US 12,415,545 B2
Methods and systems for collision control of moving vehicles surrounded by vehicles
Rohit Gupta, Santa Clara, CA (US); Amr Abdelraouf, Redwood City, CA (US); and Kyungtae Han, Palo Alto, CA (US)
Assigned to Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US); and Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed by Toyota Motor Engineering & Manufacturing North America, Inc., Plano, TX (US)
Filed on Aug. 24, 2023, as Appl. No. 18/455,020.
Prior Publication US 2025/0065916 A1, Feb. 27, 2025
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); G08G 1/16 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 30/09 (2013.01); B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 60/0027 (2020.02); G08G 1/166 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
determining a driving maneuver to be performed by an ego vehicle based on a road geometry and a lane geometry, where the ego vehicle is surrounded by one or more surrounding vehicles;
retrieving a trajectory model corresponding to the driving maneuver;
encoding, using the trajectory model, kinematic data of the surrounding vehicles relative to the ego vehicle to generate spatial relationships between the surrounding vehicles and the ego vehicle, wherein the kinematic data are generated based on sensor data associated with the surrounding vehicles;
predicting, using the trajectory model, future trajectories of the surrounding vehicles based on the spatial relationships, the kinematic data, the road geometry, and the lane geometry;
generating a collision coefficient indicating a likelihood of collision between the ego vehicle and one or more of the surrounding vehicles based on the future trajectories and the driving maneuver; and
in response to determining that the collision coefficient is greater than a predetermined threshold value: determining an escape route for the ego vehicle and causing the ego vehicle to autonomously operate based on the escape route.