Collision risk calculation device, collision risk display device, and vehicle body control device

• US 9,965,956 B2
• Filed: 12/09/2014
• Issued: 05/08/2018
• Est. Priority Date: 12/09/2014
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Tsushima, Naoyuki, Abukawa, Masahiro
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Thomas, Ana D
• Application Number:
  US15/327,548
• Publication Number:
  US 20170186319A1
• Time in Patent Office: 1,246 Days
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/4044 Direction of movement, e.g. backwards
• 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 2554/804 Relative longitudinal speed
• 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: 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
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A collision risk calculation device includes: a movement information obtaining unit that obtains a speed and a movement direction of an obstacle; and a risk map generator that generates a risk map indicating a range within which the obstacle can exist after one unit of time and degree of risk of collision of an own vehicle with the obstacle within the range, on a basis of the speed and the movement direction of the obstacle obtained by the movement information obtaining unit, wherein the risk map generator changes the range in left and right directions with respect to a traveling direction of the obstacle, on a basis of the speed of the obstacle in the traveling direction.

Claims

1. A collision risk calculation device for a vehicle, comprising:

a processor configure to

obtain a position, a speed, and a movement direction of an obstacle at a current time; and

generate a risk map indicating a range within which the obstacle can exist one unit of time after the current time and degree of risk of collision of the vehicle with the obstacle within the range, on a basis of the position, speed, and movement direction of the obstacle at the current time,

wherein the processor adjusts the range so that the range is smaller in left and right directions with respect to the movement direction of the obstacle as the speed of the obstacle in the movement direction is higher,

wherein the processor generates the risk map by

calculating a traveling movement prediction vector in the movement direction of the obstacle on a basis of the speed and movement direction of the obstacle,

calculating a left movement prediction vector in the let direction with respect to the movement direction of the obstacle on a basis of the speed and movement direction of the obstacle,

calculating a right movement prediction vector in the right direction with respect to the movement direction of the obstacle on a basis of the speed and movement direction of the obstacle,

calculating a left resultant vector of the traveling movement prediction vector and the left movement prediction vector,

calculating a right resultant vector of the traveling movement prediction vector and the right movement prediction vector, and

determining the range so that the range includes the traveling movement prediction vector and the left and right resultant vectors, and

wherein the processor calculates the left and right movement prediction vectors so that the left and right movement prediction vectors are shorter as the speed of the obstacle is higher.

2. The collision risk calculation device of claim 1, wherein the processor makes the range small in the left and right directions with respect to the traveling direction of the obstacle when the speed of the obstacle is higher than a predefined threshold, and makes the range large in the left and right directions with respect to the traveling direction of the obstacle when the speed of the obstacle is lower than the threshold.

3. The collision risk calculation device of claim 1, further comprising a road surface information detector that detects a condition of a road surface,

wherein the processor changes a size of the range on a basis of the detected condition of the road surface.

4. The collision risk calculation device of claim 1, further comprising an obstacle determiner that determines a type of the obstacle and tilt of the obstacle,

wherein when the obstacle determiner determines that the obstacle is a two-wheeler and the two-wheeler is tilted, the processor makes the range large in a direction in which the two-wheeler is tilted.

5. The collision risk calculation device of claim 1, further comprising a memory that stores map data including information regarding a road map,

wherein the processor changes a size of the range in the left and right directions with respect to the movement direction of the obstacle, on a basis of the map data.

6. The collision risk calculation device of claim 1, wherein the processor receives signals from a sensor at a predefined time interval, obtains the position, speed, and movement direction of the obstacle on a basis of the received sensor signals, and generates the risk map with the predefined time interval as the unit of time.

7. A collision risk display device comprising:

a display; and

a map, display controller that obtains the risk map from the collision risk calculation device of claim 1 and controls the display to display the obtained risk map.

8. A vehicle body control device for a vehicle comprising:

a vehicle body actuator that controls motion of the vehicle; and

a vehicle body controller that obtains the risk map from the collision risk calculation device of claim 1 and controls the vehicle body actuator on a basis of the obtained risk map.