks, etc.

[0054] The data storage 106 may be of any known type, such as a hard drive, a solid state drive, a server, or any volatile or non-volatile medium. The data storage 106 may store the collected data 115 sent from the sensors 110 .

[0055] Sensors 110 may include a variety of devices. For example, as is well known, various controllers in vehicle 101 may operate as sensors 110 to provide data 115 via a vehicle 101 network or bus, such as data 115 related to vehicle speed, acceleration, position, subsystem and / or component status. In addition, other sensors 110 may include cameras, motion detectors, etc., i.e., sensors 110 provide data 115 for evaluating the location of an object, projecting a path of an object, evaluating the location of a road lane, etc. Sensors 110 may also include short-range radar, long-range radar, lidar, and / or ultrasonic transducers.

[0056] Collected data 115 may include various data collected in vehicle 101. Examples of collected data 115 are provided above, and data 115 is generally collected using one or more sensors 110, and may also include data calculated from computer 105 and / or server 130. In general, collected data 115 may include any data that may be collected by sensors 110 and / or calculated from such data.

[0057] The vehicle 101 may include a plurality of vehicle components 120. As used herein, each vehicle component 120 includes one or more hardware components adapted to perform a mechanical function or operation (e.g., moving the vehicle, slowing or stopping the vehicle, steering the vehicle, etc.). Non-limiting examples of components 120 include propulsion components (which include, for example, an internal combustion engine and / or an electric motor, etc.), transmission components, steering components (which may include, for example, one or more of a steering wheel, a steering rack, etc.), braking components, parking assist components, adaptive cruise control components, adaptive steering components, movable seats, etc. The vehicle 101 may include a human-machine interface (HMI) 120, such as a display, a touch screen display, a portable device, etc.

[0058] When the computer 105 operates the vehicle 101, the vehicle 101 is an "autonomous" vehicle 101. For purposes of this disclosure, the term "autonomous vehicle" is used to refer to a vehicle 101 operating in a fully autonomous mode. The fully autonomous mode is defined as one in which each of vehicle 101 propulsion (typically via a powertrain including an electric motor and / or an internal combustion engine), braking, and steering is controlled by the computer 105. The semi-autonomous mode is a mode in which at least one of vehicle 101 propulsion (typically via a powertrain including an electric motor and / or an internal combustion engine), braking, and steering is at least partially controlled by the computer 105 rather than by a human operator.

[0059] The system 100 may also include a network 125 connected to the server 130 and the data store 135. The computer 105 may also be programmed to communicate with one or more remote sites such as the server 130 via the network 125, such remote sites may include the data store 135. The network 125 represents one or more mechanisms by which the vehicle computer 105 can communicate with the remote server 130. Thus, the network 125 may be one or more of a variety of wired or wireless communication mechanisms, including wired (e.g., cable and fiber optic) and / or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired network topology (or topologies when multiple communication mechanisms are utilized). Exemplary communication networks include wireless communication networks that provide data communication services (e.g., using wireless communication networks that provide data communication services). Low Energy (BLE), IEEE 802.11, Vehicle-to-Vehicle (V2V) such as Dedicated Short Range Communication (DSRC), etc.), Local Area Network (LAN) and / or Wide Area Network (WAN) (including the Internet).

[0060] Figure 2 A host vehicle 101 and a target vehicle 200 are shown on a road. The host vehicle 101 may actuate one or more sensors 110 to detect the target vehicle 200, such as image sensors, radars, lidars, ultrasonic transducers, etc. The sensors 110 may have a range 205. Each sensor 110 may have a maximum distance from the vehicle 101 (i.e., range 205) within which the sensor 110 may collect data 115. The maximum distance of each sensor 110 may be a predetermined value stored in the data store 106 and / or the server 130 and specified by, for example, the manufacturer of the sensor 110. That is, for purposes of this disclosure, the range 205 is defined such that each sensor 110 may collect data 115 within the range 205 (which, as will be appreciated, may vary depending on conditions such as the amount of light, precipitation, etc.), such as Figure 2 As shown, at least one sensor 110 cannot collect data 115 at a location outside of the range 205. Each sensor 110 can send a value indicating the maximum distance to the computer 105, and the computer 105 can determine the range 205 from the stored maximum distance. The computer 105 can store the range 205 in the data store 106 and / or the server 130. Alternatively or additionally, the server 130 can send a message indicating the range 205 over the network 125. When the target vehicle 200 enters the range 205 of the sensor 110, the sensor 110 can collect data 115 about the target vehicle 200, and the computer 105 can detect the target vehicle 200.

