COLLISION POSITION PREDICTING DEVICE

• US 20130013184A1
• Filed: 07/12/2012
• Published: 01/10/2013
• Est. Priority Date: 01/12/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: MOROTOMI, Kohei, KATOH, Masayuki, HAYASHI, Hideaki
• Granted Patent: US 8,849,558 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The present invention is intended to provide a technique which is capable of detecting a collision position of a moving object crossing a road and a subject vehicle with a higher degree of accuracy. In the present invention, in cases where the moving object crossing the road into which the subject vehicle has entered is detected at the time when the subject vehicle has turned to the right or to the left, the direction of a moving vector of the moving object is fixed to a direction which is set based on a shape of the road into which the subject vehicle has turned to the right or to the left. Then, the collision position of the moving object and the subject vehicle is predicted based on this moving vector of which the direction is fixed.

Claims

1. A collision position predicting device comprising:

moving object detection unit to detect a moving object on a road; and

collision position predicting unit to predict, upon detection of a moving object crossing the road by the moving object detection unit, the collision position of the moving object and the subject vehicle based on a moving vector of the moving object;

wherein in cases where the moving object crossing the road into which the subject vehicle has entered is detected at the time when the subject vehicle has turned to the right or to the left, the direction of the moving vector of said moving object used for the prediction of the collision position by said collision position predicting unit is set to a direction vertical to the road into which the subject vehicle has entered.

2. The collision position predicting device as set forth in claim 1, wherein

in cases where the moving object crossing the road into which the subject vehicle has entered is detected at the time when the subject vehicle has turned to the right or to the left, a moving vector calculated from position information on said moving object is decomposed into a road direction component in the direction of the road into which the subject vehicle has entered and a vertical direction component which is vertical to said road, and said vertical direction component is used as the moving vector of said moving object which is used for the prediction of the collision position by said collision position predicting unit.

3. The collision position predicting device as set forth in any one of claim 1, wherein

in cases where a pedestrian crossing is formed on the road into which the subject vehicle has turned to the right or to the left to enter and the moving object crossing the road detected by said moving object detection unit exists on said pedestrian crossing, the direction of the moving vector of said moving object to be used for the prediction of the collision position by said collision position predicting unit is set to the direction of said pedestrian crossing in preference to the vertical direction with respect to the road into which the subject vehicle has entered.

4. The collision position predicting device as set forth in claim 3, wherein

in cases where the moving object crossing the road detected by said moving object detection unit exists on said pedestrian crossing, a moving vector calculated from position information on said moving object is decomposed into a pedestrian crossing direction component and a vertical direction component which is vertical to said pedestrian crossing, and said pedestrian crossing direction component is used as the moving vector of said moving object which is used for the prediction of the collision position by said collision position predicting unit.

5. The collision position predicting device as set forth claim 1, further comprising:

obtaining unit to obtain the shape of a road into which the subject vehicle has entered at the time when the subject vehicle has turned to the right or to the left; and

calculating unit to calculate the direction vertical to the road into which the subject vehicle has entered based on the shape of the road obtained by said obtaining unit.