# US 2024/0199006 A1 · Systems and Methods for Selectively Decelerating a Vehicle

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- Number: US 2024/0199006 A1
- Document ID: US20240199006A1
- Status: Published application
- Kind: A1
- Application number: 18/430,938
- Filed: 2024-02-02
- Published: 2024-06-20
- Earliest claimed: 2019-12-09
- Assignees: Mobileye Vision Technologies Ltd.
- Applicants: Mobileye Vision Technologies Ltd.
- Inventors: Jack KARIO; Michael NAVON; David ALONI
- Web page: https://patentgrep.com/patent/US20240199006A1

## CPC

- B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 10/18: including control of braking systems
- B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters}
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 40/04: Traffic conditions
- B60W 40/105: Speed
- B60W 40/12: related to parameters of the vehicle itself {, e.g. tyre models}
- B60W 50/16: Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
- B60W 60/0015: {specially adapted for safety}
- B60T 2201/022: Collision avoidance systems
- B60W 2050/143: {Alarm means}
- B60W 2050/146: {Display means}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2510/182: Brake pressure, e.g. of fluid or between pad and disc
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2720/106: Longitudinal acceleration
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- 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

Systems and methods are provided for vehicle navigation. In one implementation, a system for a host vehicle includes at least one processor programmed to determine, based on an output of at least one sensor of the host vehicle, one or more target dynamics of a target vehicle; determine, based on one or more host dynamics of the host vehicle and the target dynamics, a time to collision; determine, based on the time to collision and the host dynamics, a host deceleration for the host vehicle to avoid the collision; determine, based on the time to collision and the 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, to brake the host vehicle.

## Claims

### Claim at position 1

1-20. (canceled)

### Claim 21

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.

### Claim 22 (depends on 21)

The system of claim 21, wherein the instructions when executed by the circuitry further cause the at least one processor to output a signal to at least one system of the host vehicle, wherein the signal is configured to cause the host vehicle to brake or decelerate.

### Claim 23 (depends on 22)

The system of claim 22, wherein the at least one system of the host vehicle includes at least one of a braking system, a throttling system, or a steering system.

### Claim 24 (depends on 22)

The system of claim 22, wherein the signal includes at least one of a time to brake the host vehicle or an amount of pressure to apply to brakes of the host vehicle.

### Claim 25 (depends on 21)

The system of claim 21, wherein the instructions when executed by the circuitry further cause the at least one processor to output an alert, wherein the alert includes at least one of an audible alert, a visual alert, or a tactile alert.

### Claim 26 (depends on 21)

The system of claim 21, wherein the at least one sensor of the host vehicle includes at least one of a camera, a LIDAR, or a radar.

### Claim 27 (depends on 21)

The system of claim 21, wherein:
the one or more target dynamics of the target vehicle includes at least one of a speed of the target vehicle or a predicted path of the target vehicle; and
the one or more host dynamics of the host vehicle includes at least one of a speed of the host vehicle or a predicted path of the host vehicle.

### Claim 28 (depends on 21)

The system of claim 21, wherein:
the host deceleration is a minimum deceleration for the host vehicle to avoid the collision; and
the target deceleration is a minimum deceleration for the target vehicle to avoid the collision.

### Claim 29 (depends on 21)

The system of claim 21, wherein determining the host deceleration threshold comprises using a knee point function.

### Claim 30 (depends on 29)

The system of claim 29, wherein the knee point function includes at least four knee points.

### Claim 31 (depends on 21)

The system of claim 21, wherein determining the time to the collision further includes determining a host buffer space and a target buffer space, the host buffer space being based on a size of the host vehicle, and the target buffer space being based on a size of the target vehicle.

### Claim 32 (depends on 21)

The system of claim 21, wherein the host deceleration threshold is further based on a maximum deceleration capacity of the host vehicle according to one or more specifications associated with a manufacturer the host vehicle.

### Claim 33 (depends on 21)

The system of claim 21, wherein the instructions when executed by the circuitry further cause the at least one processor to recalculate the host deceleration threshold periodically as the time to the collision decreases.

### Claim 34 (depends on 21)

The system of claim 21, wherein determining the host deceleration threshold further includes selecting a deceleration function from a plurality of predetermined deceleration functions based on the time to the collision, a speed of the target vehicle, and the speed of the host vehicle.

### Claim 35 (depends on 34)

The system of claim 34, wherein the plurality of predetermined deceleration functions includes a first function associated with a first deceleration rate and a second function associated with a second deceleration rate, and wherein the first deceleration rate is less than the second deceleration rate.

### Claim 36

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.

### Claim 37 (depends on 36)

The computer-implemented method of claim 36, further comprising outputting a signal to at least one system of the host vehicle, wherein the signal is configured to cause the host vehicle to brake or decelerate.

### Claim 38 (depends on 37)

The computer-implemented method of claim 37, wherein the at least one system of the host vehicle includes at least one of a braking system, a throttling system, or a steering system.

### Claim 39 (depends on 37)

The computer-implemented method of claim 37, wherein the signal includes at least one of a time to brake the host vehicle or an amount of pressure to apply to brakes of the host vehicle.

