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Collision avoidance assistance device

  • US 10,442,430 B2
  • Filed: 03/18/2016
  • Issued: 10/15/2019
  • Est. Priority Date: 04/02/2015
  • Status: Active Grant
First Claim
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1. A collision avoidance assistance device comprising:

  • a target detection unit for detecting a target ahead of a vehicle provided with the collision avoidance assistance device;

    a determination unit for determining whether the target which has been detected by the target detection unit satisfies a predetermined execution condition;

    a process execution unit for executing a collision avoidance assistance process in a case where the determination unit determines that the target satisfies the execution condition;

    an image acquisition unit for acquiring an image ahead of the vehicle;

    an image recognition unit for recognizing the target in the image;

    a position P acquisition unit for acquiring a position P, in a vertical direction in the image, of the target which has been recognized by the image recognition unit;

    a size RS estimation unit for estimating, from the position P and a size S in the image of the target which has been recognized by the image recognition unit, an actual size RS of the target which has been recognized by the image recognition unit; and

    an execution condition setting unit for determining whether the following conditions are respectively satisfied;

    (Condition J1) in the image, the position P is below a range α

    of positions in the vertical direction in the image which range α

    is set in advance;

    (Condition J2) the size RS is smaller than a range β

    whose size is set in advance;

    (Condition J3) in the image, the position P is above the range α

    ; and

    (Condition J4) the size RS is larger than the range β

    , and setting the execution condition that;

    makes it more difficult for the process execution unit to execute the collision avoidance assistance process in a first case than to execute the collision avoidance assistance process in a second case,the first case representing that the conditions J1 and J2 are both satisfied,the second case representing that at least one of the conditions J1 and J2 is not satisfied; and

    makes it more difficult for the process execution unit to execute the collision avoidance assistance process in a third case than to execute the collision avoidance assistance process in a fourth case,the third case representing that the conditions J3 and J4 are both satisfied,the fourth case representing that at least one of the conditions J3 and J4 is not satisfied.

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