OBSTACLE AVOIDANCE CONTROL DEVICE AND RECORDING MEDIUM
First Claim
1. An obstacle avoidance control device comprising:
- a detector for detecting a distance between a vehicle and an obstacle and a relative speed of the vehicle with respect to the obstacle;
a memory which stores a map for computing a vehicle resultant force for avoiding the obstacle based on a parameter specified by a physical quantity determined based on a component vx in the vehicle longitudinal direction of the relative speed, a component vy in a vehicle lateral direction of the relative speed and a vehicle lateral direction distance Ye′
for avoiding the obstacle; and
a computing unit for computing the parameter based on the distance and the relative speed detected by the detector and the vehicle resultant force using the computed parameter and the map.
1 Assignment
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Accused Products
Abstract
An obstacle avoidance control device has a detector for detecting the distance between a vehicle and an obstacle and the relative speed of the vehicle with respect to the obstacle, a memory for storing a map for calculating vehicle generation force to avoid the obstacle based on a parameter set by a physical quantity determined by a component Vx in the vehicle front-rear direction as of the relative speed, a component Vy in the vehicle lateral direction of the relative speed, and a distance Ye′ in the vehicle lateral direction, for avoiding the obstacle, and a computing unit for computing the parameter based on the distance and the relative speed that are detected by the detector and computing vehicle generation force by using the calculated parameter and the map.
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Citations
13 Claims
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1. An obstacle avoidance control device comprising:
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a detector for detecting a distance between a vehicle and an obstacle and a relative speed of the vehicle with respect to the obstacle; a memory which stores a map for computing a vehicle resultant force for avoiding the obstacle based on a parameter specified by a physical quantity determined based on a component vx in the vehicle longitudinal direction of the relative speed, a component vy in a vehicle lateral direction of the relative speed and a vehicle lateral direction distance Ye′
for avoiding the obstacle; anda computing unit for computing the parameter based on the distance and the relative speed detected by the detector and the vehicle resultant force using the computed parameter and the map. - View Dependent Claims (3, 4, 9, 10)
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2. An obstacle avoidance control device comprising:
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a detector for detecting a distance between a vehicle and an obstacle and a relative speed of the vehicle with respect to the obstacle; a memory which stores a map for computing a vehicle resultant force for avoiding the obstacle based on a first parameter specified by a physical quantity determined based on a component vx in the vehicle longitudinal direction of the relative speed and a vehicle lateral direction distance Ye′
for avoiding the obstacle and a second parameter specified by a physical quantity determined based on a component vy in the vehicle lateral direction of the relative speed and a vehicle lateral direction distance Ye′
for avoiding the obstacle; anda computing unit for computing the first parameter and the second parameter based on the distance detected by the detector and the relative speed and for computing the vehicle resultant force using the computed first parameter and second parameter and the map. - View Dependent Claims (5, 6, 7, 8)
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11. A recording medium recording an obstacle avoidance control program which causes a computer to carry out processing comprising:
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importing a distance between a vehicle and an obstacle and a relative speed of the vehicle with respect to the obstacle, which are detected by a detector for detecting the distance and the relative speed; computing a vehicle resultant force for avoiding the obstacle based on a parameter specified by a physical quantity determined based on a component vx in the vehicle longitudinal direction of the relative speed, a component vy in the vehicle lateral direction of the relative speed, and a vehicle lateral direction distance Ye for avoiding the obstacle; and computing the parameter based on the distance and the relative speed detected by the detector, and using the computed parameter and the map to compute the vehicle resultant force. - View Dependent Claims (13)
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12. A recording medium recording an obstacle avoidance control program which causes a computer to carry out processing comprising:
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importing a distance between a vehicle and an obstacle and a relative speed of the vehicle with respect to the obstacle, which are detected by a detector for detecting the distance and the relative speed; computing, based on the imported information, a first parameter specified by a physical quantity determined based on a component vx in the vehicle longitudinal direction of the relative speed and a vehicle lateral direction distance Ye′
for avoiding the obstacle, and a second parameter specified by a physical quantity determined based a component vy in the vehicle lateral direction of the relative speed and the vehicle lateral direction distance Ye′
for avoiding the obstacle;read out a map for computing, based on the first parameter and the second parameter, a vehicle resultant force for avoiding the obstacle, from a memory in which the map is stored; and compute the vehicle resultant force for avoiding the obstacle based on the calculated first parameter, the calculated second parameter and the read out map.
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Specification