Controlling post-collision autonomous driving based on driver responsiveness

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.

1 . A vehicle control system comprising:
 an automated driving controller configured to execute at least partially automated driving in which acceleration, braking and steering of a vehicle is at least partially automatically controlled;   wherein the controller is configured to:
 select one of a plurality of post-collision strategies in the event of a collision, the selection based on a determination of whether a driver is responsive or unresponsive, and 
 execute the selected strategy using one or more controlled accelerations, or one or more controlled decelerations, or one or more controlled steering movements, or a combination of the one or more controlled accelerations, decelerations, or steering movements. 
   
     
     
         2 . The vehicle control system according to  claim 1 , further comprising one or more seat sensors configured to determine what seats occupants of the vehicle are sitting in, wherein the automated driving controller is configured to control execution of the automated driving in part based on the seats determined to have occupants. 
     
     
         3 . The vehicle control system according to  claim 1 , wherein the seat sensor detects seat loading or seat belt use. 
     
     
         4 . The vehicle control system according to  claim 1 , wherein the automated driving controller is configured to execute an automated driving mode which is selected from a plurality of automated driving modes having different degrees of automated driving. 
     
     
         5 . The vehicle control system according to  claim 4 , wherein if the driver is responsive, the automated driving controller provides a lesser degree of automated control than if the driver is unresponsive. 
     
     
         6 . The vehicle control system according to  claim 1 , wherein the driver is determined to be responsive upon detection of operation of the steering wheel or accelerator or brake. 
     
     
         7 . The vehicle control system according to  claim 1 , wherein the driver is determined to be not responsive upon detection of no operation of the steering wheel or accelerator or brake. 
     
     
         8 . The vehicle control system according to  claim 1 , wherein the driver is determined to be responsive upon detection that a predetermined operation has been performed by an occupant of the vehicle. 
     
     
         9 . A vehicle control method causing an onboard computer to perform:
 controlling automated driving with an automated driving controller using a processor configured to execute automated driving in which acceleration, braking and steering of a vehicle is at least partially automatically controlled;   selecting one of a plurality of post-collision strategies in the event of a collision, the selection based on a determination of whether a driver is responsive or unresponsive; and   executing the selected strategy using one or more controlled accelerations, or one or more controlled decelerations, or one or more controlled steering movements, or a combination of the one or more controlled accelerations, decelerations, or steering movements.   
     
     
         10 . The vehicle control method according to  claim 9 , further comprising using one or more seat sensors to determine in what seats occupants of the vehicle are sitting, and controlling execution of the automated driving in part based on the seats determined to have occupants. 
     
     
         11 . The vehicle control method according to  claim 9 , wherein the seat sensor detects seat loading or seat belt use. 
     
     
         12 . The vehicle control method according to  claim 9 , wherein the automated driving controller is configured to execute an automated driving mode which is selected from a plurality of automated driving modes having different degrees of automated driving. 
     
     
         13 . The vehicle control method according to  claim 12 , wherein if the driver is responsive, the automated driving controller provides a lesser degree of automated control than if the driver is unresponsive. 
     
     
         14 . The vehicle control method according to  claim 9 , further comprising determining the driver to be responsive upon detecting operation of the steering wheel or accelerator or brake.
 The vehicle control method according to  claim 9 , further comprising determining the driver to be unresponsive upon detecting no operation of the steering wheel or accelerator or brake.   
     
     
         16 . The vehicle control method according to  claim 9 , wherein the driver is determined to be responsive upon detection that a predetermined operation has been performed by an occupant of the vehicle.