| CPC B60T 7/22 (2013.01) [B60Q 9/008 (2013.01); G01S 19/485 (2020.05); G08G 1/052 (2013.01); G08G 1/16 (2013.01); B60T 2210/32 (2013.01); B60T 2210/36 (2013.01); B60T 2250/04 (2013.01)] | 20 Claims |
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1. A system for mitigating a vehicle collision, the system comprising:
a global navigation satellite system (GNSS) for retrieving geographical data about an environment surrounding a vehicle;
at least one ranging sensor for determining a distance between the vehicle and an object in the environment surrounding the vehicle; and
a controller in electrical communication with the GNSS and the at least one ranging sensor, wherein the controller is programmed to:
retrieve geographical data including at least a location of the vehicle using the GNSS;
determine a collision-mitigating activation status based at least in part on the location of the vehicle, wherein the collision-mitigating activation status includes an activated status and a deactivated status;
detect a remote vehicle traveling in a cross-traffic lane relative to the vehicle using the at least one ranging sensor in response to the collision-mitigating activation status being the activated status, wherein to detect the remote vehicle traveling in the cross-traffic lane relative to the vehicle, the controller is further programmed to:
identify the remote vehicle in the environment surrounding the vehicle using the at least one ranging sensor; and
perform a plurality of distance measurements between the vehicle and the remote vehicle using the at least one ranging sensor to determine a location, a velocity, and an acceleration of the remote vehicle relative to the vehicle;
determine a predicted path of the remote vehicle using the at least one ranging sensor in response to detecting the remote vehicle, wherein the predicted path includes a collision path and a non-collision path, wherein to determine the predicted path of the vehicle, the controller is further programmed to:
compare the velocity of the remote vehicle to a predetermined velocity threshold;
determine the predicted path of the remote vehicle to be the collision path in response to determining that the velocity of the remote vehicle is greater than or equal to the predetermined velocity threshold;
compare the acceleration of the remote vehicle to a first predetermined acceleration threshold, wherein the first predetermined acceleration threshold is less than zero; and
determine the predicted path of the remote vehicle to be the collision path in response to determining that the acceleration of the remote vehicle is greater than or equal to the first predetermined acceleration threshold;
calculate a safe distance threshold in response to determining that the velocity of the remote vehicle is less than the predetermined velocity threshold and that the acceleration of the remote vehicle is less than the first predetermined acceleration threshold;
compare the distance between the remote vehicle and the vehicle to the safe distance threshold;
determine the predicted path of the remote vehicle to be the collision path in response to determining that the distance between the remote vehicle and the vehicle is less than or equal to the safe distance threshold; and
determine the predicted path of the remote vehicle to be the non-collision path in response to determining that the distance between the remote vehicle and the vehicle is greater than the safe distance threshold; and
perform a collision-mitigating action in response to determining that the predicted path of the remote vehicle is the collision path.
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