Patent ID: 8112225
Filing Date: 2012-02-07
Classification: B60W,G01S,G08G

Abstract:
1. A method for collision avoidance for a host vehicle comprising: receiving input data relating to a set of objects external to said host vehicle, said objects being detected by a sensor system arranged on said host vehicle, wherein an object position (r,Φ), and an object velocity ({dot over (r)}) are associated with each object in said set of objects by the sensor system, the input data defining a current state of each object; estimating future trajectories of each external object, while considering influence by the future trajectories of the other external objects; determining that a driver of the host vehicle is making an attempt to effect a lane change from a current lane into a neighboring lane, the determination made by sensing a steering torque generated by the driver; determining if the future trajectory of the host vehicle conflicts with one of the estimated future trajectories of the external objects in the neighbouring lane; and applying a corrective torque in the direction against the steering torque generated by the driver to effect the lane change in the event the conflict with one of the estimated future trajectories in the neighbouring lane is detected.