Method of collision point calculation and emergency brake assist deceleration based on the method of collision point calculation

A method of calculation of a collision point between an ego vehicle and one or more target vehicles, the method comprising:

• defining, by a collision point processing unit, one or more areas of major collision risk of an ego vehicle, each of the one or more areas of major collision risk delineated by a corresponding pair of a first and a second substantial verticals positioned on a respective pair of two opposite sides of the ego vehicle, wherein the first and second substantial verticals comprise pillar structural elements of the ego vehicle and are generally positioned parallel to each other,
• defining, by the collision point processing unit, a prediction of the movement of the ego vehicle and of a plurality of surrounding traffic participants during a pre-determined prediction time period,
• filtering out, by the collision point processing unit, the surrounding traffic participants that are unlikely to collide with the ego vehicle during the pre-determined prediction time period, a remainder of the traffic participants being one or more target vehicles,
• determining, by the collision point processing unit, for each target vehicle a target intersecting point as one of four corners of the target vehicle that is most likely to collide with the ego vehicle, and an intersection point defined by a prolongation line of a side of ego vehicle intersected with the prolongation line of a side of the target vehicle on the respective intersecting sides of the two vehicles, and,
• simultaneously, determining, by the collision point processing unit, in respect to each target vehicle a first ego vehicle intersecting point and a second ego vehicle intersecting point, the first ego vehicle intersecting point positioned on the ego vehicle and corresponding to the first substantial vertical on the vehicle positioned nearest to the intersection point and the second ego vehicle intersecting point positioned on the ego vehicle and corresponding to the second substantial vertical on the vehicle positioned farthest from the intersection point, calculating, by the collision point processing unit, for each target vehicle:
• a first time to collision for the first ego vehicle intersecting point to reach the intersection point,
• a second time to collision for the second ego vehicle intersecting point to reach the intersection point, and
• a third time to collision for the target intersection point to reach the intersection point, applying, by the collision point processing unit, a major risk collision point condition, the collision point is inside one of the areas of the ego vehicle if the major risk collision point condition is satisfied,
• wherein the first time to collision for the first ego vehicle intersecting point to reach the intersection point is less than the third time to collision for the target intersection point to reach the intersection point, and
• wherein the second time to collision for the second ego vehicle intersecting point to reach the intersection point is greater than the third time to collision for the target intersection point to reach the intersection point, and
• sending to an actuation unit all the collision points for which the major risk collision point condition is satisfied wherein the actuation unit determines an operational adjustment to a vehicular component based at least in part upon the collision points and applies the operational adjustment to the vehicular component.