System for avoiding collision with multiple moving bodies
First Claim
1. An apparatus comprising:
- a vehicle controller that is configured todetect an external environment before a local vehicle intersects with a path of a first moving vehicle firstly intersecting with a travel path of the local vehicle,when detecting at least two moving bodies, that is, the first moving vehicle and a pedestrian having a path in which a position intersecting with the travel path of the local vehicle is farther than a position where the path of the first moving vehicle intersects with the travel path of the local vehicle,obtain a first predicted intersection time at which the first moving vehicle arrives at a first intersection position where the travel path of the local vehicle intersects with the path of the first moving vehicle, and a second predicted intersection time at which the pedestrian arrives at a second intersection position where the travel path of the local vehicle intersects with a path of the pedestrian,a deceleration of the local vehicle is changeable by the vehicle controller, andthe vehicle controller changes the deceleration of the local vehicle based on a difference between the predicted second intersection time and the predicted first intersection time.
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Accused Products
Abstract
When turning right (left) at an intersection and crossing an oncoming vehicle lane, this system makes it possible to avoid blocking travel of or colliding with a moving body moving in the oncoming vehicle lane due to stopping in the oncoming vehicle lane, and to avoid colliding with a moving body after crossing the oncoming vehicle lane. Given two or more moving bodies present in the advancement direction on the path of the local vehicle, the external environment is detected before the local vehicle intersects with the path of a first moving body, which will first intersect the local vehicle path; if at least two moving bodies are detected, i.e., the first moving body and a second moving body which has a path in which the position of intersection with the path of the local vehicle is further than the position of intersection between the path of the local vehicle and the path of the first moving body, then a first intersection time, at which the first position of intersection between the planned path of the local vehicle and the predicted path of the first moving body is reached, and a second intersection time, at which a second position of intersection between the planned path of the local vehicle and the predicted path of the second moving body is reached, are calculated, and on the basis of the difference between the first intersection time and the second intersection time, the deceleration relative to the first moving body and the second moving body is changed.
15 Citations
11 Claims
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1. An apparatus comprising:
a vehicle controller that is configured to detect an external environment before a local vehicle intersects with a path of a first moving vehicle firstly intersecting with a travel path of the local vehicle, when detecting at least two moving bodies, that is, the first moving vehicle and a pedestrian having a path in which a position intersecting with the travel path of the local vehicle is farther than a position where the path of the first moving vehicle intersects with the travel path of the local vehicle, obtain a first predicted intersection time at which the first moving vehicle arrives at a first intersection position where the travel path of the local vehicle intersects with the path of the first moving vehicle, and a second predicted intersection time at which the pedestrian arrives at a second intersection position where the travel path of the local vehicle intersects with a path of the pedestrian, a deceleration of the local vehicle is changeable by the vehicle controller, and the vehicle controller changes the deceleration of the local vehicle based on a difference between the predicted second intersection time and the predicted first intersection time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
Specification