Device and method for judging likelihood of collision between vehicle and target, vehicle collision avoidance system, and method for avoiding collision between vehicle and target

• US 9,372,262 B2
• Filed: 11/15/2013
• Issued: 06/21/2016
• Est. Priority Date: 11/20/2012
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Takaki, Ryo
• Primary Examiner(s): Sotomayor, John B
• Application Number:
  US14/080,868
• Publication Number:
  US 20140139368A1
• Time in Patent Office: 949 Days
• Field of Search: 342 70- 72, 342 52- 55, 340/435, 340/436, 340/903, 701/301
• US Class Current: 1/1
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/52 Radar, Lidar
• CPC Class Codes: B60W 2520/06 Direction of travel
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A device for judging a likelihood of a collision between a vehicle and a target is provided. The device comprises: a target detection sensor and an ECU. The ECU comprises: a CPU; an orientation determining unit configured to enable the CPU to determine the orientation of a target relative to a reference vehicle in which the device for judging a likelihood of a collision is mounted, using information which is detected by the target detection sensor; a change-amount detecting unit configured to enable the CPU to detect an amount of temporal change in the orientation of the target; and a determining unit configured to enable the CPU to determine a likelihood of a collision between the reference vehicle and the target under a condition that the amount of temporal change in the orientation of the target is a predetermined threshold or less.

Claims

1. A device for judging a likelihood of a collision between a vehicle and a target, wherein the device used by being mounted in the vehicle in order to judge a likelihood of a collision between the vehicle and the target, comprising:

a target detection sensor being suitable for detecting the target presenting around the vehicle; and

an ECU (electronic control unit), wherein the ECU comprises;

a CPU;

an orientation determining unit configured to enable the CPU to determine the orientation of a target relative to a reference vehicle in which the device for judging a likelihood of a collision is mounted, using information which is detected by the target detection sensor;

a change-amount detecting unit configured to enable the CPU to detect an amount of temporal change in the orientation of the target; and

a determining unit configured to enable the CPU to determine a likelihood of a collision between the reference vehicle and the target under a condition that the amount of temporal change in the orientation of the target is a predetermined threshold or less.

2. The device according to claim 1, wherein the ECU further comprises an angle calculating unit configured to enable the CPU to calculating an angle formed by a movement direction of the reference vehicle and a movement direction of the target using information which is detected by the target detection sensor, wherein the determining unit determines the likelihood of the collision between the reference vehicle and the target to be higher as the absolute value of the angle becomes smaller.

3. The device according to claim 2, wherein the device further comprises an image sensor;

and the ECU further comprises a target judging unit configured to enable the CPU to judge a type of the target using an image which is captured by the image sensor, wherein the determining unit determines the likelihood of the collision between the reference vehicle and the target using both the angle and a judged type of the target.

4. The device according to claim 3, wherein the ECU further comprises a specific condition fulfillment judging unit configured to enable the CPU to judge whether or not a specific condition has been fulfilled that the target is a pedestrian and a line of sight of the pedestrian is directed towards the reference vehicle, using the image which is captured by the image sensor, wherein, in a case where the specific condition has been fulfilled, the determining unit determines the likelihood of the collision between the reference vehicle and the target to be lower than a case that the specific condition has been not fulfilled.

5. The device according to claim 1, wherein the device further comprises an image sensor;

and the ECU further comprises a target judging unit configured to enable the CPU to judge a type of the target using an image which is captured by the image sensor, wherein the determining unit determines the likelihood of the collision between the reference vehicle and the target using both the angle and a judged type of the target.

6. The device according to claim 1, wherein the ECU further comprises a specific condition fulfillment judging unit configured to enable the CPU to judge whether or not a specific condition has been fulfilled that the target is a pedestrian and a line of sight of the pedestrian is directed towards the reference vehicle, using the image which is captured by the image sensor, wherein, in a case where the specific condition has been fulfilled, the determining unit determines the likelihood of the collision between the reference vehicle and the target to be lower than a case that the specific condition has been not fulfilled.

