# US 10,246,090 B2 · Vehicle collision severity mitigation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,090 B2 - Document ID: US10246090B2 - Status: Granted - Kind: B2 - Application number: 15/344,703 - Filed: 2016-11-07 - Published: 2018-05-10 - Granted: 2019-04-02 - Earliest claimed: 2016-11-07 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Brandon Beauvais; Scott J. Lauffer - Web page: https://patentgrep.com/patent/US10246090B2 ## CPC - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 30/085: Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 2520/10: Longitudinal speed - B60W 2554/4041: Position - B60W 2554/804: Relative longitudinal speed - B60W 2710/0666: Engine torque - B60W 2710/083: Torque - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract Vehicles can be equipped with a computing device to determine two or more paths of available paths for the vehicle that each include a predicted impact with an object. The computing device can determine a time to impact, vehicle speed and direction and object speed and direction, and an object type. The computing device can also determine a best path of the two or more vehicle paths by determining damage severity based on time to impact, vehicle speed and direction and object speed and direction and control one or more of steering, propulsive torque and braking torque to pilot the vehicle on the best path based on the damage severity. ## Claims ### Claim 1 A method, comprising: based on respective impacts resulting from each of two available paths for a vehicle, determining a best path of the two or more vehicle paths by determining damage severity of each impact based on time to impact, vehicle speed and direction and object speed and direction; and controlling one or more of steering, propulsive torque and braking torque to pilot the vehicle on the best path based on the damage severity. ### Claim 2 (depends on 1) The method of claim 1, wherein determining damage severity is based on determining kinetic energy for the vehicle at time of impact. ### Claim 3 (depends on 1) The method of claim 1, wherein all of the available paths include an impact. ### Claim 4 (depends on 1) The method of claim 1, wherein object speed and direction is stationary. ### Claim 5 (depends on 1) The method of claim 1, wherein object speed and direction is moving. ### Claim 6 (depends on 1) The method of claim 1, wherein controlling braking torque includes full or partial reduction of brake torque to permit vehicle to roll rather than skid. ### Claim 7 (depends on 1) The method of claim 1, wherein controlling propulsive torque includes: adding propulsive torque to position the vehicle on the best path based on time to impact and available paths to minimize damage severity. ### Claim 8 (depends on 1) The method of claim 1, wherein controlling steering includes: the vehicle on the best path including full or partial reduction of brake torque and adding propulsive torque to position vehicle on the best path based on time to impact and available paths to minimize damage severity. ### Claim 9 (depends on 1) The method of claim 1, wherein controlling steering includes: if the vehicle is stopped and the impact includes being struck by another vehicle, controlling steering to pilot the vehicle on the best path of the available paths determined by the impact. ### Claim 10 An apparatus, comprising: a processor; a memory, the memory storing instructions executable by the processor to: based on respective impacts resulting from each of two available paths for a vehicle, determine a best path of the two or more vehicle paths by determining damage severity of each impact based on time to impact, vehicle speed and direction and object speed and direction; and control one or more of steering, propulsive torque and braking torque to pilot the vehicle on the best path based on the damage severity. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein determining damage severity is based on determining kinetic energy for the vehicle at time of impact. ### Claim 12 (depends on 10) The apparatus of claim 10, wherein all of the available paths include an impact. ### Claim 13 (depends on 10) The apparatus of claim 10, wherein object speed and direction is stationary. ### Claim 14 (depends on 10) The apparatus of claim 10, wherein object speed and direction includes motion. ### Claim 15 (depends on 10) The apparatus of claim 10, wherein controlling braking torque includes full or partial reduction of brake torque to permit vehicle to roll rather than skid. ### Claim 16 (depends on 10) The apparatus of claim 10, wherein controlling propulsive torque includes: adding propulsive torque to position the vehicle on the best path based on time to impact and available paths to minimize damage severity. ### Claim 17 (depends on 10) The apparatus of claim 10, wherein controlling steering includes: the vehicle on the best path including full or partial reduction of brake torque and adding propulsive torque to position vehicle on the best path based on time to impact and available paths to minimize damage severity. ### Claim 18 (depends on 10) The apparatus of claim 10, wherein controlling steering includes: if the vehicle is stopped and the impact includes being struck by another vehicle, controlling steering to pilot the vehicle on the best path of the available paths determined by the impact. ### Claim 19 A vehicle, comprising: a processor; a memory, the memory storing instructions executable by the processor to: based on respective impacts resulting from each of two available paths for a vehicle, determine a best path of the two or more vehicle paths by determining damage severity of each impact based on time to impact, vehicle speed and direction and object speed and direction; and control one or more of steering, propulsive torque and braking torque to pilot the vehicle on the best path based on the damage severity. ### Claim 20 (depends on 19) The vehicle of claim 19, wherein determining damage severity is based on determining kinetic energy for the vehicle at time of impact.