US 12,479,430 B2
Blindspot aware adaptive cruise control
Noah M. Einstein, Ann Arbor, MI (US); David Hernandez, Ann Arbor, MI (US); Raja Manas Macherla, Ann Arbor, MI (US); Emily S. Lerner, Ypsilanti, MI (US); Arlo C. Eitzer, Ann Arbor, MI (US); and Ben J. Groelke, Ann Arbor, MI (US)
Assigned to TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Aichi-ken (JP)
Filed by TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC., Plano, TX (US)
Filed on Jan. 26, 2023, as Appl. No. 18/160,168.
Prior Publication US 2024/0253627 A1, Aug. 1, 2024
Int. Cl. B60W 30/16 (2020.01); B60W 50/14 (2020.01)
CPC B60W 30/16 (2013.01) [B60W 50/14 (2013.01); B60W 2050/146 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
measuring, using a plurality of sensors of a vehicle, distances to a first surrounding vehicle located in front of the vehicle and a second surrounding vehicle located in a blindspot of the vehicle;
determining, using a vehicle control unit and based on the measured distances, that the second surrounding vehicle is located in the blindspot of the vehicle;
calculating, using the vehicle control unit, the measured distance to the first surrounding vehicle, and the measured distance to the second surrounding vehicle, and based on the determination that the second surrounding vehicle is in the blindspot of the vehicle, individual cost calculations associated with moving the vehicle relative to the first surrounding vehicle and relative to the second surrounding vehicle to place the second surrounding vehicle outside of the blindspot of the vehicle and to maintain the vehicle at a safe distance to the first surrounding vehicle;
wherein calculating the individual cost calculations comprises analyzing any one or more of: a relative position cost, a relative velocities cost, a time to collision cost, a size of the second surrounding vehicle, and a cost to implement the individual cost calculations; and
wherein the individual cost calculations comprise a first cost calculation associated with a cost of not changing an acceleration of the vehicle and a second cost calculation associated with a cost of changing the acceleration of the vehicle;
selecting, using the vehicle control unit, the second cost calculation as a lowest cost calculation between the first cost calculation and the second cost calculation;
updating a display to present an indicator notifying a driver of the vehicle that the acceleration of the vehicle is about to change in response to the second surrounding vehicle being in the blindspot of the vehicle;
transmitting, from the vehicle control unit to one or more components of the vehicle based on the selected lowest cost calculation, an actuation request to implement the selected lowest cost calculation; and
changing, using the one or more components of the vehicle in response to the actuation request associated with the implementation of the selected lowest cost calculation, the acceleration of the vehicle to move the vehicle relative to the first surrounding vehicle and the second surrounding vehicle to place the second surrounding vehicle outside of the blindspot of the vehicle and to maintain the vehicle at a safe distance to the first surrounding vehicle.