Automotive collision mitigation apparatus

• US 7,565,234 B2
• Filed: 07/10/2008
• Issued: 07/21/2009
• Est. Priority Date: 07/12/2007
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Noda, Kazuhiro, Ito, Yosuke, Hashimoto, Kazuma
• Primary Examiner(s): Camby; Richard M.
• Application Number:
  US12/216,739
• Publication Number:
  US 20090018740A1
• Time in Patent Office: 376 Days
• Field of Search: 701/70, 701/71, 701/76, 701/78, 701/83, 701/96, 701/300, 701/301, 303/125, 303/155, 180/175, 180/176, 180/177, 340/903, 340/435, 340/436
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• 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: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision mitigation controller drives a target brake to be controlled for assisting driver'"'"'s collision-avoidance operation when a calculated collision time is less than an automatic brake a1 judgment line which is determined in advance. The controller drives the automatic brake a1 in order to mitigate damage generated by a collision with an obstacle or another vehicle when the collision time is less than an automatic brake a2 judgment line which is also less than the automatic brake a1 judgment line. The controller decreases the braking force for the automatic brake a2 when judged that the automatic brake a1 is not driven, as compared with the judgment where the automatic brake a1 is driven. When the automatic brake a2 drives the target brake, it is possible to avoid a collision where own vehicle is struck from behind by the rear vehicle which runs on a same traffic lane.

Claims

1. A collision mitigation apparatus, mounted to an automobile vehicle, capable of mitigating damage generated when the vehicle collides with obstacles including another vehicle by driving brake means mounted to the vehicle, comprising:

obstacle detection means configured to detect obstacles which are present around own vehicle to which the collision mitigation apparatus is mounted;

collision time calculation means configured to calculate a collision time as an estimated time length until own vehicle collides with the obstacle detected by the obstacle detection means;

collision avoidance assist means configured to drive the brake means in order to assist the collision avoidance operation by a vehicle'"'"'s driver when the collision time is less than a predetermined assist time which is determined in advance;

collision damage mitigation means configured to drive the brake means in order to mitigate the damage when own vehicle collides with the obstacle when the collision time is less than a predetermined damage mitigation time which is less than the assist time;

operation judgment means configured to judge whether or not the collision avoidance assist means drives the brake means; and

damage mitigation braking force reduction means configured to decrease the braking force of the brake means by the collision damage mitigation means when the operation judgment means judges that the collision assist avoidance means does not drive the brake means, as compared with the judgment in which the operation judgment means judges that the collision assist avoidance means drives the brake means.

2. The collision mitigation apparatus according to claim 1, wherein the collision damage mitigation means drives the brake means at a mitigation deceleration which is determined in advance, and

the damage mitigation braking force reduction means decreases the braking force by selecting a small one from an absolute value of a deceleration gradient and an absolute value of the mitigation deceleration which is used when the mitigation deceleration is set into a more small value.

3. The collision mitigation apparatus according to claim 2, wherein the collision avoidance assist means drives the brake means at an assist deceleration as a deceleration which is determined in advance, and

it is so set that the absolute value of the assist deceleration is smaller than that of the mitigation deceleration.

4. The collision mitigation apparatus according to claim 1, further comprising:

assist control means configured to increase the braking force of the brake means by the driver of the vehicle when the collision time is less than an assist threshold value which is determined in advance; and

assist braking force reduction means configured to decrease the braking force of the assist control means when the operation judgment means judges that the collision avoidance assist means does not drive the brake means, as compared with the judgment in which the collision avoidance assist means drives the brake means.

5. The collision mitigation apparatus according to claim 2, further comprising:

assist control means configured to increase the braking force of the brake means by the driver of the vehicle when the collision time is less than an assist threshold value which is determined in advance; and

assist braking force reduction means configured to decrease the braking force of the assist control means when the operation judgment means judges that the collision avoidance assist means does not drive the brake means, as compared with the judgment in which the collision avoidance assist means drives the brake means.

6. The collision mitigation apparatus according to claim 3, further comprising:

assist control means configured to increase the braking force of the brake means by the driver of the vehicle when the collision time is less than an assist threshold value which is determined in advance; and

assist braking force reduction means configured to decrease the braking force of the assist control means when the operation judgment means judges that the collision avoidance assist means does not drive the brake means, as compared with the judgment in which the collision avoidance assist means drives the brake means.

7. The collision mitigation apparatus according to claim 4, further comprising:

rear-vehicle judgment means configured to judge whether or not a rear vehicle is present based on the detection result of a rear vehicle detection means for detecting the presence of the rear vehicle which is present behind of own vehicle; and

forbidding means configured to forbid the operation of one of the damage mitigation braking force reduction means and the assist breaking force reduction means when the rear-vehicle judgment means judges that there is no rear vehicle.

8. The collision mitigation apparatus according to claim 5, further comprising:

rear-vehicle judgment means configured to judge whether or not a rear vehicle is present based on the detection result of a rear vehicle detection means for detecting the presence of the rear vehicle which is present behind of own vehicle; and

forbidding means configured to forbid the operation of one of the damage mitigation braking force reduction means and the assist breaking force reduction means when the rear-vehicle judgment means judges that there is no rear vehicle.

9. The collision mitigation apparatus according to claim 6, further comprising:

rear-vehicle judgment means configured to judge whether or not a rear vehicle is present based on the detection result of a rear vehicle detection means for detecting the presence of the rear vehicle which is present behind of own vehicle; and

forbidding means configured to forbid the operation of one of the damage mitigation braking force reduction means and the assist breaking force reduction means when the rear-vehicle judgment means judges that there is no rear vehicle.

10. The collision mitigation apparatus according to claim 1, further comprising time changing means configured to change the damage mitigation time to a large value when the operation judgment means judges that the collision avoidance assist means does not drive the brake means, as compared with the judgment in which the collision avoidance assist means drives the brake means.

11. The collision mitigation apparatus according to claim 2, further comprising time changing means configured to change the damage mitigation time to a large value when the operation judgment means judges that the collision avoidance assist means does not drive the brake means, as compared with the judgment in which the collision avoidance assist means drives the brake means.

12. The collision mitigation apparatus according to claim 3, further comprising time changing means configured to change the damage mitigation time to a large value when the operation judgment means judges that the collision avoidance assist means does not drive the brake means, as compared with the judgment in which the collision avoidance assist means drives the brake means.