Collision avoidance assisting system for vehicle
First Claim
1. A collision avoidance assisting system for estimating a risk of any impending collision for a moving vehicle while said moving vehicle is moving, comprising:
- a moving object detecting means which is configured to detect, for an impending collision risk of said moving vehicle while said moving object is moving, a moving object existing on a periphery of the vehicle;
a footway boundary detecting means which is configured to detect, for the impending collision risk of said moving vehicle while said moving object is moving, a position and a configuration of a footway boundary object which is provided as a division between a driveway and a footway, located on the same periphery of said moving vehicle as said moving object;
a risk estimation means which is configured to estimate, for the impending collision risk of said moving vehicle while said moving object is moving, a risk of collision that the moving object detected by said moving object detecting means will collide with said moving vehicle;
an alarm means which is configured to call an attention to a driver of said moving vehicle, upon a basis of the risk of collision estimated by said risk estimation means; and
a positional relationship analyzing means, which is configured to output at least a relative distance between said moving object and said footway boundary object and a relative distance between said moving object and said moving vehicle, which is detected by said moving object detection means, and position/configuration information of the footway boundary object which is detected by said footway boundary object detecting means, whereinsaid risk estimation means estimates the risk of collision between the moving object, which is detected by said moving object detecting means, and said moving vehicle while said moving object is moving, at least from the relative distance between said moving object and said footway boundary object, which is outputted from said positional relationship analyzing means, and the relative distance between said moving object and said moving vehicle, which is outputted from said positional relationship analyzing means;
said footway boundary detecting means further outputs a height of said footway boundary object, andsaid risk estimation means further estimates the risk of collision between the moving object, which is detected by said moving object detecting means, and said moving vehicle while said moving object is moving, by also considering the height of said footway boundary object, which is outputted from said footway boundary detecting means, in addition to considering the relative distance between said moving object and said footway boundary object and the relative distance between said moving object and said moving vehicle, which are outputted from said positional relationship analyzing means.
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Accused Products
Abstract
A collision avoidance assisting system for a vehicle, for expecting a risk of colliding upon a moving object (or a moving obstacle), including a pedestrian, more correctly, but without annoying a driver, excessively, by estimating the risk to be excessively high, comprises a moving object detecting means for detecting a moving object existing on periphery of the vehicle; a footway boundary detecting means for detecting a position and a configuration of a footway boundary object on periphery of the vehicle; a risk estimation means for estimating a risk that the moving object detected by said moving object detecting means collides on the vehicle; and an alarm means for calling an attention to a driver of the vehicle, upon basis of the risk of collision estimated by the risk estimation means, wherein the risk of collision between the moving object, which is detected by the moving object detecting means, and that vehicle is estimated by taking at least the position information of the moving object, the position information of the footway boundary object and conditions of the circumferences thereof.
37 Citations
15 Claims
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1. A collision avoidance assisting system for estimating a risk of any impending collision for a moving vehicle while said moving vehicle is moving, comprising:
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a moving object detecting means which is configured to detect, for an impending collision risk of said moving vehicle while said moving object is moving, a moving object existing on a periphery of the vehicle; a footway boundary detecting means which is configured to detect, for the impending collision risk of said moving vehicle while said moving object is moving, a position and a configuration of a footway boundary object which is provided as a division between a driveway and a footway, located on the same periphery of said moving vehicle as said moving object; a risk estimation means which is configured to estimate, for the impending collision risk of said moving vehicle while said moving object is moving, a risk of collision that the moving object detected by said moving object detecting means will collide with said moving vehicle; an alarm means which is configured to call an attention to a driver of said moving vehicle, upon a basis of the risk of collision estimated by said risk estimation means; and a positional relationship analyzing means, which is configured to output at least a relative distance between said moving object and said footway boundary object and a relative distance between said moving object and said moving vehicle, which is detected by said moving object detection means, and position/configuration information of the footway boundary object which is detected by said footway boundary object detecting means, wherein said risk estimation means estimates the risk of collision between the moving object, which is detected by said moving object detecting means, and said moving vehicle while said moving object is moving, at least from the relative distance between said moving object and said footway boundary object, which is outputted from said positional relationship analyzing means, and the relative distance between said moving object and said moving vehicle, which is outputted from said positional relationship analyzing means; said footway boundary detecting means further outputs a height of said footway boundary object, and said risk estimation means further estimates the risk of collision between the moving object, which is detected by said moving object detecting means, and said moving vehicle while said moving object is moving, by also considering the height of said footway boundary object, which is outputted from said footway boundary detecting means, in addition to considering the relative distance between said moving object and said footway boundary object and the relative distance between said moving object and said moving vehicle, which are outputted from said positional relationship analyzing means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A collision avoidance assisting system for estimating a risk of any impending collision for a moving vehicle while said moving vehicle is moving, comprising:
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a moving object detecting means which is configured to detect, for an impending collision risk of said moving vehicle while said moving object is moving, a moving object existing on a periphery of the vehicle; a footway barrier detecting means which is configured to detect, for the impending collision risk of said moving vehicle while said moving object is moving, a position and a configuration of a footway barrier object which is provided as a division between a driveway and a footway located on the same periphery of said moving vehicle as said moving object; a risk estimation means which is configured to estimate, for the impending collision risk of said moving vehicle while said moving object is moving, a risk of collision that the moving object detected by said moving object detecting means will collide with said moving vehicle; an alarm means which is configured to call an attention to a driver of said moving vehicle, upon a basis of the risk of collision estimated by said risk estimation means; and a positional relationship analyzing means, which is configured to output at least a relative distance between said moving object and said footway barrier object and a relative distance between said moving object and said moving vehicle, which is detected by said moving object detecting means, and position/configuration information of the footway barrier object, which is detected by said footway barrier object detecting means, wherein said risk estimation means estimates the risk of collision between the moving object, which is detected by said moving object detecting means, and said moving vehicle while said moving object is moving, at least from the relative distance between said moving object and said footway barrier object, which is outputted from said positional relationship analyzing means, and the relative distance between said moving object and said moving vehicle, which is outputted from said positional relationship analyzing means; said footway barrier detecting means further outputs a height of said footway barrier object, and said risk estimation means further estimates the risk of collision between the moving object, which is detected by said moving object detecting means, and said moving vehicle while said moving object is moving, by also considering the height of said footway barrier object, which is outputted from said footway barrier detecting means, in addition to considering the relative distance between said moving object and said footway barrier object and the relative distance between said moving object and said moving vehicle, which are outputted from said positional relationship analyzing means. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification