Systems and methods for hazard mitigation

Abstract

A system and method to avoid collisions on highways, and to minimize the fatalities, injury, and damage when a collision is unavoidable. The system includes sensor means to detect other vehicles, and computing means to evaluate when a collision is imminent and to determine whether the collision is avoidable. If the collision is avoidable by a sequence of controlled accelerations and decelerations and steering, the system implements that sequence of actions automatically. If the collision is unavoidable, a different sequence is implemented to minimize the overall harm of the unavoidable collision. The system further includes indirect mitigation steps such as flashing the brake lights automatically. An optional post-collision strategy is implemented to prevent secondary collisions, particularly if the driver is incapacitated. Adjustment means enable the driver to set the type and timing of automatic interventions.

What is claimed is: 
     
         1 . A driving assistance control device for a subject vehicle, comprising:
 a sensor configured to detect a second vehicle moving relative to a subject vehicle;   a controller configured to detect one or more current driving operating parameters of the subject vehicle;
 a linkage; and 
 a processor configured to perform at least automatic steering control of the subject vehicle by the linkage to avoid the second vehicle based on a detection result of the second vehicle and further based on the detected driving operating parameters, the processor being configured to start the automatic steering control after the second vehicle is detected. 
   
     
     
         2 . The driving assistance control device for the subject vehicle according to  claim 1 , wherein the processor is configured to start the automatic steering control when a steering operation or a braking operation of a driver is detected after the second vehicle is detected, or a predetermined time has elapsed after the second vehicle is detected. 
     
     
         3 . The driving assistance control device for the subject vehicle according to  claim 1 , further comprising a display configured to present to a driver, when the second vehicle is detected, that there is a risk of collision by the second vehicle. 
     
     
         4 . The driving assistance control device for the subject vehicle according to  claim 3 , wherein the display visually indicates that there is the risk of collision of the subject vehicle by the second vehicle, and wherein the display is configured to represent that the risk of collision further increases according to at least one of elapse of time and increase of a possibility of the collision. 
     
     
         5 . The driving assistance control device for the subject vehicle according to  claim 1 , wherein the processor is configured:
 to determine a safe vehicle speed of the subject vehicle as a function of a relative position between the subject vehicle and the second vehicle, the safe subject vehicle speed of the subject vehicle being a speed with which a contact between the subject vehicle and the second vehicle is avoided when it is assumed that the second vehicle enters a traveling path of the subject vehicle,   to set a target route when a vehicle speed of the subject vehicle exceeds the safe subject vehicle speed, the target route being a route along which the subject vehicle travels in a direction further away from a current position of the second vehicle than current course of the subject vehicle, and   to perform the automatic steering control by the linkage so that the subject vehicle travels along the target route.   
     
     
         6 . The driving assistance control device for the subject vehicle according to  claim 1 , further comprising:
 a brake linkage,   wherein the processor is configured:   to perform deceleration control of the subject vehicle by the brake linkage when the second vehicle enters a traveling path of the subject vehicle,   
       to determine a safe subject vehicle speed as a function of a relative position between the subject vehicle and the second vehicle, the safe subject vehicle speed being a maximum value of a speed of the subject vehicle with which a contact between the subject vehicle and the second vehicle is avoided by the deceleration control when it is assumed that the second vehicle enters the traveling path of the subject vehicle, 
       to set a target route when a subject vehicle speed of the subject vehicle exceeds the safe subject vehicle speed, the target route being a route along which the subject vehicle travels in a direction further away from a current position of the second vehicle than a current course of the subject vehicle, and
 to perform the automatic steering control so that the subject vehicle travels along the target route. 
 
     
     
         7 . The driving assistance control device for the subject vehicle according to  claim 5 , wherein in the automatic steering control, the processor is configured to provide steering to compensate for a difference between target steering and driver steering given by the detected operating parameters. 
     
     
         8 . The driving assistance control device for the subject vehicle according to  claim 7 , wherein the target steering is determined based on a steering angle given to a steering wheel of the subject vehicle during a steering operation performed when a driver moves the subject vehicle along the target route. 
     
     
         9 . The driving assistance control device for the subject vehicle according to  claim 1 , further comprising a transmitting unit configured to transmit displacement or torque to a steering wheel of the subject vehicle for informing a driver about a start of the automatic steering control when the automatic steering control by the processor is started. 
     
     
         10 . A driving assistance control method for a subject vehicle, comprising:
 using a sensor, detecting a second vehicle moving relative to a subject vehicle;   using a controller, detecting one or more current driving operating parameters of the subject vehicle;
 using a processor, performing at least automatic steering of the subject vehicle by a linkage to avoid the second vehicle based on a detection result of the second vehicle and further based on the detected driving operating parameters, the processor further starting the automatic steering control after the second vehicle is detected. 
   
     
     
         11 . The driving assistance control method for the subject vehicle according to  claim 10 , the processor further starting the automatic steering control when a steering operation or a braking operation of a driver is detected after the second vehicle is detected, or a predetermined time after the second vehicle is detected. 
     
     
         12 . The driving assistance control method for the subject vehicle according to  claim 10 , further comprising presenting to a driver on a display that there is a risk of collision by the second vehicle. 
     
     
         13 . The driving assistance control method for the subject vehicle according to  claim 12 , further comprising visually indicating that there is the risk of collision of the subject vehicle by the second vehicle, and further comprising representing that the risk of collision increases according to at least one of elapse of time and increase of a possibility of the collision. 
     
     
         14 . The driving assistance control method for the subject vehicle according to  claim 10 , the processor further:
 determining a safe vehicle speed of the subject vehicle as a function of a relative position between the subject vehicle and the second vehicle, the safe subject vehicle speed of the subject vehicle being a speed with which a contact between the subject vehicle and the second vehicle is avoided when it is assumed that the second vehicle enters a traveling path of the subject vehicle,   setting a target route when a vehicle speed of the subject vehicle exceeds the safe subject vehicle speed, the target route being a route along which the subject vehicle travels in a direction further away from a current position of the second vehicle than current course of the subject vehicle, and   performing the automatic steering control by the linkage so that the subject vehicle travels along the target route.   
     
     
         15 . The driving assistance control method for the subject vehicle according to  claim 10 , further comprising:
 the processor further:   performing deceleration control of the subject vehicle by a brake linkage when the second vehicle enters a traveling path of the subject vehicle,   determining a safe subject vehicle speed as a function of a relative position between the subject vehicle and the second vehicle, the safe subject vehicle speed being a maximum value of a speed of the subject vehicle with which a contact between the subject vehicle and the second vehicle is avoided by the deceleration control when it is assumed that the second vehicle enters the traveling path of the subject vehicle,   setting a target route when a subject vehicle speed of the subject vehicle exceeds the safe subject vehicle speed, the target route being a route along which the subject vehicle travels in a direction further away from a current position of the second vehicle than a current course of the subject vehicle, and   performing the automatic steering control so that the subject vehicle travels along the target route.   
     
     
         16 . The driving assistance control method for the subject vehicle according to  claim 14 , wherein in the automatic steering control, the processor providing steering to compensate for a difference between target steering and driver steering given by the detected operating parameters. 
     
     
         17 . The driving assistance control method for the subject vehicle according to  claim 16 , the processor further determining the target steering based on a steering angle given to a steering wheel of the subject vehicle during a steering operation performed when a driver moves the subject vehicle along the target route. 
     
     
         18 . The driving assistance control method for the subject vehicle according to  claim 10 , further comprising transmitting via a transmitting unit displacement or torque to a steering wheel of the subject vehicle for informing a driver about a start of the automatic steering control when the automatic steering control by the processor is started.