Algorithms for avoiding automotive crashes at left and right turn intersections

A method for collision threat assessment when a host vehicle is turning left or right at an intersection, said method comprising:

• determining if the host vehicle is likely to turn left or right at the intersection with a predetermined level of confidence;
• segmenting the intersection and surrounding area into a plurality of different regions where each region has a different level of collision threat risk if the host vehicle is likely to turn left or right at the intersection;
• obtaining speed, velocity and position data of the host vehicle using sensors on the host vehicle;
• obtaining speed, velocity and position data of one or more remote vehicles and/or other objects in or near the intersection, including using information and data from one or more of a map database, a long range radar sensor on the vehicle, a short range radar sensor on the vehicle, cameras on the vehicle, a lidar sensor on the vehicle, V2X communications, Internet communications and satellite communications;
• determining, by a controller including a processor, a predicted path of the host vehicle based on the speed, velocity and position data as the host vehicle travels through the intersection for each of the different segmented regions;
• determining, by the controller, a predicted path of one or more of the remote vehicles based on the speed, velocity and position data as the one or more vehicles travel through the intersection;
• determining, by the controller, a duration that the host vehicle will occupy a collision zone based on the speed and the predicted path of the host vehicle;
• determining, by the controller, a duration that the one or more remote vehicles will occupy the collision zone based on the speed and predicted path of the one or more remote vehicles;
• determining, by the controller, if the durations overlap;
• determining, by the controller, that the host vehicle will not stop in the intersection when making the turn;
• issuing, by the controller, a warning to a driver of the host vehicle if the durations overlap and if a time to enter the collision zone by the host vehicle at a current speed and predicted path of the host vehicle is less than a first predetermined threshold;
• providing automatic braking of the host vehicle, by the controller, if the time to the collision zone is less than a second predetermined threshold that is shorter than the first predetermined threshold;
• and
• providing, by the controller, information of a potential collision to the host vehicle if the time to the collision zone is greater than the first predetermined threshold, but less than a third predetermined threshold.

A method for collision threat assessment when a host vehicle is turning left or right at an intersection, said method comprising:

• determining if the host vehicle is likely to turn left or right at the intersection with a predetermined level of confidence;
• segmenting the intersection and surrounding area into a plurality of different regions where each region has a different level of collision threat risk if the host vehicle is likely to turn left or right at the intersection;
• obtaining speed, velocity and position data of the host vehicle using sensors on the host vehicle;
• obtaining speed, velocity and position data of one or more remote vehicles and/or other objects in or near the intersection, including using information and data from one or more of a map database, a long range radar sensor on the vehicle, a short range radar sensor on the vehicle, cameras on the vehicle, a lidar sensor on the vehicle, V2X communications, Internet communications and satellite communications;
• determining, by a controller including a processor, a predicted path of the host vehicle based on the speed, velocity and position data as the host vehicle travels through the intersection for each of the different segmented regions;
• determining, by the controller, a predicted path of one or more of the remote vehicles based on the speed, velocity and position data as the one or more vehicles travel through the intersection;
• determining, by the controller, a duration that the host vehicle will occupy a collision zone based on the speed and the predicted path of the host vehicle;
• determining, by the controller, a duration that the one or more remote vehicles will occupy the collision zone based on the speed and predicted path of the one or more remote vehicles;
• determining, by the controller, if the durations overlap;
• determining, by the controller, that the host vehicle is coming to or has come to a stop in the intersection in anticipation of making a turn after opposing traffic has cleared;
• determining, by the controller, a likely path the host vehicle will take when making the turn;
• calculating, by the controller, a closeness coefficient between the likely path of the host vehicle and the predicted path of the host vehicle;
• issuing, by the controller, a warning if the closeness coefficient is greater than the predetermined closeness threshold, the time that the one or more remote vehicles will enter the collision zone is less than a predetermined time threshold, and brakes of the host vehicle have been released;
• providing automatic braking of the host vehicle, by the controller, if the time to the collision zone is less than a second predetermined threshold that is shorter than the first predetermined threshold;
• and
• providing, by the controller, information of a potential collision to the host vehicle if the time to the collision zone is greater than the first predetermined threshold, but less than a third predetermined threshold.