CPC B60W 60/00274 (2020.02) [B60W 30/09 (2013.01); B60W 30/18163 (2013.01); B60W 50/14 (2013.01); B60W 2520/10 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4046 (2020.02); B60W 2555/60 (2020.02); B60W 2720/10 (2013.01); B60W 2754/20 (2020.02); B60W 2754/30 (2020.02)] | 15 Claims |
1. A method of detecting and mitigating an erratic vehicle by a host vehicle, comprising:
gathering external sensor information on an external region surrounding the host vehicle;
analyzing the external sensor information to detect a target vehicle traveling in a lane and a movement of the target vehicle in the lane;
determining whether the movement of the target vehicle in the lane meets at least one predetermined condition for being the erratic vehicle;
assigning a risk score to the target vehicle when the movement of the target meets the at least one predetermined condition for being the erratic vehicle; and
implementing a predetermined mitigating action correlating to the assigned risk score to the target vehicle;
wherein the predetermined mitigating action includes at least one of: warning an operator of the host vehicle, warning a vehicle proximal to the host vehicle, and taking at least partial control of the host vehicle to further increase a distance between the host vehicle and the target vehicle; and
wherein determining whether the movement of the target vehicle in the lane meets the at least one predetermined condition for being the erratic vehicle includes:
analyzing the external sensor information to determine a target vehicle centerline and a lane centerline; and
determining a frequency of oscillation when the target vehicle centerline oscillates over the lane centerline above a predetermined lateral off-set distance; and
wherein the at least one predetermined condition includes the frequency of oscillation is above a predetermined frequency.
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