Abstract: A method is for providing an object prediction representation. In an embodiment, the method includes simulating movement of a host vehicle and an object in a longitudinal-lateral coordinate system based on their initial positions at the starting time and a movement of the host vehicle and determined movement of the object. Points in time when at least one reference point of the host vehicle and an object reference point of a plurality of object reference points have the same longitudinal position are detected. Further, for each detected point in time, an associated lateral position of the object reference point at the detected point in time is detected.

Abstract: The present invention relates to a method for determining an evasive path for a host vehicle (10), the method i.a. comprising: establishing (S1) a predicted traffic environment (12) of the host vehicle in a time-lateral position domain, the predicted traffic environment comprising an object prediction representation (16) of a traffic object; determining (S2) a start node (24) for the host vehicle; defining (S3) an end node (26) for the host vehicle; placing (S4) several boundary nodes (28) relative to the object prediction representation; setting (S5) node connections (30, 32, 34a-b, 36a-b, 38, 40, 42) between the start node, the boundary nodes, and the end node; and traversing (S6) the nodes using a graph-search algorithm in order to find a path from the start node to the end time with a lowest cost.

Abstract: A collision mitigation system for a vehicle may include a forward sensing system and at least one controller in communication with the forward sensing system. The forward sensing system may be configured to detect objects in front of the vehicle. The at least one controller may be configured to determine whether the vehicle can be steered into a path along side of the vehicle to avoid a collision with detected objects in front of the vehicle and to issue a command to brake the vehicle if the vehicle cannot be steered into the path along side of the vehicle.

Abstract: The present invention relates to a method for determining an evasive path for a host vehicle (10), the method i.a. comprising: establishing (S1) a predicted traffic environment (12) of the host vehicle in a time-lateral position domain, the predicted traffic environment comprising an object prediction representation (16) of a traffic object; determining (S2) a start node (24) for the host vehicle; defining (S3) an end node (26) for the host vehicle; placing (S4) several boundary nodes (28) relative to the object prediction representation; setting (S5) node connections (30, 32, 34a-b, 36a-b, 38, 40, 42) between the start node, the boundary nodes, and the end node; and traversing (S6) the nodes using a graph-search algorithm in order to find a path from the start node to the end time with a lowest cost.

Abstract: A method is for providing an object prediction representation. In an embodiment, the method includes simulating movement of a host vehicle and an object in a longitudinal-lateral coordinate system based on their initial positions at the starting time and a movement of the host vehicle and determined movement of the object. Points in time when at least one reference point of the host vehicle and an object reference point of a plurality of object reference points have the same longitudinal position are detected. Further, for each detected point in time, an associated lateral position of the object reference point at the detected point in time is detected.

Abstract: A method and an arrangement are provided for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision. The arrangement may include a processor and at least one of a sensor system or a communication system. The method may include identifying positions of one or more external objects in relation to the host vehicle H within a predefined distance, generating a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of external objects, removing any trajectories intersecting with any one of the external objects, estimating lateral position, lateral velocity, lateral acceleration and the lateral jerk that will act on the host vehicle H driving along any one of the trajectories, and selecting the trajectory for which the lateral jerk acting on the host vehicle H is minimized.

Abstract: A method and an arrangement are provided for determining a trajectory for a host vehicle H in order to as smoothly as possible avoid or mitigate a collision. The arrangement may include a processor and at least one of a sensor system or a communication system. The method may include identifying positions of one or more external objects in relation to the host vehicle H within a predefined distance, generating a plurality of trajectories that are valid for enabling the host vehicle H to pass any desired number of external objects, removing any trajectories intersecting with any one of the external objects, estimating lateral position, lateral velocity, lateral acceleration and the lateral jerk that will act on the host vehicle H driving along any one of the trajectories, and selecting the trajectory for which the lateral jerk acting on the host vehicle H is minimized.

Abstract: A system for collision course prediction includes a host vehicle sensor system detecting information relating to a target object including a position and a velocity relative to the host vehicle; a time-to-collision estimator control block calculating an estimated time-to-collision based on a longitudinal distance, longitudinal velocity and longitudinal acceleration of the target object relative to the host vehicle; a lateral distance estimator control block, which estimates the lateral distance between the centers of the host vehicle and target object at the estimated time-to-collision; and a collision course condition determination unit determining, at a determination instant prior to the estimated time-to-collision, a probability that the host vehicle will collide with the target object dependent at least in part upon whether the lateral distance is within a first interval, the first interval based on at least a lateral width of the host vehicle and a lateral width of the target object.

Abstract: A method for determining a safety zone of a foreign object for a forward collision risk reduction system. The method may include determining the type of the foreign object; setting the safety zone to a predetermined value corresponding to the type of the foreign object; determining the traffic behavior of the foreign object; determining if the traffic behavior corresponds to a species of a predetermined group of traffic behaviors; and if the traffic behavior corresponds to a species of a predetermined group of traffic behaviors, modifying the safety zone in accordance with a predetermined species function corresponding to the species.

