Rear Collision Avoidance Assist

Abstract

Rear collision avoidance assistance is provided. A method and system are provided, comprising: a sensor that acquires sensor data about vehicles traveling behind the main vehicle when the main vehicle is stationary or traveling in the forward direction; and a processor configured to: use the sensor data to determine whether other vehicles traveling behind the main vehicle when the main vehicle is stationary or traveling in the forward direction constitute a rear-end threat that may contact the main vehicle; and when it is determined that other vehicles traveling behind the main vehicle when the main vehicle is stationary or traveling in the forward direction constitute a rear-end threat that may contact the main vehicle, to provide automated assistance commands for controlling the movement of the main vehicle to avoid contact with other vehicles traveling behind the main vehicle.

Description

Technical Field

[0001] The technical field generally relates to vehicles, and more specifically to methods and systems for preventing contact between a primary vehicle and one or more other vehicles behind it. Background Technology

[0002] Some modern vehicles have active safety control systems in place. Such systems may be intended to prevent contact with other vehicles, including those potentially behind the vehicle.

[0003] Accordingly, it is desirable to provide improved methods and systems for preventing contact between a vehicle and other vehicles behind it. Furthermore, other desirable features and characteristics of this disclosure will become apparent from the accompanying drawings and the foregoing technical and background information, based on the following detailed description and the appended claims. Summary of the Invention

[0004] According to an exemplary embodiment, a method is provided, the method comprising: when a primary vehicle is stopped or traveling in a forward direction, acquiring sensor data about one or more other vehicles traveling behind the primary vehicle via one or more sensors of the primary vehicle; using the sensor data via a processor of the primary vehicle to determine whether the one or more other vehicles traveling behind the primary vehicle constitute a rear-end threat that could potentially contact the primary vehicle when the primary vehicle is stopped or traveling in a forward direction; and when it is determined that the one or more other vehicles traveling behind the primary vehicle constitute a rear-end threat that could potentially contact the primary vehicle when the primary vehicle is stopped or traveling in a forward direction, providing automated assistance commands for controlling the movement of the primary vehicle, based on instructions provided by the processor of the primary vehicle, to avoid contact with the one or more other vehicles traveling behind the primary vehicle.

[0005] Furthermore, in an exemplary embodiment, one or more sensors include one or more rearward object detection sensors of the main vehicle.

[0006] Furthermore, in an exemplary embodiment, the method further includes acquiring additional sensor data about inputs provided by the driver of the main vehicle via one or more additional sensors of the main vehicle; wherein automated assistance commands for controlling the movement of the main vehicle are provided via instructions provided by a processor, under the further condition that the input indicates the driver requests automated assistance to avoid contact with one or more other vehicles traveling behind the main vehicle.

[0007] Furthermore, in an exemplary embodiment, obtaining additional sensor data includes: obtaining steering wheel data from the steering wheel via one or more steering sensors coupled to the steering wheel of the main vehicle; and obtaining accelerator pedal data from the accelerator pedal via one or more accelerator pedal sensors coupled to the accelerator pedal of the main vehicle.

[0008] Furthermore, in an exemplary embodiment, the method further includes determining a predicted path for maneuvering the primary vehicle based on steering wheel data via a processor to avoid contact with one or more other vehicles traveling behind the primary vehicle; wherein the step of providing automated assistance commands includes providing automated steering control commands from the processor to the steering system of the primary vehicle, automated propulsion control commands from the processor to the drive system of the primary vehicle, and automated braking control commands from the processor to the braking system of the primary vehicle to assist the driver in performing maneuvers to avoid contact with one or more other vehicles traveling behind the primary vehicle.

[0009] Furthermore, in an exemplary embodiment, the method further includes obtaining front and side sensor data from one or more front and side sensors of the master vehicle regarding whether the master vehicle is likely to come into contact with one or more other vehicles, pedestrians or other objects located in front of or to the side of the master vehicle along the predicted path; wherein the automated assistance commands for controlling the movement of the master vehicle are provided via instructions provided by a processor under the further condition that the vehicle is unlikely to come into contact with one or more other vehicles, pedestrians or other objects located in front of or to the side of the master vehicle along the predicted path.

[0010] Furthermore, in an exemplary embodiment, the step of obtaining sensor data includes obtaining sensor data from one or more forward and lateral object detection sensors of the main vehicle.

[0011] Furthermore, in an exemplary embodiment, automated assistance commands for controlling the movement of the master vehicle utilize front and side sensor data to avoid contact with one or more other vehicles, pedestrians, or other objects located in front of or to the side of the master vehicle along a predicted path.

[0012] Furthermore, in an exemplary embodiment, the method further includes obtaining brake sensor data from one or more brake sensors coupled to the brake pedal of the master vehicle; and terminating automated steering control commands, automated propulsion control commands, and automated braking control commands from the processor when the processor determines, based on the brake sensor data, that the driver has engaged the brake pedal of the master vehicle.