[0061] The target vehicle 200 may send a message 210 to the host vehicle 101 via the network 125. The target vehicle 200 may send the message 210 using, for example, DSRC. The message 210 may include data 115 about the target vehicle 200, such as speed, heading, location, size, braking status, path history, predicted path, etc. One or more sensors 110 in the target vehicle 200 may collect the data 115, and the message 210 may include the collected data 115. The computer 105 may receive the message 210 from the target vehicle 200. The computer 105 may use the data 115 from the message 210 to determine whether to actuate one or more vehicle components 120. For example, the computer 105 may compare the location of the target vehicle 101 as specified in the message 210 with the location of the host vehicle 101, so that the distance between the host vehicle 101 and the target vehicle 200 may be determined. The computer 105 may determine whether the distance between the host vehicle 101 and the target vehicle 200 is greater than the range 205, i.e., whether the target vehicle 200 is outside the range 205. If the target vehicle 200 is outside of the range 205 , the computer 105 may determine that the target vehicle 200 is not detected and activate a forward collision warning, as described below.

[0062] The computer 105 may be programmed to project a target trajectory 215 of the target vehicle 200 and a host trajectory 220 of the host vehicle 101, collectively referred to as trajectories 215, 220. The computer 105 may project the trajectories 215, 220 based on the data 115 collected from the sensors 110. The trajectories 215, 220 may meet at an intersection 225. The intersection 225 may be a predicted location where the host vehicle 101 and the target vehicle 200 may meet (i.e., collide). Once the target vehicle 200 is detected, the computer 105 may project the trajectories 215, 220.

[0063] The computer 105 may be programmed to suppress a forward collision warning once a target vehicle 200 is detected. The computer 105 may generate multiple forward collision warnings for multiple target vehicles 200, including target vehicles 200 that may not be at risk of colliding with the host vehicle 101, resulting in an obstruction warning. To reduce obstruction warnings, the computer 105 may be programmed to suppress a forward collision warning when the sensor 110 detects a target vehicle 200, allowing the computer 105 to actuate one or more components 120 according to pre-collision assist (PCA) programming to avoid a potential collision. In addition, the computer 105 may be programmed to send a message with a forward collision warning after actuating the brakes 120 in the host vehicle 101, i.e., after the PCA programming has actuated the brakes 120 and the forward collision warning is not an obstruction warning.

[0064] The computer 105 may be programmed to determine the threat level using a threat algorithm using the data 115 collected about the host vehicle 101 and the target vehicle 200. The computer 105 may collect data 115 using sensors 110, such as the speed, position, acceleration, etc. of the host vehicle 101 and the target vehicle 200. In addition, the computer 105 may determine the threat level using data 115 in messages 210 sent from the target vehicle 200. Based on the collected data 115, the computer 105 may determine the threat level of the target vehicle 200 using a threat algorithm (e.g., a known threat calculation).

[0065] Various threat algorithms and techniques for obtaining a threat level (e.g., a "threat number") are known. The threat algorithm may include a function of multiple parameters related to the host vehicle 101 and the target vehicle 200, such as a weighted sum, a weighted product, etc. The parameters may include, for example, a predicted collision time between the host vehicle 101 and the target vehicle 200, a predicted path of the host vehicle 101 and the target vehicle 200, a predicted lateral acceleration to avoid collision based on the host vehicle 101 speed, a predicted longitudinal deceleration to avoid collision based on the position and braking power of the host vehicle 101, a predicted main longitudinal acceleration to avoid collision based on the host vehicle 101 acceleration, a current host vehicle 101 operator state based on the current acceleration, braking, and steering of the host vehicle 101, a predicted target vehicle 200 longitudinal deceleration to avoid collision based on the current target vehicle 200 acceleration and braking, a predicted target vehicle 200 longitudinal acceleration to avoid collision based on the current target vehicle 200 speed and acceleration, etc. The threat algorithm may determine a threat level, such as a threat number between 0 and 1, which is the probability of a collision between the host vehicle 101 and the target vehicle 200 .

[0066] Furthermore, computer 105 may determine a threat level based on the shortest distance between host vehicle 101 and target vehicle 200, the time rate of change of the shortest distance, and the angle between the trajectory of host vehicle 101 and a line along the distance between host vehicle 101 and target vehicle 200. Alternatively or additionally, computer 105 may determine the rotational speed of host vehicle 101 relative to the road (e.g., when host vehicle 101 is turning) and determine the threat level based on the rotational speed.

