Vehicle drive assist system

• US 8,204,678 B2
• Filed: 04/21/2009
• Issued: 06/19/2012
• Est. Priority Date: 04/22/2008
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Matsuno, Koji
• Primary Examiner(s): Pond, Robert M.
• Application Number:
  US12/427,329
• Publication Number:
  US 20090265107A1
• Time in Patent Office: 1,155 Days
• Field of Search: 701/300
• US Class Current: 701/300
• CPC Class Codes: B60R 2021/01259 Brakes
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• 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 control unit sets a front-end collision risk of a subject vehicle against a front vehicle in accordance with a time headway of the subject vehicle and a margin time to front-end collision of the subject vehicle, and a rear-end collision risk of the subject vehicle by a rear vehicle in accordance with a time headway of the rear vehicle and a margin time to rear-end collision of the subject vehicle, the margin time to rear-end collision having a larger weight than that of the margin time to front-end collision in the front-end collision risk against the front vehicle. Brake control and alarm control are performed in accordance with the front-end collision risk against the front vehicle and the rear-end collision risk by the rear vehicle.

Claims

1. A vehicle drive assist system, comprising:

front vehicle information detecting means for detecting front vehicle information;

rear vehicle information detecting means for detecting rear vehicle information;

front-end collision risk calculating means for calculating a front-end collision risk against the front vehicle by concerning at least an element of a relative speed between the front vehicle and a subject vehicle;

rear-end collision risk calculating means for calculating a rear-end collision risk by the rear vehicle by concerning at least an element of a relative speed between the rear vehicle and the subject vehicle with a larger weight than a weight of the element of the relative speed in the front-end collision risk against the front vehicle; and

control means for performing travel control in accordance with the front-end collision risk against the front vehicle and the rear-end collision risk by the rear vehicle.

2. The vehicle drive assist system according to claim 1,

wherein the element of the relative speed between the front vehicle and the subject vehicle used by the front-end collision risk calculating means is a margin time to front-end collision obtained by dividing a distance between the front vehicle and the subject vehicle by the relative speed between the front vehicle and the subject vehicle, and

wherein the element of the relative speed between the rear vehicle and the subject vehicle used by the rear-end collision risk calculating means is a margin time to rear-end collision obtained by dividing a distance between the rear vehicle and the subject vehicle by the relative speed between the rear vehicle and the subject vehicle.

3. The vehicle drive assist system according to claim 1,

wherein the front-end collision risk against the front vehicle is set in accordance with a time headway of the subject vehicle obtained by dividing the distance between the front vehicle and the subject vehicle by a speed of the subject vehicle and in accordance with a margin time to front-end collision obtained by dividing the distance between the front vehicle and the subject vehicle by the relative speed between the front vehicle and the subject vehicle, and

wherein the rear-end collision risk by the rear vehicle is set in accordance with a time headway of the rear vehicle obtained by dividing the distance between the rear vehicle and the subject vehicle by a speed of the rear vehicle and in accordance with a margin time to rear-end collision obtained by dividing the distance between the rear vehicle and the subject vehicle by the relative speed between the rear vehicle and the subject vehicle.

4. The vehicle drive assist system according to claim 1, wherein the rear-end collision risk calculating means corrects the rear-end collision risk by the rear vehicle by an increased correction amount, in accordance with a change in the relative speed between the rear vehicle and the subject vehicle and a deceleration of the subject vehicle, at least in a drive region in which the rear vehicle moves close to the subject vehicle.

5. The vehicle drive assist system according to claim 1, wherein the control means performs travel control through calculation of a target deceleration of the subject vehicle by using a difference between the front-end collision risk against the front vehicle and the rear-end collision risk by the rear vehicle.

6. The vehicle drive assist system according to claim 1, wherein the control means performs alarm control by using at least one of the front-end collision risk against the front vehicle and the rear-end collision risk by the rear vehicle.

7. The vehicle drive assist system according to claim 1, wherein the larger weight element used by the rear-end collision risk calculating means comprises a risk coefficient that is adjusted in accordance with a change in the relative speed between the rear vehicle and the subject vehicle (Ar) and a deceleration of the subject vehicle (A)).

8. The vehicle drive assist system according to claim 7, wherein the risk coefficient is adjusted by the rear-end collision risk calculating means in accordance with a variation in the value of (A-Ar) such that when A-Ar is less than a first comparison value the risk coefficient is set at a first coefficient value and wherein when A-Ar is more than the first comparison value the risk coefficient is set to a larger coefficient value.

