Vehicle collision avoidance assist system
First Claim
1. A vehicle collision avoidance assist system for assisting avoidance of a collision between an own vehicle on which the system is installed and an obstacle, the system comprising:
- a forward obstacle detecting device configured to detect, as a forward obstacle, one of objects present ahead of the own vehicle that will hinder the own vehicle from travelling forward;
a lateral object detecting device configured to detect an object present on a lateral side of the own vehicle; and
a controller configured tocalculate a time to collision of the own vehicle with the forward obstacle detected by the forward obstacle detecting device, the forward obstacle being present in a driving lane of the own vehicle,execute an automatic braking control in which a brake apparatus installed on the own vehicle automatically operates to brake the own vehicle when the calculated time to collision is less than a first predetermined value,estimate a stop position of the own vehicle and estimating a position of the forward obstacle when the own vehicle has stopped,determine whether a collision of the own vehicle with the forward obstacle is unavoidable based on the estimated stop position of the own vehicle and the estimated position of the forward obstacle when the own vehicle has stopped,request to execute an avoidance control, in which a steering apparatus installed on the own vehicle automatically operates to enable the own vehicle to avoid the forward obstacle, when a collision of the own vehicle with the forward obstacle is determined to be unavoidable,determine an avoidance route for the own vehicle to avoid the forward obstacle,estimate a movement course of a lateral moving object when the lateral object detecting device detects the lateral moving object that is moving within the driving lane of the own vehicle on a lateral side of the own vehicle and travelling in a same direction as the own vehicle is travelling,determine whether the own vehicle will collide with the lateral moving object if the own vehicle travels along the avoidance route based on the determined avoidance route and the estimated movement course of the lateral moving object,allow execution of the avoidance control in which the steering apparatus enables the own vehicle to travel along the avoidance route when it is determined that the own vehicle will not collide with the lateral moving object, andprohibit execution of the avoidance control when it is determined that the own vehicle will collide with the lateral moving object.
1 Assignment
0 Petitions
Accused Products
Abstract
A vehicle collision avoidance assist system, including: a forward obstacle detecting device; a lateral object detecting device; and a controller including an automatic braking control executing portion to execute an automatic braking control for permitting a brake apparatus to automatically operate, an avoidance control executing portion to execute, in addition to the automatic braking control, an avoidance control for permitting a steering apparatus to automatically operate, and an avoidance control prohibiting portion to prohibit execution of the avoidance control, wherein the avoidance control prohibiting portion prohibits execution of the avoidance control when the lateral object detecting device detects a lateral moving object that is moving on a lateral side of an own vehicle in the same direction as the own vehicle is travelling and there is a risk that the own vehicle and the lateral moving object will collide with each other if the avoidance control is executed.
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Citations
5 Claims
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1. A vehicle collision avoidance assist system for assisting avoidance of a collision between an own vehicle on which the system is installed and an obstacle, the system comprising:
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a forward obstacle detecting device configured to detect, as a forward obstacle, one of objects present ahead of the own vehicle that will hinder the own vehicle from travelling forward; a lateral object detecting device configured to detect an object present on a lateral side of the own vehicle; and a controller configured to calculate a time to collision of the own vehicle with the forward obstacle detected by the forward obstacle detecting device, the forward obstacle being present in a driving lane of the own vehicle, execute an automatic braking control in which a brake apparatus installed on the own vehicle automatically operates to brake the own vehicle when the calculated time to collision is less than a first predetermined value, estimate a stop position of the own vehicle and estimating a position of the forward obstacle when the own vehicle has stopped, determine whether a collision of the own vehicle with the forward obstacle is unavoidable based on the estimated stop position of the own vehicle and the estimated position of the forward obstacle when the own vehicle has stopped, request to execute an avoidance control, in which a steering apparatus installed on the own vehicle automatically operates to enable the own vehicle to avoid the forward obstacle, when a collision of the own vehicle with the forward obstacle is determined to be unavoidable, determine an avoidance route for the own vehicle to avoid the forward obstacle, estimate a movement course of a lateral moving object when the lateral object detecting device detects the lateral moving object that is moving within the driving lane of the own vehicle on a lateral side of the own vehicle and travelling in a same direction as the own vehicle is travelling, determine whether the own vehicle will collide with the lateral moving object if the own vehicle travels along the avoidance route based on the determined avoidance route and the estimated movement course of the lateral moving object, allow execution of the avoidance control in which the steering apparatus enables the own vehicle to travel along the avoidance route when it is determined that the own vehicle will not collide with the lateral moving object, and prohibit execution of the avoidance control when it is determined that the own vehicle will collide with the lateral moving object. - View Dependent Claims (2, 3, 4, 5)
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Specification