Collision prediction apparatus

• US 7,848,884 B2
• Filed: 05/28/2004
• Issued: 12/07/2010
• Est. Priority Date: 05/30/2003
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kawasaki, Tomoya
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): Behncke; Christine M
• Application Number:
  US10/855,465
• Publication Number:
  US 20050033516A1
• Time in Patent Office: 2,384 Days
• Field of Search: 340/436, 340/435, 340/438, 340/903, 701/301, 701/300, 701/44, 701/96, 701/98, 701/200, 180/232, 180/271
• US Class Current: 701/301
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

A collision prediction ECU of a collision prediction apparatus estimates a state of presence of a detected front obstacle. At this time, the collision prediction ECU estimates the state of presence on the basis of road shape data supplied from a navigation ECU of a navigation apparatus. Further, the collision prediction ECU checks and corrects the calculated road gradient value. At this time, the collision prediction ECU corrects the gradient value on the basis of road gradient data supplied from the navigation ECU. Further, the collision prediction ECU changes a collision avoidance time on the basis of travel environment data supplied from the navigation ECU. Moreover, the collision prediction ECU obtains an ETC gate pass-through signal from the navigation ECU and determines whether the vehicle is passing through the gate. The collision prediction apparatus performs collation prediction on the basis of the corrected values.

Claims

1. A collision prediction apparatus mounted on a vehicle, the collision prediction apparatus comprising:

a front obstacle detection unit configured to detect a front obstacle present on a route of travel of the vehicle and adapted to predictively determine whether the vehicle will collide with the detected front obstacle as a result of traveling of the vehicle;

a road information acquisition unit configured to acquire road information regarding a road on which the detected front obstacle is present;

a navigation apparatus mounted on the vehicle configured to store road information, and provide the road information to the road information acquisition unit, the road information comprising at least one of road type data selected from the group consisting of highway information, interstate information, and state route information, and road environment data selected from the group consisting of tunnel information and bridge information;

a parameter value detection unit configured to detect a parameter value representing a state of traveling of the vehicle;

a parameter value correction unit which corrects, on the basis of the road information, the parameter value detected by the parameter value detection unit;

a predictive collision determination unit which is configured to calculate a first radius of a road on which the vehicle is present, calculate a relative distance between the vehicle and the front obstacle, calculate a first relative lateral distance based on the first radius, calculate a second radius of the road on which the detected front obstacle is present, calculate a clothoid curve connecting the first radius and the second radius, calculate a third radius of a curve passing through a point on the clothoid curve separated from the vehicle by the relative distance, calculate a second relative lateral distance based on the third radius, and determine whether the vehicle, whose state of traveling is represented by the corrected parameter value, will collide with the front obstacle detected by the front obstacle detection unit; and

a vehicle occupant protection unit configured to, as a result of the collision prediction, perform at least one of automatically rotating a steering wheel, optimizing operation of an airbag, moving operation pedals forward, and cutting off power to units other than the vehicle occupant protection unit.

2. A collision prediction apparatus according to claim 1, wherein

the road information acquired by the road information acquisition unit is road shape information representing a shape of the road;

a presence state estimation unit estimates a heading direction of the front obstacle on the basis of the road shape information when the presence state estimation unit estimates that the front obstacle detected by the front obstacle detection unit is moving; and

the predictive collision determination unit predictively determines whether the vehicle will collide with the front obstacle, by use of the estimated heading direction of the front obstacle.

3. A collision prediction apparatus according to claim 2, wherein the road shape information includes information regarding a curved road.

4. A collision prediction apparatus according to claim 2, wherein the road shape information includes information regarding a gradient of a road.

5. A collision prediction apparatus according to claim 2, wherein the predictive collision determination unit predictively determines a manner of a collision between the vehicle and the front obstacle, in addition to predictively determining whether the vehicle will collide with the front obstacle.

6. A collision prediction apparatus according to claim 1, wherein

the road information acquired by the road information acquisition unit is road shape information representing a shape of the road;

the parameter value correction unit corrects, on the basis of the road shape information, a parameter value regarding a heading direction of the vehicle; and

a predictive collision determination unit predictively determines whether the vehicle will collide with the front obstacle, taking into consideration the corrected parameter value regarding the heading direction.

7. A collision prediction apparatus according to claim 6, wherein the road shape information includes information regarding a curved road.

8. A collision prediction apparatus according to claim 6, wherein the road shape information includes information regarding a gradient of a road.

9. A collision prediction apparatus according to claim 6, wherein the predictive collision determination unit predictively determines a manner of a collision between the vehicle and the front obstacle, in addition to predictively determining whether the vehicle will collide with the front obstacle.

10. A collision prediction apparatus according to claim 6, wherein the parameter value regarding the heading direction of the vehicle is at least one of a parameter value representing a turning direction of the vehicle and a parameter value representing an inclination direction of the vehicle.

11. A collision prediction apparatus according to claim 1, further comprising a travel-related-information acquisition unit configured to acquire, from the outside, travel-related information regarding travel conditions of the vehicle, wherein

the parameter value correction unit corrects the parameter value on the basis of not only the road information but also the travel-related information acquired by the travel-related-information acquisition unit.

12. A collision prediction apparatus according to claim 1, wherein the navigation apparatus mounted on the vehicle comprises at least a present location detection unit detecting a present location of the vehicle, and a storage unit storing the road information in a retrievable manner.

13. A collision prediction apparatus according to claim 1, wherein the front obstacle detection unit is formed of a millimeter-wave radar which is provided at a front end portion of the vehicle and which detects the front obstacle on the basis of a period of time between transmission of a millimeter wave and receipt of the wave.

14. A collision prediction apparatus according to claim 1, wherein the vehicle occupant protection unit also decreases vehicle speed as a result of the collision prediction.

15. A collision prediction apparatus according to claim 1, wherein the vehicle occupant protection unit also assists driver brake pedal depressing force.

16. A collision prediction apparatus according to claim 1, wherein the vehicle occupant protection unit also prevents advance movement of an occupant of the vehicle at a time of collision.