| CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 2420/403 (2013.01); B60W 2510/0638 (2013.01); B60W 2510/18 (2013.01); B60W 2520/12 (2013.01); B60W 2554/4029 (2020.02)] | 18 Claims |
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1. A system implemented in a host vehicle for decelerating said host vehicle based on tracking of at least one pedestrian, said system comprising:
an input unit comprising one or more pre-processors to receive sensed inputs from an image sensor mounted in front of the host vehicle, wherein the image sensor captures field of view of the host vehicle;
a processing unit comprising a processor coupled with a memory, the memory storing instructions executable by the processor to:
receive an input signal comprising one or more parameters of position and velocity of at least one pedestrian in field of view the host vehicle from the input unit, wherein the field of view of the host vehicle is classified into one or more regions;
estimate trajectory of the host vehicle and trajectory of the at least one pedestrian based on one or more factors of position and velocity of the host vehicle and the one or more parameters of position and velocity of the at least one pedestrian to estimate a point of intersection of the host vehicle and the at least one pedestrian;
estimate time to collision based on the estimated point of intersection and determine trajectory of the at least one pedestrian in path of the host vehicle based on any or a combination of the region in the field of view of the host vehicle, estimated trajectories of the host vehicle and the at least one pedestrian and the estimated point of intersection, wherein a history of any or a combination of a yaw rate of the host vehicle, velocity and position of the vehicle, and velocity and position of the at least one pedestrian are considered to determine the trajectory of the at least one pedestrian in path of the host vehicle;
assess collision risk to select the at least one pedestrian as a target based on any or a combination of time for vehicle to reach the point of intersection, time for the at least one pedestrian to reach the point of intersection and transition of the at least one pedestrian from one region to another region in field of view of the host vehicle; and
generate a deceleration actuation command to decelerate the host vehicle based on the selected target, and provide the deceleration actuation command to an automatic emergency braking (AEB) actuation unit operatively coupled with the host vehicle.
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