[0067] The computer 105 may actuate one or more components 120 based on the threat level. For example, the computer 105 may be programmed to actuate brakes 120 (e.g., autonomous emergency braking (AEB) 120) when the threat level exceeds a threat threshold, stopping the host vehicle 101. The computer 105 may actuate AEB 120 until another value of the threat level determined after actuating AEB 120 is below the threat threshold. In another example, the computer 105 may actuate the steering 120 in an autonomous mode to steer the host vehicle 101 away from the target vehicle 200. The computer 105 may further be programmed to actuate the steering 120 and the propeller 120 based on the threat level.

[0068] The computer 105 may determine a time to collision between the host vehicle 101 and the target vehicle 200. The time to collision may be a predicted time until the trajectories of the host vehicle and the target vehicle 200 meet (e.g., at the intersection 225). The computer 105 may predict the trajectories of the host vehicle 101 and the target vehicle based on the data 115 using known techniques. When the time to collision is greater than a time threshold, the computer 105 may send a message indicating a forward collision warning. When the time to collision is less than the time threshold, the computer 105 may actuate the brakes. The time threshold may be a predetermined value stored in the data storage 106 and / or the server 130, and may be determined, for example, as an average response time (e.g., 1 second) of a vehicle 101 operator.

[0069] Figure 3 An example intersection is shown where a target vehicle 200 is obscured from the host vehicle 101. The intersection may include objects 300 that may prevent the sensors 110 in the host vehicle 101 from detecting the target vehicle 200. For example, the objects 300 may be buildings, utility poles, etc. As used herein, a target vehicle 200 is "obscured" when the sensors 110 in the host vehicle 101 do not detect the target vehicle 200 and the computer 105 of the host vehicle 101 receives a message 210 from the target vehicle 200. That is, the computer 105 recognizes the presence of the target vehicle 200 from the message 210, but does not detect the target vehicle 200 with the sensors 110.

[0070] The computer 105 in the host vehicle 101 may receive the message 210 from the target vehicle 200 over the network 125 (e.g., via V2V communication). That is, the object 300 may not block communication over the network 125. Upon receiving the message from the target vehicle 200, the computer 105 may actuate one or more sensors 110 to detect the target vehicle 200. The object 300 may block the sensor 110 from collecting data 115 (e.g., blocking the field of view of the image sensor 110), reflect ultrasonic and / or radar waves, block the laser of the lidar 110, etc.

[0071] As described above, the sensor 110 may have a range 205 to collect data 115 about the target vehicle 200. The computer 105 may be programmed to determine that the sensor 110 has failed to detect the target vehicle 200 when the location data 115 of the message 210 from the target vehicle 200 is within the range 205 of the sensor 115 and the collected data 115 does not identify the target vehicle 200 within the range 205. The object 300 may limit the range 205 of the sensor 110.

[0072] When the computer 105 fails to detect the target vehicle 200 using the sensor 110, the computer 105 may provide a forward collision warning to the user of the host vehicle 101. The computer 105 may send a message indicating the forward collision warning to the user, to a user device (e.g., a smartphone, a wearable device, etc.) (e.g., on the vehicle 101 HMI), etc. As described above, the forward collision warning may notify the user that the target vehicle 200 may collide with the host vehicle 101. As described above, the computer 105 may be programmed to use the data 115 from the communication with the target vehicle 200 to determine the threat level. The computer 105 may be programmed to actuate the forward collision warning when the threat level is above a warning threshold.

[0073] Figure 3 The example of shows a target vehicle 200 at an intersection. In another example (not shown), the target vehicle 200 and the host vehicle 101 may be traveling in the same road lane, and the target vehicle 200 may be obscured by one or more other vehicles between the host vehicle 101 and the target vehicle 200. If the target vehicle 200 brakes suddenly, the host vehicle 101 may not detect the sudden braking and collide with the nearest vehicle. As described above, the computer 105 can be programmed to communicate with the target vehicle 200 and actuate the component 120 based on the data 115 from the sensor 110 and from the communication 210 with the target vehicle 200.

