Patent ID: 8577552

Claim:
A method of forward collision warning for a motor vehicle comprising: operating a sensor system to detect a target ahead of the vehicle; identifying a Collision Threat Zone (CTZ) along a predicted path of the vehicle; continuously measuring a steering input angle (SIA) change rate and a yaw rate of the vehicle; continuously tracking a near-past maximum absolute value of the SIA change rate during a first look-back period; continuously tracking a far-past variation of the yaw rate during a second look-back period longer than the first look-back period; applying a first width-reduction to at least a portion of the CTZ in the event that a) the near-past maximum absolute value of SIA change rate exceeds a first SIA change rate threshold, and b) the far-past variation of yaw rate exceeds a first yaw rate threshold value; and suppressing a threat warning based on detection of the target if the target is outside of the CTZ with the first width-reduction applied.