System for Avoiding Collision with Multiple Moving Bodies

• US 20160335892A1
• Filed: 01/14/2015
• Published: 11/17/2016
• Est. Priority Date: 03/10/2014
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: UEYAMA, Mikio, OKADA, Takashi
• Granted Patent: US 10,262,534 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/042 by electrical means, e.g. using travel or force sensors
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/04 including control of propulsion units
• 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 10/22 including control of suspension systems
• CPC Class Codes: B60W 2050/143 Alarm means
• 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 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• 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 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 : the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18145 : Cornering
• CPC Class Codes: B60W 40/06 : Road conditions
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/01 : Detecting movement of traffic to be counted or controlled G08G1/07 - G08G1/14 take precedence
• CPC Class Codes: G08G 1/048 : with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
• CPC Class Codes: G08G 1/096725 : where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/123 : indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, tramstransmission of navigation instructions to vehicles G08G1/0968
• CPC Class Codes: G08G 1/164 : Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

When turning right (left) at an intersection and crossing an oncoming vehicle lane, this system makes it possible to avoid blocking travel of or colliding with a moving body moving in the oncoming vehicle lane due to stopping in the oncoming vehicle lane, and to avoid colliding with a moving body after crossing the oncoming vehicle lane. Given two or more moving bodies present in the advancement direction on the path of the local vehicle, the external environment is detected before the local vehicle intersects with the path of a first moving body, which will first intersect the local vehicle path; if at least two moving bodies are detected, i.e., the first moving body and a second moving body which has a path in which the position of intersection with the path of the local vehicle is further than the position of intersection between the path of the local vehicle and the path of the first moving body, then a first intersection time, at which the first position of intersection between the planned path of the local vehicle and the predicted path of the first moving body is reached, and a second intersection time, at which a second position of intersection between the planned path of the local vehicle and the predicted path of the second moving body is reached, are calculated, and on the basis of the difference between the first intersection time and the second intersection time, the deceleration relative to the first moving body and the second moving body is changed.

Claims

1. A vehicle control device which is configured to

detect an external environment before a local vehicle intersects with a path of a first moving body firstly intersecting with a travel path of the local vehicle,

when detecting at least two moving bodies, that is, the first moving body and a second moving body having a path in which a position intersecting with the travel path of the local vehicle is farther than a position where the path of the first moving body intersects with the travel path of the local vehicle,

obtain a first predicted intersection time at which the first moving body arrives at a first intersection position where the travel path of the local vehicle intersects with the path of the first moving body, and a second predicted intersection time at which the second moving body arrives at a second intersection position where the travel path of the local vehicle intersects with a path of the second moving body, and

change deceleration of the local vehicle according to a difference between the second intersection time and the first intersection time.

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

a manual operation change determination means which detects whether a driver of the local vehicle changes an operation of the local vehicle,

wherein, when the manual operation change determination means detects that the driver changes the operation, a control operation of the vehicle control device is released.

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

a manual operation change determination means which detects whether a driver of the local vehicle changes an operation of the local vehicle,

wherein, when the manual operation change determination means detects that the driver changes the operation, a control operation of the vehicle control device is released by a release pattern which is set by a release pattern setting means.

15. The vehicle control device according to claim 14,

wherein, in a case where any one of an amount of change in steering angle, an amount of change in depressing brake pedal, an amount of change in accelerator opening, an amount of change in yaw rate, and an amount of change in lateral acceleration of the local vehicle is larger than a predetermined value set in advance, the manual operation change determination means determines that the driver changes the operation of the local vehicle.

16. The vehicle control device according to claim 15,

wherein, when the manual operation change determination means determines that the driver changes the operation of the local vehicle, the release pattern setting means releases a control operation of the vehicle control device by taking a predetermined time.

2. A vehicle control device which is configured to

detect an external environment before a local vehicle intersects with a path of a first moving body firstly intersecting with a travel path of the local vehicle,

when detecting at least two moving bodies, that is, the first moving body and a second moving body having a path in which a position intersecting with the travel path of the local vehicle is farther than a position where the path of the first moving body intersects with the travel path of the local vehicle,

obtain a first predicted intersection time at which the first moving body arrives at a first intersection position where the travel path of the local vehicle intersects with the path of the first moving body, and a second predicted intersection time at which the second moving body arrives at a second intersection position where the travel path of the local vehicle intersects with a path of the second moving body, and

when the second intersection time is larger than a value obtained by adding a predetermined margin time to the first intersection time,

output an alarm at a time when a position of the local vehicle is at a position ahead of the first intersection position.

