Patent ID: 8639437

Claim:
A back propagating intersection collision avoidance system for preventing two vehicles from colliding at an intersection, said system comprising: a first vehicle and a second vehicle each operable to approach an intersection at a definable velocity and acceleration, said intersection having a collision zone; a microprocessor having an algorithm, said microprocessor with said algorithm operable to: back propagate from said collision zone a final capture set as an intersection of a first vehicle capture set and a second vehicle capture set, said first vehicle capture set and said second vehicle capture set covering control scenarios as a function of maximum torque and minimum torque of said first vehicle and said second vehicle, said final capture set defining a plurality of locations that if simultaneously occupied by said first vehicle and said second vehicle approaching said intersection, said first vehicle and said second vehicle are guaranteed to enter said collision zone at a same time; and determine a collision avoidance scenario to prevent said first vehicle and said second vehicle from entering said collision zone at said same time; and a controller operable to accelerate or de-accelerate each of said first vehicle and said second vehicle in accordance with said collision avoidance scenario in order to prevent at least one of said first vehicle and said second vehicle from entering said final capture set.