Vehicle collision avoidance assist system

• US 10,227,071 B2
• Filed: 11/28/2016
• Issued: 03/12/2019
• Est. Priority Date: 01/26/2016
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nishimura, Motoki, Saiki, Kotaro, Nishida, Shinya
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/362,062
• Publication Number:
  US 20170210381A1
• Time in Patent Office: 834 Days
• Field of Search: 701 41
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• 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 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• 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 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle collision avoidance assist system, including: a forward obstacle detecting device; and a controller including an automatic braking control executing portion to execute an automatic braking control and an avoidance control executing portion to execute an avoidance control, in addition to the automatic braking control, wherein, when a moving obstacle that is moving in a right-left direction is detected, the avoidance control executing portion executes the avoidance control to avoid the moving obstacle such that an own vehicle travels in a direction opposite to a movement direction of the moving obstacle when the moving obstacle is moving away from a forwardly extending centerline that forwardly extends from a center of the own vehicle and such that the own vehicle travels in the same direction as the movement direction of the moving obstacle when the moving obstacle is moving toward the forwardly extending centerline.

Claims

1. A vehicle collision avoidance assist system for assisting avoidance of a collision:

between an own vehicle on which the system is installed; and

an obstacle, the system comprising;

a forward obstacle detecting device configured to detect, as a forward obstacle, one of objects present ahead of the own vehicle that will hinder the own vehicle from travelling forward; and

a controller including (a) an automatic braking control executing portion configured such that, when a risk of collision of the own vehicle with the forward obstacle detected by the forward obstacle detecting device is high, the automatic braking control executing portion executes an automatic braking control in which a brake apparatus installed on the own vehicle automatically operates to brake the own vehicle and (b) an avoidance control executing portion configured such that, when the risk of collision of the own vehicle with the forward obstacle is still high even after the automatic braking control has been executed, the avoidance control executing portion executes, in addition to the automatic braking control, an avoidance control in which a steering apparatus installed on the own vehicle automatically operates to enable the own vehicle to avoid the forward obstacle,

wherein the forward obstacle detecting device is configured to detect, as the forward obstacle, a moving obstacle that is moving in a right-left direction, and

wherein the avoidance control executing portion is configured to execute the avoidance control to avoid the moving obstacle such that the own vehicle travels in a direction opposite to a direction in which the moving obstacle is moving when the moving obstacle is moving away from a forwardly extending centerline that forwardly extends from a center of the own vehicle and such that the own vehicle travels in the same direction as the direction in which the moving obstacle is moving when the moving obstacle is moving toward the forwardly extending centerline.

2. The vehicle collision avoidance assist system according to claim 1, wherein the avoidance control executing portion is configured such that, when the forward obstacle detecting device detects the forward obstacle within a driving lane that is a driving range in which the own vehicle is to travel, the avoidance control executing portion executes the avoidance control so as to enable the own vehicle to avoid the forward obstacle within the driving lane.

3. The vehicle collision avoidance assist system according to claim 2, further comprising a driving lane identifying device configured to identify the driving lane by recognizing a right boundary and a left boundary of the driving lane,

wherein the avoidance control executing portion is configured such that, when the forward obstacle detecting device detects the forward obstacle in the driving lane, the avoidance control executing portion executes the avoidance control to enable the own vehicle to avoid the forward obstacle such that the own vehicle travels toward one of opposite sides of the forward obstacle on which a distance between the forward obstacle and a corresponding one of the right boundary and the left boundary of the driving lane is larger than the other of the opposite sides.

4. The vehicle collision avoidance assist system according to claim 1, further comprising an alert device configured to issue an alert to a driver of the own vehicle when there is a risk of collision of the own vehicle with the forward obstacle,

wherein the automatic braking control executing portion is configured such that, when the driver performs no operation after the issuance of the alert and the risk of collision of the own vehicle with the forward obstacle accordingly becomes high, the automatic braking control executing portion executes the automatic braking control.

5. The vehicle collision avoidance assist system according to claim 1, wherein the avoidance control executing portion is configured such that, when the risk of collision of the own vehicle with the forward obstacle is unavoidable, the forward obstacle being within a driving lane that is a driving range in which the own vehicle is to travel, the avoidance control executing portion does not execute the avoidance control.