[0013] In another exemplary embodiment, a system is provided that includes one or more sensors of a host vehicle and a processor of the host vehicle. The one or more sensors are configured to acquire sensor data regarding one or more other vehicles traveling behind the host vehicle when the host vehicle is stationary or traveling in a forward direction. The processor is configured to at least facilitate the use of the sensor data to determine whether the one or more other vehicles traveling behind the host vehicle, when the host vehicle is stationary or traveling in a forward direction, constitute a rear-end threat that could potentially contact the host vehicle; and when it is determined that the one or more other vehicles traveling behind the host vehicle, when the host vehicle is stationary or traveling in a forward direction, constitute a rear-end threat that could potentially contact the host vehicle, provide automated assistance commands for controlling the movement of the host vehicle, based on instructions provided by the processor of the host vehicle, to avoid contact with the one or more other vehicles traveling behind the host vehicle.

[0014] Furthermore, in an exemplary embodiment, one or more sensors include one or more rearward object detection sensors of the main vehicle.

[0015] Furthermore, in an exemplary embodiment, the system also includes one or more additional sensors of the main vehicle configured to acquire additional sensor data about inputs provided by the driver of the main vehicle; wherein the processor is further configured to facilitate, at least upon further conditions where the input indicates that the driver requests automated assistance to avoid contact with one or more other vehicles traveling behind the main vehicle, an automated assistance command for controlling the movement of the main vehicle.

[0016] Furthermore, in an exemplary embodiment, one or more additional sensors include: one or more steering sensors coupled to the steering wheel of the main vehicle and configured to obtain steering wheel data from the steering wheel; and one or more accelerometer sensors coupled to the accelerometer pedal of the main vehicle and configured to obtain accelerometer pedal data.

[0017] Furthermore, in an exemplary embodiment, the processor is also configured to at least facilitate the determination of a predicted path for maneuvering the master vehicle based on steering wheel data to avoid contact with one or more other vehicles traveling behind the master vehicle; and to provide automated steering control commands from the processor to the steering system of the master vehicle, as well as automated propulsion control commands from the processor to the drive system of the master vehicle and automated braking control commands from the processor to the braking system of the master vehicle, to assist the driver in performing maneuvers to avoid contact with one or more other vehicles traveling behind the master vehicle.

[0018] Furthermore, in an exemplary embodiment, one or more front and side sensors of the main vehicle are configured to acquire front and side sensor data regarding whether the main vehicle is likely to come into contact with one or more other vehicles, pedestrians or other objects located in front of or to the side of the main vehicle along a predicted path; wherein the processor is further configured to at least facilitate the provision of automated auxiliary commands for controlling the movement of the main vehicle under the further condition that the vehicle is unlikely to come into contact with one or more other vehicles, pedestrians or other objects located in front of or to the side of the main vehicle along the predicted path.

[0019] Furthermore, in an exemplary embodiment, one or more front and side sensors include one or more front and side object detection sensors of the main vehicle.

[0020] Furthermore, in an exemplary embodiment, the processor is also configured to at least facilitate the provision of automated assistance commands for controlling the movement of the master vehicle using front and side sensor data to avoid contact with one or more other vehicles, pedestrians or other objects located in front of or to the side of the master vehicle along a predicted path.

[0021] Furthermore, in an exemplary embodiment, one or more brake sensors are configured to be coupled to the brake pedal of the master vehicle and configured to acquire brake sensor data; wherein the processor is further configured to at least facilitate: when the processor determines, based on the brake sensor data, that the driver has engaged the brake pedal of the master vehicle, terminating the automated steering control command, the automated propulsion control command, and the automated braking control command.

[0022] In another exemplary embodiment, a vehicle is provided, the vehicle including a body, a drive system, a braking system, a steering system, one or more object detection sensors, one or more steering sensors, one or more accelerometer sensors, one or more brake sensors, and a processor. The drive system is configured to move the body. The drive system includes an accelerometer pedal. The braking system includes a brake pedal. The steering system includes a steering wheel. The one or more object detection sensors are configured to acquire object detection sensor data about one or more other vehicles traveling behind the vehicle when the vehicle is stopped or traveling in a forward direction. The one or more steering sensors are coupled to the steering wheel and configured to acquire steering wheel data from the steering wheel. The one or more accelerometer sensors are coupled to the accelerometer pedal and configured to acquire accelerometer pedal data about the accelerometer pedal. The one or more brake sensors are coupled to the brake pedal and configured to acquire brake pedal sensor data about the driver's engagement of the brake pedal. The vehicle's processor is configured to at least facilitate: using object detection sensor data to determine whether one or more other vehicles traveling behind the vehicle, when the vehicle is stopped or traveling in the forward direction, constitute a rear-end threat that could potentially contact the vehicle; using accelerator pedal data and steering wheel data to determine whether the driver has provided input from the processor requesting automated assistance to avoid contact with one or more other vehicles traveling behind the vehicle, when the vehicle is stopped or traveling in the forward direction; and, upon determination of both, providing automated assistance commands to the drive system, steering system, and braking system to control the movement of the vehicle to avoid contact with one or more other vehicles traveling behind the vehicle, based on instructions provided by the vehicle's processor.