### Claim 40 (depends on 36)

The computer-implemented method of claim 36, further comprising outputting an alert, wherein the alert includes at least one of an audible alert, a visual alert, or a tactile alert.

### Claim 41 (depends on 36)

The computer-implemented method of claim 36, wherein the at least one sensor of the host vehicle includes at least one of a camera, a LIDAR, or a radar.

### Claim 42 (depends on 36)

The computer-implemented method of claim 36, wherein:
the one or more target dynamics of the target vehicle includes at least one of a speed of the target vehicle or a predicted path of the target vehicle; and
the one or more host dynamics of the host vehicle includes at least one of a speed of the host vehicle or a predicted path of the host vehicle.

### Claim 43 (depends on 36)

The computer-implemented method of claim 36, wherein:
the host deceleration is a minimum deceleration for the host vehicle to avoid the collision; and
the target deceleration is a minimum deceleration for the target vehicle to avoid the collision.

### Claim 44 (depends on 36)

The computer-implemented method of claim 36, wherein determining the host deceleration threshold comprises using a knee point function.

### Claim 45 (depends on 44)

The computer-implemented method of claim 44, wherein the knee point function includes at least four knee points.

### Claim 46 (depends on 36)

The computer-implemented method of claim 36, wherein determining the time to the collision further includes determining a host buffer space and a target buffer space, the host buffer space being based on a size of the host vehicle, and the target buffer space being based on a size of the target vehicle.

### Claim 47 (depends on 36)

The computer-implemented method of claim 36, wherein the host deceleration threshold is further based on a maximum deceleration capacity of the host vehicle according to one or more specifications associated with a manufacturer the host vehicle.

### Claim 48 (depends on 36)

The computer-implemented method of claim 36, further comprising recalculating the host deceleration threshold periodically as the time to the collision decreases.

### Claim 49 (depends on 36)

The computer-implemented method of claim 36, wherein determining the host deceleration threshold further includes selecting a deceleration function from a plurality of predetermined deceleration functions based on the time to the collision, a speed of the target vehicle, and the speed of the host vehicle.

### Claim 50 (depends on 49)

The computer-implemented method of claim 49, wherein the plurality of predetermined deceleration functions includes a first function associated with a first deceleration rate and a second function associated with a second deceleration rate, and wherein the first deceleration rate is less than the second deceleration rate.

### Claim 51

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.

### Claim 52 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein the instructions, when executed by at least one processing device, further cause at least one processing device to output a signal to at least one system of the host vehicle, wherein the signal is configured to cause the host vehicle to brake or decelerate.

### Claim 53 (depends on 52)

The non-transitory computer-readable medium of claim 52, wherein the at least one system of the host vehicle includes at least one of a braking system, a throttling system, or a steering system.

### Claim 54 (depends on 52)

The non-transitory computer-readable medium of claim 52, wherein the signal includes at least one of a time to brake the host vehicle or an amount of pressure to apply to brakes of the host vehicle.

### Claim 55 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein the instructions, when executed by at least one processing device, further cause at least one processing device output an alert, wherein the alert includes at least one of an audible alert, a visual alert, or a tactile alert.

### Claim 56 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein the at least one sensor of the host vehicle includes at least one of a camera, a LIDAR, or a radar.

### Claim 57 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein:
the one or more target dynamics of the target vehicle includes at least one of a speed of the target vehicle or a predicted path of the target vehicle; and
the one or more host dynamics of the host vehicle includes at least one of a speed of the host vehicle or a predicted path of the host vehicle.

### Claim 58 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein:
the host deceleration is a minimum deceleration for the host vehicle to avoid the collision; and
the target deceleration is a minimum deceleration for the target vehicle to avoid the collision.

### Claim 59 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein determining the host deceleration threshold comprises using a knee point function.

### Claim 60 (depends on 59)

The non-transitory computer-readable medium of claim 59, wherein the knee point function includes at least four knee points.

### Claim 61 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein determining the time to the collision further includes determining a host buffer space and a target buffer space, the host buffer space being based on a size of the host vehicle, and the target buffer space being based on a size of the target vehicle.

### Claim 62 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein the host deceleration threshold is further based on a maximum deceleration capacity of the host vehicle according to one or more specifications associated with a manufacturer the host vehicle.

### Claim 63 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein the instructions, when executed by at least one processing device, further cause at least one processing device to recalculate the host deceleration threshold periodically as the time to the collision decreases.

### Claim 64 (depends on 51)

The non-transitory computer-readable medium of claim 51, wherein determining the host deceleration threshold further includes selecting a deceleration function from a plurality of predetermined deceleration functions based on the time to the collision, a speed of the target vehicle, and the speed of the host vehicle.

### Claim 65 (depends on 64)

The non-transitory computer-readable medium of claim 64, wherein the plurality of predetermined deceleration functions includes a first function associated with a first deceleration rate and a second function associated with a second deceleration rate, and wherein the first deceleration rate is less than the second deceleration rate.