Vehicle driving support apparatus for executing collision avoidance operations based on position and motion condition of target object

• US 9,463,795 B2
• Filed: 04/20/2015
• Issued: 10/11/2016
• Est. Priority Date: 04/21/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Minemura, Akitoshi, Takeda, Masayoshi, Matsumoto, Yuusuke, Sakima, Taku, Kawasaki, Naoki, Kumano, Syunya
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US14/690,747
• Publication Number:
  US 20150298692A1
• Time in Patent Office: 540 Days
• Field of Search: 701/301, 701/96, 701/1, 701/300, 701/45, 701/23, 701/24, 701/70, 701/93, 340/436, 340/438, 340/903, 340/455, 340/901, 340/904, 342/29, 342/70, 342/72, 342/71, 342/61, 180/271, 180/274, 180/275
• US Class Current: 1/1
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• 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 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters

Abstract

A driving support apparatus installed in a host vehicle calculates an overlap ratio relating to a target object positioned ahead of the host vehicle within the same traffic lane, as the ratio of the width of the target object to its lateral distance from a lane marker line of the traffic lane, and also detects the motion condition of the object (i.e., stationary, moving towards, or in the same direction as the host vehicle, or moving laterally with respect to the forward direction of the host vehicle). An amount of compensation for retarding or advancing the commencement of a collision avoidance operation by the driving support apparatus is determined based on the overlap ratio and/or the motion condition of the target object.

Claims

1. A driving support apparatus for installation in a host vehicle, the host vehicle incorporating a target object information detection apparatus for detecting target objects positioned ahead of the host vehicle and a lane marker line detection apparatus for detecting a pair of lane marker lines delimiting a traffic lane of the host vehicle, the driving support apparatus comprising:

target object information acquisition means configured for acquiring target object information relating to a target object, based on detection results produced from the target object detection apparatus;

lane marker line information acquiring means configured for acquiring lane marker line information relating to the pair of lane marker lines, based on detection results produced from the lane marker line detection apparatus;

ratio calculation means configured for calculating at least one overlap ratio based on the lane marker line information and on the target object information, as a ratio of a value of lateral distance to a value of width of the target object, respectively as measured in a direction at right angles to a forward direction of the host vehicle and respectively as viewed from the host vehicle, the lateral distance comprising a distance between the target object and one of the pair of lane marker lines;

motion condition detection means configured for detecting a motion condition of the target object, based upon the target object information; and

,

timing compensation means configured for setting a compensation amount of advancement or retardation to be applied to a timing of commencement of a driving support operation, the driving support operation to be potentially executed for avoiding collision between the target object and the host vehicle, and the

compensation amount being based upon the overlap ratio calculated by the ratio calculation means and the motion condition detected by the motion condition detection means.

2. The driving support apparatus according to claim 1, wherein the compensation means is configured to set the compensation amount as an amount of retardation of the commencement of the driving support operation, when the motion condition of the target object comprises lateral motion of the target object away from the forward direction of the host vehicle.

3. The driving support apparatus according to claim 1, wherein the compensation means is configured:

to set the compensation amount based only upon the calculated value of the overlap ratio, when the motion condition of the target object is indicative of a stationary object; and

to set the compensation amount based upon the calculated value of the overlap ratio and upon the motion condition of the target object, when the motion condition is indicative of a moving object.

4. The driving support apparatus according to claim 1, wherein one or more of a plurality of respectively different types of driving support operation may be executed with respect to a detected target object, and wherein the compensation means is configured to set respective compensation amounts in accordance with the types of the driving support operation.

5. The driving support apparatus according to claim 4, wherein the types of driving support operation comprise emission of warning indications and execution of braking, and wherein a compensation amount which is applied in the case of emission of warning indications is made greater than a compensation amount which is applied in the case of executing braking.

6. The driving support apparatus according to claim 1, wherein the compensation amount is set in accordance with at least one of the magnitude of the overlap ratio and the motion condition of the target object.

7. The driving support apparatus according to claim 1, wherein the target object information acquisition means is configured to assign the target object to one of a plurality of predetermined target object categories, and wherein the compensation amount is set in accordance with the assigned target object category.

8. The driving support apparatus according to claim 7, wherein the predetermined target object categories comprise at least a pedestrian category and a vehicle category.

9. The driving support apparatus according to claim 8, wherein the target object information acquisition means is configured to select one of a plurality of predetermined vehicle types as corresponding to the target object, when the target object is assigned to the vehicle category, and wherein the compensation is amount is set in accordance with the corresponding vehicle type.