# US 2026/0296413 A1 · Systems and methods for emergency collision avoidance for an autonomous vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0296413 A1 - Document ID: US20260296413A1 - Status: Published application - Kind: A1 - Application number: 19/577,610 - Filed: 2026-03-25 - Published: 2026-10-01 - Earliest claimed: 2025-03-25 - Applicants: AVRIDE Inc. - Inventors: Vitaliy Podkolzin; Konstantin Tazhimuratov; Aleksandr Khlynov; Ivan Sherstobitov; Anton Bochkarev - Web page: https://patentgrep.com/patent/US20260296413A1 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 10/18: including control of braking systems - B60W 60/0015: {specially adapted for safety} - G01S 15/931: of land vehicles - B60W 2420/54: Audio sensitive means, e.g. ultrasound - B60W 2422/00: Indexing codes relating to the special location or mounting of sensors - B60W 2710/18: Braking system - 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 - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Provided herein is a system and method for emergency collision avoidance for an autonomous vehicle, the system including: a vehicle; a plurality of ultrasonic sensors attached to the vehicle and configured to collect ultrasonic data; and a computing device, wherein the computing device is configured to: receive the ultrasonic data from the plurality of ultrasonic sensors; receive one or more motion commands, wherein the motion commands are configured to instruct a vehicle to autonomously navigate; determine, as a function of the ultrasonic data from the plurality of ultrasonic sensors, an object zone for an object of ultrasonic data; alter the one or more motion commands as a function of the object zone to form altered motion commands; and command the vehicle using the altered motion commands. ## Claims ### Claim 1 A system for emergency collision avoidance for an autonomous vehicle, the system comprising: a vehicle; a plurality of ultrasonic sensors attached to the vehicle and configured to collect ultrasonic data; and a computing device, wherein the computing device is configured to: receive the ultrasonic data from the plurality of ultrasonic sensors; receive one or more motion commands, wherein the motion commands are configured to instruct a vehicle to autonomously navigate; determine, as a function of the ultrasonic data from the plurality of ultrasonic sensors, an object zone for an object of ultrasonic data; alter the one or more motion commands as a function of the object zone to form altered motion commands; and command the vehicle using the altered motion commands. ### Claim 2 (depends on 1) The system of claim 1, wherein determining the object zone for the object of the ultrasonic data comprises: determining an object zone to be a single sensor zone if the object is only detected in the ultrasonic data from one ultrasonic sensor of the plurality of ultrasonic sensors; and determining the object zone to be in a triangulation zone if the object is detected in the ultrasonic data from each of the plurality of ultrasonic sensors. ### Claim 3 (depends on 2) The system of claim 2, wherein altering the one or more motion commands as a function of the object zone to form altered motion commands comprises: if the object zone is the triangulation zone: determining an object collision risk as a function of the ultrasonic data; allowing the motion commands if the object collision risk is negative; and overriding the motion commands to institute a safety protocol if the object collision risk is positive; and if the object zone is in the single sensor zone, overriding the motion commands to institute the safety protocol if the object zone is the single sensor zone. ### Claim 4 (depends on 1) The system of claim 1, wherein the plurality of ultrasonic sensors comprises a first ultrasonic sensor and a second ultrasonic sensor. ### Claim 5 (depends on 4) The system of claim 4, wherein: the first ultrasonic sensor is located: on a front side of the vehicle; and to a left of a longitudinal axis of the vehicle; and the second ultrasonic sensor is located: on the front side of the vehicle; and to a right of the longitudinal axis of the vehicle. ### Claim 6 (depends on 4) The system of claim 4, wherein determining the object zone for the object of the ultrasonic data comprises: determining an object zone to be a near single sensor zone if an object is detected by only one ultrasonic sensor within a path of the vehicle; determining the object zone to be a far single sensor zone if an object is detected by only one ultrasonic sensor outside of the path of the vehicle; and determining the object zone to be in a triangulation zone if the object is detected in the ultrasonic data from each of the plurality of ultrasonic sensors. ### Claim 7 (depends on 6) The system of claim 6, wherein altering the one or more motion commands as a function of the object zone to form altered motion commands comprises: if the object zone is the triangulation zone: determining an object collision risk as a function of the ultrasonic data; allowing the motion commands if the object collision risk is negative; and overriding the motion commands to institute a safety protocol if the object collision risk is positive; and if the object zone is determined to be the far single sensor zone: allowing the motion commands if the object zone is determined to be the near single sensor zone: overriding the motion commands to institute the safety protocol. ### Claim 8 (depends on 7) The system of claim 7, wherein the safety protocol comprises applying brakes. ### Claim 9 (depends on 1) The system of claim 1, wherein receiving the ultrasonic data from the plurality of ultrasonic sensors comprises: first emitting a first ultrasonic pulse with a first ultrasonic sensor while detecting ultrasonic data with a second ultrasonic sensor; and second