[0023] Furthermore, in an exemplary embodiment, the vehicle also includes one or more front and side detection sensors configured to obtain front and side sensor data regarding whether the vehicle is likely to come into contact with one or more other vehicles, pedestrians, or other objects located in front of or to the side of the vehicle along a predicted path of vehicle maneuvering to avoid contact with one or more other vehicles; wherein the processor is further configured to at least facilitate providing automated assistance commands for controlling the movement of the vehicle under the further condition that the vehicle is unlikely to come into contact with one or more other vehicles, pedestrians, or other objects located in front of or to the side of the vehicle along the predicted path. Attached Figure Description

[0024] The present disclosure will be described below with reference to the following figures, wherein the same numerals denote the same elements, and wherein:

[0025] Figure 1 This is a functional block diagram of a vehicle according to an exemplary embodiment, the vehicle including a control system for preventing contact with other vehicles behind the vehicle.

[0026] Figure 2 This is a flowchart of a process for preventing contact with other vehicles behind a vehicle, according to an exemplary embodiment, and the process may be combined with... Figure 1 Vehicles (including) Figure 1 This is achieved through the control system; and

[0027] Figure 3 This is according to an exemplary embodiment. Figure 2 A flowchart illustrating an exemplary implementation of the process. Detailed Implementation

[0028] The following detailed description is merely exemplary in nature and is not intended to limit this disclosure or its application and use. Furthermore, it is not intended to be bound by the foregoing background information or any theories set forth in the following detailed description.

[0029] Figure 1 A vehicle 100 (also referred to herein as "main vehicle" 100) according to an exemplary embodiment is shown. As described in further detail below, according to an exemplary embodiment, vehicle 100 includes a control system 102 configured to prevent contact with other vehicles behind vehicle 100.

[0030] In various embodiments, vehicle 100 includes an automobile. Vehicle 100 can be any of several different types of automobiles, such as, for example, a sedan, van, truck, or sport utility vehicle (SUV), and in some embodiments can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD) and / or various other types of vehicles. In some embodiments, vehicle 100 may also include motorcycles or other vehicles, such as aircraft, spacecraft, boats, etc., and / or one or more other types of mobile platforms (e.g., robots and / or other mobile platforms).

[0031] In some embodiments, vehicle 100 is a partially autonomous vehicle, wherein operation is normally controlled by a human driver, but in various situations has automated assistance via control system 102, including for avoiding collisions with one or more other vehicles behind vehicle 100.

[0032] Vehicle 100 includes a body 104 disposed on a chassis 106. The body 104 substantially surrounds the other components of vehicle 100. The body 104 and chassis 106 may together form a frame. Vehicle 100 also includes a plurality of wheels 112. Each wheel 112 is rotatably coupled to chassis 106 near a corresponding corner of body 104 to facilitate movement of vehicle 100. In one embodiment, vehicle 100 includes four wheels 112, although this may vary in other embodiments (e.g., for trucks and certain other vehicles).

[0033] like Figure 1 As depicted, in various embodiments, the vehicle includes a braking system 108. In an exemplary embodiment, the braking system 108 uses braking components to control the braking of the vehicle 100, which are normally controlled via input provided by the driver (e.g., via brake pedal 101 in some embodiments) and have automated assistance (including for avoiding contact with other vehicles behind the vehicle 100) automatically provided via a control system 102.

[0034] In an exemplary embodiment, vehicle 100 also includes a steering system 109 for controlling the steering of vehicle 100. In various embodiments, steering system 109 controls the steering of vehicle 100 via a steering component, which includes, for example, a steering column coupled to axle 114 and / or wheel 112, and is normally controlled by input provided by a driver via steering wheel 103 in some cases, and has automated assistance (including for avoiding contact with other vehicles behind vehicle 100) automatically provided via control system 102.

[0035] Furthermore, in exemplary embodiments, the drive system 110 is mounted on the chassis 106 and drives the wheels 112, for example, via axle 114. In some embodiments, the drive system 110 includes a propulsion system. In some exemplary embodiments, the drive system 110 includes an internal combustion engine and / or an electric motor / generator coupled to its transmission. In some embodiments, the drive system 110 may vary, and / or two or more drive systems 110 may be used. Furthermore, in exemplary embodiments, the drive system 110 normally controls the propulsion of the vehicle 100 based on input provided by the driver (e.g., via accelerator pedal 105) and has automated assistance (including for avoiding contact with other vehicles behind the vehicle 100) automatically provided via the control system 102.

[0036] exist Figure 1In the depicted embodiments, the control system 102 is coupled to the steering system 109, the braking system 108, and the drive system 110. In various embodiments, the control system 102 is coupled to the steering system 109, the braking system 108, and the drive system 110 via one or more communication links 107 (such as the vehicle CAN bus in one embodiment). In some embodiments, the control system 102 may also be coupled to one or more other vehicle systems and / or components.

