Motor vehicle warning and control system and method

A method for enhancing safety of a moving vehicle having a steering system and an acceleration system and supporting ranging apparatus capable of producing ranging signals identifying the distance and relative motion between the moving vehicle and selected types of objects in a plurality of directions therefrom, comprising:

• (a) using ranging signals identifying the distance and relative motion between the moving vehicle and selected types of objects in a plurality of directions therefrom to determine which, if any, of the objects detected adjacent to the moving vehicle are collision hazards because the object and the moving vehicle are on a collision course;
• (b) selecting one of a plurality of state vectors containing a set of binary digits, (i) some of the digits each indicating only whether or not a collision hazard has been determined to be located in one of a plurality of directions from the moving vehicle, and (ii) other of the digits each indicating only whether or not other of the selected objects are detected in each of said plurality of directions other than those directions in which collision hazards are detected;
• (c) using the selected state vector to select one of a plurality of rule sets, (i) each rule set comprising a plurality of fuzzy logic vehicle control rules, (ii) each rule specifying an output that depends on an input comprising the calculated distance and motion of at least one of the detected collision hazards relative to the moving vehicle, and (iii) the output of each rule comprising a coordinated combination of changes to the moving vehicle's steering and acceleration predetermined to be appropriate for the situation defined by at least the state vector and the rule input;
• (d) using the selected set of fuzzy logic control rules to generate output signals indicative of steering and acceleration changes;
• and
• (e) applying the output signals to automatically provide coordinated control of the steering system and the acceleration system to attempt to avoid a collision between the moving vehicle and the collision hazards while also attempting to avoid a collision between the moving vehicle and any other detected objects.

A system for operating and controlling a motor vehicle having a power-drive system and controls including an accelerator, a brake, and a steering system comprising:

• (a) a ranging device supported by the vehicle, directed toward the front of the vehicle, and structured to generate first signals indicating the distance to and relative motion of some objects in front of the vehicle;
• (b) a detector supported by the vehicle, directed away from the vehicle in a direction other than the front of the vehicle, and structured to generate a second signal identifying only whether there is an object in said other direction;
• and
• (c) a fuzzy logic-based computer having a memory containing a plurality of sets of fuzzy inference vehicle control rules, each rule defining a coordinated combination of changes to the vehicle's steering and acceleration;
• (d) wherein the computer is coupled to the ranging device and the detector and structured to use the first and second signals to select and reproduce from the memory a selected set of less than all of the rules and to apply the selected set of rules to derive command signals with fuzzy logic;
• (e) wherein the computer is electrically coupled to the controls;
• (f) whereby the command signals are applied to control the accelerator, brake, and steering system of the vehicle in a coordinated way to attempt to avoid collisions between the vehicle and objects in its path of travel without taking evasive action that would cause a collision with objects detected in said other direction.