CPC B60T 7/12 (2013.01) [B60K 31/0008 (2013.01); B60Q 9/008 (2013.01); B60T 2210/32 (2013.01)] | 20 Claims |
1. A computer-implemented method comprising:
a) acquiring information about one or more moving objects in surroundings of a vehicle, the information comprising:
a range rate of each of the objects; and
a heading of each of the objects;
b) calculating one or more possible vehicle trajectories of the vehicle;
c) for each object, calculating:
a plurality of possible object trajectories of the object from the range rate of the object;
the heading of the object; and
at least one of a possible turn or acceleration of the object, the possible turn or acceleration values of the object differing for each possible object trajectory and bound by a predetermined first confidence interval for the turn or acceleration values;
d) for each combination of calculated vehicle trajectory and possible object trajectory, performing a collision calculation to calculate whether the vehicle and object are to be closer than a predetermined minimum distance to each other; and
e) determining if, for one or more of the objects, at least a predetermined number of collision calculations indicate the vehicle and object are to be closer than the predetermined minimum distance to each other.
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