[0037] In various embodiments, as described above, the control system 102 detects when contact with one or more other vehicles behind vehicle 100 is possible, and when the driver provides input for assistance. In various embodiments, in such situations with these conditions, the control system provides assistance for the movement of vehicle 100 (including via providing automated control commands to braking system 108, steering system 109, and drive system 110) to avoid contact with rear vehicles behind vehicle 100 and to avoid contact with any other vehicles, pedestrians, or other objects. In various embodiments, the control system 102, according to... Figure 2 Process 200 and Figure 3 The implementation of these functions is as follows, and will be described in further detail below. In some embodiments, the control system 102 may also control one or more other systems of the vehicle 100.

[0038] like Figure 1 As depicted, in various embodiments, the control system 102 includes a sensor array 120 and a controller 140, which are described in more detail below.

[0039] In various embodiments, sensor array 120 includes various sensors that acquire sensor data about vehicle 100, other vehicles and other objects adjacent to vehicle 100, and are used to prevent contact between vehicle 100 and other vehicles and other objects. In the depicted embodiments, sensor array 120 includes one or more object detection sensors 121, accelerometer sensors 123, brake sensors 124, and steering sensors 125. In some embodiments, sensor array 120 may also include one or more other sensors 126.

[0040] In an exemplary embodiment, one or more object detection sensors 121 acquire object detection sensor data regarding one or more other vehicles in the vicinity and behind vehicle 100. In some embodiments, object detection sensors 121 also acquire object detection sensor data regarding one or more other vehicles, pedestrians, and objects adjacent to vehicle 100 (including those in front of or to the side of vehicle 100, e.g., to the left or right). In some embodiments, object detection sensors 121 include one or more of the following: radar sensors, cameras, lidar sensors, and / or other object detection sensors 121.

[0041] In an exemplary embodiment, one or more accelerometer sensors 123 acquire accelerometer sensor data regarding the driver's acceleration input and engagement with the drive system 110 (in various embodiments, this includes the driver's engagement with the accelerometer pedal 105).

[0042] In an exemplary embodiment, one or more brake sensors 124 acquire brake sensor data regarding the driver’s brake input and engagement of the brake system 108 (in various embodiments, this includes the driver’s engagement of the brake pedal 101).

[0043] In an exemplary embodiment, one or more steering sensors 125 acquire steering sensor data regarding the driver's steering input and engagement with the steering system 109 (in various embodiments, this includes the driver's engagement with the steering wheel 103).

[0044] Additionally, in some embodiments, the sensor array 120 may also include one or more other sensors 126, such as one or more other types of input sensors (e.g., one or more buttons, switches, touchscreen display sensors, or other sensors for the driver to provide input to request assistance from the control system), and / or one or more other types of detection sensors (e.g., sonar, lidar, etc.) for detecting other vehicles and other objects, etc.

[0045] In various embodiments, controller 140 is coupled to sensor array 120 as well as braking system 108, steering system 109, and drive system 110. In various embodiments, controller 140 may also be coupled to one or more other vehicle systems. Furthermore, in various embodiments, controller 140 includes a computer system (also referred to herein as computer system 140) and includes processor 142, memory 144, interface 146, storage device 148, and computer bus 150. In various embodiments, the controller (or computer system) helps prevent contact between vehicle 100 and other vehicles and objects, including other vehicles behind vehicle 100. In various embodiments, controller 140 according to... Figure 2 The process involves 200 steps and Figure 3 The implementation method is used to provide these and other functions.

[0046] In various embodiments, the controller 140 (and in some embodiments, the control system 102 itself) is housed within the body 104 of the vehicle 100. In one embodiment, the control system 102 is mounted on the chassis 106. In some embodiments, the controller 140 and / or the control system 102 and / or one or more components thereof may be located outside the body 104, for example, on a remote server, in the cloud, or in other devices where image processing is performed remotely.

[0047] It will be understood that controller 140 may otherwise differ from... Figure 1 The embodiments depicted herein. For example, controller 140 may be coupled to or otherwise utilize one or more remote computer systems and / or other control systems, for example as part of one or more of the equipment and systems of vehicle 100 described above.

[0048] In the depicted embodiment, the computer system of controller 140 includes a processor 142, a memory 144, an interface 146, a storage device 148, and a bus 150. The processor 142 performs the computational and control functions of controller 140 and may include any type of processor or multiple processors, a single integrated circuit such as a microprocessor, or any suitable number of integrated circuit devices and / or circuit boards that cooperate to perform the functions of a processing unit. During operation, processor 142 executes one or more programs 152 contained in memory 144 and thus controls the general operation of controller 140 and the computer system of controller 140, typically when performing the processes described herein, such as... Figure 2 Process 200 and Figure 3 The implementation method.

