Systems and Methods for Selectively Decelerating a Vehicle

A system for a host vehicle, the system comprising:

• at least one processor comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processor to:
• determine, based on an output of at least one sensor of the host vehicle, one or more target dynamics of a target vehicle in an environment of the host vehicle;
• assign a host buffer to the host vehicle and a target buffer to the target vehicle, wherein assigning the host buffer includes determining a host buffer area based on one or more host dynamics of the host vehicle, the one or more target dynamics of the target vehicle, and one or more road conditions, and wherein assigning the target buffer includes determining a target buffer area based on the one or more target dynamics of the target vehicle and the one or more road conditions;
• determine a time to a collision of the host vehicle and the target vehicle based on the one or more host dynamics of the host vehicle, the one or more target dynamics, the host buffer, and the target buffer;
• determine, based on the time to collision and the one or more host dynamics, a host deceleration for the host vehicle to avoid the collision;
• determine, based on the time to collision and the one or more target dynamics, a target deceleration for the target vehicle to avoid the collision;
• determine, based on the host deceleration and the target deceleration, a host deceleration threshold;
• and
• determine, based on a speed of the host vehicle and the host deceleration threshold, whether to brake or decelerate the host vehicle.

A computer-implemented method, the computer-implemented method comprising:

• determining, based on an output of at least one sensor of a host vehicle, one or more target dynamics of a target vehicle in an environment of the host vehicle;
• assigning a host buffer to the host vehicle and a target buffer to the target vehicle, wherein assigning the host buffer includes determining a host buffer area based on one or more host dynamics of the host vehicle, the one or more target dynamics of the target vehicle, and one or more road conditions, and wherein assigning the target buffer includes determining a target buffer area based on the one or more target dynamics of the target vehicle and the one or more road conditions;
• determining a time to a collision of the host vehicle and the target vehicle based on the one or more host dynamics of the host vehicle, the one or more target dynamics, the host buffer, and the target buffer;
• determining, based on the time to collision and the one or more host dynamics, a host deceleration for the host vehicle to avoid the collision;
• determining, based on the time to collision and the one or more target dynamics, a target deceleration for the target vehicle to avoid the collision;
• determining, based on the host deceleration and the target deceleration, a host deceleration threshold;
• and
• determining, based on a speed of the host vehicle and the host deceleration threshold, whether to brake or decelerate the host vehicle.

A non-transitory computer-readable medium storing instructions that, when executed by at least one processing device, cause at least one processing device to:

• determine, based on an output of at least one sensor of a host vehicle, one or more target dynamics of a target vehicle in an environment of the host vehicle;
• assign a host buffer to the host vehicle and a target buffer to the target vehicle, wherein assigning the host buffer includes determining a host buffer area based on one or more host dynamics of the host vehicle, the one or more target dynamics of the target vehicle, and one or more road conditions, and wherein assigning the target buffer includes determining a target buffer area based on the one or more target dynamics of the target vehicle and the one or more road conditions;
• determine a time to a collision of the host vehicle and the target vehicle based on the one or more host dynamics of the host vehicle, the one or more target dynamics, the host buffer, and the target buffer;
• determine, based on the time to collision and the one or more host dynamics, a host deceleration for the host vehicle to avoid the collision;
• determine, based on the time to collision and the one or more target dynamics, a target deceleration for the target vehicle to avoid the collision;
• determine, based on the host deceleration and the target deceleration, a host deceleration threshold;
• and
• determine, based on a speed of the host vehicle and the host deceleration threshold, whether to brake or decelerate the host vehicle.