COLLISION RISK CALCULATION DEVICE, COLLISION RISK DISPLAY DEVICE, AND VEHICLE BODY CONTROL DEVICE

• US 20170186319A1
• Filed: 12/09/2014
• Published: 06/29/2017
• Est. Priority Date: 12/09/2014
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: ABUKAWA, Masahiro, TSUSHIMA, Naoyuki
• Granted Patent: US 9,965,956 B2
• Time in Patent Office: Days
• 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 2554/4044 Direction of movement, e.g. backwards
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• 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
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A collision risk calculation device includes: a movement information obtaining unit that obtains a speed and a movement direction of an obstacle; and a risk map generator that generates a risk map indicating a range within which the obstacle can exist after one unit of time and degree of risk of collision of an own vehicle with the obstacle within the range, on a basis of the speed and the movement direction of the obstacle obtained by the movement information obtaining unit, wherein the risk map generator changes the range in left and right directions with respect to a traveling direction of the obstacle, on a basis of the speed of the obstacle in the traveling direction.

Claims

1. A collision risk calculation device comprising:

a movement information obtaining unit that obtains a speed and a movement direction of an obstacle; and

a risk map generator that generates a risk map indicating a range within which the obstacle can exist after one unit of time and degree of risk of collision of an own vehicle with the obstacle within the range, on a basis of the speed and the movement direction of the obstacle obtained by the movement information obtaining unit,

wherein the risk map generator changes the range in left and right directions with respect to a traveling direction of the obstacle, on a basis of the speed of the obstacle in the traveling direction.

2. The collision risk calculation device of claim 1, wherein the risk map generator:

calculates a movement prediction vector in the traveling direction of the obstacle, movement prediction vectors in the left and right directions with respect to the traveling direction of the obstacle, and resultant vectors of the movement prediction vector in the traveling direction and the movement prediction vectors in the left and right directions, on a basis of the speed obtained by the movement information obtaining unit;

calculates the movement prediction vectors in the left and right directions so that the movement prediction vectors in the left and right directions are shorter as the speed of the obstacle is higher and the movement prediction vectors in the left and right directions are longer as the speed of the obstacle is lower; and

determines the range so that the range includes the movement prediction vector in the traveling direction and the resultant vectors.

3. The collision risk calculation device of claim 1, wherein the risk map generator has a threshold regarding the speed, makes the range small in the left and right directions with respect to the traveling direction of the obstacle when the speed of the obstacle is higher than the threshold, and makes the range large in the left and right directions with respect to the traveling direction of the obstacle when the speed of the obstacle is lower than the threshold.

4. The collision risk calculation device of claim 1, further comprising a road surface information detector that detects a condition of a road surface,

wherein the risk map generator changes a size of the range on a basis of the detected condition of the road surface.

5. The collision risk calculation device of claim 1, further comprising an obstacle determiner that determines a type of the obstacle and tilt of the obstacle,

wherein when the obstacle determiner determines that the obstacle is a two-wheeler and the two-wheeler is tilted, the risk map generator makes the range large in a direction in which the two-wheeler is tilted.

6. The collision risk calculation device of claim 1, further comprising a risk map information storage unit that stores map data including information regarding a road map,

wherein the risk map generator changes a size of the range in the left and right directions with respect to the traveling direction of the obstacle, on a basis of the map data.

7. A collision risk display device comprising:

a display that displays a risk map indicating a range within which an obstacle can exist after one unit of time and degree of risk of collision of an own vehicle with the obstacle within the range; and

a map display controller that obtains the risk map and controls the display to display the obtained risk map, the range of the risk map being changed in left and right directions with respect to a traveling direction of the obstacle on a basis of a speed of the obstacle in the traveling direction.

8. A vehicle body control device comprising:

a vehicle body actuator that controls motion of an own vehicle on a basis of a risk map indicating a range within which an obstacle can exist after one unit of time and degree of risk of collision of an own vehicle with the obstacle within the range; and

a vehicle body controller that obtains the risk map and controls the vehicle body actuator on a basis of the obtained risk map, the range of the risk map being changed in left and right directions with respect to a traveling direction of the obstacle on a basis of a speed of the obstacle in the traveling direction.