Collision judgment apparatus for vehicle

• US 8,868,325 B2
• Filed: 04/05/2010
• Issued: 10/21/2014
• Est. Priority Date: 04/05/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Morotomi, Kohei, Nanami, Takeshi
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): PAYNE, ROBERT T
• Application Number:
  US13/639,436
• Publication Number:
  US 20130030686A1
• Time in Patent Office: 1,660 Days
• Field of Search: 701/301, 701/37, 701/49, 701/22, 701/41, 701/19, 701/36, 701/94, 701/96, 701/70, 701/300, 701/533, 701/51, 701/23, 701/117, 701/1, 701/469, 701/3, 701/45, 701/50, 340/435, 340/439, 340/436, 340/903, 180/65, 180/282, 705/24
• US Class Current: 701/301
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A correct collision judgment is realized between an obstacle and a vehicle even when the vehicle enters a curve. In a collision judgment apparatus for judging the collision between the vehicle and the obstacle based on a relative positional relationship between a subject vehicle position of the vehicle and a relative movement straight line of the obstacle with respect to the vehicle as calculated based on a plurality of pieces of the position information acquired by a position information acquiring unit in relation to the obstacle, the relative positional relationship between the relative movement straight line and the subject vehicle position is adjusted so that a distance between the relative movement straight line and the subject vehicle position is separated if it is judged that the vehicle enters an entrance to a curve as compared with a situation in which the vehicle does not enter the entrance to the curve.

Claims

1. A collision judgment apparatus for a vehicle, comprising:

a position information acquiring unit which acquires position information of an obstacle positioned in a traveling direction of the vehicle based on a received signal obtained by transmitting an electromagnetic wave from the vehicle to the obstacle and receiving a reflected wave from the obstacle;

a collision judging unit which judges collision between the vehicle and the obstacle based on a relative positional relationship between a subject vehicle position of the vehicle and a relative movement straight line of the obstacle with respect to the vehicle as calculated based on a plurality of pieces of the position information acquired by the position information acquiring unit in relation to the obstacle;

a curve judging unit which judges a curved state of a cruising road on which the vehicle travels; and

an adjusting unit which adjusts the relative positional relationship between the relative movement straight line and the subject vehicle position so that a distance between the relative movement straight line and the subject vehicle position is more separated in a widthwise direction of the vehicle if it is judged by the curve judging unit that the vehicle is entering an entrance to a curve as compared with a situation in which the vehicle is not entering the entrance to the curve when collision judgment is performed by the collision judging unit.

2. The collision judgment apparatus for the vehicle according to claim 1, wherein the adjusting unit decreases the number of pieces of the position information of the obstacle used to calculate the relative movement straight line when the vehicle is not entering the entrance to the curve to provide a predetermined number of pieces of the position information from which one piece or a plurality of pieces of the position information provided on a distal side with respect to the vehicle is/are excluded so that the relative movement straight line, which is to be set if it is judged that the vehicle is entering the entrance to the curve, is set thereby.

3. The collision judgment apparatus for the vehicle according to claim 2, wherein the adjusting unit changes the predetermined number of pieces of the position information of the obstacle in order to calculate the relative movement straight line depending on a size of the curve of the cruising road as judged by the curve judging unit.

4. The collision judgment apparatus for the vehicle according to claim 1, wherein:

the collision judging unit judges that the vehicle collides with the obstacle if the relative movement straight line of the obstacle interferes with a subject vehicle area corresponding to the subject vehicle position of the vehicle; and

the adjusting unit narrows the subject vehicle area in a widthwise direction intersecting the traveling direction of the vehicle if it is judged by the curve judging unit that the vehicle is entering the entrance to the curve.

5. The collision judgment apparatus for the vehicle according to claim 1, wherein:

the curve judging unit judges the curved state of the cruising road in accordance with a predetermined parameter in relation to an amount of change of a size of the curve calculated based on a vehicle velocity and a yaw rate of the vehicle; and

the predetermined parameter is variable depending on the vehicle velocity of the vehicle.

6. The collision judgment apparatus for the vehicle according to claim 5, wherein the predetermined parameter is set so that it is difficult for the curve judging unit to judge that the vehicle is entering the entrance to the curve if the vehicle velocity of the vehicle is low as compared with if the vehicle velocity is high.

7. The collision judgment apparatus for the vehicle according to claim 1, wherein the adjusting unit restores the relative positional relationship between the relative movement straight line and the subject vehicle position in the collision judgment performed by the collision judging unit to a state provided before the vehicle enters the entrance to the curve, if it is judged by the curve judging unit that the vehicle passes through the entrance to the curve.

8. The collision judgment apparatus for the vehicle according to claim 2, wherein:

the curve judging unit judges the curved state of the cruising road in accordance with a predetermined parameter in relation to an amount of change of a size of the curve calculated based on a vehicle velocity and a yaw rate of the vehicle; and

the predetermined parameter is variable depending on the vehicle velocity of the vehicle.

9. The collision judgment apparatus for the vehicle according to claim 3, wherein:

the curve judging unit judges the curved state of the cruising road in accordance with a predetermined parameter in relation to an amount of change of a size of the curve calculated based on a vehicle velocity and a yaw rate of the vehicle; and

the predetermined parameter is variable depending on the vehicle velocity of the vehicle.

10. The collision judgment apparatus for the vehicle according to claim 4, wherein:

the curve judging unit judges the curved state of the cruising road in accordance with a predetermined parameter in relation to an amount of change of a size of the curve calculated based on a vehicle velocity and a yaw rate of the vehicle; and

the predetermined parameter is variable depending on the vehicle velocity of the vehicle.