[0074] Figure 4 An example process 400 is shown for detecting a target vehicle 200. The process 400 begins in block 405, where the computer 105 receives a communication (e.g., message 210) via the network 125. As described above, the target vehicle 200 may send a message having data 115 regarding the location, speed, trajectory, etc. of the target vehicle 200 via the network 125 (e.g., using DSRC). The computer 105 may receive the message and data 115.

[0075] Next, in block 410, the computer 105 determines whether a target vehicle 200 is detected. The computer 105 may determine from the communication whether the communication includes a message 210 from the target vehicle 200. If the computer 105 determines that a target vehicle 200 is present, the process 400 continues in block 415. Otherwise, the process 400 returns to block 405 to receive more communications.

[0076] In block 415, the computer 105 activates one or more sensors 110 (including radar 110 and / or camera 110) to detect the target vehicle 200. The computer 105 may utilize the sensors 110 to collect data 115 (e.g., image data 115, radar data 115, lidar data 115, etc.) to detect the target vehicle 200 that sent the message 210 via the network 125.

[0077] Next, in block 420, the computer 105 determines whether the data 115 collected by the sensor 110 allows the computer 105 to detect the target vehicle 200. If the sensor 110 is obscured by, for example, an object 300 between the host vehicle 101 and the target vehicle 200, the data 115 may not indicate the presence of the target vehicle 200. If the target vehicle 200 is not within the range 205 of the sensor 110, the data 115 may not indicate the target vehicle 200. If the computer 105 detects the target vehicle 200 based on the data 115, the process 400 continues in block 425. Otherwise, the process 400 continues in block 435.

[0078] In box 425, the computer 105 determines whether the threat level of the target vehicle 200 is above the threat threshold. As described above, the threat level can be, for example, a threat number determined by a threat algorithm. If the threat level is above the threat threshold, the process 400 continues in box 430. Otherwise, the process 400 ends.

[0079] In block 430, the computer 105 actuates the vehicle components 120. For example, the computer 105 may actuate the brakes 120 (e.g., emergency brakes 120) to stop the host vehicle 101 before a collision with the target vehicle 200 detected by the data 115, the computer 105 may actuate the steering 120 (e.g., emergency steering 120), etc. As described above, the computer 105 may actuate the steering 120, brakes 120, and thrusters 120 to avoid the target vehicle 200. After block 430, the process 400 ends.

[0080] In box 435, the computer 105 determines whether the threat level of the target vehicle 200 is above the threat threshold. As described above, the threat level can be, for example, a threat number determined by a threat algorithm. If the threat level is above the threat threshold, the process 400 continues in box 440. Otherwise, the process 400 ends.

[0081] In block 440, the computer 105 provides a forward collision warning to a user in the host vehicle 101 based on the message 210 received from the target vehicle 200. As described above, the forward collision warning may be a visual, audible, and / or tactile alert indicating the presence of the target vehicle 200. The computer 105 may provide the forward collision warning on, for example, the vehicle 101 HMI 120, a portable device such as a smartphone or smartwatch, etc. After block 440, the process 400 ends.

[0082] As used herein, the adverb "substantially" modifies an adjective to mean that shape, structure, measurement, value, calculation, etc. may deviate from the precisely described geometry, distance, measurement, value, calculation, etc. because of deviations in materials, processing, manufacturing, data logger measurements, calculations, processing time, communication time, etc.

[0083] The computers 105 typically each include instructions executable by one or more computers such as those identified above and instructions for performing the blocks or steps of the processes described above. The computer-executable instructions may be compiled or interpreted from a computer program created using a variety of programming languages ​​and / or techniques, including but not limited to, Java, alone or in combination. TM , C, C++, Visual Basic, Java Script, Perl, HTML, etc. Typically, a processor (e.g., a microprocessor) receives instructions, such as from a memory, a computer-readable medium, etc., and executes these instructions to perform one or more processes, including one or more processes described herein. Various computer-readable media can be used to store and transmit such instructions and other data. Files in computer 105 are typically collections of data stored on computer-readable media, such as storage media, random access memory, etc.

[0084] Computer readable media include any media that participate in providing data (e.g., instructions) that can be read by a computer. Such media can take many forms, including but not limited to non-volatile media, volatile media, etc. Non-volatile media include, for example, optical or magnetic disks and other permanent memories. Volatile media include dynamic random access memory (DRAM) that usually constitutes main memory. Common forms of computer readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs (Compact Disc Read Only Drives), DVDs (Digital Versatile Disks), any other optical media, punched cards, paper tapes, any other physical media with hole patterns, RAMs (Random Access Memory), PROMs (Programmable Read Only Memory), EPROMs (Electrically Programmable Read Only Memory), FLASH EEPROMs (Flash Electrically Erasable Programmable Read Only Memory), any other memory chip or box, or any other computer readable medium.