7. A vehicle collision avoidance system, comprising:

a first device that is mounted to a vehicle and configured to judge a likelihood of a collision between a vehicle and a target; and

a second device that is mounted in the vehicle and performs a collision avoidance process based on a judgment result which is acquired by the first device,

the first device comprising;

a target detection sensor that is configured to detect the target presenting around the vehicle; and

a processor that is configured to;

determine, by an orientation determining unit, an orientation of a target relative to the vehicle, using information which is detected by the target detection sensor;

detect, by a change-amount detecting unit, an amount of temporal change in the orientation of the target; and

determine, by a determining unit, a likelihood of a collision between the vehicle and the target under a condition that the amount of temporal change in the orientation of the target is a predetermined threshold or less.

8. A method for judging a likelihood of a collision between a vehicle and a target, the method comprising:

determining, by an orientation determining unit configured in a processor provided in a vehicle collision avoidance system mounted to the vehicle, an orientation of the target relative to the vehicle using information which is detected by a target detection sensor with which the vehicle mounts;

detecting, by a change-amount detecting unit configured in the processor, an amount of temporal change in the orientation of the target; and

determining, by a determining unit configured in the processor, a likelihood of a collision between the vehicle and the target under a condition that the amount of temporal change in the orientation of the target is a predetermined threshold or less.

9. The method according to claim 8, wherein the method further comprises:

calculating, by an angle calculating unit configured in the processor, an angle formed by a movement direction of the vehicle and a movement direction of the target using information which is detected by the target detection sensor,

wherein the step of determining the likelihood of the collision determines, by the determining unit, that the likelihood is higher as the absolute value of the angle becomes smaller.

10. The method according to claim 9, wherein the method further comprises:

judging, by a target judging unit configured in the processor, a type of the target based on an image which is captured by an image sensor with which the vehicle mounts such that the likelihood of the collision between the vehicle and the target is judged also using a judged type of the target.

11. The method according to claim 10, wherein the method further comprises:

judging, by a specific condition fulfillment judging unit configured in the processor, whether or not a specific condition has been fulfilled that the target is a pedestrian and a line of sight of the pedestrian is directed towards the vehicle, based on an image which is captured by the image sensor,

wherein, in a case where the specific condition has been fulfilled, the step of determining the likelihood of the collision determines, by the determining unit, the likelihood of the collision to be lower than a case that the specific condition has been not fulfilled.

12. The method according to claim 8, wherein the method further comprises:

judging, by a target judging unit configured in the processor, a type of the target based on an image which is captured by an image sensor with which the vehicle mounts, thereby the likelihood of the collision between the vehicle and the target is judged also using a judged type of the target.

13. The method according to claim 8, wherein the method further comprises:

judging, by a specific condition fulfillment judging unit configured in the processor, whether or not a specific condition has been fulfilled that the target is a pedestrian and a line of sight of the pedestrian is directed towards the vehicle, based on an image which is captured by an image sensor with which the vehicle mounts,

wherein, in a case where the specific condition has been fulfilled, the step of determining the likelihood of the collision determines, by the determining unit, the likelihood of the collision to be lower than a case that the specific condition has been not fulfilled.

14. A method for avoiding a collision between a vehicle and a target, the method comprising:

a step of judging, by a first device mounted to a vehicle, a likelihood of a collision between the vehicle and a target; and

a step of performing, by a second device mounted to the vehicle, a collision avoidance process based on a result which is acquired by the step of judging a likelihood of a collision,

the step of judging a likelihood of a collision comprising;

determining, by an orientation determining unit configured in a processor provided in the first device, an orientation of the target relative to the vehicle using information which is detected by a target detection sensor with which the vehicle mounts;

detecting, by a change-amount detecting unit configured in the processor, an amount of temporal change in the orientation of the target; and

determining, by a determining unit configured in the processor, a likelihood of a collision between the vehicle and the target under a condition that the amount of temporal change in the orientation of the target is a predetermined threshold or less.