VEHICLE COLLISION AVOIDANCE SUPPORTING APPARATUS AND VEHICLE COLLISION AVOIDANCE SUPPORTING METHOD
First Claim
Patent Images
1. A vehicle collision avoidance supporting apparatus comprising:
- a first-vehicle-information acquiring unit configured to acquire a driving state of a first vehicle which is a subject vehicle, the driving state of the first vehicle comprising a travel direction of the first vehicle;
a second-vehicle-information acquiring unit configured to acquire a driving state of a second vehicle moving in a direction of left-to-right or right-to-left in a view of the travel direction of the first vehicle, the driving state of the second vehicle comprising a travel direction of the second vehicle;
a collision possibility determining unit configured to determine, on a basis of the driving states of the first vehicle and the second vehicle, a possibility of collision between the first vehicle and the second vehicle at a collision point within an intersection when the first and second vehicles are approaching the intersection;
a warning unit configured to give a warning to a driver of the first vehicle if the collision between the first vehicle and the second vehicle is determined to be possible;
an approach direction determining unit configured to determine, on a basis of the driving state of the second vehicle, the approaching direction of the second vehicle, which is either of the left-to-right direction or the right-to-left direction, from which the second vehicle is approaching the intersection;
a collision point determining unit configured to determine the collision point depending on the determined approaching direction of the second vehicle; and
a stop point setting unit configured to set, on a basis of the determined collision point, a stop target point for the first vehicle to stop,wherein the warning unit gives the warning to the driver when the first vehicle enters a predetermined range defined by the stop target point.
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Abstract
After determination of from which side, right or left, a second vehicle is approaching, a position of a collision point is determined, a position of a stop point is set from the determined collision point, and a warning is given at a position and timing of a warning point which is set to allow a first vehicle to stop before the set stop point.
32 Citations
9 Claims
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1. A vehicle collision avoidance supporting apparatus comprising:
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a first-vehicle-information acquiring unit configured to acquire a driving state of a first vehicle which is a subject vehicle, the driving state of the first vehicle comprising a travel direction of the first vehicle; a second-vehicle-information acquiring unit configured to acquire a driving state of a second vehicle moving in a direction of left-to-right or right-to-left in a view of the travel direction of the first vehicle, the driving state of the second vehicle comprising a travel direction of the second vehicle; a collision possibility determining unit configured to determine, on a basis of the driving states of the first vehicle and the second vehicle, a possibility of collision between the first vehicle and the second vehicle at a collision point within an intersection when the first and second vehicles are approaching the intersection; a warning unit configured to give a warning to a driver of the first vehicle if the collision between the first vehicle and the second vehicle is determined to be possible; an approach direction determining unit configured to determine, on a basis of the driving state of the second vehicle, the approaching direction of the second vehicle, which is either of the left-to-right direction or the right-to-left direction, from which the second vehicle is approaching the intersection; a collision point determining unit configured to determine the collision point depending on the determined approaching direction of the second vehicle; and a stop point setting unit configured to set, on a basis of the determined collision point, a stop target point for the first vehicle to stop, wherein the warning unit gives the warning to the driver when the first vehicle enters a predetermined range defined by the stop target point. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle collision avoidance supporting apparatus comprising:
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a first-vehicle-information acquiring unit configured to acquire a driving state of a first vehicle which is a subject vehicle, the driving state of the first vehicle comprising a travel direction of the first vehicle; a second-vehicle-information acquiring unit configured to acquire a driving state of a second vehicle moving in a direction crossing the travel direction of the first vehicle, the driving state of the second vehicle comprising a travel direction of the second vehicle; a collision possibility determining unit configured to determine, on a basis of the driving states of the first vehicle and the second vehicle, a possibility of collision between the first vehicle and the second vehicle at a collision point within an intersection when the first and second vehicles are approaching the intersection; a warning unit configured to give a warning to a driver of the first vehicle if the collision between the first vehicle and the second vehicle is determined to be possible; a driving-lane-position identifying unit configured to identify a lane position at which the second vehicle is traveling; a stop point setting unit configured to set, depending on the identified lane position of the second vehicle, a stop target point for the first vehicle to stop; and a warning point setting unit configured to set a warning point to allow the first vehicle to stop before the stop target point, wherein if the collision possibility determining unit determines that the collision between the first vehicle and the second vehicle is possible, the warning unit gives the warning to the driver upon passage of the first vehicle beyond the warning point.
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9. A vehicle collision avoidance supporting method comprising steps of:
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acquiring a first-vehicle-information of a first vehicle which is a subject vehicle, including a driving state of the first vehicle which comprises a travel direction of the first vehicle; acquiring a second-vehicle-information including a driving state of a second vehicle moving in a direction of left-to-right or right-to-left in a view of the travel direction of the first vehicle, the driving state of the second vehicle comprising a travel direction of the second vehicle; determining, based on the driving states of the first vehicle and the second vehicle, a possibility of collision between the first vehicle and the second vehicle at a collision point within an intersection when the first and second vehicles are approaching the intersection; determining the approaching direction of the second vehicle which is either of the left-to-right direction or the right-to-left direction, from which the second vehicle is approaching the intersection; determining the collision point depending on the determined approaching direction of the second vehicle; setting, on a basis of the determined collision point, a stop target point for the first vehicle to stop; setting a warning point to allow the first vehicle to stop before the stop target point; and giving a warning to a driver of the first vehicle if it is determined that the collision between the first vehicle and the second vehicle is possible and that the first vehicle passes beyond the warning point.
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Specification