Driving assisting apparatus for preventing vehicular collision

• US 7,205,888 B2
• Filed: 11/16/2004
• Issued: 04/17/2007
• Est. Priority Date: 12/09/2003
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Tsuru, Naohiko, Isaji, Kazuyoshi
• Primary Examiner(s): Hofsass; Jeffery
• Assistant Examiner(s): Fan; Hongmin
• Application Number:
  US10/988,494
• Publication Number:
  US 20050123173A1
• Time in Patent Office: 882 Days
• Field of Search: 340/435, 340/522, 340/901, 340/903, 340/907, 348/148, 701/48, 701/53, 701/70, 701/93, 701/1, 342/71, 180/271
• US Class Current: 340/522
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2201/088 using transmission control
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 40/02 related to ambient conditions
• 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 driving assisting apparatus for preventing a vehicular collision including a camera, a target detector and a processor. The camera takes an image of a predetermined range in front of a vehicle. The target detector detects in the image a target notifying to stop the vehicle to prevent a vehicular collision. In a case that the target detector detects a plurality of the targets, the processor automatically stops the vehicle at a safe position required to prevent the vehicle from colliding with another vehicle.

Claims

1. A driving assisting apparatus for preventing a vehicular collision comprising:

a camera which takes an image of a predetermined range in front of a vehicle;

a target detector which detects in the image targets existing in front of the vehicle notifying to stop the vehicle; and

a processor which assists driving of the vehicle to stop the vehicle at a safe position, wherein

the processor stops the vehicle only in a case that the number of the targets detected by the target detector is plural, and the processor stops the vehicle only when the plural targets are the same kind of stop notification.

2. The driving assisting apparatus according to claim 1, wherein:

the target is a stop light of a front vehicle; and

the processor estimates a front vehicle stop position of the front vehicle located ahead of and closest to the vehicle and sets the safe position in front of the front vehicle stop position.

3. The driving assisting apparatus according to claim 1, wherein:

the target is a stop signal of a traffic light; and

the processor detects a stop position corresponding to the traffic light and sets the safe position to the stop position.

4. The driving assisting apparatus according to claim 1, wherein:

the target is a traffic sign notifying traffic to stop; and

the processor detects a stop position corresponding to the traffic sign and sets the safe position to the stop position.

5. The driving assisting apparatus according to claim 1, further comprising:

a driving operation detector which detects at least one of an accelerating operation and a braking operation; and

a braking controller which reduces a velocity of the vehicle, the braking controller braking the vehicle when the processor determines that no vehicle stopping operation is taken,

wherein the processor determines whether the stopping operation is taken to stop the vehicle at the safe position based on a detection result of the driving operation detector.

6. The driving assisting apparatus according to claim 5, wherein:

the processor calculates a stop distance from a current position of the vehicle to the safe position, and determines that no stopping operation is taken in the case that the driving operation detector detects the accelerating operation or no braking operation when the stop distance is smaller than a predetermined distance.

7. The driving assisting apparatus according to claim 1, further comprising:

a deceleration detector which detects a deceleration of the vehicle; and

a braking controller which reduces a velocity of the vehicle when the processor determines that no stopping operation is taken,

wherein the processor comprises;

a stop distance calculator which calculates a stop distance from a current position of the vehicle to the safe position; and

a stop operation determiner which determines whether the stopping operation is taken to stop the vehicle at the safe position based on the deceleration of the vehicle and the stop distance.

11. The driving assisting apparatus according to claim 1, wherein the kind of stop notification is a brake light.

12. The driving assisting apparatus according to claim 1, wherein the kind of stop notification is a stop sign.

13. The driving assisting apparatus according to claim 1, wherein the kind of stop notification is a stop signal of a traffic light.

8. A driving assisting method comprising steps of:

opto-electrically taking an image of a predetermined range in front of a vehicle;

electrically distinguishing in the image targets notifying to stop the vehicle; and

automatically assisting driving of the vehicle to stop at a safe position only in a case that a plurality of the targets is distinguished in the distinguishing step,

wherein the assisting is performed only when the targets are the same kind of stop notification.

9. The driving assisting method according to claim 8, wherein the assisting step further comprising steps of:

detecting decelerating operation including at least one of a braking operation, an accelerator-releasing operation and a deceleration of the vehicle;

determining whether it is possible to stop the vehicle by the decelerating operation; and

decelerating the vehicle to stop at the safe position in a case that it is determined to be impossible to stop the vehicle in the determining step.

10. The driving assisting method according to claim 8, wherein the assisting step further comprising steps of:

detecting a deceleration of the vehicle;

calculating a distance from the vehicle to the safe position;

determining whether it is possible to stop the vehicle within the distance at the deceleration; and

decelerating the vehicle to stop at the safe position in a case that it is determined to be impossible to stop the vehicle in the determining step.

14. The driving assisting apparatus according to claim 8, wherein the kind of stop notification is a brake light.

15. The driving assisting apparatus according to claim 8, wherein the kind of stop notification is a stop sign.

16. The driving assisting apparatus according to claim 8, wherein the kind of stop notification is a stop signal of a traffic light.