Toyota Jidosha Kabushiki Kaisha

Kotaro Saiki

Motoki Nishimura

Shinya Nishida

Ryuji Okamura

Yu Hiei

Kohei Morotomi

Ken Kuretake

Shinya Sannodo

Koichiro Yamauchi

Keisuke Hata

Shinji Igarashi

Atsushi Sagisaka

A collision avoidance support device comprises target detection unit, target type determination unit, relative position determination unit, target track prediction unit, and vehicle track prediction unit, obstacle determination unit. The vehicle track prediction unit is configured to enlarge said width of a vehicle predicted track compared with a case where an enlargement condition is not satisfied when the enlargement condition is satisfied. The enlargement condition is satisfied when the relative position determination unit detects that a target determined to be a pedestrian by the target type determination unit is positioned on a travel lane at least once.

Collision avoidance support device

An avoidance route calculation part calculates an avoidance route for avoiding a collision between an own vehicle and an obstacle through a collision avoidance assist control (an automatic brake control and an automatic steering control). A post-avoidance route calculation part calculates a post-avoidance route. A post-avoidance route collision determination part determinates whether a secondary obstacle is present on the post-avoidance route. When the secondary obstacle is determined to be present, the automatic steering control is prohibited from being performed.

Collision avoidance assist apparatus

A collision avoidance support device comprises target detection unit, target type determination unit, relative position determination unit, target track prediction unit, and vehicle track prediction unit, obstacle determination unit. The vehicle track prediction unit is configured to enlarge the width of a vehicle predicted track compared with a case where an enlargement condition is not satisfied when the enlargement condition is satisfied. The enlargement condition is satisfied when the relative position determination unit detects that a target determined to be a pedestrian by the target type determination unit is positioned on a travel lane at least once.

A collision preventing ECUselects an obstacle point which has probability of colliding with an own vehicle, and calculates a collision time periods (TTC) of the obstacle point. When the minimum collision time period is equal to or shorter than a threshold time period, the collision preventing ECUdetermines that a specific condition is established, and performs a collision preventing control to prevent the own vehicle from colliding with the an obstacle. When the obstacle which includes the obstacle point whose collision time period is minimum is a continuous structure, the collision preventing ECUcalculates a continuous structure angle, and memory a calculation number corresponding to an angle range within which a magnitude of the continuous structure angle falls. When there is no angle range whose calculation number is more than a threshold number, the collision preventing control is prohibited.

Collision preventing control device

Provided is a collision avoidance support device capable of terminating traveling direction automatic control at a timing appropriate for a driver. A traveling direction automatic control unit is configured to: terminate the traveling direction automatic control when a predetermined control termination condition is satisfied at a time before an operation start time at which a vehicle starts changing a traveling direction by the traveling direction automatic control; continue the traveling direction automatic control until an appropriate driving operation enabled time at which a predetermined required reaction time passes since a time at which an alert unit starts issuing an alert, when the predetermined control termination condition is satisfied at a time after the operation start time and before the appropriate driving operation enabled time; and terminate the traveling direction automatic control when the predetermined control termination condition is satisfied after the appropriate driving operation enabled time.

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.

A collision avoidance apparatus includes an obstacle detection section for detecting an obstacle, a collision avoidance section which performs collision avoidance assist control, and an avoidance processing start section for causing the collision avoidance section to start the collision avoidance assist control. In the case where the obstacle is a continuous obstacle, the timing of starting the collision avoidance assist control is delayed as compared with the case where the obstacle is not a continuous obstacle. Further, the greater the degree of gentleness of the inclination of the continuous obstacle, the greater the amount by which the timing of starting the collision avoidance assist control is delayed.

Collision avoidance apparatus

A vehicle collision avoidance assist system, including: a forward obstacle detecting device; and a controller including an automatic braking control executing portion to execute an automatic braking control for permitting a brake apparatus to automatically operate and an avoidance control executing portion to execute, in addition to the automatic braking control, an avoidance control for pen fitting a steering apparatus to automatically operate, wherein the avoidance control executing portion is configured such that, when the forward obstacle detecting device detects, as a forward obstacle, a continuous obstacle that continuously extends diagonally forward so as to be inclined with respect to a forwardly extending centerline that forwardly extends from a center of the own vehicle, the avoidance control executing portion executes the avoidance control to enable the own vehicle to avoid the continuous obstacle such that the own vehicle travels along the continuous obstacle.

Vehicle collision avoidance assist system

A vehicle collision avoidance assist system, including: a forward obstacle detecting device; and a controller including an automatic braking control executing portion to execute an automatic braking control and an avoidance control executing portion to execute an avoidance control, in addition to the automatic braking control, wherein, when a moving obstacle that is moving in a right-left direction is detected, the avoidance control executing portion executes the avoidance control to avoid the moving obstacle such that an own vehicle travels in a direction opposite to a movement direction of the moving obstacle when the moving obstacle is moving away from a forwardly extending centerline that forwardly extends from a center of the own vehicle and such that the own vehicle travels in the same direction as the movement direction of the moving obstacle when the moving obstacle is moving toward the forwardly extending centerline.

A collision avoidance control system includes an ECU, and the ECU calculates an own vehicle course as a course along which an own vehicle is expected to proceed during a first transfer prediction time, and time-dependent own vehicle positions on the own vehicle course, and calculates an oncoming vehicle course as a course along which an oncoming vehicle is expected to proceed during a second transfer prediction time, and time-depending oncoming vehicle positions on the oncoming vehicle course. When it is determined that the own vehicle or oncoming vehicle is traveling on a curve, the ECU sets the first transfer prediction time and the second transfer prediction time such that at least one of the first transfer prediction time or the second transfer prediction time is set to a shorter time, as compared with the case where neither of the own vehicle and the oncoming vehicle is traveling on a curve, determines whether one of the own vehicle positions overlaps a corresponding one of the oncoming vehicle positions, and performs avoidance control according to the result of determination.

Collision avoidance control system and control method

A vehicle control system includes: an outside-of-vehicle operation device configured to cause a vehicle to travel operated by an operator from outside of the vehicle, inside of a compartment of the vehicle being isolated from the outside of the vehicle by a vehicle body; an assist instruction device configured to cause the operator to select a travel mode in which the vehicle is allowed to travel by an operation of the outside-of-vehicle operation device; a parking brake operation detector configured to detect an operation of a parking brake; and a warning device configured to issue warning in a compartment to stimulate sense of hearing or sense of sight at the time the travel mode is selected and the operation of the parking brake is detected.

Vehicle control system

A parking support deviceincludes a calculation unitthat calculates a speed pattern, an acceleration recognition unitthat recognizes driver-requested acceleration, a parking support control unitthat performs parking support control in a target parking position based on the speed pattern, and a determination unitthat determines whether a host vehicle V can stop in the target parking position at a set deceleration. When the driver-requested acceleration is recognized during the control and exceeds acceleration of the speed pattern at the time of recognition, the parking support control unitaccelerates the host vehicle V at the driver-requested acceleration. When the determination unitdetermines that the host vehicle V can stop in the target parking position at the set deceleration, the host vehicle V is decelerated at the set deceleration and is stopped in the target parking position regardless of the driver-requested acceleration.

Growing community of inventors

Susono, Japan

Kotaro Saiki