Collision mitigation apparatus

• US 9,650,040 B2
• Filed: 05/12/2014
• Issued: 05/16/2017
• Est. Priority Date: 05/14/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Minemura, Akitoshi, Tsuchida, Norio
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): ODEH, NADEEM N
• Application Number:
  US14/275,125
• Publication Number:
  US 20140343749A1
• Time in Patent Office: 1,100 Days
• Field of Search: 701 1, 701301
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0062 Adapting control system settings
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• 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 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/18145 Cornering
• 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 2013/93271 in the front of the vehicles

Abstract

A collision mitigation apparatus includes an object detecting section for detecting a collision object present in front of an own vehicle on which the collision mitigation apparatus is mounted, a drive assisting section that performs drive assist for avoiding a collision between the collision object detected by the object detecting section and the own vehicle or mitigates damage to the own vehicle due to the collision, an operation state detecting section for detecting an operation state of the own vehicle, and a timing setting section for setting start timing to start the drive assist by the drive assisting section in accordance with the operation state detected by the operation state detecting section.

Claims

1. A collision mitigation apparatus comprising:

a collision mitigation controller including a central processing unit (CPU) that;

detects a collision object present in front of an own vehicle on which the collision mitigation apparatus is mounted and determines a type of the collision object from a plurality of prescribed types of collision objects;

actuates a control object to perform drive assist for avoiding a collision between the collision object detected by the collision mitigation controller and the own vehicle or mitigating damage to the own vehicle due to the collision;

determines which of prescribed operation states the own vehicle is in;

sets a start timing to start the drive assist by the collision mitigation controller in accordance with the operation state detected by the collision mitigation controller; and

map data including a base table provided corresponding to each of the plurality of prescribed types of collision objects, in which a base threshold for setting the start timing for each of the plurality of prescribed types of collision objects is stored, and a correction table provided corresponding to each of the prescribed operation states, in which a correction value for setting the start timing for each of the prescribed operation states is stored;

a camera sensor for taking an image ahead of the own vehicle and a radar sensor configured to emit electromagnetic waves ahead of the own vehicle and receive a reflected version of the electromagnetic waves,

the collision mitigation controller being configured to set an area centered around a position of the collision object obtained by the camera sensor as a camera detection area and to set a predetermined area centered around a position of the collision object obtained by the radar sensor as a radar detection area;

the collision mitigation controller being configured to detect the collision object and determine the type of the collision object using both the camera sensor and the radar sensor when an area of an overlapped portion between the camera detection area and the radar detection area exceeds a predetermined value, and otherwise detect the collision object and determine the type of the collision object using one of the camera sensor and the radar sensor;

wherein the collision mitigation controller sets the start timing based on the base threshold read from the base table corresponding to the determined type of the collision object, and the correction value read from the correction table corresponding to the determined operation state;

and wherein, when the collision mitigation controller detects the collision object and determines the type of the collision object using both the camera sensor and the radar sensor, the collision mitigation controller determines the position of the collision object based on a direction to the collision object from the own vehicle detected by the camera sensor and a distance to the collision object from the own vehicle in a front-back direction of the own vehicle detected by the radar sensor.

2. The collision mitigation apparatus according to claim 1, wherein the collision mitigation controller sets the start timing to be later when the collision mitigation controller detects that the own vehicle is in a not-straight running state where the own vehicle is operated so as not to run straight compared to when the collision mitigation controller detects that the own vehicle is in a straight running state where the own vehicle is operated so as to run straight.

3. The collision mitigation apparatus according to claim 2, wherein the collision mitigation controller determines that the own vehicle is in the not-straight running state if an amount of variation per unit time of a steering angle of the own vehicle exceeds a predetermined threshold, or the steering angle exceeds a predetermined threshold, or an increase or decrease rate of the steering angle exceeds a predetermined threshold.

4. The collision mitigation apparatus according to claim 1, wherein the collision mitigation controller sets the start timing to be later when at least one of a blinker of the own vehicle and a brake device of the own vehicle is in operation compared to when neither of the blinker and the brake device is in operation.

5. The collision mitigation apparatus according to claim 1, wherein the collision mitigation controller detects a running state of the own vehicle,

the collision mitigation controller being configured to set the start timing taking into account the running state of the own vehicle detected by the collision mitigation controller.

6. The collision mitigation apparatus according to claim 1, wherein the collision mitigation controller detects a positional relationship between the own vehicle and the collision object,

the collision mitigation controller being configured to set the start timing taking into account the positional relationship detected by the collision mitigation controller.

7. The collision mitigation apparatus according to claim 6, wherein the collision mitigation controller detects, as the positional relationship, a distance in a lateral direction between the own vehicle and the collision object, and the collision mitigation controller sets the start timing taking into account the distance in the lateral direction between the own vehicle and the collision object.

8. The collision mitigation apparatus according to claim 6, wherein the collision mitigation controller detects a lateral positional relationship between the own vehicle and the collision object and a lateral length of the collision object,

the collision mitigation controller being configured to set the start timing taking into account the lateral positional relationship and the lateral length detected by the collision mitigation controller.

9. The collision mitigation apparatus according to claim 8, wherein the collision mitigation controller determines a degree by which the own vehicle and the collision object overlap with each other in a lateral direction based on the lateral positional relationship between the own vehicle and the collision object and the lateral length of the collision object, and sets the start timing taking into account the degree.