9. A vehicle drive assist system, comprising:

a front vehicle information recognizer that detects front vehicle information;

a rear vehicle information recognizer that detects rear vehicle information;

a front-end collision risk calculator that is configured to calculate a front-end collision risk against the front vehicle based on information concerning at least an element of a relative speed between the front vehicle and a subject vehicle and a distance Df between the subject vehicle and the front vehicle extending along a longitudinal axis of the vehicle;

a rear-end collision risk calculator that is configured to calculate a rear-end collision risk by the rear vehicle based on a distance Dr extending along the longitudinal axis between the subject vehicle and the rear vehicle and based on information concerning at least an element of a relative speed between the rear vehicle and the subject vehicle with a larger weight than a weight of the element of the relative speed in the front-end collision risk against the front vehicle; and

a target decelaration calculation unit that performs travel control to adjust a relative positioning of the subject vehicle relative to each of the distance Df to the front vehicle and the distance Dr to the rear vehicle in accordance with concurrently used input information as to the front-end collision risk against the front vehicle and the rear-end collision risk by the rear vehicle, with the rear-end collision risk being weighted higher relative to the front end collision risk even under circumstances wherein front and rear margin times and front and rear time headway values are equal in magnitude.

10. The vehicle drive assist system according to claim 9, further comprises an alarm control unit that is in communication with each of said rear-end collision risk calculator and front-end collision risk calculator and is further configured to generate an alarm upon either of the front end collision risk or the rear end collision risk reaching a respective threshold collision risk value.

11. The vehicle drive assist system according to claim 9,

wherein the element of the relative speed between the front vehicle and the subject vehicle used by the front-end collision risk calculator is a margin time to front-end collision obtained by dividing a distance between the front vehicle and the subject vehicle by the relative speed between the front vehicle and the subject vehicle, and

wherein the element of the relative speed between the rear vehicle and the subject vehicle used by the rear-end collision risk calculator is a margin time to rear-end collision obtained by dividing a distance between the rear vehicle and the subject vehicle by the relative speed between the rear vehicle and the subject vehicle.

12. The vehicle drive assist system according to claim 9,

wherein the front-end collision risk against the front vehicle is set in accordance with a time headway of the subject vehicle obtained by dividing the distance between the front vehicle and the subject vehicle by a speed of the subject vehicle and in accordance with a margin time to front-end collision obtained by dividing the distance between the front vehicle and the subject vehicle by the relative speed between the front vehicle and the subject vehicle, and

wherein the rear-end collision risk by the rear vehicle is set in accordance with a time headway of the rear vehicle obtained by dividing the distance between the rear vehicle and the subject vehicle by a speed of the rear vehicle and in accordance with a margin time to rear-end collision obtained by dividing the distance between the rear vehicle and the subject vehicle by the relative speed between the rear vehicle and the subject vehicle.

13. The vehicle drive assist system according to claim 9, wherein the rear-end collision risk calculator is configured to correct the rear-end collision risk by the rear vehicle by an increased correction amount, in accordance with a change in the relative speed between the rear vehicle and the subject vehicle (Ar) and a deceleration of the subject vehicle (A).

14. The vehicle drive assist system according to claim 13, wherein the larger weight element used by the rear-end collision risk calculator is adjusted in accordance with a variation in the value of (A-Ar).

15. The vehicle drive assist system according to claim 9, wherein the larger weight element used by the rear-end collision risk calculator comprises a risk coefficient that is adjusted in accordance with a change in the relative speed between the rear vehicle and the subject vehicle (Ar) and a deceleration of the subject vehicle (A).

16. The vehicle drive assist system according to claim 15, wherein the risk coefficient is adjusted by the rear-end collision risk calculator in accordance with a variation in the value of (A-Ar) such that when A-Ar is less than a first comparison value the risk coefficient is set at a first coefficient value and wherein when A-Ar is more than the first comparison value the risk coefficient is set to a larger coefficient value.

17. The vehicle drive assist system according to claim 16, wherein when A-Ar is less than the first comparison value the risk coefficient is set by the rear-end collision risk calculator at a first coefficient value that is fixed, and wherein, when A-Ar is more than the comparison value, the risk coefficient is set by the rear-end collision risk calculator adjustably with the level of increase based on the amount that A-Ar exceeds the comparison value.

18. The vehicle drive assist system according to claim 17, wherein the risk coefficient is linearly adjusted relative to the amount that A-Ar exceeds the comparison value.

19. The vehicle drive assist system according to claim 16, wherein when A-Ar is less than the first comparison value the risk coefficient is set by the rear-end collision risk calculating means at a first coefficient value that is fixed, and wherein, when A-Ar is more than the comparison value, the risk coefficient is set by the rear-end collision risk calculating means adjustably with the level of increase in the weight value of the first coefficient based on the amount that A-Ar exceeds the comparison value.

20. The vehicle drive assist system according to claim 9, wherein the target decelaration calculation unit is configured to perform subject vehicle travel control through calculation of a target deceleration of the subject vehicle by using a difference between the front-end collision risk against the front vehicle and the rear-end collision risk by the rear vehicle.