Vehicle collision avoidance assist system

• US 10,486,692 B2
• Filed: 11/28/2016
• Issued: 11/26/2019
• Est. Priority Date: 01/26/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nishimura, Motoki
• Primary Examiner(s): Mancho, Ronnie M
• Application Number:
  US15/362,178
• Publication Number:
  US 20170210383A1
• Time in Patent Office: 1,093 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• 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 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• 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: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• 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 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

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.

Claims

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 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.

2. The vehicle collision avoidance assist system according to claim 1, further comprising a driving lane identifying device configured to identify the driving lane by recognizing a right boundary and a left boundary of the driving lane,

wherein the controller is configured to execute the avoidance control to enable the own vehicle to avoid the forward obstacle such that the own vehicle travels toward one of opposite sides of the forward obstacle on which a distance between the forward obstacle and a corresponding one of the right boundary and the left boundary of the driving lane is larger than the other of the opposite sides when the forward obstacle detecting device detects the forward obstacle in the driving lane.

3. The vehicle collision avoidance assist system according to claim 1, further comprising an alert device configured to issue an alert to a driver of the own vehicle when the calculated time to collision is greater than the first predetermined value and less than a second predetermined value, the second predetermined value being greater than the first predetermined value,

wherein the controller is configured to execute the automatic braking control when the driver performs no operation after the issuance of the alert and the calculated time to collision is less than the first predetermined value.

4. The vehicle collision avoidance assist system according to claim 1, wherein the lateral object detecting device includes a lateral millimeter wave radar.

5. The vehicle collision avoidance assist system according to claim 1, further comprising a stereo camera disposed on a front middle of a body of the own vehicle and including a pair of cameras arranged in a right-left direction of the own vehicle,

wherein the controller is configured to determine the avoidance route for the own vehicle to avoid the forward obstacle based on parallax images of the stereo camera.