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Avoidance maneuver calculation device, avoidance control device, vehicle having each device, avoidance maneuver calculating method, and avoidance controlling method

  • US 8,392,104 B2
  • Filed: 03/19/2007
  • Issued: 03/05/2013
  • Est. Priority Date: 03/22/2006
  • Status: Active Grant
First Claim
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1. An avoidance maneuver calculation device comprising:

  • a road boundary detector configured to detect a road located ahead of an automotive vehicle and on which the automotive vehicle is traveling, and a boundary section of the road;

    an obstacle detector configured to detect an obstacle existing on the road ahead of the automotive vehicle;

    an automotive vehicle information detector configured to detect an attitude angle formed by a traveling direction of the automotive vehicle with respect to a direction of the road, a position of the automotive vehicle on the road, and a speed of the automotive vehicle; and

    an avoidance maneuver calculator configured to calculate an optimum maneuver amount for avoiding the obstacle on the road, based on detection information from the detectors, wherein the avoidance maneuver calculator comprises;

    an attitude angle target value setting unit configured to set, as a target attitude angle, a target of an attitude angle at a time after the automotive vehicle avoids and passes the obstacle, wherein the target attitude angle is set according to a location on the road where the automotive vehicle is predicted to reach after the automotive vehicle avoids and passes the obstacle,an evaluation function setting unit configured to set up an evaluation function that evaluates a plurality of predicted traveling loci of the automotive vehicle corresponding to a plurality of possible maneuver amounts, the evaluation function evaluating a vehicle condition in the plurality of predicted traveling loci, wherein the evaluation of the vehicle condition is based at least on a state of attitude of the automotive vehicle calculated using (i) the target attitude angle, and (ii) a plurality of predicted attitude angles that are the attitude angles that the automotive vehicle on the plurality of predicted traveling loci is predicted to have at the time after the automotive vehicle avoids and passes the obstacle, andan optimum maneuver amount calculator configured to calculate the optimum maneuver amount based on a minimum value obtained from the evaluation function.

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