Collision determination device

• US 9,601,020 B2
• Filed: 10/05/2010
• Issued: 03/21/2017
• Est. Priority Date: 10/05/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Aso, Kazuaki, Kindo, Toshiki, Sakai, Katsuhiro, Harada, Masahiro
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Nolan, Peter D
• Application Number:
  US13/877,337
• Publication Number:
  US 20130261952A1
• Time in Patent Office: 2,359 Days
• US Class Current: 1/1
• 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: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision determination device determines the possibility of collision between a host vehicle and the other object on the basis of a shortest arrival time calculated by a shortest arrival time calculation unit and a passage time at each point of the host vehicle acquired by a vehicle route candidate acquisition unit. In this way, even if a locus to be taken by the other object is not generated, the shortest arrival time at which the other object can arrive at each point of the route candidate of the host vehicle with a predetermined first displacement is calculated, thereby determining the possibility of collision between the host vehicle and the other object. Therefore, it is possible to reduce a computational load for determining collision and to accurately determine collision between the host vehicle and the other object.

Claims

1. A collision determination device comprising:

vehicle route candidate acquisition unit acquiring a route candidate of a host vehicle;

traveling status acquisition unit acquiring ambient information;

other object status acquisition unit acquiring the status of the other object from the ambient information;

shortest arrival time calculation unit calculating a shortest arrival time, at which the other object can arrive at each point of the route candidate of the host vehicle acquired by the vehicle route candidate acquisition unit when moving with a predetermined first displacement, on the basis of the status of the other object acquired by the other object status acquisition unit;

longest stopover time calculation unit calculating a longest stopover time, at which the other object passes through each point of the route candidate of the host vehicle acquired by the vehicle route candidate acquisition unit when reducing speed with a predetermined second displacement, on the basis of the status of the other object acquired by the other object status acquisition unit; and

collision determination unit determining the possibility of collision between the host vehicle and the other object on the basis of the shortest arrival time calculated by the shortest arrival time calculation unit, the longest stopover time calculated by the longest stopover time calculation unit, and the passage time at each point of the host vehicle,

wherein, when the shortest arrival time calculated by the shortest arrival time calculation unit is smaller than the passage time at each point of the route candidate of the host vehicle, and the longest stopover time calculated by the longest stopover time calculation unit is greater than the passage time at each point of the route candidate of the host vehicle, the collision determination unit determines that there is a possibility that the host vehicle collides with the other object.

2. The collision determination device according to claim 1,

wherein, when the shortest arrival time calculated by the shortest arrival time calculation unit is smaller than the passage time at each point of the route candidate of the host vehicle, and the longest stopover time calculated by the longest stopover time calculation unit is greater than the passage time at each point of the route candidate of the host vehicle, and when the speed of the host vehicle is higher than a predetermined speed, the collision determination unit determines that there is a possibility that the host vehicle collides with the other object.

3. The collision determination device according to claim 1, further comprising:

route candidate correction unit correcting the route candidate of the host vehicle acquired by the vehicle route candidate acquisition unit to a route candidate when the host vehicle takes avoidance behavior from a predetermined point,

wherein the shortest arrival time calculation unit calculates the shortest arrival time at which the other object arrives at each point of the route candidate of the host vehicle corrected by the route candidate correction unit when moving with a predetermined first displacement, and

when the shortest arrival time calculated by the shortest arrival time calculation unit is smaller than the time at which the other object passes through each point of the route candidate of the host vehicle corrected by the route candidate correction unit, the collision determination unit determines that there is a possibility that the host vehicle collides with the other object.

4. The collision determination device according to claim 3,

wherein the longest stopover time calculation unit calculates the longest stopover time at which the other object passes through each point of the route candidate of the host vehicle corrected by the route candidate correction unit when reducing speed with a predetermined second displacement, and

when the shortest arrival time calculated by the shortest arrival time calculation unit is smaller than the time at which the other object passes through each point of the route candidate of the host vehicle corrected by the route candidate correction unit, and when the longest stopover time calculated by the longest stopover time calculation unit is greater than the time at each point of the route candidate of the host vehicle, the collision determination unit determines that there is a possibility that the host vehicle collides with the other object.

5. The collision determination device according to claim 1, further comprising:

other object route candidate generation unit calculating a route candidate of the other object,

wherein the shortest arrival time calculation unit calculates the shortest arrival time, at which the other object arrives at each point where a route candidate which the other object should follow interferes with a route candidate to be taken by the other object calculated on the basis of road information in the vicinity of the other object on the route candidate of the host vehicle acquired by the vehicle route candidate acquisition unit when the other object moves with the predetermined first displacement, on the basis of the status of the other object acquired by the other object status acquisition unit.