Collision determination device

• US 10,347,131 B2
• Filed: 08/19/2016
• Issued: 07/09/2019
• Est. Priority Date: 10/05/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Aso, Kazuaki, Kindo, Toshiki, Sakai, Katsuhiro, Harada, Masahiro
• Primary Examiner(s): Nolan, Peter D
• Application Number:
  US15/241,697
• Publication Number:
  US 20160358476A1
• Time in Patent Office: 1,054 Days
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• 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 collision determination device determines the possibility of collision between a host vehicle and the other object on the basis of a shortest arrival time calculated by a shortest arrival time calculation unit and a passage time at each point of the host vehicle acquired by a vehicle route candidate acquisition unit. In this way, even if a locus to be taken by the other object is not generated, the shortest arrival time at which the other object can arrive at each point of the route candidate of the host vehicle with a predetermined first displacement is calculated, thereby determining the possibility of collision between the host vehicle and the other object. Therefore, it is possible to reduce a computational load for determining collision and to accurately determine collision between the host vehicle and the other object.

Claims

1. An electronic control unit for a vehicle, comprising:

a vehicle route candidate acquisition unit acquiring a route candidate of a host vehicle, the route candidate including a plurality of predetermined points;

an other object status acquisition unit acquiring the status of the other object;

a shortest arrival time calculation unit calculating a shortest arrival time, at which the other object can arrive at each point of the route candidate of the host vehicle acquired by the vehicle route candidate acquisition unit when moving with a predetermined first displacement, on the basis of the status of the other object acquired by the other object status acquisition unit; and

a collision determination unit determining the possibility of collision between the host vehicle and the other object on the basis of the shortest arrival time calculated by the shortest arrival time calculation unit and the passage time at each point of the host vehicle.

2. The electronic control unit according to claim 1, further comprising:

a mobile object determination unit determining whether the other object is a pedestrian or a vehicle; and

a mobile object route candidate generation unit calculating a road network representing an integrated state of a road which the vehicle should follow on the basis of information of a shape of a road in a vicinity of the vehicle, if the mobile object determination unit determines that the other object is the vehicle,

wherein the shortest arrival time calculation unit calculates the shortest arrival time at which the pedestrian arrives at each point when accelerating with a predetermined first displacement, if the mobile object determination unit determines that the other object is the pedestrian, and calculates the shortest arrival time at which the vehicle can arrive at each point of the road network when accelerating at a predetermined acceleration to a predetermined maximum speed greater than a maximum speed provided to the road network, on the basis of the road network calculated by the mobile object route candidate generation unit, if the mobile object determination unit determines that the other object is the vehicle.

3. The electronic control unit according to claim 2, further comprising:

a longest stopover time calculation unit calculating a longest stopover time, at which the other object passes through each point of the route candidate of the host vehicle acquired by the vehicle route candidate acquisition unit when reducing speed with a predetermined second displacement, on the basis of the status of the other object acquired by the other object status acquisition unit,

wherein the longest stopover time calculation unit calculates the longest stopover time at which the pedestrian arrives at each point when reducing speed with a predetermined second displacement, if the mobile object determination unit determines that the other object is the pedestrian, and calculates the longest stopover time at which the vehicle passes through each point when reducing speed at a predetermined deceleration to a predetermined minimum speed less than a minimum speed provided to the road network, relative to each point of the road network of the vehicle, based on the road network calculated by the mobile object route candidate generation unit, if the mobile object determination unit determines that the other object is the vehicle, and

the collision determination unit determines a possibility of collision between the host vehicle and the other object on the basis of the shortest arrival time calculated by the shortest arrival time calculation unit and the longest stopover time calculated by the longest stopover time calculation unit.

4. The electronic control unit according to claim 3,

wherein the collision determination unit determines that there is a possibility that the host vehicle will collide with the other object, when the shortest arrival time calculated by the shortest arrival time calculation unit is smaller than the passage time at each point of the route candidate of the host vehicle, and the longest stopover time calculated by the longest stopover time calculation unit is greater than the passage time at each point of the route candidate of the host vehicle.