Collision determination device and collision determination method

• US 9,470,790 B2
• Filed: 09/03/2012
• Issued: 10/18/2016
• Est. Priority Date: 09/03/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Inomata, Ryo
• Primary Examiner(s): Tissot, Adam
• Assistant Examiner(s): CASTRO, PAUL A
• Application Number:
  US14/424,057
• Publication Number:
  US 20150219761A1
• Time in Patent Office: 1,506 Days
• US Class Current: 1/1
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision determination device includes a radar detection unit that detects an object in front of a vehicle by a radar wave, an image detection unit that images in front of the vehicle and detects the object by the imaged image, and a collision determination unit that determines a collision between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit. The collision determination unit performs collision determination with a speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

Claims

1. A collision determination device comprising:

a radar detection unit configured to detect an object in front of a vehicle by a radar wave;

an image detection unit configured to image in front of the vehicle and detect the object by the imaged image; and

a collision determination unit configured to determine a collision probability between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit,

wherein, in a case where it is determined that an absolute speed of the object is zero in a traveling direction of the vehicle before the vehicle decelerates based on the detection result of the image detection unit, the collision determination unit performs collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the image detection unit decreases,

wherein, in a case where it is determined that the absolute speed of the object exceeds zero in a direction crossing the traveling direction of the vehicle before the vehicle decelerates further based on the detection result of the image detection unit, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the image detection unit decreases, and

wherein the absolute speed of the object is obtained based on a relative speed of the object and a speed of the vehicle.

4. The collision determination device according to claim 1,

wherein, in a case where the object is not detected by the radar detection unit, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

5. The collision determination device according to claim 1,

wherein, in a case where the object exists outside a detection range of the radar detection unit and within a detection range of the image detection unit, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

6. The collision determination device according to claim 1,

wherein, in a case where it is determined that the object is a pedestrian crossing in front of the vehicle, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

7. The collision determination device according to claim 1,

wherein the radar detection unit detects the object in front of the vehicle by a millimeter wave.

2. A collision determination device comprising:

a radar detection unit configured to detect an object in front of a vehicle by a radar wave;

an image detection unit configured to image in front of the vehicle and detect the object by the imaged image; and

a collision determination unit configured to determine a collision probability between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit,

wherein, in a case where it is determined that an absolute speed of the object is zero in a traveling direction of the vehicle before the vehicle decelerates based on the detection result of the radar detection unit, the collision determination unit performs collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the radar detection unit decreases,

wherein, in a case where it is determined that the absolute speed of the object exceeds zero in a direction crossing the traveling direction of the vehicle before the vehicle decelerates further based on the detection result of the radar detection unit, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the radar detection unit decreases, and

wherein the absolute speed of the object is obtained based on a relative speed of the object and a speed of the vehicle.

11. The collision determination device according to claim 2,

wherein, in a case where the object is not detected by the radar detection unit, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

12. The collision determination device according to claim 2,

wherein, in a case where the object exists outside a detection range of the radar detection unit and within a detection range of the image detection unit, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

13. The collision determination device according to claim 2,

wherein, in a case where it is determined that the object is a pedestrian crossing in front of the vehicle, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

14. The collision determination device according to claim 2,

wherein the radar detection unit detects the object in front of the vehicle by a millimeter wave.

3. A collision determination device comprising:

a radar detection unit configured to detect an object in front of a vehicle by a radar wave;

an image detection unit configured to image in front of the vehicle and detect the object by the imaged image; and

a collision determination unit configured to determine a collision probability between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit,

wherein, in a case where it is determined that an absolute speed of the object is zero in a traveling direction of the vehicle before the vehicle decelerates based on the combined target, the collision determination unit performs collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the combined target decreases,

wherein, in a case where it is determined that the absolute speed of the object exceeds zero in a direction crossing the traveling direction of the vehicle before the vehicle decelerates further based on the combined target, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the combined target decreases, and

wherein the absolute speed of the object is obtained based on a relative speed of the object and a speed of the vehicle.

15. The collision determination device according to claim 3,

wherein, in a case where the object is not detected by the radar detection unit, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

16. The collision determination device according to claim 3,

wherein, in a case where the object exists outside a detection range of the radar detection unit and within a detection range of the image detection unit, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

17. The collision determination device according to claim 3,

wherein, in a case where it is determined that the object is a pedestrian crossing in front of the vehicle, the collision determination unit performs the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

18. The collision determination device according to claim 3,

wherein the radar detection unit detects the object in front of the vehicle by a millimeter wave.

8. A collision determination method,

wherein a detection of an object in front of a vehicle is performed by a radar wave and a detection of the object is performed by an imaged image in front of the vehicle, and

wherein a collision probability between the vehicle and the object is determined based on a combined target generated using a detection result of the radar wave and a detection result of the imaged image, the method comprising:

performing the collision probability determination with an absolute speed of the object in a traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the imaged image decreases in a case where it is determined that the absolute speed of the object is zero in the traveling direction of the vehicle before the vehicle decelerates based on the detection result of the imaged image,

performing the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the imaged image decreases in a case where it is determined that the absolute speed of the object exceeds zero in a direction crossing the traveling direction of the vehicle before the vehicle decelerates further based on the detection result of the imaged image, and

wherein the absolute speed of the object is obtained based on a relative speed of the object and a speed of the vehicle.

9. A collision determination method,

wherein a detection of an object in front of a vehicle is performed by a radar wave and a detection of the object is performed by an imaged image in front of the vehicle, and

wherein a collision probability between the vehicle and the object is determined based on a combined target generated using a detection result of the radar wave and a detection result of the imaged image, the method comprising:

performing collision probability determination with an absolute speed of the object in a traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the radar wave decreases in a case where it is determined that the absolute speed of the object is zero in the traveling direction of the vehicle before the vehicle decelerates based on the detection result of the radar wave,

performing the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the radar wave decreases in a case where it is determined that the absolute speed of the object exceeds zero in a direction crossing the traveling direction of the vehicle before the vehicle decelerates further based on the detection result of the radar wave, and

wherein the absolute speed of the object is obtained based on a relative speed of the object and a speed of the vehicle.

10. A collision determination method,

wherein a detection of an object in front of a vehicle is performed by a radar wave and a detection of the object is performed by an imaged image in front of the vehicle, and

wherein a collision probability between the vehicle and the object is determined based on a combined target generated using a detection result of the radar wave and a detection result of the imaged image, the method comprising:

performing collision probability determination with an absolute speed of the object in a traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the combined target decreases in a case where it is determined that the absolute speed of the object is zero in the traveling direction of the vehicle before the vehicle decelerates based on the combined target,

performing the collision probability determination with the absolute speed of the object in the traveling direction of the vehicle as zero when it is determined that the vehicle decelerates and detection accuracy of the combined target decreases in a case where it is determined that the absolute speed of the object exceeds zero in the direction crossing the traveling direction of the vehicle before the vehicle decelerates further based on the combined target, and

wherein the absolute speed of the object is obtained based on a relative speed of the object and a speed of the vehicle.