# US 10,864,908 B2 · Vehicle control device 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 10,864,908 B2 - Document ID: US10864908B2 - Status: Granted - Kind: B2 - Application number: 16/086,161 - Filed: 2017-02-22 - Published: 2019-04-11 - Granted: 2020-12-15 - Earliest claimed: 2016-03-22 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Ryo Takaki - Web page: https://patentgrep.com/patent/US10864908B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - 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} - B60T 8/17: Using electrical or electronic regulation means to control braking {(detecting or indicating faulty operation B60T8/885)} - B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} - B60W 40/04: Traffic conditions - B60W 40/068: Road friction coefficient - B60W 40/105: Speed - 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) - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60R 21/0134: responsive to imminent contact with an obstacle {, e.g. using radar systems} - B60T 2201/022: Collision avoidance systems - B60T 2210/12: Friction - B60T 2210/36: Global Positioning System [GPS] - B60W 2552/40: Coefficient of friction - B60W 2554/804: Relative longitudinal speed - B60W 2720/103: Speed profile - 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 - 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 - 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 vehicle control ECU calculates an absolute velocity of an object from a vehicle velocity and a relative velocity of the object, and performs collision avoidance control with respect to the object based on the calculated absolute velocity. The vehicle control ECU includes a brake determination unit that determines whether a brake device in the vehicle has been activating in a period during which the absolute velocity is calculated, and a calculation unit that, after the activation of the brake device, calculates a current value of the vehicle velocity based on a previous value of the vehicle velocity and an assumed deceleration amount determined from an assumed activation amount that can be generated by the brake device. ## Claims ### Claim 1 A vehicle control device for a vehicle that calculates an absolute velocity of an object from a vehicle velocity and a relative velocity of the object, and performs collision avoidance control with respect to the object based on the absolute velocity, comprising: a brake determination unit configured to determine whether a brake device in the vehicle has been activated in a period during which the absolute velocity is calculated; and a calculation unit configured to, after activation of the brake device, calculate a current value of the vehicle velocity based on a previous value of the vehicle velocity and an assumed deceleration amount determined from an assumed activation amount that can be generated by the brake device. ### Claim 2 (depends on 1) The vehicle control device according to claim 1, wherein after the activation of the brake device, when an amount of decrease in the vehicle velocity from the previous value is larger than a predetermined value, the calculation unit calculates the current value of the vehicle velocity based on the previous value of the vehicle velocity and the assumed deceleration amount. ### Claim 3 (depends on 1) The vehicle control device according to claim 1, wherein the assumed activation amount is determined based on a maximum braking amount of the brake device. ### Claim 4 (depends on 1) The vehicle control device according to claim 1, further comprising an operation control unit configured to set the assumed activation amount of the brake device, wherein the calculation unit sets the assumed deceleration amount based on the assumed activation amount of the brake device that is set by the operation control unit. ### Claim 5 (depends on 1) The vehicle control device according to claim 1, further comprising: an acquisition unit configured to acquire frictional force of a road surface on which the vehicle is running; and a setting unit configured to set the assumed deceleration amount based on the frictional force that is acquired. ### Claim 6 (depends on 5) The vehicle control device according to claim 5, wherein the setting unit sets the assumed deceleration amount to a lower value as the frictional force has a lower value. ### Claim 7 (depends on 1) The vehicle control device according to claim 1, wherein the collision avoidance control includes automatic braking by which the brake device is automatically activated, and when it is determined that automatic braking has been executed, the calculation unit calculates the current value of the vehicle velocity based on the previous value of the vehicle velocity and the assumed deceleration amount. ### Claim 8 A vehicle control method for a vehicle that is implemented by a processor for calculating an absolute velocity of an object based on a vehicle velocity and a relative velocity of the object and performing collision avoidance control with respect to the object based on the absolute velocity, comprising: a brake determination step of determining, using the processor, whether a brake device in the vehicle has been activating in a period during which the absolute velocity is calculated; and a calculation step of, after activation of the brake device, calculating, using the processor, a current value of the vehicle velocity based on a previous value of the vehicle velocity and an assumed deceleration amount determined from an assumed activation amount that can be generated by the brake device. ### Claim 9 A vehicle control device for a vehicle that calculates an absolute velocity of an object from a vehicle velocity and a relative velocity of the object, and performs collision avoidance control with respect to the object based on the absolute velocity, 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: determining whether a brake device in the vehicle has been activating in a period during which the absolute velocity is calculated; and after activation of the brake device, calculating a current value of the vehicle velocity based on a previous value of the vehicle velocity and an assumed deceleration amount determined from an assumed activation amount that can be generated by the brake device.