Collision detector and warning apparatus which defines an enter-determination area and an exist-determination area

• US 8,760,276 B2
• Filed: 12/06/2011
• Issued: 06/24/2014
• Est. Priority Date: 12/06/2010
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Yamazato, Narihito
• Primary Examiner(s): Syed, Nabil
• Assistant Examiner(s): RUSHING, MARK S
• Application Number:
  US13/311,585
• Publication Number:
  US 20120139715A1
• Time in Patent Office: 931 Days
• Field of Search: 340/435, 340/436, 340/438, 340/456, 340/459, 701/301, 701/70, 701/51
• US Class Current: 340/436
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision detector accurately detects a situation where a subject vehicle is likely to come into contact with an external object. The collision detector defines a subject area including an enter-determination area and an exist-determination area. The enter-determination area is defined to determine that the external object entering therein is likely to come into contact with the subject vehicle. The exist-determination area is defined to determine that the external object existing therein is likely to come into contact with the subject vehicle. The detector determines whether the external object comes into the enter-determination area or the external object exists in the exist-determination area. The detector outputs that the subject vehicle is likely to come into contact with the external object when the external object comes into the enter-determination area or when the external object exists in the exist-determination area.

Claims

1. A collision detector detecting a situation where a subject vehicle is likely to come into contact with an external object, the collision detector comprising:

a subject area defining portion which defines a subject area including an enter-determination area and an exist-determination area, the enter-determination area being defined to determine that the external object entering therein is likely to come into contact with the subject vehicle, the exist-determination area being defined to determine that the external object existing therein is likely to come into contact with the subject vehicle;

an information obtaining portion which obtains an information about a movement vector of the external object;

a first determining portion which determines whether the external object moves into the enter-determination area based on the information about the movement vector;

a second determining portion which determines whether the external object exists in the exist-determination area;

an output portion which executes a collision avoidance control in order to avoid a situation where the subject vehicle is likely to come into contact with the external object when the external object comes into the enter-determination area or when the external object exists in the exist-determination area;

a speed determining portion which determines, based on the obtained information about the movement vector, whether the external object is a high-speed moving object of which moving speed is not less than a reference speed or a low-speed moving object of which moving speed is less than the reference speed, wherein

the first determining portion determines whether the high-speed moving object moves into the enter-determination area, and

a second determining portion determines whether the low-speed moving object exists in the exist-determination area.

2. A collision detector according to claim 1, wherein,

the subject area defining portion varies a size or a position of the subject area according to a subject vehicle speed.

3. A collision detector according to claim 2, wherein

the subject area defining portion defines the exist-determination area narrower as the subject vehicle speed becomes higher.

4. A collision detector according to claim 2, wherein

the subject area defining portion defines the exist-determination area wider as the subject vehicle speed becomes higher.

5. A collision detector according to claim 2, wherein:

the subject area defining portion defines the enter-determination area wider as the subject vehicle speed becomes higher.

6. A collision detector according to claim 1, wherein

an unavoidable area computing portion which computes an unavoidable area where the external object unavoidably comes into contact with the subject vehicle, based on a speed and a braking performance of the subject vehicle, wherein

the unavoidable area computing portion defines the subject area in such a manner as to exclude the unavoidable area.

7. A collision detector according to claim 1, further comprising:

an object detection portion which detects the external object; and

a direction indicating portion which indicates a direction in which the object detection portion is able to detect the external object in the subject area as wide as possible.

9. A collision detector according to claim 1, wherein

the output portion executes the collision avoidance control in which a warning is made to a driver of the subject vehicle to notify that that the subject vehicle will be in contact with the external object when the external object exists in the subject area or the external object comes into the subject area.

10. A collision detector according to claim 1, wherein

the output portion executes the collision avoidance control in which a subject vehicle speed is automatically reduced when the external object exists in the subject area or the external object comes into the subject area.

8. A warning apparatus which makes a warning in a situation where a subject vehicle is likely to come into contact with an external object, the warning apparatus comprising:

a detecting portion detecting an external object which is likely to come into contact with the subject vehicle; and

a warning portion making a warning when the detecting portion detects an external object which is likely to come into contact with the subject vehicle, wherein

the detecting portion is the collision detector according to claim.

11. A collision detector detecting a situation where a subject vehicle is likely to come into contact with an external object, the collision detector comprising:

a travel direction obtaining portion which obtains a traveling-direction information about whether the subject vehicle is stopped or is going to be stopped, or the subject vehicle is traveling forward or backward or is going to travel forward or backward;

a subject area defining portion which defines a subject area in which it is likely that the external object may be in contact with the subject vehicle;

an output portion which executes a collision avoidance control in order to avoid a situation where the subject vehicle is likely to come into contact with the external object when the external object comes into the enter-determination area or when the external object exists in the exist-determination area;

an unavoidable area computing portion which computes an unavoidable area where the external object unavoidably comes into contact with the subject vehicle, based on a speed and a braking performance of the subject vehicle, wherein

the unavoidable area computing portion defines the subject area in such a manner as to exclude the unavoidable area.

12. A collision detector according to claim 11, further comprising:

an object detection portion which detects the external object; and

a direction indicating portion which indicates a direction in which the object detection portion is able to detect the external object in the subject area as wide as possible.

13. A collision detector according to claim 11, wherein

the subject area defining portion defines a high-speed area for determining whether a high-speed moving object will come into contact with the specific vehicle, the subject area defining portion defines a low-speed area for determining whether a low-speed moving object will come into contact with the specific vehicle, further comprising:

an information obtaining portion which obtains an information about a movement vector of the external object;

a speed determining portion which determines whether the external object is the high-speed moving object or the low-speed moving object based on the obtained information;

a first determining portion which determines whether the high-speed moving object will come into the high-speed area; and

a second determining portion which determines whether the low-speed moving object exists in the low-speed area;

wherein

an output portion which outputs that the subject vehicle is likely to come into contact with the external object when the high-speed moving object comes into the high-speed area or when the low-speed moving object exists in the low-speed area.

14. A collision detector according to claim 13, wherein

the subject area defining portion defines the low-speed area narrower as the subject vehicle speed becomes higher.

15. A collision detector according to claim 13, wherein

the subject area defining portion defines the low-speed area wider as the subject vehicle speed becomes higher.

16. A collision detector according to claim 13, wherein:

the subject area defining portion defines the high-speed area wider as the subject vehicle speed becomes higher.

17. A collision detector according to claim 11, wherein

the subject area defining portion varies a size or a position of the subject area according to the subject vehicle speed.

18. A warning apparatus which makes a warning in a situation where a subject vehicle is likely to come into contact with an external object, the warning apparatus comprising:

a detecting portion detecting an external object which is likely to come into contact with the subject vehicle; and

a warning portion making a warning when the detecting portion detects an external object which is likely to come into contact with the subject vehicle, wherein

the detecting portion is the collision detector according to claim 11.

19. A collision detector according to claim 11, wherein

the output portion executes the collision avoidance control in which a warning is made to a driver of the subject vehicle to notify that that the subject vehicle will be in contact with the external object when the external object exists in the subject area or the external object comes into the subject area.

20. A collision detector according to claim 11, wherein

the output portion executes the collision avoidance control in which a subject vehicle speed is automatically reduced when the external object exists in the subject area or the external object comes into the subject area.

21. A collision detector according to claim 11, wherein

the travel direction obtaining portion corresponds to a shift-position sensor detecting a current shift-position of the subject vehicle.