Collision predicting apparatus and collision predicting method
First Claim
1. A collision predicting apparatus, comprising:
- a subject target detector portion that detects a plurality of subject targets which exist in a course of the vehicle and which have a possibility of colliding with the vehicle;
a relative quantity detector portion that detects a relative quantity between the vehicle and each of the subject targets detected by the subject target detector portion;
a collision time calculator portion that predicts and calculates a collision time of each of the subject targets until a collision with the vehicle, by using the relative quantity between the vehicle and each of the subject targets detected by the relative quantity detector portion;
a collision subject target selector portion that selects a collision subject target having a high possibility of colliding with the vehicle based on at least the collision time of each of the subject targets calculated by the collision time calculator portion;
a collision predictor portion that predicts a collision between the collision subject target selected by the collision subject target selector portion and the vehicle by using the collision time of the collision subject target;
a relative lateral position calculation portion that calculates a relative lateral position between the center axis of the vehicle and each of the subject targets;
an estimate relative lateral position calculation portion that calculates an estimated relative lateral position based on a radius of a curve the vehicle is traveling along; and
wherein the collision subject target selector portion excludes the subject targets from the collision subject target if at least one of the relative lateral position and the estimated relative lateral position is greater than a predetermined distance.
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Abstract
A collision predicting apparatus detects subject targets present in the traveling course of the own vehicle by using the relative distance and the relative velocity, etc. The apparatus also calculates the predicted collision time of each subject target on the basis of the relative distance and the relative velocity. The apparatus also detects the relative lateral position of each subject target, and corrects the relative lateral position. The apparatus then executes a collision-predicted target selecting routine, in which the predicted collision time of each subject target that does not meet a predetermined condition is set at a predetermined maximum value. The apparatus selects a subject target that meets the predetermined condition as a collision subject target, and predicts whether the collision subject target will collide with the own vehicle.
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Citations
20 Claims
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1. A collision predicting apparatus, comprising:
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a subject target detector portion that detects a plurality of subject targets which exist in a course of the vehicle and which have a possibility of colliding with the vehicle; a relative quantity detector portion that detects a relative quantity between the vehicle and each of the subject targets detected by the subject target detector portion; a collision time calculator portion that predicts and calculates a collision time of each of the subject targets until a collision with the vehicle, by using the relative quantity between the vehicle and each of the subject targets detected by the relative quantity detector portion; a collision subject target selector portion that selects a collision subject target having a high possibility of colliding with the vehicle based on at least the collision time of each of the subject targets calculated by the collision time calculator portion; a collision predictor portion that predicts a collision between the collision subject target selected by the collision subject target selector portion and the vehicle by using the collision time of the collision subject target; a relative lateral position calculation portion that calculates a relative lateral position between the center axis of the vehicle and each of the subject targets; an estimate relative lateral position calculation portion that calculates an estimated relative lateral position based on a radius of a curve the vehicle is traveling along; and wherein the collision subject target selector portion excludes the subject targets from the collision subject target if at least one of the relative lateral position and the estimated relative lateral position is greater than a predetermined distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for controlling a vehicle that includes a plurality of different occupant protection devices comprising:
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detecting a plurality of subject targets that exist in a course of the vehicle and that have a possibility of colliding with the vehicle; detecting a relative quantity between the vehicle and each of the subject targets detected; predicting and calculating a collision time of each of the subject targets preceding a collision with the vehicle, by using the relative quantity between the vehicle and each of the subject targets detected; selecting a collision subject target having a high possibility of colliding with the vehicle based on at least the collision time of each of the subject targets calculated; a collision predictor portion that predicts a collision between the collision subject target selected by the collision subject target selector portion and the vehicle by using the collision time of the collision subject target; calculating a relative lateral position between the center axis of the vehicle and each of the subject targets; calculating an estimated relative lateral position based on a radius of a curve the vehicle is traveling along; and excluding the subject targets from the collision subject target if at least one of the relative lateral position and the estimated relative lateral position is greater than a predetermined distance. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A collision predicting apparatus, comprising:
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a subject target detector portion that detects a plurality of subject targets which exist in a course of the vehicle and which have a possibility of colliding with the vehicle; a relative quantity detector portion that detects a relative quantity between the vehicle and each of the subject targets detected by the subject target detector portion; a collision time calculator portion that predicts and calculates a collision time of each of the subject targets until a collision with the vehicle, by using the relative quantity between the vehicle and each of the subject targets detected by the relative quantity detector portion; a collision subject target selector portion that selects a collision subject target having a high possibility of colliding with the vehicle based on at least the collision time of each of the subject targets calculated by the collision time calculator portion; a collision predictor portion that predicts a collision between the collision subject target selected by the collision subject target selector portion and the vehicle by using the collision time of the collision subject target; a relative lateral position calculation portion that calculates a relative lateral position between the center axis of the vehicle and each of the subject targets; an estimate relative lateral position calculation portion that calculates an estimated relative lateral position based on a radius of a curve the vehicle is traveling along; and a collision time corrector portion that corrects the collision time predicted and calculated by the collision time calculator portion using a predetermined relative quantity among the relative quantities detected by the relative quantity detector portion, wherein the collision time corrector portion corrects the collision time of each of the subject targets by setting the collision time to a predetermined maximum value if at least one of the relative lateral position and the estimated relative lateral position is greater than a predetermined distance. - View Dependent Claims (20)
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Specification