emitting a second ultrasonic pulse with the second ultrasonic sensor while detecting the ultrasonic data with the first ultrasonic sensor. ### Claim 10 (depends on 1) The system of claim 1, wherein the computing device comprises: a main compute unit; and a chassis control unit. ### Claim 11 (depends on 10) The system of claim 10, wherein: the main compute unit is configured to: generate the one or more motion commands as a function of sensor suite data; and the chassis compute unit is configured to: receive the one or more motion commands from the main compute unit; receive the ultrasonic data from the plurality of ultrasonic sensors; determine, as a function of the ultrasonic data from the plurality of ultrasonic sensors, the object zone for the object of ultrasonic data; altering the one or more motion commands as a function of the object zone to form altered motion commands; and commanding the vehicle using the altered motion commands. ### Claim 12 (depends on 1) The system of claim 1, wherein the vehicle comprises a car. ### Claim 13 A method for emergency collision avoidance for an autonomous vehicle, the method comprising: receiving, by a computing device, ultrasonic data from a plurality of ultrasonic sensors, wherein the plurality of ultrasonic sensors are attached to a vehicle and are configured to collect the ultrasonic data; receiving, by the computing device, one or more motion commands, wherein the motion commands are configured to instruct a vehicle to autonomously navigate; determining, by the computing device and as a function of the ultrasonic data from the plurality of ultrasonic sensors, an object zone for an object of ultrasonic data; altering, by the computing device, the one or more motion commands as a function of the object zone to form altered motion commands; and commanding, by the computing device, the vehicle using the altered motion commands. ### Claim 14 (depends on 13) The method of claim 13, wherein determining the object zone for the object of the ultrasonic data comprises: determining an object zone to be a single sensor zone if the object is only detected in the ultrasonic data from one ultrasonic sensor of the plurality of ultrasonic sensors; and determining the object zone to be in a triangulation zone if the object is detected in the ultrasonic data from each of the plurality of ultrasonic sensors. ### Claim 15 (depends on 14) The method of claim 14, wherein altering the one or more motion commands as a function of the object zone to form altered motion commands comprises: if the object zone is the triangulation zone: determining an object collision risk as a function of the ultrasonic data; allowing the motion commands if the object collision risk is negative; and overriding the motion commands to institute a safety protocol if the object collision risk is positive; and if the object zone is in the single sensor zone, overriding the motion commands to institute the safety protocol if the object zone is the single sensor zone. ### Claim 16 (depends on 13) The method of claim 13, wherein: the plurality of ultrasonic sensors comprises a first ultrasonic sensor and a second ultrasonic sensor; the first ultrasonic sensor is located: on a front side of the vehicle; and to a left of a longitudinal axis of the vehicle; and the second ultrasonic sensor is located: on the front side of the vehicle; and to a right of the longitudinal axis of the vehicle. ### Claim 17 (depends on 16) The method of claim 16, wherein determining the object zone for the object of the ultrasonic data comprises: determining an object zone to be a near single sensor zone if an object is detected by only one ultrasonic sensor within a path of the vehicle; determining the object zone to be a far single sensor zone if an object is detected by only one ultrasonic sensor outside of the path of the vehicle; and determining the object zone to be in a triangulation zone if the object is detected in the ultrasonic data from each of the plurality of ultrasonic sensors. ### Claim 18 (depends on 17) The method of claim 17, wherein altering the one or more motion commands as a function of the object zone to form altered motion commands comprises: if the object zone is the triangulation zone: determining an object collision risk as a function of the ultrasonic data; allowing the motion commands if the object collision risk is negative; and overriding the motion commands to institute a safety protocol if the object collision risk is positive; and if the object zone is determined to be the far single sensor zone: allowing the motion commands if the object zone is determined to be the near single sensor zone: overriding the motion commands to institute the safety protocol. ### Claim 19 (depends on 18) The method of claim 18, wherein instituting the safety protocol comprises applying brakes. ### Claim 20 A method for emergency collision avoidance for an autonomous vehicle, the method comprising: generating, using a main compute unit, one or more motion commands as a function of sensor suite data; receiving, by a chassis compute unit, ultrasonic data from a plurality of ultrasonic sensors, wherein the plurality of ultrasonic sensors are attached to a vehicle and are configured to collect the ultrasonic data; receiving, by the chassis compute unit, one or more motion commands from the main compute unit, wherein the motion commands are configured to instruct a vehicle to autonomously navigate; determining, by the chassis compute unit and as a function of the ultrasonic data from the plurality of ultrasonic sensors, an object zone for an object of ultrasonic data; altering, by the chassis compute unit, the one or more motion commands as a function of the object zone to form altered motion commands; and commanding, by the chassis compute unit, the vehicle using the altered motion commands.