3. A vehicle control device which is configured to

detect an external environment before a local vehicle intersects with a path of a first moving body firstly intersecting with a travel path of the local vehicle,

when detecting at least two moving bodies, that is, the first moving body and a second moving body having a path in which a position intersecting with the travel path of the local vehicle is farther than a position where the path of the first moving body intersects with the travel path of the local vehicle,

obtain a first predicted intersection time at which the first moving body arrives at a first intersection position where the travel path of the local vehicle intersects with the path of the first moving body, and a second predicted intersection time at which the second moving body arrives at a second intersection position where the travel path of the local vehicle intersects with a path of the second moving body, and

when the second intersection time is larger than a value obtained by adding a predetermined margin time to the first intersection time,

set deceleration of the local vehicle at a position ahead of the first intersection position to be larger than that in case where the second intersection time is smaller than the value obtained by adding the predetermined margin time to the first intersection time.

6. The vehicle control device according to claim 3,

wherein the predetermined margin time is equal to or more than a total sum of a movement time of the first moving body at which the local vehicle detects a collision possibility with the first moving body but it is safe even without deceleration when the local vehicle crosses in front of the traveling first moving body, and a movement time of the second moving body at which the second moving body is not affected by the crossing local vehicle when the local vehicle crosses after the second moving body travels.

12. The vehicle control device according to claim 3,

wherein the predetermined margin time is set to 2 to 3 seconds.

4. A vehicle control device which is configured to

detect an external environment before a local vehicle intersects with a path of a first moving body firstly intersecting with a travel path of the local vehicle,

when detecting at least two moving bodies, that is, the first moving body and a second moving body having a path in which a position intersecting with the travel path of the local vehicle is farther than a position where the path of the first moving body intersects with the travel path of the local vehicle,

obtain a first predicted intersection time at which the first moving body arrives at a first intersection position where the travel path of the local vehicle intersects with the path of the first moving body, and a second predicted intersection time at which the second moving body arrives at a second intersection position where the travel path of the local vehicle intersects with a path of the second moving body, and

when the second intersection time is larger than a value obtained by adding a predetermined margin time to the first intersection time,

stop the local vehicle at a position ahead of the first intersection position.

5. A vehicle control device which is configured to

detect an external environment before a local vehicle intersects with a path of a first moving body firstly intersecting with a travel path of the local vehicle,

when detecting at least two moving bodies, that is, the first moving body and a second moving body having a path in which a position intersecting with the travel path of the local vehicle is farther than a position where the path of the first moving body intersects with the travel path of the local vehicle,

obtain a first predicted intersection time at which the first moving body arrives at a first intersection position where the travel path of the local vehicle intersects with the path of the first moving body, and a second predicted intersection time at which the second moving body arrives at a second intersection position where the travel path of the local vehicle intersects with a path of the second moving body,

when the second intersection time is larger than a value obtained by adding a predetermined margin time to the first intersection time,

output an alarm when the local vehicle is at a position ahead of the first intersection position, and

set deceleration of the local vehicle at a position ahead of the first intersection position to be larger than that in a case where the second intersection time is smaller than the value obtained by adding the predetermined margin time to the first intersection time.

7. A vehicle control device which is configured to,

when an intention of a right turn of a local vehicle with respect to an intersection in front thereof is detected,

detect a first moving body traveling on an oncoming vehicle lane of the local vehicle and a second moving body crossing a road after making a right turn at the intersection,

output a first intersection time when the first moving body in the oncoming vehicle lane having a possibility to intersect with a right turn path in the front intersection of the local vehicle arrives at an intersection position where the first moving body intersects with the right turn path of the local vehicle, and a second intersection time when the second moving body crossing the road after making a right turn having a possibility to intersect with the right turn path of the local vehicle arrives at an intersection position where the second moving body intersects with the right turn path of the local vehicle, and

change deceleration of the local vehicle according to a difference between the first intersection time and the second intersection time.