[0049] Memory 144 can be any suitable type of memory. For example, memory 144 can include various types of dynamic random access memory (DRAM) (such as SDRAM), various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash memory). In some examples, memory 144 is located on and / or co-located with processor 142 on the same computer chip. In the depicted embodiment, memory 144 stores the aforementioned program 152 and stored values ​​154 (e.g., in various embodiments, for...). Figure 2 Process 200 and Figure 3 (The threshold of the implementation method).

[0050] Bus 150 is used to transmit programs, data, status, and other information or signals between various components of the computer system of controller 140. Interface 146 allows communication, for example, from system drives and / or another computer system to the computer system of controller 140, and can be implemented using any suitable methods and means. In one embodiment, interface 146 obtains various data from sensor array 120 and other possible data sources. Interface 146 may include one or more network interfaces for communicating with other systems or components. Interface 146 may also include one or more network interfaces for communicating with technicians, and / or one or more storage interfaces for connecting to storage devices (such as storage device 148).

[0051] Storage device 148 can be any suitable type of storage device, including various types of direct access storage and / or other memory devices. In one exemplary embodiment, storage device 148 includes a program product from which memory 144 can receive program 152, which performs one or more embodiments of one or more processes of this disclosure, such as those described below. Figure 2 The steps of process 200 are discussed further. In another exemplary embodiment, the program product may be stored directly in memory 144 and / or disk (e.g., disk 156) and / or otherwise accessed by memory 144 and / or disk, as referenced below.

[0052] Bus 150 can be any suitable physical or logical device for connecting computer systems and components. This includes, but is not limited to, direct hardwired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0053] It will be understood that although this exemplary embodiment is described in the context of a full-featured computer system, those skilled in the art will recognize that the mechanisms of this disclosure can be distributed as program products in which one or more types of non-transitory computer-readable signal-bearing media are used to store their programs and instructions and to perform their distribution, such as non-transitory computer-readable media carrying programs and containing computer instructions stored therein for causing a computer processor (such as processor 142) to execute and run the program. Such program products can take various forms, and this disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used to perform the distribution. Examples of signal-bearing media include recordable media such as floppy disks, hard disks, memory cards, and optical disks, and transmission media such as digital and analog communication links. It will be understood that cloud-based storage and / or other technologies may also be utilized in some embodiments. Similarly, it will be understood that the computer system of controller 140 may otherwise differ from other systems. Figure 1In the depicted embodiments, for example, the computer system of controller 140 may be coupled to or may otherwise utilize one or more remote computer systems and / or other control systems.

[0054] Figure 2 This is a flowchart of a process 200 for preventing contact with other vehicles behind a vehicle, according to an exemplary embodiment. Furthermore, in various embodiments, process 200 may be combined with... Figure 1 100 vehicles (including) Figure 1 It is achieved through the control system 102 and its components.

[0055] like Figure 2 As depicted, in various embodiments, process 200 begins at step 202. In one embodiment, this occurs when the vehicle is driven or the ignition cycle begins, for example, when the driver enters the vehicle to operate it (e.g., in some embodiments, as by...). Figure 1 When one or more of the sensors in the sensor array 120 detect a signal, process 200 begins. In one embodiment, the steps of process 200 are performed continuously during operation of the vehicle. In various embodiments, process 200 is performed when the vehicle 100 moves forward or stops (but not when the vehicle 100 is moving backward).

[0056] In various embodiments, process 200 (step 204) begins during operation of vehicle 100 under normal or typical operating conditions, such as before any contact threat is detected and before the driver has requested assistance from control system 102 to avoid contact with one or more other vehicles or other objects. In various embodiments, process 200 (and the execution of process 200) Figure 1 The control system 102 is ready to provide rear contact assistance to the driver at any time when the vehicle 100 is stopped or moving forward (step 206).

[0057] In various embodiments, object data is obtained (step 208). In various embodiments, the object data includes object detection sensor data, which is obtained via... Figure 1 The object is detected by one or more object detection sensors 121 (e.g., including one or more radar sensors, cameras, lidar sensors, and / or other object detection sensors 121), including behind the vehicle 100 and relative to any other vehicle that may be traveling behind the vehicle 100. In various embodiments, this is performed when the vehicle 100 is moving forward or stopped.

[0058] In various embodiments, a determination is made regarding whether a rear threat has been detected (step 210). In various embodiments, during step 210, Figure 1The processor 142 uses the object data from step 208 to determine whether any other vehicle traveling behind vehicle 100 is likely to come into contact with vehicle 100 (e.g., including based on the other vehicle’s relative heading, position, and course relative to vehicle 100).

[0059] In various embodiments, if it is determined in step 210 that no rear threat has been detected, the process returns to step 206 because process 200 (and control system 102) does not take any auxiliary action at this time, but remains ready to provide assistance as needed. In various embodiments, steps 206-210 are repeated in new iterations until, and unless, a determination that a rear threat has been detected is made during the iteration in step 210.

