COLLISION AVOIDANCE ASSIST APPARATUS, COLLISION AVOIDANCE ASSIST METHOD, AND PROGRAM

• US 20150307093A1
• Filed: 04/13/2015
• Published: 10/29/2015
• Est. Priority Date: 04/24/2014
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: SASABUCHI, Yoji
• Granted Patent: US 10,246,089 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters

Abstract

A collision avoidance assist apparatus includes: an object detection part configured to detect a second moving object that crosses ahead in a travel direction of a first moving object; an estimation part configured to estimate a relationship between a future location of the first moving object and a future location of the second moving object based on a location of the detected second moving object; and a determination part configured to determine that there is a possibility that the first moving object and the second moving object will collide with each other in a case where the second moving object is capable of passing the first moving object without colliding with the first moving object based on the estimated relationship and a relationship between the first moving object and the second moving object when the second moving object passes the first moving object satisfies a predetermined condition.

Claims

1. A collision avoidance assist apparatus comprising:

an object detection part configured to detect a second moving object that crosses ahead in a travel direction of a first moving object;

an estimation part configured to estimate a relationship between a future location of the first moving object and a future location of the second moving object based on a location of the second moving object detected by the object detection part; and

a determination part configured to determine that there is a possibility that the first moving object and the second moving object will collide with each other in a case where the second moving object is capable of passing the first moving object without colliding with the first moving object based on the relationship estimated by the estimation part and a relationship between the first moving object and the second moving object when the second moving object passes the first moving object satisfies a predetermined condition.

2. The collision avoidance assist apparatus according to claim 1, wherein

the determination part obtains a hazard region including an extension region that extends rearward in a travel direction of the second moving object positioned at the future location based on the future location of the second moving object estimated by the estimation part and determines that there is a possibility that the first moving object will collide with the second moving object in a case where the hazard region and the future location of the first moving object overlap each other.

3. The collision avoidance assist apparatus according to claim 2, wherein

the determination part changes the size of the extension region depending on the amplitude of a speed of the second moving object.

4. The collision avoidance assist apparatus according to claim 1, wherein

the determination part determines that there is a possibility that the first moving object and the second moving object will collide with each other in a case where a distance between the future location of the first moving object and the future location of the second moving object based on the relationship estimated by the estimation part is less than a predetermined distance, or in a case where an amount of time for the first moving object to arrive at a path of the second moving object indicated by the future location is less than a predetermined amount of time.

5. The collision avoidance assist apparatus according to claim 4, wherein

the determination part changes the predetermined distance or the predetermined time depending on the amplitude of a speed of the second moving object.

6. A collision avoidance assist apparatus comprising:

an object detection part configured to detect a second moving object that crosses ahead in a travel direction of a first moving object;

an estimation part configured to estimate a relationship between a future location of the first moving object and a future location of the second moving object based on a location of the second moving object detected by the object detection part; and

a drive assist part configured to perform a drive assist of the first moving object in a case where the second moving object is capable of passing the first moving object without colliding with the first moving object and the relationship estimated by the estimation part satisfies a predetermined condition.

7. A collision avoidance assist method comprising:

(a) detecting a second moving object that crosses ahead in a travel direction of a first moving object;

(b) estimating a relationship between a future location of the first moving object and a future location of the second moving object based on a location of the second moving object detected in (a); and

(c) determining that there is a possibility that the first moving object and the second moving object will collide with each other in a case where the second moving object is capable of passing the first moving object without colliding with the first moving object and the relationship estimated in (b) satisfies a predetermined condition.

8. A non-transitory computer-readable recording medium including a program for causing a computer to execute:

(a) detecting a second moving object that crosses ahead in a travel direction of a first moving object;

(b) estimating a relationship between a future location of the first moving object and a future location of the second moving object based on a location of the second moving object detected in (a); and

(c) determining that there is a possibility that the first moving object and the second moving object will collide with each other in a case where the second moving object is capable of passing the first moving object without colliding with the first moving object and the relationship estimated in (b) satisfies a predetermined condition.