Brake control apparatus for vehicle

• US 9,981,639 B2
• Filed: 02/15/2017
• Issued: 05/29/2018
• Est. Priority Date: 05/06/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ohbayashi, Motonari, Kida, Akihiro, Takagi, Toshihiro, Yamazaki, Masashi, Nishi, Tatsuya
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US15/433,280
• Publication Number:
  US 20170320473A1
• Time in Patent Office: 468 Days
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 2220/04 Pedal travel sensor, stroke sensor; Sensing brake request
• CPC Class Codes: B60T 2270/89 Criteria for brake release
• 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: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle brake control apparatus according to the invention stops an activation of a brake device when a person exists outside of a braking area. The apparatus determines whether or not the person exists outside of the braking area on the basis of a moving direction and a moving amount of at least one characteristic point included in a landscape image captured by a camera device when a person image included in the landscape image cannot be detected by a pattern matching technique.

Claims

1. A vehicle brake control apparatus applied to a vehicle including:

a brake device for braking the vehicle; and

a camera device for capturing an image of a landscape in a traveling direction of the vehicle as a landscape image,

the vehicle brake control apparatus comprising an electronic control unit configured to;

perform a process for detecting a person image included in the landscape image by a pattern matching technique, the person image being an image of a person;

determine whether or not a person exists in a braking area on the basis of a position of the person image in the landscape image when the electronic control unit detects the person image included in the landscape image, the braking area being a part of a traveling scheduled area of the vehicle that is within a range of a predetermined distance from the vehicle;

start an activation of the brake device to brake the vehicle when the electronic control unit determines that the person exists in the braking area;

determine whether or not the person exists outside of the braking area on the basis of the position of the person image in the landscape image after the electronic control unit starts the activation of the brake device;

stop the activation of the brake device when the electronic control unit determines that the person exists outside of the braking area;

determine whether or not a non-detection situation occurs after the electronic control unit starts the activation of the brake device, the non-detection situation being a situation that the electronic control unit cannot detect the person image by the pattern matching technique;

acquire at least one first characteristic point included in a first landscape image and at least one second characteristic point included in a second landscape image when the non-detection situation occurs before the electronic control unit determines that the person exists outside of the braking area, the first landscape image being the landscape image acquired at a first time, the second landscape image being the landscape image acquired at a second time before the first time, the at least one second characteristic point corresponding to the at least one first characteristic point;

acquire a moving direction and a moving amount of the at least one first or second characteristic point on the basis of the at least one first characteristic point and the at least one second characteristic point; and

stop the activation of the brake device when the electronic control unit determines that the person exists outside of the braking area on the basis of the moving direction and the moving amount.

2. The vehicle brake control apparatus according to claim 1, wherein

the first landscape image is the landscape acquired after the non-detection situation occurs,

the at least one first characteristic point comprises a plurality of the first characteristic points,

the at least one second characteristic point comprises a plurality of the second characteristic points corresponding to the first characteristic points, respectively, and

the electronic control unit is configured to:

acquire primary motion vectors which are motion vectors each representing the moving direction and the moving amount of the corresponding first characteristic point on the basis of the first characteristic points and the second characteristic points;

select secondary motion vectors which are first motion vectors regarding a moving object from the primary motion vectors on the basis of a similarity between the first motion vectors; and

determine whether or not the person exists outside of the braking area on the basis of at least one of the secondary motion vectors.

3. The vehicle brake control apparatus according to claim 2, wherein the first and second landscape images are the landscape images acquired after the non-detection situation occurs, respectively.

4. The vehicle brake control apparatus according to claim 1, wherein

the second landscape image is the landscape image acquired before the non-detection situation occurs, and

the electronic control unit is configured to:

acquire a predetermined time on the basis of the moving direction, the moving amount and a position of the person image in the second landscape image, the predetermined time being a time estimated to be required for the person to move out from the braking area after the non-detection situation occurs; and

determine that the person exists outside of the braking area when a time elapsing from an occurrence of the non-detection situation becomes equal to or larger than a threshold time which is equal to or larger than the predetermined time, the threshold time increasing as the predetermined time increases.

5. The vehicle brake control apparatus according to claim 1, wherein

the first and second landscape images are the landscape images acquired before the non-detection situation occurs, respectively, and

the electronic control unit is configured to:

acquire a predetermined time on the basis of the moving direction, the moving amount and a position of the person image in the first landscape image, the predetermined time being a time estimated to be required for the person to move out from the braking area after the non-detection situation occurs; and

determine that the person exists outside of the braking area when a time elapsing from an occurrence of the non-detection situation becomes equal to or larger than a threshold time which is equal to or larger than the predetermined time, the threshold time increasing as the predetermined time increases.