[0060] In various embodiments, if a rear threat is detected in step 210, additional sensor data regarding the driver's intentions is obtained (step 212). Specifically, in various embodiments, from Figure 1 One or more accelerometer sensors 123 obtain accelerometer sensor data regarding the driver's positioning or engagement of the accelerometer pedal 105, and from... Figure 1 One or more steering sensors 125 acquire steering sensor data regarding the driver's engagement of the steering wheel 103. In some embodiments, the steering sensor data includes the steering torque applied to the steering wheel 103 by the driver; however, in other embodiments, other steering sensor data may be utilized.

[0061] In various embodiments, a determination is made regarding whether a driver's intention has been detected (step 214). In various embodiments, during step 214, processor 142 determines whether the driver is requesting assistance (i.e., from control system 102) to avoid contact with a rear threat based on the driver's engagement of steering wheel 103 and / or accelerator pedal 105 as reflected in the sensor data of step 212. In some embodiments, when a metric of engagement of steering wheel 103 (e.g., steering wheel torque and / or other steering wheel data in some embodiments) and / or accelerator pedal 105 (e.g., accelerator pedal positioning and / or other accelerator pedal data in some embodiments) exceeds a corresponding predetermined threshold (e.g., as stored in...). Figure 1 When the value stored in the memory 144 is 154, the driver is considered to be requesting assistance.

[0062] In various embodiments, if it is determined in step 214 that no driver intent has been detected, the process returns to step 206 because process 200 (and control system 102) does not take any assistance action at this time, but remains ready to provide assistance as needed. In various embodiments, steps 206-214 are repeated in new iterations until, and unless, a determination that a driver intent has been detected is made during the iteration of step 214.

[0063] In various embodiments, if a driver's intention is detected in step 214, further additional sensor data regarding the driver's operation of the vehicle 100 is obtained (step 216). Specifically, in various embodiments, additional steering data regarding the driver's engagement of the steering wheel 103 is determined from the steering sensor 125.

[0064] In various embodiments, a prediction of the driver's intended path and the resulting planned trajectory for vehicle 100 are determined (step 218). In various embodiments, processor 142 determines the prediction of the driver's intended path and the resulting planned trajectory for vehicle 100 based on additional sensor data (including information about the driver's engagement of steering wheel 103) from step 216.

[0065] In various embodiments, front sensor data and side sensor data are obtained (step 222). In various embodiments, sensor data regarding other vehicles, pedestrians, and other objects adjacent to vehicle 100 (including those in front of vehicle 100 and on both sides of vehicle 100 (e.g., left and right sides)) are obtained. In various embodiments, these objects are detected via the front and side sensors of vehicle 100. In some embodiments, the sensor data in step 222 is obtained via... Figure 1 The data is obtained by camera 122, and / or in some embodiments by one or more other detection sensors (e.g., radar, lidar, sonar, etc.).

[0066] In various embodiments, a determination is made regarding whether the predicted path is obstructed (step 224). In various embodiments, processor 142 determines whether the predicted path of step 218 (i.e., for vehicle 100 to avoid contact with rear threats) includes any other vehicles, pedestrians, or other objects that may come into contact with vehicle 100 as vehicle 100 travels along the predicted path. In various embodiments, processor 142 makes this determination based on the front and side sensor data from step 222, including the relative heading, position, rate, and acceleration of other vehicles, pedestrians, and other objects relative to vehicle 100 and its predicted path (as determined based on the front and side sensor data from step 222).

[0067] In various embodiments, if it is determined in step 224 that the predicted path is blocked, the control system 102 (e.g., including its rear contact assist function) is considered not ready to provide assistance (step 226). In various embodiments, process 200 therefore returns to step 206 because process 200 (and control system 102) does not take any assist action at this time, but remains ready to provide assistance as needed. In various embodiments, steps 206-224 are repeated in new iterations until, and unless, a determination that the predicted path is not blocked is made during the iteration in step 224.

[0068] In various embodiments, if it is determined in step 224 that the predicted path is not blocked, process 200 is instead performed to 227, 228 and 230, as described below.

[0069] In various embodiments, during step 227, braking assistance is provided to help the driver perform maneuvers. Specifically, in various embodiments, processor 142 provides instructions to braking system 108 via communication link 107 for automated braking control to assist the driver in performing maneuvers. Specifically, in various embodiments, processor 142 provides corrective braking to assist the driver in performing maneuvers, including to allow vehicle 100 to avoid contact with rear threats and to avoid contact with any other vehicles, pedestrians, and other objects that may be adjacent to vehicle 100 and / or the expected path. In various embodiments, automatic corrective braking control is provided by instructions provided by processor 142 (determined by processor 142 in conjunction with object detection sensor data regarding rear threats and front and side object detection sensor data from the step) to help avoid any contact between the primary vehicle 100 and other vehicles, pedestrians, and other objects during maneuvers.

