US 12,071,127 B2
Proactive risk mitigation
Qizhan Tam, Santa Clara, CA (US); Therese Cypher-Plissart, Sunnyvale, CA (US); and Christopher Ostafew, Mountain View, CA (US)
Assigned to Nissan North America, Inc., Franklin, TN (US)
Filed by Nissan North America, Inc., Franklin, TN (US)
Filed on Jul. 16, 2021, as Appl. No. 17/377,657.
Prior Publication US 2023/0012853 A1, Jan. 19, 2023
Prior Publication US 2023/0347881 A9, Nov. 2, 2023
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); G05D 1/00 (2024.01)
CPC B60W 30/0953 (2013.01) [B60W 30/09 (2013.01); B60W 30/18163 (2013.01); G05D 1/0214 (2013.01); G05D 1/0223 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A method for proactively mitigating risk to a vehicle traversing a vehicle transportation network, the method comprising:
determining a first hazard zone for a first hazard object ahead of the vehicle in a direction of travel of the vehicle, wherein the vehicle is traversing a lane within the vehicle transportation network, the lane is defined by a left lane boundary and a right lane boundary extending in a longitudinal direction relative to the direction of travel, and the first hazard zone includes a first target lateral constraint that extends over the left lane boundary and into the lane such that the vehicle may avoid the first hazard object without a speed constraint;
determining a second hazard zone for a second hazard object ahead of the vehicle in the direction of travel, wherein the second hazard zone includes a second target lateral constraint that extends over the right lane boundary and into the lane such that the vehicle may avoid the second hazard object without a speed constraint;
allocating, for each discretized time and location where the first hazard zone and the second hazard zone overlap in the longitudinal direction, a lateral buffer defined by the lane to a first allocated lateral constraint for the first hazard object and a second allocated lateral constraint for the second hazard object, wherein allocating the lateral buffer comprises:
using the first target lateral constraint and the second target lateral constraint as input; and
minimizing a difference between a lateral constraint ratio for the left lane boundary and a lateral constraint ratio for the right lane boundary;
determining a first longitudinal constraint based on a time of arrival of the vehicle at the first hazard zone;
determining a second longitudinal constraint based on a time of arrival of the vehicle at the second hazard zone;
determining, using the first allocated lateral constraint, the second allocated lateral constraint, the first longitudinal constraint, and the second longitudinal constraint, a proactive trajectory for the vehicle comprising at least one of a lateral contingency or a longitudinal contingency; and
controlling the vehicle according to the proactive trajectory.