COLLISION AVOIDANCE SUPPORT DEVICE

• US 20180178783A1
• Filed: 12/20/2017
• Published: 06/28/2018
• Est. Priority Date: 12/22/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: SAIKI, Kotaro
• Granted Patent: US 10,471,954 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• 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 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2710/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2710/202 Steering torque
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 2754/20 Lateral distance
• 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: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance support device comprises: target detection unit for detecting an target existing in front of a vehicle travelling on a road; target type determination unit for detecting which of a moving object and a stationary object the target detected by the target detection unit is; obstacle determination unit for determining whether or not the target detected by the target detection unit is an obstacle which is likely to collide with the vehicle; and traveling direction automatic control unit. The traveling direction automatic control unit is configured to calculate the selected avoidance path so that the distance margin of when the obstacle determination unit determines that the obstacle is the moving object is larger than the distance margin of when the obstacle determination unit determines that the obstacle is the stationary object.

Claims

1. A collision avoidance support device, comprising:

target detection means for detecting an target existing in front of a vehicle travelling on a road;

target type determination means for detecting which of a moving object and a stationary object said target detected by said target detection means is;

obstacle determination means for determining whether or not said target detected by said target detection means is an obstacle which is likely to collide with said vehicle; and

traveling direction automatic control means,

said traveling direction automatic control means being configured to;

calculate an avoidance path which is a travelling path of said vehicle to avoid a collision with said obstacle;

identify said avoidance path as a selected avoidance path when a distance margin which is a distance between said avoidance path and said obstacle in a width direction of said road is larger than a predetermined limit value; and

execute traveling direction automatic control of changing a traveling direction of said vehicle so that said vehicle travels along said selected avoidance path,

wherein,

said traveling direction automatic control means is configured to calculate said selected avoidance path so that said distance margin of when said obstacle determination means determines that said obstacle is said moving object is larger than said distance margin of when said obstacle determination means determines that said obstacle is said stationary object.

2. A collision avoidance support device according to claim 1, wherein said traveling direction automatic control means is configured to:

calculate a predicted path which is said avoidance path obtained by adding a maximum change amount of a lateral force capable of acting on said vehicle in a moving direction parallel to a width of said road to a lateral acceleration currently acting on said vehicle in said moving direction when said obstacle determination means determines that said moving object moving with respect to said road in said moving direction is said obstacle; and

identify said predicted path as said selected avoidance path when said distance margin between said predicted path and said obstacle is larger than a predetermined moving obstacle limit value which is said limit value.

3. A collision avoidance support device according to claim 1 or 2, wherein said traveling direction automatic control means is configured to:

calculate collision avoidance distances, which are distances in said width direction of said road and are distances of left and right collision avoidance spaces positioned on both left and right sides of said obstacle respectively, when said obstacle determination means determines that said stationary object is said obstacle;

select one of said left and right collision avoidance spaces as a selected collision avoidance space, the one of left and right collision avoidance spaces having said collision avoidance distance longer than said collision avoidance distance of the other of left and right collision avoidance spaces;

be able to calculate a plurality of said avoidance paths passing through said selected collision avoidance space as a plurality of said predicted paths in a predetermined order, said plurality of said avoidance paths corresponding to a plurality of values, which are each obtained by changing said lateral acceleration currently acting on said vehicle in said width direction of said road by a fixed amount, respectively; and

stop calculating said predicted paths and identify said predicted path having said distance margin larger than a predetermined stationary obstacle limit value, which is said limit value, when said distance margin becomes larger than said stationary obstacle limit value.

4. A collision avoidance support device according to claim 1, further comprising:

relative position determination means for detecting relative position between one travel lane, on which said vehicle travels, and said target, said travel lane being part of said road,

wherein,

said target type determination means is configured to determine that said target is said moving object when said relative position determination means detects that said target is positioned between a pair of white lines which are formed on left and right side ends of said travel lane respectively.

5. A collision avoidance support device according to claim 1, wherein,

said target type determination means is configured to determine that said target is said moving object when said target detected by said target detection means is a pedestrian.

6. A collision avoidance support device according to claim 5, wherein,

said target type determination means is configured to determine that said target is said stationary object when said target detected by said target detection means is a long object which extends in a traveling direction of said vehicle and has a length equal to or more than a predetermined distance threshold.

7. A collision avoidance support device according to claim 6, wherein,

said traveling direction automatic control means is configured to be prohibited from executing said traveling direction automatic control when said target, which is detected by said target detection means, is different from said pedestrian and said long object.