Collision avoidance support device

• US 10,471,954 B2
• Filed: 12/20/2017
• Issued: 11/12/2019
• Est. Priority Date: 12/22/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Saiki, Kotaro
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): LaRose, Renee
• Application Number:
  US15/849,198
• Publication Number:
  US 20180178783A1
• Time in Patent Office: 692 Days
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• 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 2710/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2710/202 Steering torque
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 2754/20 Lateral distance
• 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
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance support device comprises: target detection unit for detecting an target existing in front of a vehicle travelling on a road; target type determination unit for detecting which of a moving object and a stationary object the target detected by the target detection unit is; obstacle determination unit for determining whether or not the target detected by the target detection unit is an obstacle which is likely to collide with the vehicle; and traveling direction automatic control unit. The traveling direction automatic control unit is configured to calculate the selected avoidance path so that the distance margin of when the obstacle determination unit determines that the obstacle is the moving object is larger than the distance margin of when the obstacle determination unit determines that the obstacle is the stationary object.

Claims

1. A collision avoidance support device, comprising:

a surroundings sensor, including a radar sensor and a camera, configured to acquire target information on a target on a road existing in front of a vehicle travelling on the road; and

a control unit configured to;

determine, using said acquired target information, which of a moving object and a stationary object said target is;

determine, using said acquired target information, whether or not said target is an obstacle which is likely to collide with said vehicle;

calculate an avoidance path which is a travelling path of said vehicle to avoid a collision with said obstacle;

identify said avoidance path as a selected avoidance path when a distance margin which is a distance between said avoidance path and said obstacle in a width direction of said road is larger than a predetermined limit value; and

execute traveling direction automatic control of changing a traveling direction of said vehicle so that said vehicle travels along said selected avoidance path, wherein, said control unit is configured to;

when it is determined that said obstacle is said stationary object,

calculate collision avoidance distances, which are distances in the width direction of said road and are distances of left and right collision avoidance spaces positioned on both left and right sides of said obstacle respectively,

select one of said left and right collision avoidance spaces as a selected collision avoidance space, the selected one of the left and right collision avoidance spaces having said collision avoidance distance longer than said collision avoidance distance of the other of the left and right collision avoidance spaces;

calculate a plurality of said avoidance paths passing through said selected collision avoidance space as a plurality of predicted paths in a predetermined order, said plurality of said avoidance paths corresponding to a plurality of values, which are each obtained by changing a lateral acceleration of said vehicle in the width direction of said road by a fixed amount from a lateral acceleration currently acting on said vehicle, respectively; and

identify one of said predicted paths as said selected avoidance path when a distance margin between said predicted path and said obstacle being said stationary object in the width direction of said road calculated every time said predicted path is calculated becomes larger than a predetermined stationary obstacle limit value serving as said predetermined limit value, when it is determined that said obstacle is said moving object,

calculate a predicted path which is said avoidance path by adding a maximum change amount corresponding to a lateral force capable of acting on said vehicle to said lateral acceleration currently acting on said vehicle; and

identify said predicted path as said selected avoidance path when a distance margin between said predicted path and said obstacle being said moving object in the width direction of said road is larger than a predetermined moving obstacle limit value serving as said limit value, said predetermined moving obstacle limit value being larger than said predetermined stationary obstacle limit value.

2. A collision avoidance support device according to claim 1, wherein said control unit is configured to:

acquire relative position between a travel lane on which said vehicle is traveling and said target, said travel lane being a part of said road; and

determine, based on said relative position, that said target is said moving object when said target is positioned between a pair of white lines which are formed on left and right side ends of said travel lane respectively.

3. A collision avoidance support device according to claim 1, wherein said control unit is configured to:

determine that said target is said moving object when said target is a pedestrian;

determine that said target is said stationary object when said target is a long object which extends in a traveling direction of said vehicle and has a length equal to or more than a predetermined distance threshold; and

be prohibited from executing said traveling direction automatic control when it is determined that said target is neither said pedestrian nor said long object.