CPC G06Q 40/08 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 30/095 (2013.01); B60W 30/0956 (2013.01); B60W 30/18163 (2013.01); G01C 21/3407 (2013.01); G01C 21/3602 (2013.01); G05D 1/0088 (2013.01); G05D 1/0246 (2013.01); G06Q 10/00 (2013.01); G07C 5/02 (2013.01); G07C 5/08 (2013.01); G08G 1/163 (2013.01); B60W 2400/00 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2520/10 (2013.01); B60W 2554/00 (2020.02); B60W 2554/801 (2020.02); B60W 2554/804 (2020.02); B60W 2555/60 (2020.02); B60W 2710/18 (2013.01); G05D 2201/0213 (2013.01)] | 20 Claims |
1. An automated driving system for a host vehicle, the system comprising:
an interface to obtain sensing data of an environment in a vicinity of the host vehicle, the sensing data captured from at least one sensor device of the host vehicle; and
at least one processing device configured to:
determine a planned navigational action for accomplishing a navigational goal of the host vehicle;
identify, from the sensing data, a target vehicle in the environment of the host vehicle;
predict a distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
identify a defined braking capability of the host vehicle, a defined acceleration capability of the host vehicle, and a longitudinal speed of the host vehicle;
determine a host vehicle braking distance based on the defined braking capability of the host vehicle, the defined acceleration capability of the host vehicle, and the longitudinal speed of the host vehicle;
determine a target vehicle braking distance, based on a longitudinal speed of the target vehicle and a defined braking capability of the target vehicle; and
cause the host vehicle to implement the planned navigational action when the predicted distance of the planned navigational action is greater than a calculated safe longitudinal distance, the safe longitudinal distance being calculated based on the determined host vehicle braking distance and the determined target vehicle braking distance.
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