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

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Baba, Takahiro
• Primary Examiner(s): Chang, Jon
• Application Number:
  US15/562,177
• Publication Number:
  US 20180086337A1
• Time in Patent Office: 1,306 Days
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 10/18 including control of braking 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 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/085 Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 7/40 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/4034 in elevation, i.e. in the vertical plane
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 2201/07 : Target detection
• 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 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance assistance device includes: a target detection unit for detecting a target; a process execution unit for executing a collision avoidance assistance process in the case where it is determined that the target satisfies an execution condition; an image recognition unit for recognizing a target in an image; a position P acquisition unit for acquiring a position P, in a vertical direction, of the target; a size RS estimation unit for estimating an actual size RS of the target; and an execution condition setting unit for setting the execution condition to be stricter in the case where the following conditions J1 and J2 are satisfied or the following conditions J3 and J4 are satisfied than in other cases: (Condition J1) in the image, the position P is below a range α; (Condition J2) the size RS is smaller than a range β; (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.

Claims

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.

2. The collision avoidance assistance device according to claim 1 wherein the execution condition is a condition that time to collision of the target is not more than a predetermined time threshold or a condition that when the time to collision is acquired multiple times, a rate of acquisition of time to collision whose value is not more than a reference value is not less than a predetermined rate threshold.

3. The collision avoidance assistance device according to claim 2 wherein:

the execution condition setting unit is configured to;

set the time threshold in the first case to be smaller than the time threshold in the second case;

set the time threshold in the third case to be smaller than the time threshold in the fourth case;

set the rate threshold in the first case to be larger than the rate threshold in the second case; and

set the rate threshold in the third case to be larger than the rate threshold in the fourth case.

4. The collision avoidance assistance device according to claim 1 wherein the target detection unit detects a target with the use of a millimeter wave radar.

5. The collision avoidance assistance device according to claim 1 wherein the collision avoidance assistance process is one or more of brake assist, automatic braking, automatic steering, and an alarm process.

6. The collision avoidance assistance device according to claim 2 wherein the target detection unit detects a target with the use of a millimeter wave radar.

7. The collision avoidance assistance device according to claim 3 wherein the target detection unit detects a target with the use of a millimeter wave radar.

8. The collision avoidance assistance device according to claim 2 wherein the collision avoidance assistance process is one or more of brake assist, automatic braking, automatic steering, and an alarm process.

9. The collision avoidance assistance device according to claim 3 wherein the collision avoidance assistance process is one or more of brake assist, automatic braking, automatic steering, and an alarm process.

10. A method for providing collision avoidance assistance to a vehicle comprising:

detecting a target ahead of the vehicle;

determining whether the target which has been detected satisfies a predetermined execution condition;

executing a collision avoidance assistance process in response to determining that the target satisfies the execution condition;

acquiring an image ahead of the vehicle;

recognizing the target in the image;

acquiring a position P, in a vertical direction in the image, of the target;

estimating, from the position P and a size S in the image of the target, an actual size RS of the target;

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 to;

increase a threshold 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

increase a threshold 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.

11. A system for providing collision avoidance assistance to a vehicle comprising:

a central processor;

a non-transitory computer-readable storage medium; and

a set of computer-executable instructions stored on the computer-readable storage medium that cause the central processor to implement;

detecting a target ahead of the vehicle;

determining whether the target which has been detected satisfies a predetermined execution condition;

executing a collision avoidance assistance process in response to determining that the target satisfies the execution condition;

acquiring an image ahead of the vehicle;

recognizing the target in the image;

acquiring a position P, in a vertical direction in the image, of the target;

estimating, from the position P and a size S in the image of the target, an actual size RS of the target;

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 to;

increase a threshold 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

increase a threshold 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.