[0070] In various embodiments, during step 228, propulsion assistance is provided to help the driver perform maneuvers. Specifically, in various embodiments, processor 142 provides instructions to drive system 110 via communication link 107 for automated propulsion control to assist the driver in performing maneuvers. Specifically, in various embodiments, processor 142 provides automatic throttle adjustment and assistance (i.e., by appropriately increasing or limiting the throttle and propulsion used for drive system 110) to allow vehicle 100 to avoid contact with rear threats and to avoid contact with any other vehicles, pedestrians, and other objects that may be adjacent to vehicle 100 and / or the expected path. In various embodiments, automatic throttle adjustment and assistance is provided by instructions provided by processor 142 (via instructions determined by processor 142 in conjunction with object detection sensor data regarding rear threats and front and side object detection sensor data from the step) to help avoid any contact between the main vehicle 100 and other vehicles, pedestrians, and other objects during maneuvers.

[0071] Furthermore, in various embodiments, during step 230, steering assistance is provided to help the driver perform maneuvers. Specifically, in various embodiments, processor 142 provides instructions to steering system 109 via communication link 107 for automated steering control to assist the driver in performing maneuvers. Specifically, in various embodiments, processor 142 provides corrective steering torque to allow vehicle 100 to avoid contact with rear threats and to avoid contact with any other vehicles, pedestrians, and other objects that may be adjacent to vehicle 100 and / or the expected path. In various embodiments, automatic steering control is provided by instructions provided by processor 142 (determined by processor 142 in conjunction with object detection sensor data regarding rear threats and front and side object detection sensor data from the step) to help avoid any contact between the primary vehicle 100 and other vehicles, pedestrians, and other objects during maneuvers.

[0072] In various embodiments, further additional sensor data, including brake pedal data, is obtained (step 231), and the brake pedal data is used to determine whether the driver has provided input to terminate automated vehicle control (step 232). In various embodiments, when the driver presses the brake pedal... Figure 1 When the brake pedal 101 is engaged, it is determined that the driver has provided input requesting to terminate automated vehicle control (i.e., the assistance in steps 227, 228, and 230). In various embodiments, brake pedal sensor data is continuously acquired while the assistance in steps 227, 228, and 230 is being performed, and the processor 142 continuously determines during this time whether the driver has engaged the brake pedal 101 (this is interpreted by the processor 142 as a request from the driver to terminate the assistance in steps 227, 228, and 230).

[0073] In various embodiments, if it is determined during step 232 that the driver has provided input to end automated vehicle control (i.e., by engaging the brake pedal 101), then process 200 terminates at step 236.

[0074] Conversely, in various embodiments, if it is determined instead during step 232 that the driver has not provided input to terminate automated vehicle control (i.e., by engaging the brake pedal 101), process 200 proceeds instead to steps 233 and 234. In various embodiments, during steps 233 and 234, further additional sensor data, including object data from the rear object detection sensor, is obtained (step 233), and the object data is used to make a determination as to whether a rear threat is still detected (step 234). In various embodiments, similar to step 210, this determination is made by processor 142 using updated sensor data (e.g., as described above, via updated object detection sensor data from step 208 and / or via step 233).

[0075] In various embodiments, if a rear threat is detected in step 234, the process returns to step 224, and process 200 then continues from step 224 in a new iteration.

[0076] Conversely, in various embodiments, if it is determined instead in step 234 that no rear threat has been detected, process 200 terminates at step 236.

[0077] Figure 3 Depicting according to exemplary embodiments Figure 2 An exemplary implementation of process 200. For example... Figure 2 As depicted, in an exemplary embodiment, processor 142 (e.g., as part of a safety control system in various embodiments) receives the following sensor data via communication link 107: (i) object detection sensor data 302 of other vehicles behind vehicle 100 and other vehicles and other objects adjacent to vehicle 100 via object detection sensor 121; (ii) accelerator pedal positioning sensor data 304 from accelerator sensor 123; (iii) steering angle sensor data 306 from steering sensor 125; and (iv) data from... Figure 1 The brake pedal positioning sensor data 307 of the brake sensor 124. Furthermore, in various embodiments, and as... Figure 3As depicted, processor 142 utilizes object detection sensor data 302, accelerator pedal positioning sensor data 304, steering angle sensor data 306, and brake pedal positioning sensor data 307 to assist the driver in evasive maneuvers to avoid contact with rear threats, as well as any other vehicles, pedestrians, or other objects adjacent to vehicle 100 and / or the intended path. This is achieved by providing automated vehicle control and assistance via: (i) braking commands 308 provided to braking system 108; (ii) steering commands 310 provided to steering system; and (iii) torque commands 312 provided to drive system 110 (all via communication link 107).

[0078] Therefore, methods, systems, and vehicles are provided to help prevent contact between a vehicle and other vehicles (including those behind the vehicle), and further to prevent contact between the vehicle and other vehicles and other objects relative to the vehicle in various directions. In various embodiments, a control system including sensors and processors detects a contact threat from another vehicle behind the vehicle, and further detects a driver's request for assistance to avoid contact with the threat. In various embodiments, the control system provides assistance with the vehicle's steering, acceleration, and braking to help avoid contact with rear-end contact threats, and to help prevent contact with other vehicles, pedestrians, and other objects adjacent to the vehicle.