[0085] With respect to the media, processes, systems, methods, etc. described herein, it should be understood that although the steps of such processes, etc. are described as occurring in a certain order, such processes may be implemented using the steps described in an order other than the order described herein. It should further be understood that certain steps may be performed simultaneously, other steps may be added, or certain steps described herein may be omitted. For example, in process 400, one or more steps may be omitted, or may be performed in a different order than the order described herein. Figure 4 In other words, the descriptions of systems and / or processes herein are provided for the purpose of illustrating certain embodiments and should not be construed in any way as limiting the disclosed subject matter.

[0086] Therefore, it should be understood that the present disclosure including the above description and the accompanying drawings and claims is intended to be illustrative and not restrictive. After reading the above description, many embodiments and applications other than the examples provided will be apparent to those skilled in the art. The scope of the present invention should be determined with reference to the appended claims and / or the full scope of the equivalent rights required by the non-provisional patent applications based thereon and these claims, rather than with reference to the above description. It is anticipated and expected that further developments will occur in the technology discussed herein, and that the disclosed systems and methods will be incorporated into such further embodiments. In short, it should be understood that the subject matter of the present disclosure is capable of modification and variation.

[0087] Unless otherwise specified or required by context, the articles "a" and "an" modifying a noun are to be construed as meaning one or more. The phrase "based on" includes partly or wholly based on.

Claims

1. A method for vehicle detection and avoidance, comprising: receiving a communication from a second vehicle; upon failure to detect the second vehicle based on the first vehicle sensor data, sending a message indicating a forward collision warning; as well as upon detecting the second vehicle based on the first vehicle sensor data, suppressing the forward collision warning and actuating the first vehicle brakes; the first vehicle actuating a vehicle component based on the sensor data and data communicated with the second vehicle; Also included is projecting a trajectory of the second vehicle upon detecting the second vehicle and actuating the brake based on the projected trajectory.

2. The method according to claim 1, further comprising: A threat level of the second vehicle is determined, and upon failure of detecting the second vehicle, the message indicative of the forward collision warning is sent when the threat level of the second vehicle exceeds a threat threshold.

3. The method according to claim 2, further comprising: Once the second vehicle is detected, the brakes are actuated until the threat level drops below the threat threshold.

4. The method according to claim 1, further comprising: A time to collision between the first and second vehicles is determined, and the message indicative of the forward collision warning is sent when the time to collision is greater than a time threshold.

5. The method according to claim 1, further comprising: A time to collision between the first and second vehicles is determined, and the brake is actuated when the time to collision is less than a time threshold.

6. The method according to claim 1, further comprising: Data about the second vehicle in the communication is received, the data comprising at least one of a speed, a heading, and a position of the second vehicle. 7 . The method of claim 6 , further comprising determining a threat level of the second vehicle based on the data in the communication. 8 . The method of claim 1 , further comprising sending the message with the forward collision warning after actuating the first vehicle brake.

9. The method according to claim 1, further comprising: A range is determined in which a sensor collects data about the second vehicle, and when the position data of the communication from the second vehicle is within the range of the sensor and the collected data cannot identify the second vehicle within the range of the sensor, determining that the sensor fails to detect the second vehicle.

10. The method according to any one of claims 2-3 and 5-9, further comprising: A time to collision between the first and second vehicles is determined, and the message indicative of the forward collision warning is sent when the time to collision is greater than a time threshold.

11. A computer programmed to perform the method of any one of claims 1 to 9.

12. A vehicle comprising the computer of claim 11.

13. A computer program product comprising a computer readable medium storing instructions executable by a computer processor to perform the method of any one of claims 1 to 9.

14. A system for a first vehicle, comprising a computer programmed to: receiving a communication from a second vehicle; upon failure to detect the second vehicle based on the first vehicle sensor data, sending a message indicating a forward collision warning; as well as upon detecting the second vehicle based on the first vehicle sensor data, suppressing the forward collision warning and actuating first vehicle brakes; the first vehicle actuating a vehicle component based on the sensor data and data communicated with the second vehicle; Also included is projecting a trajectory of the second vehicle upon detecting the second vehicle and actuating the first vehicle brakes based on the projected trajectory.

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