Abstract: A method and system for assessing vehicle paths in a road environment including a vehicle and external objects includes: determining a position and a dynamic state of the host vehicle and of each of the external objects; generating a plurality of paths that may be followed by the vehicle as it moves toward the external objects; and evaluating a cost associated with each of the paths, the cost based on a lateral acceleration experienced by the vehicle. Each path is made up of path segments, including: an initial path segment corresponding to the vehicle continuing along a selected route without consideration of the external objects, and a maneuver pair for each external object, each maneuver pair including a path segment passing to the left of the external object and a path segment passing to the right of the external object.

Abstract: A method for collision avoidance for a host vehicle includes the following steps; receiving input data relating to a set of objects external to the host vehicle, wherein an object position (r,?), and an object velocity ({dot over (r)}) are associated with each object by a sensor system arranged on the host vehicle, then estimating future trajectories of each external object, while considering influence by the future trajectories of the other external objects.

Abstract: A method for determining a safety zone of a foreign object for a forward collision risk reduction system. The method may include determining the type of the foreign object; setting the safety zone to a predetermined value corresponding to the type of the foreign object; determining the traffic behavior of the foreign object; determining if the traffic behavior corresponds to a species of a predetermined group of traffic behaviors; and if the traffic behavior corresponds to a species of a predetermined group of traffic behaviors, modifying the safety zone in accordance with a predetermined species function corresponding to the species.

Abstract: A collision mitigation system for a vehicle may include a forward sensing system and at least one controller in communication with the forward sensing system. The forward sensing system may be configured to detect objects in front of the vehicle. The at least one controller may be configured to determine whether the vehicle can be steered into a path along side of the vehicle to avoid a collision with detected objects in front of the vehicle and to issue a command to brake the vehicle if the vehicle cannot be steered into the path along side of the vehicle.

Abstract: A method for collision avoidance for a host vehicle includes the following steps; receiving input data relating to a set of objects external to the host vehicle, wherein an object position (r,?), and an object velocity ({dot over (r)}) are associated with each object by a sensor system arranged on the host vehicle, then estimating future trajectories of each external object, while considering influence by the future trajectories of the other external objects.

Abstract: An object awareness determination system includes an external object sensor system to sense objects and generate input data relating to the objects external to a host vehicle, wherein the input data includes an object position (x, y), an object velocity |({dot over (x)}, {dot over (y)})| and an object direction of movement (({dot over (x)}, {dot over (y)})/|({dot over (x)}, {dot over (y)})|) associated with each object in said detecting range. Additionally, the system includes a controller for determining awareness of the user to an object that recently entered the detecting range of the external object sensor system, and a method for determining awareness of the object.

Abstract: An active safety system for a vehicle includes an external object sensor system arranged on a host vehicle. The sensor system designed to sense objects external to the host vehicle and generate input data relating to the objects, wherein the input data includes an object position ((R, ?rel)(t)). Additionally, a threat indicator is included to assign a threat level (Tk(t)) to each external object (k) detected by the sensor system.

Abstract: A method and system for assessing vehicle paths in a road environment including a vehicle and external objects includes: determining a position and a dynamic state of the host vehicle and of each of the external objects; generating a plurality of paths that may be followed by the vehicle as it moves toward the external objects; and evaluating a cost associated with each of the paths, the cost based on a lateral acceleration experienced by the vehicle. Each path is made up of path segments, including: an initial path segment corresponding to the vehicle continuing along a selected route without consideration of the external objects, and a maneuver pair for each external object, each maneuver pair including a path segment passing to the left of the external object and a path segment passing to the right of the external object.

Abstract: A system for collision course prediction includes a host vehicle sensor system detecting information relating to a target object including a position and a velocity relative to the host vehicle; a time-to-collision estimator control block calculating an estimated time-to-collision based on a longitudinal distance, longitudinal velocity and longitudinal acceleration of the target object relative to the host vehicle; a lateral distance estimator control block, which estimates the lateral distance between the centers of the host vehicle and target object at the estimated time-to-collision; and a collision course condition determination unit determining, at a determination instant prior to the estimated time-to-collision, a probability that the host vehicle will collide with the target object dependent at least in part upon whether the lateral distance is within a first interval, the first interval based on at least a lateral width of the host vehicle and a lateral width of the target object.

Abstract: A method for collision avoidance for a host vehicle includes the following steps; receiving input data relating to a set of objects external to the host vehicle, wherein an object position (r,?), and an object velocity ({dot over (r)}) are associated with each object by a sensor system arranged on the host vehicle, then estimating future trajectories of each external object, while considering influence by the future trajectories of the other external objects.

Abstract: An active safety system for a vehicle includes an external object sensor system arranged on a host vehicle. The sensor system designed to sense objects external to the host vehicle and generate input data relating to the objects, wherein the input data includes an object position ((R, ?rel)(t)). Additionally, a threat indicator is included to assign a threat level (Tk(t)) to each external object (k) detected by the sensor system.