Collision determination device and vehicle behavior control device
First Claim
1. A collision determination device comprising:
- three-dimensional object detection means for detecting a three-dimensional object existing around;
current state processing means for calculating current motion and positional states of the three-dimensional object by a statistical processing;
state estimation means for estimating motion and positional states of the three-dimensional object after a preset time period, by a statistical processing, based on the calculated current motion and positional states; and
contact probability calculation means for calculating a probability of contact with the three-dimensional object based on the estimated positional state of the three-dimensional object after the preset time period.
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Accused Products
Abstract
A control unit 5 calculates, by a statistical processing, the current front/rear-directional acceleration, the current front/rear-directional velocity, and the current front/rear-directional position of the three-dimensional object to be determined while considering an error caused by a camera. These values are used in the statistical processing so as to calculate the front/rear-directional acceleration after Δt seconds, the front/rear-directional velocity after Δt seconds, and the front/rear-directional position after Δt seconds, and so as to obtain a probability of contact after Δt seconds based on the front/rear-directional position after Δt seconds.
28 Citations
12 Claims
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1. A collision determination device comprising:
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three-dimensional object detection means for detecting a three-dimensional object existing around;
current state processing means for calculating current motion and positional states of the three-dimensional object by a statistical processing;
state estimation means for estimating motion and positional states of the three-dimensional object after a preset time period, by a statistical processing, based on the calculated current motion and positional states; and
contact probability calculation means for calculating a probability of contact with the three-dimensional object based on the estimated positional state of the three-dimensional object after the preset time period. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A vehicle behavior control device comprising:
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target behavior calculation means for calculating a target behavior of an own vehicle based on a driving state of the own vehicle;
three-dimensional object information detection means for detecting three-dimensional object information ahead of the own vehicle;
determination object selection means for extracting a determination object whose possibility of contact with the own vehicle is determined out of the detected three-dimensional objects;
determination object current state processing means for calculating a current motion and positional states of the determination object;
determination object state estimation means for estimating the motion and positional states of the determination object after a preset time period based on the calculated current motion and positional states of the determination object;
contact probability calculation means for calculating a probability of contact of the own vehicle with the determination object based on the motion and positional states of the determination object after the preset time period estimated by the determination object state estimation means;
target behavior correction amount calculation means for setting an objective function relating at least the probability of contact and a target behavior correction amount and providing a minimum value, and calculating the target behavior correction amount where the objective function takes the minimum value; and
control means for setting a control amount based on the target behavior and the target behavior correction amount. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification