COLLISION AVOIDANCE ASSISTANCE DEVICE

• US 20150094943A1
• Filed: 03/19/2012
• Published: 04/02/2015
• Est. Priority Date: 03/19/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yoshihama, Yuki, Okita, Toshinori
• Granted Patent: US 9,604,640 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

Disclosed is a collision avoidance assistance device including: an assistance region setting unit is configured to set an assistance region in the vicinity of a vehicle based on a set lateral acceleration determined according to a vehicle speed during steering; and an assistance control unit is configured to permit collision avoidance assistance for the vehicle when an obstacle is detected within the assistance region.

Claims

1. A collision avoidance assistance device comprising:

an assistance region setting unit configured to set an assistance region in the vicinity of a vehicle based on a set lateral acceleration determined according to a vehicle speed during steering; and

an assistance control unit configured to permit collision avoidance assistance for the vehicle when an obstacle is detected within the assistance region.

2. The collision avoidance assistance device according to claim 1,

wherein the assistance region setting unit is configured to further set the assistance region based on a time until a lateral acceleration of the vehicle reaches the set lateral acceleration.

3. The collision avoidance assistance device according to claim 1,

wherein the assistance region setting unit is configured to further set the assistance region based on a lateral interval set in a vehicle width direction.

4. The collision avoidance assistance device according to, claim 1,

wherein the assistance region setting unit is configured to set the assistance region based on a turning locus of the vehicle.

5. The collision avoidance assistance device according to claim 4,

wherein the assistance region setting unit is configured to set the assistance region based on an approximate equation of a clothoid curve.

6. The collision avoidance assistance device according to claim 5,

wherein the assistance region setting unit is configured to set the assistance region based on the following equation:

y=Gyd·

x³/(6T·

Vs³)−

W

where y represents a distance from the center of a front surface of the vehicle in a vehicle width direction, Gyd represents the set lateral acceleration, x represents a distance from the center of the front surface of the vehicle in a traveling direction, T represents a time until a lateral acceleration of the vehicle reaches the set lateral acceleration, Vs represents the vehicle speed, and W represents the lateral interval.

7. The collision avoidance assistance device according to claim 1,

wherein the assistance region setting unit is configured to update the setting of the assistance region based on a lateral acceleration that varies during a turning of the vehicle.

8. The collision avoidance device according to claim 7,

wherein the assistance region setting unit is configured to update the setting of the assistance region to become narrower toward the vehicle as the lateral acceleration of the vehicle becomes larger.