Vehicle surrounding situation recognizing device and vehicle control device

• US 10,444,345 B2
• Filed: 02/09/2015
• Issued: 10/15/2019
• Est. Priority Date: 02/17/2014
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Hara, Kouichi
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US15/113,855
• Publication Number:
  US 20160349364A1
• Time in Patent Office: 1,709 Days
• Field of Search: None
• 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 2013/93271 in the front of the vehicles

Abstract

A vehicle system includes a radar mounted on a front part of a vehicle, a camera mounted within a vehicle interior of the vehicle, and an electronic control unit (ECU). The ECU is configured to detect an object in front of the vehicle based on radar information from the radar and image information from the camera. The ECU is configured to detect a collision of the vehicle with an obstacle based on a frontal collision signal. The ECU is configured to detect the object using the image information, without using the radar information, after detecting the collision.

Claims

1. A vehicle system, comprising:

a radar mounted on a front part of a vehicle and configured to transmit an electromagnetic wave in front of the vehicle, receive a reflective wave based on the electromagnetic wave, and output radar information based on the reflective wave;

a camera mounted within a vehicle interior of the vehicle and configured to generate an image of a scene in front of the vehicle and output image information based on the image of the scene in front of the vehicle; and

an electronic control unit (ECU) configured to detect an object in front of the vehicle based on both the radar information and the image information; and

detect a collision of the vehicle with an obstacle based on a frontal collision signal, wherein

the ECU is configured to detect the object in front of the vehicle using the image information, without using the radar information, after detecting the collision.

2. The vehicle system according to claim 1, wherein the ECU is configured to:

determine that the front part of the vehicle collided with the obstacle; and

detect the object in front of the vehicle using the image information, without using the radar information, based on determining that the front part of the vehicle collided with the obstacle.

3. The vehicle system according to claim 2, wherein the ECU is configured to:

detect the object in front of the vehicle using the image information, without using the radar information, based on determining that a front face of the vehicle collided with the obstacle.

4. A vehicle control system, comprising:

a radar mounted on a front part of a vehicle and configured to transmit an electromagnetic wave in front of the vehicle, receive a reflective wave based on the electromagnetic wave, and output radar information based on the reflective wave;

a camera mounted within a vehicle interior of the vehicle and configured to generate an image of a scene in front of the vehicle and output image information based on the image of the scene in front of the vehicle; and

an electronic control unit (ECU) configured to;

detect an object in front of the vehicle based on the radar information and the image information;

detect a collision of the vehicle with an obstacle;

detect the object in front of the vehicle using the image information, without using the radar information, after detecting the collision; and

control motion of the vehicle based on the image information to permit a reduction in damage from a secondary collision after the collision.

5. The vehicle control system according to claim 4, wherein the ECU is configured to:

determine that the front part of the vehicle collided with the obstacle; and

based upon determining that the front part of the vehicle collided with the obstacle, detect the object in front of the vehicle using the image information without using the radar information.

6. The vehicle control system according to claim 5, wherein the ECU is configured to:

detect the object in front of the vehicle using the image information without using the radar information based on determining that a front face of the vehicle collided with the obstacle.

7. A method, comprising:

receiving, by an electronic control unit (ECU) of a vehicle, sensor information from a sensor that is disposed at a front of the vehicle;

receiving, by the ECU of the vehicle, image information from a camera that is disposed in an interior of the vehicle;

performing, by the ECU of the vehicle, first object detection using both the sensor information and the image information;

detecting, by the ECU, a collision associated with the vehicle; and

performing, by the ECU of the vehicle, second object detection using the image information without using the sensor information, based on detecting the collision associated with the vehicle.

8. A method, comprising:

receiving, by an electronic control unit (ECU) of a vehicle, sensor information from a sensor that is disposed at a front of the vehicle;

receiving, by the ECU of the vehicle, image information from another sensor of the vehicle;

performing, by the ECU of the vehicle, first object detection using both the sensor information and image information;

detecting, by the ECU, a collision associated with the vehicle;

performing, by the ECU of the vehicle, second object detection using the image information without using the sensor information, based on detecting the collision associated with the vehicle; and

controlling, by the ECU of the vehicle, a motion of the vehicle based on performing the second object detection using only the image information.

9. The method of claim 8, further comprising:

determining, by the ECU, that the collision is a frontal collision based on a frontal collision signal; and

performing, by the ECU, the second object detection using the image information without using the sensor information based on determining that the collision is a frontal collision.

10. The method of claim 8, further comprising:

performing, by the ECU, at least one of an automatic braking function and an automatic steering function; and

controlling, by the ECU, the motion of the vehicle based on performing the at least one of the automatic braking function and the automatic steering function.

11. The method of claim 8, wherein the other sensor is a camera.

12. The method of claim 8, wherein the other sensor is disposed in an interior of the vehicle.