VEHICLE CONTROL APPARATUS

• US 20140200799A1
• Filed: 09/19/2012
• Published: 07/17/2014
• Est. Priority Date: 09/22/2011
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Sugano, Takeshi, Kobayashi, Masahiro, Gokan, Toshimichi
• Granted Patent: US 9,415,774 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60Q 9/006 using a distance sensor
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18009 related to particular drive situations
• CPC Class Codes: B60W 30/18027 Drive off, accelerating from standstill
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2015/932 for parking operations
• CPC Class Codes: G01S 2015/938 in the bumper area radar in bumper area G01S2013/93275; bumper with obstacle sensor of electric or electronic type B60R19/483
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A vehicle control device basically includes a first risk computation unit, a second risk computing unit and a first risk adjustment unit. The first risk computation unit calculates a first risk with respect to a nearby obstacle located in a nearby detection region near a host vehicle. The second risk computing unit calculates a second risk with respect to a remote obstacle located further from the nearby detection region. The first risk adjustment unit adjusts at least one of the first and the second risks to preferentially execute a warning or vehicle control based on one of the first risk or the second risk versus a warning or vehicle control based on the other of the first risk or the second risk based on an entry state of the host vehicle of entering a planned parking place, or an exit state of the host vehicle of exiting from a parking place.

Claims

1. A vehicle control device comprising:

a first obstacle detection unit that detects a first obstacle located within a nearby detection region near a host vehicle equipped with the vehicle control device;

a second obstacle detection unit that detects a second obstacle located further than the nearby detection region in a direction in which the first obstacle detection unit detects the first obstacle;

a risk calculation unit that calculates a first risk indicative of a possibility that the first obstacle detected by the first obstacle detection unit and the host vehicle will come into contact with the first obstacle, and for calculating a second risk indicative of a possibility that the second obstacle detected by the second obstacle detection unit and the host vehicle will come into contact with the second obstacle;

a risk determination unit that determines whether or not to execute a warning to a driver of the host vehicle, or, whether or not to execute vehicle control of the host vehicle based on the first and second risks;

a warning control unit that executes the warning or the vehicle control based on a determination result of the risk determination unit;

a parking state determination unit that determines whether the host vehicle is in an entry state of entering a planned parking place, or the host vehicle is in an exit state of exiting a parking place; and

a first risk adjustment unit that adjusts at least one of the first and second risks based on a determination result from the parking state determination unit to preferentially execute the warning or vehicle control based on one of the first and second risks versus the warning or vehicle control based on the other of the first and second risk; and

the first risk adjustment unit carries out at least one of an adjustment that increases the first risk, and an adjustment that reduces the second risk when the parking state determination unit determines that the host vehicle is in the entry state; and

the first risk adjustment unit carries out at least one of an adjustment that reduces the first risk, and an adjustment that increases the second risk when the parking state determination unit determines that the host vehicle is in the exit state.

2. The vehicle control device according to claim 1, further comprising:

a position and attitude detection unit that detects the position or the attitude of the host vehicle in relation to the first obstacle; and

a second risk adjustment means for adjusting at least one of the first and the second risks based on the position or the attitude of the host vehicle detected by the position and attitude detection unit.

3. The vehicle control device according to claim 2, wherein

the position and attitude detection unit detects a traveling direction of the host vehicle;

and

the second risk adjustment unit carrying out at least one of an adjustment that increases the first risk and an adjustment that reduces the second risk as the traveling direction of the host vehicle becomes more in a direction oriented toward the first obstacle; and

the second risk adjustment unit carrying out at least one of an adjustment that decreases the first risk and an adjustment that increases the second risk as the traveling direction of the host vehicle becomes more oriented in a direction away from the first obstacle.

4. The vehicle control device according to claim 2, wherein

the position and attitude detection unit detects a distance from the host vehicle to the first obstacle;

and

the second risk adjustment unit carrying out at least one of an adjustment that increases the first risk and an adjustment that decreases the second risk as the distance from the host vehicle to the first obstacle becomes shorter; and

the second risk adjustment unit carrying out at least one of an adjustment that decreases the first risk and an adjustment that increases the second risk as the distance from the host vehicle to the first obstacle becomes longer.

5. The vehicle control device according to claim 2, wherein

the position and attitude detection unit estimates a travel path for the host vehicle, and calculates a distance between the travel path and the first obstacle;

and

the second risk adjustment unit carrying out at least one of an adjustment that increases the first risk and an adjustment that decreases the second risk as the distance between the travel path and the first obstacle becomes shorter; and

the second risk adjustment unit carrying out at least one of an adjustment that decreases the first risk and an adjustment that increases the second risk as the distance between the travel path and the first obstacle becomes longer.

6. The vehicle control device according to claim 2, wherein

the position and attitude detection unit calculates an offset amount of the distance between an end on the host vehicle farthest from the planned parking place and the planned parking place;

and

the second risk adjustment unit carrying out at least one of an adjustment that increases the first risk and an adjustment that decreases the second risk as the offset amount becomes smaller; and

the second risk adjustment unit carrying out at least one of an adjustment that decreases the first risk and an adjustment that increases the second risk as the offset amount becomes larger.

7. The vehicle control device according to claim 1, wherein

the first obstacle detection unit is configured to detect entry of a third obstacle different from the first obstacle that enters between the host vehicle and the first obstacle;

and

the warning control unit preferentially executes the warning or the vehicle control with respect to the entry of the third obstacle versus the warning or vehicle control based on the first risk or the second risk.

8. A vehicle control device comprising:

an obstacle detection unit that detects a remote obstacle located further from a nearby region near a vehicle;

a risk calculation unit that calculates a risk indicative of a possibility that the remote obstacle detected by the obstacle detection unit and the host vehicle will come into contact with the remote obstacle;

a risk determination unit that determines whether or not to execute a warning to a driver of the host vehicle, or whether or not to execute vehicle control of the host vehicle based on the risk;

a warning control unit that executes the warning or the vehicle control based on a determination results of the risk determination unit;

a parking state determination unit that determines whether the host vehicle is in an entry state of entering a planned parking place, or in an exit state of exiting the parking place; and

a risk adjustment unit that adjusts the risk based on a determination result from the parking state determination unit; and

the risk adjustment unit carrying out an adjustment that decreases the risk when the parking state determination unit determines that the host vehicle is in the entry state, and the risk adjustment unit carrying out an adjustment that increases the risk when the parking state determination unit determines that the host vehicle is in the exit state.