# US 10,479,353 B2 · Vehicle surrounding situation estimation device

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- Number: US 10,479,353 B2
- Document ID: US10479353B2
- Status: Granted
- Kind: B2
- Application number: 15/107,012
- Filed: 2014-12-12
- Published: 2017-01-05
- Granted: 2019-11-19
- Earliest claimed: 2013-12-26
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Quy Hung Nguyen Van
- Web page: https://patentgrep.com/patent/US10479353B2

## CPC

- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 50/0225: {Failure correction strategy}
- B60W 50/029: Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- G01S 7/40: Means for monitoring or calibrating
- G01S 13/87: Combinations of radar systems, e.g. primary radar and secondary radar
- G01S 13/931: of land vehicles
- B60W 2030/082: {Vehicle operation after collision}
- B60W 2050/0215: {Sensor drifts or sensor failures}
- B60W 2520/14: Yaw
- G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction}
- G01S 2013/93271: {in the front of the vehicles}
- G01S 2013/93272: {in the back of the vehicles}
- G01S 2013/93274: {on the side of the vehicles}
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A vehicle surrounding situation estimation device includes a collision detection unit that detects that a vehicle collides with an object outside the vehicle; a surrounding situation detection unit that detects a situation of a detection area around the vehicle; a surrounding situation estimation unit that estimates a situation of a prediction area around the vehicle at a collision time based on a detection result of the surrounding situation detection unit before the collision detection unit detects the collision; a surrounding situation recording unit that records the situation of the prediction area; and a surrounding situation prediction unit that predicts a situation of a vehicle surrounding area around the vehicle based on the situation of the prediction area after the collision detection unit detects the collision, the situation of the prediction area being recorded by the surrounding situation recording unit before the collision detection unit detects the collision.

## Claims

### Claim 1

A vehicle surrounding situation estimation device comprising:
sensors configured to detect a surrounding environment outside a vehicle; and
an electronic control unit (ECU) programmed to:
determine that the vehicle will collide with a first object outside the vehicle;
estimate a position of a second object outside the vehicle at a collision time based on a detection result of the sensors obtained before the collision;
record the position of the second object outside the vehicle that has been estimated;
after the collision is detected, determine whether there is damage to the sensors mounted on the vehicle;
estimate a position of the second object outside the vehicle in a vehicle surrounding area around the vehicle after the collision has been detected using, (i) from the sensors that are determined to be damaged after the collision, the position of the second object outside the vehicle, which was recorded before the detection of the collision, and (ii) from the sensors that are determined as normal by the ECU after the collision has been detected, a current detection result; and
perform traveling control for controlling a behavior of the vehicle based on the position of the second object outside the vehicle surrounding area that has been determined after the collision has been detected.

### Claim 2 (depends on 1)

The vehicle surrounding situation estimation device according to claim 1, wherein the ECU is further programmed to:
determine whether the collision between the vehicle and the first object outside the vehicle can be avoided, the first object outside the vehicle being detected by the sensors; and
determine the current position of the second object outside the vehicle after the determination that the collision cannot be avoided, and
record the position of the second object outside the vehicle that has been estimated from a time of the determination that the collision cannot be avoided to a time of the detection of the collision.

### Claim 3 (depends on 1)

The vehicle surrounding situation estimation device according to claim 1, wherein the ECU is further programmed to:
estimate the position of the second object outside the vehicle in such a way that, for a situation of an abnormally recognized area in the vehicle surrounding area corresponding to a detection area, which is set before the collision, of the sensors determined as damaged after the detection of the collision, estimate the position of the second object outside the vehicle based on the position of the second object outside the vehicle that has been recorded before the detection of the collision and, for a situation of a normally recognized area in the vehicle surrounding area corresponding to a detection area of the sensors determined as normal, predict the position of the second object outside the vehicle based on the detection result of the sensors.