[0079] It will be understood that the systems, vehicles, and methods may differ from those depicted in the accompanying drawings and described herein. For example, Figure 1 100 vehicles Figure 1 The control system 102 and / or its components may vary in different embodiments. Similarly, it will be understood that the steps of process 200 may differ. Figure 2 The steps described herein, and / or the various steps of process 200, may occur simultaneously and / or be related to... Figure 2 The order of occurrence differs from that described herein. It will also be understood that, in some embodiments, the implementation may be different from... Figure 2 The implementation methods described in the text are different.

[0080] While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that the exemplary embodiments or multiple exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing the exemplary embodiments or multiple exemplary embodiments. It should be understood that various changes can be made to the function and arrangement of the elements without departing from the scope of this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method comprising: When the main vehicle is stationary or traveling in the forward direction, sensor data about one or more other vehicles traveling behind the main vehicle is obtained via one or more sensors of the main vehicle. The sensor data is used by the processor of the main vehicle to determine whether one or more other vehicles traveling behind the main vehicle when the main vehicle is stopped or traveling in the forward direction constitute a rear threat that may come into contact with the main vehicle. as well as When it is determined that the main vehicle is stopped or traveling in the forward direction, and one or more other vehicles traveling behind the main vehicle constitute a rear threat that may come into contact with the main vehicle, automated auxiliary commands for controlling the movement of the main vehicle are provided, according to instructions provided by the processor of the main vehicle, to avoid contact with the one or more other vehicles traveling behind the main vehicle.

2. The method of claim 1, wherein the one or more sensors include one or more rearward object detection sensors of the master vehicle.

3. The method according to claim 1, further comprising: Additional sensor data about inputs provided by the driver of the main vehicle is obtained via one or more additional sensors of the main vehicle; The automated assistance commands for controlling the movement of the master vehicle are provided via instructions from the processor, under the further condition that the input indicates the driver requests automated assistance to avoid contact with one or more other vehicles traveling behind the master vehicle.

4. The method of claim 3, wherein obtaining the additional sensor data comprises: Steering wheel data is obtained from the steering wheel via one or more steering sensors coupled to the steering wheel of the main vehicle; as well as Accelerator pedal data of the accelerator pedal is obtained via one or more accelerator sensors coupled to the accelerator pedal of the main vehicle.

5. The method according to claim 4, further comprising: The processor determines a predicted path for maneuvering the master vehicle based on the steering wheel data and the accelerator pedal data to avoid contact with one or more other vehicles traveling behind the master vehicle. The step of providing the automated assistance commands includes providing automated steering control commands from the processor to the steering system of the host vehicle, automated propulsion control commands from the processor to the drive system of the host vehicle, and automated braking control commands from the processor to the braking system of the host vehicle, to assist the driver in performing the maneuvers to avoid contact with one or more other vehicles traveling behind the host vehicle.

6. The method according to claim 5, further comprising: Data on whether the main vehicle is likely to come into contact with one or more other vehicles, pedestrians or other objects located in front of or to the side of the main vehicle is obtained from one or more front and side sensors of the main vehicle along the predicted path. The automated assistance commands used to control the movement of the master vehicle are provided via instructions from the processor, under the further condition that the vehicle is unlikely to come into contact with one or more other vehicles, pedestrians or other objects located in front of or to the side of the master vehicle along the predicted path.

7. The method of claim 6, wherein the step of obtaining the sensor data comprises obtaining the sensor data from one or more forward and lateral object detection sensors of the master vehicle.

8. The method of claim 6, wherein the automated assistance commands for controlling the movement of the master vehicle utilize the front and side sensor data to avoid contact with one or more other vehicles, pedestrians or other objects located in front of or to the side of the master vehicle along the predicted path.

9. The method according to claim 5, further comprising: Brake sensor data is obtained from one or more brake sensors coupled to the brake pedal of the main vehicle; as well as When the processor determines, based on the brake sensor data, that the driver has engaged the brake pedal of the master vehicle, the automated steering control command, the automated propulsion control command, and the automated braking control command from the processor are terminated.

10. A system comprising: One or more sensors of the main vehicle are configured to acquire sensor data about one or more other vehicles traveling behind the main vehicle when the main vehicle is stopped or traveling in the forward direction. as well as The processor of the main vehicle is configured to at least facilitate: The sensor data is used to determine whether one or more other vehicles traveling behind the main vehicle when the main vehicle is stopped or traveling in the forward direction constitute a rear threat that could potentially contact the main vehicle. as well as When it is determined that the main vehicle is stopped or traveling in the forward direction, and one or more other vehicles traveling behind the main vehicle constitute a rear threat that may come into contact with the main vehicle, automated auxiliary commands for controlling the movement of the main vehicle are provided, according to instructions provided by the processor of the main vehicle, to avoid contact with the one or more other vehicles traveling behind the main vehicle.

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