Collision prediction apparatus

• US 7,848,886 B2
• Filed: 10/31/2007
• Issued: 12/07/2010
• Est. Priority Date: 05/30/2003
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kawasaki, Tomoya
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): BEHNCKE, CHRISTINE M
• Application Number:
  US11/980,465
• Publication Number:
  US 20080077296A1
• Time in Patent Office: 1,133 Days
• Field of Search: 701/45, 701/207, 701/301, 701/300, 701/96, 701/97, 340/435, 340/438, 180/271, 180/274
• US Class Current: 701/301
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• 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

Abstract

A collision prediction ECU of a collision prediction apparatus estimates a state of presence of a detected front obstacle. At this time, the collision prediction ECU estimates the state of presence on the basis of road shape data supplied from a navigation ECU of a navigation apparatus. Further, the collision prediction ECU checks and corrects the calculated road gradient value. At this time, the collision prediction ECU corrects the gradient value on the basis of road gradient data supplied from the navigation ECU. Further, the collision prediction ECU changes a collision avoidance time on the basis of travel environment data supplied from the navigation ECU. Moreover, the collision prediction ECU obtains an ETC gate pass-through signal from the navigation ECU and determines whether the vehicle is passing through the gate. The collision prediction apparatus performs collation prediction on the basis of the corrected values.

Claims

1. A collision prediction apparatus mounted on a vehicle, the collision prediction apparatus comprising a front obstacle detection unit configured to detect a front obstacle present on a route of travel of the vehicle and adapted to predictively determine whether the vehicle will collide with the detected front obstacle as a result of traveling of the vehicle, the collision prediction apparatus further comprising:

a travel environment information acquisition unit configured to acquire travel environment information regarding a travel environment of the vehicle from a navigation apparatus mounted on the vehicle;

a parameter value detecting unit for detecting a parameter value representing a state of traveling of the vehicle;

a predictive determination unit configured to compare the parameter value detected by the parameter value detection unit and a predetermined collision determination reference value used for predictive determination of a collision of the vehicle with the front obstacle, and predictively determine that the vehicle will collide with the front obstacle when the parameter value reaches the predetermined collision determination reference value; and

a changing unit configured to change the predetermined collision determination reference value on the basis of the travel environment information acquired by the travel environment information acquisition unit;

wherein the predetermined collision determination reference value is determined by the predictive determination unit on the basis of a time necessary for avoiding collision between the vehicle and the front obstacle, and the time necessary for avoiding collision between the vehicle and the front obstacle changes based on the travel environment information acquired by the travel environment acquisition unit;

wherein the travel environment information is travel environment information which represents a travel environment in which the front obstacle detection unit detects a continuous stationary object present near the vehicle; and

wherein the changing unit increases the predetermined collision determination reference value in accordance with the travel environment information.

2. A collision prediction apparatus according to claim 1, further comprising an occupant-protection-apparatus control unit configured to start the operation of an occupant protection apparatus when the predictive determination unit predictively determines that the vehicle will collide with the front obstacle, the occupant protection apparatus including at least an apparatus mounted on the vehicle and adapted to avoid collision or an apparatus mounted on the vehicle and adapted to mitigate impact at the time of collision.

3. A collision prediction apparatus according to claim 1, wherein the navigation apparatus mounted on the vehicle comprises at least a present location detection unit configured to detect a present location of the vehicle, and a storage unit configured to store the travel environment information in a retrievable manner.

4. A collision prediction apparatus according to claim 1, wherein the front obstacle detection unit is formed of a millimeter-wave radar which is provided at a front end portion of the vehicle and which detects the front obstacle on the basis of a period of time between transmission of a millimeter wave and receipt of the wave.

5. A collision prediction apparatus according to claim 1, wherein when the travel environment information acquired by the travel environment acquisition unit further indicates that the vehicle is at least one of passing through a bridge, passing through a tunnel, or waiting at an intersection, the time necessary for avoiding collision between the vehicle and the front obstacle increases.

8. A collision prediction apparatus according to claim 5, wherein when the travel environment information acquired by the travel environment acquisition unit indicates that the vehicle is traveling on a highway, the time necessary for avoiding collision between the vehicle and the front obstacle decreases.

6. A collision prediction apparatus mounted on a vehicle, the collision prediction apparatus comprising a front obstacle detection unit configured to detect a front obstacle present on a route of travel of the vehicle and adapted to predictively determine whether the vehicle will collide with the detected front obstacle as a result of traveling of the vehicle, the collision prediction apparatus further comprising:

a travel environment information acquisition unit configured to acquire travel environment information regarding a travel environment of the vehicle from a navigation apparatus mounted on the vehicle;

a parameter value detecting unit for detecting a parameter value representing a state of traveling of the vehicle;

a predictive determination unit configured to compare the parameter value detected by the parameter value detection unit and a predetermined collision determination reference value used for predictive determination of a collision of the vehicle with the front obstacle, and predictively determine that the vehicle will collide with the front obstacle when the parameter value reaches the predetermined collision determination reference value; and

a changing unit configured to change the predetermined collision determination reference value on the basis of the travel environment information acquired by the travel environment information acquisition unit;

wherein the predetermined collision determination reference value is determined by the predictive determination unit on the basis of a time necessary for avoiding collision between the vehicle and the front obstacle, and the time necessary for avoiding collision between the vehicle and the front obstacle changes based on the travel environment information acquired by the travel environment acquisition unit;

wherein the travel environment information is travel environment information which represents a travel environment in which the vehicle waits to make a right turn at an intersection; and

wherein the changing unit increases the predetermined collision determination reference value in accordance with the travel environment information.

7. A collision prediction apparatus mounted on a vehicle, the collision prediction apparatus comprising a front obstacle detection unit configured to detect a front obstacle present on a route of travel of the vehicle and adapted to predictively determine whether the vehicle will collide with the detected front obstacle as a result of traveling of the vehicle, the collision prediction apparatus further comprising:

a travel environment information acquisition unit configured to acquire travel environment information regarding a travel environment of the vehicle from a navigation apparatus mounted on the vehicle;

a parameter value detecting unit for detecting a parameter value representing a state of traveling of the vehicle;

a predictive determination unit configured to compare the parameter value detected by the parameter value detection unit and a predetermined collision determination reference value used for predictive determination of a collision of the vehicle with the front obstacle, and predictively determine that the vehicle will collide with the front obstacle when the parameter value reaches the predetermined collision determination reference value; and

a changing unit configured to change the predetermined collision determination reference value on the basis of the travel environment information acquired by the travel environment information acquisition unit;

wherein the predetermined collision determination reference value is determined by the predictive determination unit on the basis of a time necessary for avoiding collision between the vehicle and the front obstacle, and the time necessary for avoiding collision between the vehicle and the front obstacle changes based on the travel environment information acquired by the travel environment acquisition unit;

wherein the travel environment information is travel environment information which represents a travel environment in which the vehicle travels on a highway; and

wherein the changing unit decreases the predetermined collision determination reference value in accordance with the travel environment information.