8. A vehicle control device which is configured to,

when an intention of a right turn of a local vehicle with respect to an intersection in front thereof is detected,

detect a first moving body traveling on an oncoming vehicle lane of the local vehicle and a second moving body crossing a road after making a right turn at the intersection,

output a first intersection time when the first moving body in the oncoming vehicle lane having a possibility to intersect with a right turn path in the front intersection of the local vehicle arrives at an intersection position where the first moving body intersects with the right turn path of the local vehicle, and a second intersection time when the second moving body crossing the road after making a right turn having a possibility to intersect with the right turn path of the local vehicle arrives at an intersection position where the second moving body intersects with the right turn path of the local vehicle, and

in a case where a difference between the first intersection time and the second intersection time is small,

set deceleration before a right turn of the local vehicle to be larger than that in a case where the difference is large.

9. A vehicle control device which is configured to,

when an intention of a right turn of a local vehicle with respect to an intersection in front thereof is detected,

detect a first moving body traveling on an oncoming vehicle lane of the local vehicle and a second moving body crossing a road after making a right turn at the intersection

output a first intersection time when the first moving body in the oncoming vehicle lane having a possibility to intersect with a right turn path in the front intersection of the local vehicle arrives at an intersection position where the first moving body intersects with the right turn path of the local vehicle, and a second intersection time when the second moving body crossing the road after making a right turn having a possibility to intersect with the right turn path of the local vehicle arrives at an intersection position where the second moving body intersects with the right turn path of the local vehicle, and

in a case where a difference between the first intersection time and the second intersection time is smaller than a predetermined margin time,

output an alarm before the local vehicle makes a right turn at the intersection.

11. The vehicle control device according to claim 9,

wherein the predetermined margin time is equal to or more than a total sum of a movement time of the first moving body at which the local vehicle detects a collision possibility with the first moving body but it is safe even without deceleration when the local vehicle crosses in front of the traveling first moving body, and a movement time of the second moving body at which the second moving body is not affected by the crossing local vehicle when the local vehicle crosses after the second moving body travels.

10. A vehicle control device which is configured to,

when an intention of a right turn of a local vehicle with respect to an intersection in front thereof is detected,

detect a first moving body traveling on an oncoming vehicle lane of the local vehicle and a second moving body crossing a road after making a right turn at the intersection,

output a first intersection time when the first moving body in the oncoming vehicle lane having a possibility to intersect with a right turn path in the front intersection of the local vehicle arrives at an intersection position where the first moving body intersects with the right turn path of the local vehicle, and a second intersection time when the second moving body crossing the road after making a right turn having a possibility to intersect with the right turn path of the local vehicle arrives at an intersection position where the second moving body intersects with the right turn path of the local vehicle, and

in a case where a difference between the first intersection time and the second intersection time is smaller than a predetermined margin time,

stop the local vehicle before the local vehicle makes a right turn at the intersection.

17. A vehicle control device which is configured to

when an intention of a right turn of a local vehicle with respect to an intersection in front thereof is detected,

detect a first moving body traveling in a lane on the center side among a plurality of oncoming vehicle lanes of the local vehicle,

output a first intersection time when the first moving body in the oncoming vehicle lane having a possibility to intersect with a right turn path in the front intersection of the local vehicle arrives at an intersection position where the first moving body intersects with the right turn path of the local vehicle,

virtually set a second moving body which travels on another lane among the oncoming vehicle lanes but is not able to be detected by the first moving body,

estimate a speed of the virtually-set second moving body from a speed of the local vehicle, a speed of the first moving body, a lane width of the plurality of oncoming vehicle lanes, and a vehicle width of the oncoming vehicle,

estimate a distance of the virtually-set second moving body from a position of the first moving body, the lane width of the plurality of oncoming vehicle lanes, and the vehicle width of the oncoming vehicle,

output a second intersection time when the virtually-set second moving body having a possibility to intersect with the right turn path in the front intersection of the local vehicle arrives at an intersection position where the second moving body intersects with the right turn path of the local vehicle, and

in a case where a difference between the first intersection time and the second intersection time is smaller than a predetermined margin time,

stop the local vehicle before the local vehicle makes a right turn at the intersection.