Patent ID: 8072352

Claim:
A method of cross traffic alert with parking angle trajectory determination for a host vehicle backing out of a parking space, the method comprising the steps of: (a) beginning to back the host vehicle from the parking space; (b) detecting a target vehicle on a potentially intersecting trajectory with the host vehicle; (c) determining a trajectory of the target vehicle relative to a trajectory of the host vehicle; (d) calculating a parking angle based on the trajectory of the target vehicle relative to the trajectory of the host vehicle; (e) from a field of view of a first side sensor, determining a first side portion of interest where an object detected by the first side sensor will be considered for a cross traffic alert and a first side portion not of interest where an object detected by the first side sensor will not be considered for the cross traffic alert, with the sizes of the first side portion of interest and the first side portion not of interest being based on the calculated parking angle; and (f) activating the cross traffic alert when the vehicle is backing out of the parking space if an object is detected in the first side portion of interest.