Collision avoidance apparatus

• US 10,112,609 B2
• Filed: 03/24/2017
• Issued: 10/30/2018
• Est. Priority Date: 06/10/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Mukai, Yasuhiko
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US15/468,349
• Publication Number:
  US 20170203758A1
• Time in Patent Office: 585 Days
• Field of Search: 701 41, 701 70, 701 80, 701301, 340475, 3409322
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2510/18 Braking system
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01S 19/42 Determining position

Abstract

A collision avoidance apparatus includes a control unit that is configured to perform a collision avoidance process. The control unit determines whether or not an object is present ahead of the own vehicle. When the control unit determines that an object ahead is present, the control unit determines whether or not there is a likelihood of a collision between the object ahead and the own vehicle and whether or not a corner is present ahead of the own vehicle. When the control unit determines that a corner is not present and when a predetermined collision avoidance condition is established, the control unit is capable of changing a travelling direction of the own vehicle to avoid collision between the object ahead and the own vehicle. When the control unit determines that a corner is present, the control unit does not perform a travelling direction change of the own vehicle.

Claims

1. A collision avoidance apparatus that is mounted to an own vehicle and which controls the own vehicle to avoid collision with an object that is present ahead of the own vehicle and detected by a detector that is mounted to the own vehicle and detects the object ahead of the own vehicle, the collision avoidance apparatus comprising:

a control unit, including a microcomputer, that is connected to the detector and configured to perform a collision avoidance process,

the collision avoidance process comprising;

determining whether or not the object is present ahead of the own vehicle;

when the control unit determines that the object ahead is present, determining whether or not the own vehicle will have a collision between the object ahead and the own vehicle and whether or not a corner is present ahead of the own vehicle; and

when the control unit determines that the corner is not present and when a predetermined collision avoidance condition is established, changing a travelling direction of the own vehicle to avoid collision between the object ahead and the own vehicle, the predetermined collision avoidance condition indicating that the own vehicle is in a state in which the travelling direction of the own vehicle is required to be changed, wherein

when the control unit determines that the corner is present, the control unit does not perform a travelling direction change of the own vehicle by steering.

2. The collision avoidance apparatus according to claim 1, wherein:

the predetermined collision avoidance condition is a predetermined first collision avoidance condition; and

the collision avoidance process further comprises

when the detector detects the object ahead and when a predetermined second collision avoidance condition is established, reducing a travelling speed of the own vehicle to avoid collision between the own vehicle and the object ahead, the second collision avoidance condition indicating that the own vehicle is in a state in which the own vehicle is required to be braked.

3. The collision avoidance apparatus according to claim 2, wherein

the collision avoidance process further comprises

calculating a stop distance over which the own vehicle moves until the own vehicle stops, based on a vehicle speed of the own vehicle and a deceleration of the own vehicle when the own vehicle is braked;

and

determining whether or not the corner is present at a position which is apart from a current position of the own vehicle forward by the stop distance.

4. The collision avoidance apparatus according to claim 3, wherein

the collision avoidance process further comprises

before the stop distance is calculated, acquiring in advance corner determination information indicating whether or not the corner is present on a road within a predetermined distance range ahead of a road on which the own vehicle is travelling.

5. The collision avoidance apparatus according to claim 1, wherein:

the collision avoidance process further comprises

when a predetermined prohibiting condition is established, prohibiting the control unit from changing the travelling direction of the own vehicle to avoid collision between the object ahead and the own vehicle, the prohibiting condition indicating that a state ahead on a road on which the own vehicle is travelling is not suitable for changing the travelling direction of the own vehicle.

6. The collision avoidance apparatus according to claim 2, wherein:

the collision avoidance process further comprises

when a predetermined prohibiting condition is established, prohibiting the control unit from changing the travelling direction of the own vehicle to avoid collision between the object ahead and the own vehicle, the prohibiting condition indicating that a state ahead on a road on which the own vehicle is travelling is not suitable for changing the travelling direction of the own vehicle.

7. The collision avoidance apparatus according to claim 3, wherein:

the collision avoidance process further comprises

when a predetermined prohibiting condition is established, prohibiting the control unit from changing the travelling direction of the own vehicle to avoid collision between the object ahead and the own vehicle, the prohibiting condition indicating that a state ahead on a road on which the own vehicle is travelling is not suitable for changing the travelling direction of the own vehicle.

8. The collision avoidance apparatus according to claim 4, wherein:

the collision avoidance process further comprises

when a predetermined prohibiting condition is established, prohibiting the control unit from changing the travelling direction of the own vehicle to avoid collision between the object ahead and the own vehicle, the prohibiting condition indicating that a state ahead on a road on which the own vehicle is travelling is not suitable for changing the travelling direction of the own vehicle.

9. A collision avoidance method comprising:

detecting an object ahead;

when the object ahead is detected, changing, by a collision avoidance apparatus, a travelling direction of an own vehicle to avoid collision between the object ahead and the own vehicle, determining whether or not a corner is present ahead on a road on which the own vehicle is travelling if a predetermined collision avoidance condition is established; and

when it is determined that the corner is present, prohibiting the collision avoidance apparatus from changing the travelling direction of the own vehicle.

10. A collision avoidance apparatus that is mounted to an own vehicle and which controls the own vehicle to avoid collision with an object that is present ahead of the own vehicle and detected by a detector that is mounted to the own vehicle and detects the object ahead, the collision avoidance apparatus comprising:

a control unit, including a microcomputer, that is connected to the detector and configured to perform a collision avoidance process,

the collision avoidance process comprising;

determining whether or not the object is present ahead of the own vehicle;

when the control unit determines that the object ahead is present, determining whether or not the own vehicle will have a collision between the object ahead and the own vehicle and whether or not a top of a hill is present ahead of the own vehicle; and

when the control unit determines that the top of the hill is not present and when a predetermined collision avoidance condition is established, changing a travelling direction of the own vehicle to avoid a collision between the object ahead and the own vehicle, the predetermined collision avoidance condition indicating that the own vehicle is in a state in which the travelling direction of the own vehicle is required to be changed, wherein

when the control unit determines that the top of the hill is present, the control unit does not perform the travelling direction change of the own vehicle by steering to avoid the collision with the object ahead, behind the top of the hill, and that is not visible.

11. A collision avoidance method comprising:

detecting an object ahead;

when the object ahead is detected, changing, by a collision avoidance apparatus, a travelling direction of an own vehicle to avoid collision between the object ahead and the own vehicle, determining whether or not a top of a hill is present ahead on a road on which the own vehicle is travelling if a predetermined collision avoidance condition is established; and

when it is determined that a top of a hill is present, prohibiting the collision avoidance apparatus from changing the travelling direction of the own vehicle by steering to avoid a collision with the object present ahead, behind the top of the hill, and that is not visible.