APPARATUS AND METHOD FOR SUPPORTING COLLISION AVOIDANCE OF VEHICLE

• US 20180182247A1
• Filed: 12/27/2017
• Published: 06/28/2018
• Est. Priority Date: 12/27/2016
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: BABA, Takahiro, OGURI, Takaharu, ITO, Yosuke, KAMIYA, Kei
• Granted Patent: US 10,977,944 B2
• Time in Patent Office: Days
• CPC Class Codes: B60T 2201/03 Brake assistants
• CPC Class Codes: B60T 2210/20 Road shapes
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• CPC Class Codes: B60T 2250/04 Vehicle reference speed; Vehicle body speed
• 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: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• 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 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle collision avoidance support apparatus includes a state determination unit configured to determine whether or not there is a state where a moving object proceeding in a direction intersecting with a traveling direction of a vehicle may exist; a first sensor configured to detect an object in front of the vehicle; and an avoidance operation control unit configured to cause the vehicle to perform a predetermined avoidance operation for avoiding a collision according to a detection result of the first sensor within a determination region in front of the vehicle. The avoidance operation control unit uses a region that is wider in a direction perpendicular and horizontal to the travelling direction as the determination region when it is determined that there is a state where the moving object may exist in comparison with when it is determined that there is no state where the moving object may exist.

Claims

1. A vehicle collision avoidance support device, comprising:

a state determination unit configured to determine whether or not there is a state where a moving object proceeding in a direction intersecting with a traveling direction of a vehicle may exist;

a first sensor configured to detect an object in front of the vehicle; and

an avoidance operation control unit configured to cause the vehicle to perform a predetermined avoidance operation for avoiding a collision according to a detection result of the first sensor within a determination region in front of the vehicle,

wherein the avoidance operation control unit uses a region that is wider in a direction perpendicular and horizontal to the travelling direction as the determination region when it is determined that there is a state where a moving object may exist in comparison with when it is determined that there is no state where a moving object may exist.

2. The vehicle collision avoidance support device according to claim 1,

wherein the state where the moving object may exist means a state where the vehicle exists in a vicinity of an intersection or within the intersection.

3. The vehicle collision avoidance support device according to claim 2,

wherein the first sensor receives reflected waves of electromagnetic waves from the object in front of the vehicle;

and

the state determination unit determines whether or not there is the state where the vehicle exists in the vicinity of the intersection or within the intersection by image recognition according to a deep neural network using information acquired from the reflected waves.

4. The vehicle collision avoidance support device according to claim 2, further comprising:

a second sensor configured to detect a yaw rate of the vehicle or a steering angle thereof;

a right or left turn determination unit configured to determine whether or not the vehicle performs a right turn or a left turn by using the yaw rate of the vehicle and the steering angle thereof; and

a pedestrian crossing determination unit 14 configured to determine whether or not a pedestrian crossing exists in front of the vehicle by using information acquired from the reflected waves,

wherein the first sensor receives reflected waves of electromagnetic waves from the object in front of the vehicle; and

the state determination unit determines that there is the state where the vehicle exists in the vicinity of the intersection or within the intersection when it is determined that the vehicle is in a process of turning right or left after the pedestrian crossing is determined to exist.

5. The vehicle collision avoidance support device according to claim 4,

wherein when it is determined that the pedestrian crossing exists within a predetermined time range after it is determined that there is the state where the vehicle exists in the vicinity of the intersection or within the intersection, the state determination unit uses a region where it is determined that there is no state where the moving object may exist as the determination region.

6. The vehicle collision avoidance support device according to claim 1, comprising:

a second sensor configured to detect a yaw rate of the vehicle or a steering angle thereof; and

a curve determination unit configured to determine whether or not the vehicle is travelling in a curve by using the yaw rate of the vehicle or the steering angle thereof,

wherein the avoidance operation control unit relaxedly performs the collision avoidance operation when it is determined that the own vehicle is travelling in the curve in comparison with when it is determined that the own vehicle is not travelling in the curve.

7. The vehicle collision avoidance support device according to claim 5,

wherein the avoidance operation includes an operation of actuating a brake in the vehicle;

and

when it is determined that the own vehicle is travelling in the curve, the avoidance operation control unit is configured to perform at least any one of delaying a timing of actuating the brake and reducing deceleration in comparison with when it is determined that the own vehicle is not travelling in the curve.

8. The vehicle collision avoidance support device according to claim 2, comprising:

a second sensor configured to detect a yaw rate of the vehicle or a steering angle thereof; and

a curve determination unit configured to determine whether or not the vehicle is travelling in a curve by using the yaw rate of the vehicle or the steering angle thereof,

wherein the avoidance operation control unit relaxedly performs the collision avoidance operation when it is determined that the own vehicle is travelling in the curve in comparison with when it is determined that the own vehicle is not travelling in the curve.

9. The vehicle collision avoidance support device according to claim 3, comprising:

a second sensor configured to detect a yaw rate of the vehicle or a steering angle thereof; and

a curve determination unit configured to determine whether or not the vehicle is travelling in a curve by using the yaw rate of the vehicle or the steering angle thereof,

wherein the avoidance operation control unit relaxedly performs the collision avoidance operation when it is determined that the own vehicle is travelling in the curve in comparison with when it is determined that the own vehicle is not travelling in the curve.

10. The vehicle collision avoidance support device according to claim 4, comprising:

a second sensor configured to detect a yaw rate of the vehicle or a steering angle thereof; and

a curve determination unit configured to determine whether or not the vehicle is travelling in a curve by using the yaw rate of the vehicle or the steering angle thereof,

wherein the avoidance operation control unit relaxedly performs the collision avoidance operation when it is determined that the own vehicle is travelling in the curve in comparison with when it is determined that the own vehicle is not travelling in the curve.

11. The vehicle collision avoidance support device according to claim 5, comprising:

a second sensor configured to detect a yaw rate of the vehicle or a steering angle thereof; and

a curve determination unit configured to determine whether or not the vehicle is travelling in a curve by using the yaw rate of the vehicle or the steering angle thereof,

wherein the avoidance operation control unit relaxedly performs the collision avoidance operation when it is determined that the own vehicle is travelling in the curve in comparison with when it is determined that the own vehicle is not travelling in the curve.

12. A vehicle collision avoidance support method, comprising the steps of:

(a) determining whether or not there is a state where a moving object proceeding in a direction intersecting with a traveling direction of a vehicle may exit;

(b) detecting an object in front of the vehicle; and

(c) causing the vehicle to perform a predetermined avoidance operation for avoiding a collision according to a detection result of the step (b) within a determination region in front of the vehicle,

Wherein the step (c) includes a step of using a region that is wider in a direction perpendicular and horizontal to the travelling direction as the determination region when it is determined that there is a state where the moving object may exist at the step (a) in comparison with when it is determined that there is no state where the moving object may exist.