Collision avoidance systems and methods

A collision avoidance system for a subject vehicle comprising:

• a secondary vehicle detection module that, based on at least one of inputs from sensors of the subject vehicle or a message transmitted by a secondary vehicle, detects the following:
• location, speed, and heading of the secondary vehicle, and whether the secondary vehicle intends to turn or change lanes;
• a warning module that warns an operator of the subject vehicle of the secondary vehicle and an identified intention of the secondary vehicle, and modifies warning intensity based on a detected intention of the secondary vehicle to turn or change lanes;
• an adaptive cruise control module that modifies at least one of speed and heading of the subject vehicle based on the detected intention of the secondary vehicle to turn or change lanes;
• and
• a control module for the subject vehicle that calculates a time to collision between the subject vehicle and the secondary vehicle based on the location, speed, and heading of the secondary vehicle, and a speed and heading of the subject vehicle;
• wherein the control module is configured to determine whether the time to collision between the subject vehicle and the secondary vehicle is greater than or less than a time to collision threshold required to warn the operator of the subject vehicle of the secondary vehicle;
• wherein the secondary vehicle detection module determines that the secondary vehicle intends to turn or change lanes based on detection of an activated turn signal of the secondary vehicle by the sensors, or based on information in the message transmitted by the secondary vehicle;
• wherein the control module is configured to determine how much time the secondary vehicle requires to exit a path of the subject vehicle based on the location, speed, and heading of the secondary vehicle, and based on the location, speed, and heading of the subject vehicle;
• and
• wherein the adaptive cruise control module reduces speed of the subject vehicle to accommodate a turn of the secondary vehicle, but maintains the subject vehicle in motion, when the control module of the subject vehicle detects the following:
• the time to collision between the subject vehicle and the secondary vehicle is less than the time to collision threshold required to warn the operator of the subject vehicle of the secondary vehicle;
• and
• the time to collision between the subject vehicle and the secondary vehicle is greater than the time required by the secondary vehicle to exit the path of the subject vehicle.