# US 10,481,258 B2 · Vehicle control apparatus and vehicle control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,481,258 B2 - Document ID: US10481258B2 - Status: Granted - Kind: B2 - Application number: 15/562,194 - Filed: 2016-03-10 - Published: 2018-03-08 - Granted: 2019-11-19 - Earliest claimed: 2015-03-31 - Assignees: Denso Corporation; Toyota Jidosha Kabushiki Kaisha - Applicants: Denso Corporation; Toyota Jidosha Kabushiki Kaisha - Inventors: Syogo Matsunaga; Jun Tsuchida; Ichiro Aizawa - Web page: https://patentgrep.com/patent/US10481258B2 ## CPC - G01S 13/931: of land vehicles - B60T 7/12: for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60R 21/013: including means for detecting collisions, impending collisions or roll-over - B60T 2201/022: Collision avoidance systems - B60W 2554/00: Input parameters relating to objects - B60W 2554/20: Static objects - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - B60W 2554/805: Azimuth angle - G01S 7/4034: {in elevation, i.e. in the vertical plane} - G01S 2013/93185: {Controlling the brakes} - G01S 2013/9319: {Controlling the accelerator} - G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction} - 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 - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - 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 - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract A driving assist ECU which performs collision avoidance control for the target based on a detection result of a target around an own vehicle by a radar device acquires, at a predetermined cycle, angle deviation information of the radar device in the vertical direction, the angle deviation information being calculated from a detection position of the target, and calculates an axis deviation angle by performing statistical processing of a history of the angle deviation information acquired after activation, the axis deviation angle being a deviation amount of a mounting angle of the radar device in the vertical direction. Until a predetermined initial time period elapses after the activation, a limitation is imposed on the collision avoidance control for, among targets detected by the radar device, a stationary target which is a target corresponding to a stationary object. ## Claims ### Claim 1 A vehicle control apparatus comprising: a target detection section for detecting at least one target around an own vehicle; an activation section for performing collision avoidance control with respect to the at least one target on a basis of a result of detection performed by the target detection section; an acquisition section for acquiring, at a predetermined cycle, angle deviation information on angular deviation of the target detection section in a vertical direction, the angle deviation information being calculated on a basis of a detection position where the at least one target has been detected by the target detection section; an angle calculation section for calculating an axis deviation angle by performing statistical processing of a history of the angle deviation information acquired by the acquisition section after activation of the vehicle control apparatus, the axis deviation angle being an amount of deviation of a mounting angle of the target detection section in the vertical direction; and a control section for, until a predetermined initial time period elapses after the activation of the vehicle control apparatus, imposing a limitation on the collision avoidance control which is performed with respect to, among the at least one target detected by the target detection section, a stationary target which is a target corresponding to a stationary object and imposing no limitation on the collision avoidance control which is performed with respect to a target other than the stationary target. ### Claim 2 (depends on 1) The vehicle control apparatus according to claim 1 wherein the control section removes the limitation on the collision avoidance control with respect to the stationary target after the predetermined initial time period elapses. ### Claim 3 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: a vertical axis deviation determination section for determining whether there is axis deviation of the target detection section in the vertical direction, in a case where the vertical axis deviation determination section determines that there is the axis deviation in the vertical direction, the control section imposing a limitation on the collision avoidance control with respect to the stationary target until the predetermined initial time period elapses after the activation of the vehicle control apparatus. ### Claim 4 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: a second target detection section for detecting a target around the own vehicle, in a case where the second target detection section has detected a stationary target, the control section removing the limitation. ### Claim 5 A vehicle control method which is applied to a vehicle equipped with a target detection section for detecting at least one target around an own vehicle, the vehicle control method comprising: an acquisition step of acquiring, at a predetermined cycle, angle deviation information on angular deviation of the target detection section in a vertical direction, the angle deviation information being calculated on a basis of a detection position where the at least one target has been detected by the target detection section; an angle calculation step of calculating an axis deviation angle for the angle deviation information, the axis deviation angle being an amount of deviation of a mounting angle of the target detection section in the vertical direction; an execution step which is executed by a vehicle control apparatus for performing collision avoidance control with respect to the at least one target on a basis of a result of detection performed by the target detection section; and a control step of, until a predetermined initial time period elapses after activation of the vehicle control apparatus, imposing a limitation on the collision avoidance control which is performed with respect to, among the at least one target detected by the target detection section, a stationary target which is a target corresponding to a stationary object and imposing no limitation on the collision avoidance control which is performed with respect to a target other than the stationary target. ### Claim 6 A vehicle control apparatus which is applied to a vehicle equipped with a target detection section for detecting at least one target around an own vehicle, the vehicle control apparatus comprising: a memory; a processor communicable to the memory; and a set of computer-executable instructions stored on the memory that cause the processor to implement: performing collision avoidance control with respect to the at least one target on a basis of a result of detection performed by the target detection section; acquiring, at a predetermined cycle, angle deviation information on angular deviation of the target detection section in a vertical direction, the angle deviation information being calculated on a basis of a detection position where the at least one target has been detected by the target detection section; calculating an axis deviation angle by performing statistical processing of a history of the angle deviation information acquired after activation of the vehicle control apparatus, the axis deviation angle being an amount of deviation of a mounting angle of the target detection section in the vertical direction; and until a predetermined initial time period elapses after the activation of the vehicle control apparatus, imposing a limitation on the collision avoidance control which is performed with respect to, among the at least one target detected by the target detection section, a stationary target which is a target corresponding to a stationary object and imposing no limitation on the collision avoidance control which is performed with respect to a target other than the stationary target.