Vehicle collision prediction algorithm using radar sensor and ultrasonic park assist sensor

An apparatus that predicts a crash, the apparatus comprising:

• at least one memory comprising computer executable instructions;
• and
• at least one processor configured to read and execute the computer executable instructions, wherein the at least one memory and the at least one processor are part of a controller of a vehicle, the computer executable instructions causing the at least one processor to:
• detect coordinates of a target obstacle based on radar coordinate information of a radar sensor and ultrasonic coordinate information of at least two ultrasonic sensors;
• translate the ultrasonic coordinate information to a coordinate system of the radar coordinate information and generate combined coordinate information;
• estimate a position, speed, and acceleration of the target obstacle using the combined coordinate information based on the target obstacle being closer to the vehicle than a predetermined distance;
• determine a crash type from among an edge type crash, in which a single point representing the target obstacle first contacts the vehicle, or a plane type crash, in which a linear shape representing the target obstacle contacts the vehicle, between the vehicle and the target obstacle based on the estimated position, speed and acceleration of the target obstacle, wherein the determining the crash type is further based on a first of the coordinates of the target obstacle detected by two of the at least two ultrasonic sensors and on a second of the coordinates of the target obstacle detected by the two of the at least two ultrasonic sensors;
• determine a three-dimensional movement trajectory based on the estimated position, speed and acceleration of the target obstacle and the determined crash type;
• predict a crash point on the vehicle, a crash point on the target obstacle and a crash time based on the three-dimensional movement trajectory;
• and
• set a required time to fire of at least one airbag based on the crash type and the crash time;
• and
• an airbag electronic controller unit;
• and an airbag, wherein the computer executable instructions further cause the at least one processor to control the airbag electronic controller unit to fire the airbag according to the required time to fire.