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US 10,882,518 B2Granted
Collision avoidance assist apparatus
AssigneeToyota Jidosha Kabushiki Kaisha
InventorKotaro Saiki
Life of this patent
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Abstract
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.
Claims9
A collision avoidance assist apparatus comprising:
- an ambient sensor that detects an obstacle which is present ahead of an own vehicle;
- and
- one or more processors programmed to:
- alert a driver when a collision probability of a collision of said own vehicle with said detected obstacle exceeds a threshold;
- calculate an avoidance route for avoiding said collision between said own vehicle and said detected obstacle;
- perform a collision avoidance assist control including an automatic brake control and an automatic turn control when said collision probability exceeds a threshold, said automatic brake control being a control for generating a braking force at respective wheels, and said automatic turn control being a control for changing a traveling direction of said own vehicle in such a manner that said own vehicle travels along said avoidance route;
- calculate, as a termination position of said avoidance route, a position at which said collision between said own vehicle and said obstacle is predicted to have been avoided on the assumption that said own vehicle travels along said avoidance route, and calculate, as a post-avoidance route, a route along which said own vehicle is predicted to travel for a period from a first time point at which said own vehicle passes through said termination position to a second time point at which a setting time elapses since said first time point;
- determine whether or not another obstacle that interferes with said post-avoidance route is present on the assumption that said own vehicle travels along said post-avoidance route;
- and
- prohibit performing said automatic turn control when said another obstacle is determined to be present.
7 more elements
Dependencies are inferred from the claim text.