Collision avoidance device

• US 9,031,743 B2
• Filed: 03/26/2008
• Issued: 05/12/2015
• Est. Priority Date: 03/27/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Okita, Toshinori
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): NG, MICHAEL L
• Application Number:
  US12/446,897
• Publication Number:
  US 20100030426A1
• Time in Patent Office: 2,603 Days
• Field of Search: 701/36, 701 41- 42, 701/51, 701/301, 180 62- 624, 180/252, 180/271, 180/274, 180/280
• US Class Current: 701/41
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• 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 collision avoidance ECU estimates a traveling locus based on an estimated curve radius of an own vehicle in a basic traveling locus estimating unit, and in a changed traveling locus estimating unit, obtains separation distances between an own vehicle and white lines based on the relative positional relationship between an own vehicle and the white lines, and estimates, as a changed traveling locus, a route along the white lines with the obtained separation distances maintained. In a collision judging unit, when auto-steering control and departure warning control are not performed, collision judgment is performed based on the basic traveling locus estimated in the basic traveling locus estimating unit, and when the auto-steering control and departure warning control are performed, the traveling locus is changed to the changed traveling locus estimated in the changed traveling locus estimating unit and collision judgment is performed.

Claims

1. A collision avoidance device that prevents wasteful collision avoidance control and wasteful issuance of warnings, the device comprising:

a sensor to detect information around an own vehicle;

an object detector to detect an object from the information;

a lane detector to detect a traveling lane;

a driving assisting unit that assists a driver so as to prevent the own vehicle from departing the lane;

a collision judging unit that judges a collision probability between the own vehicle and the object;

a judging method changing unit that changes a method for judging the collision probability by the collision judging unit;

a collision avoidance unit that performs a control to avoid the collision;

a warning control unit that issues a collision warning; and

an electronic control unit having control logic which, when executed, determines whether the driver is assisted by the driving assisting unit, wherein;

when the electronic control unit determines that the driver is assisted by the driving assisting unit, the judging method changing unit changes the method for judging the collision probability by the collision judging unit such that the collision judging unit then makes a determination that the collision probability between the own vehicle and an object outside the lane is low, and at least one of the warning control unit does not issue the collision warning and the collision avoidance unit does not perform the control to avoid the collision; and

when the electronic control unit determines that the driver is not assisted by the driving assisting unit, the judging method changing unit changes the method for judging the collision probability by the collision judging unit such that the collision judging unit then makes the determination that the collision probability between the own vehicle and the object outside the lane is higher than when the electronic control unit determines that the driver is assisted by the driving assisting unit, and at least one of the warning control unit issues the collision warning and the collision avoidance unit performs the control to avoid the collision.

2. The collision avoidance device according to claim 1, wherein the driving assisting unit is the warning control unit, and the warning control unit issues a warning when the probability that the own vehicle departs from the traveling lane exceeds a predetermined threshold value.

3. The collision avoidance device according to claim 2, further comprising:

a traveling locus estimating unit that estimates a traveling locus of the own vehicle based on road partitioning lines showing the traveling lane of the own vehicle, wherein

the collision judging unit judges the collision probability based on the degree of deviation between the obstacle and the traveling locus of the own vehicle.

4. The collision avoidance device according to claim 3, wherein the collision judging unit denies the collision probability between the own vehicle and an obstacle positioned out of a region surrounded by the road partitioning lines showing the traveling lane of the own vehicle.

5. The collision avoidance device according to claim 2, wherein the collision judging unit denies the collision probability between the own vehicle and an obstacle positioned out of a region surrounded by road partitioning lines showing the traveling lane of the own vehicle.

6. The collision avoidance device according to claim 1, wherein the driving assisting unit is an auto-steering unit that controls steering of the own vehicle so that the own vehicle travels in the traveling lane.

7. The collision avoidance device according to claim 6, wherein the collision judging unit denies the collision probability between the own vehicle and an obstacle positioned out of a region surrounded by the road partitioning lines showing the traveling lane of the own vehicle.

8. The collision avoidance device according to claim 1, further comprising:

a traveling locus estimating unit that estimates a traveling locus of the own vehicle based on road partitioning lines showing the traveling lane of the own vehicle, wherein

the collision judging unit judges the collision probability based on a degree of deviation between the obstacle and the traveling locus of the own vehicle.

9. The collision avoidance device according to claim 8, wherein the collision judging unit denies the collision probability between the own vehicle and an obstacle positioned out of a region surrounded by the road partitioning lines showing the traveling lane of the own vehicle.

10. The collision avoidance device according to claim 6, further comprising:

a traveling locus estimating unit that estimates a traveling locus of the own vehicle based on road partitioning lines showing the traveling lane of the own vehicle, wherein

the collision judging unit judges the collision probability based on a degree of deviation between the obstacle and the traveling locus of the own vehicle.

11. The collision avoidance device according to claim 10, wherein the collision judging unit denies the collision probability between the own vehicle and an obstacle positioned out of a region surrounded by the road partitioning lines showing the traveling lane of the own vehicle.

12. The collision avoidance device according to claim 1, wherein the collision judging unit denies the collision probability between the own vehicle and an obstacle positioned out of a region surrounded by road partitioning lines showing the traveling lane of the own vehicle.

13. A method for preventing wasteful collision avoidance control and wasteful issuance of warnings, using a collision avoidance device that includes an electronic control unit having control logic that is configured to perform the method, the method comprising:

detecting information around an own vehicle;

detecting an object from the information;

detecting a traveling lane;

changing a method for judging a collision probability;

judging the collision probability between the own vehicle and the object; and

determining whether the driver is assisted by a driving assisting unit, wherein;

when the electronic control unit determines that the driver is assisted by the driving assisting unit, the method for judging the collision probability is changed such that the collision probability between the own vehicle and the object outside the lane is low, and at least one of a warning control unit does not issue a collision warning and a collision avoidance unit does not perform a control to avoid the collision; and

when the electronic control unit determines that the driver is not assisted by the driving assisting unit, the method for judging the collision probability is changed such that the collision probability between the own vehicle and the object outside the lane is higher than when the electronic control unit determines that the driver is assisted by the driving assisting unit, and at least one of the warning control unit issues the collision warning and the collision avoidance unit performs the control to avoid the collision.