# US 11,305,761 B2 · Collision avoidance control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,761 B2 - Document ID: US11305761B2 - Status: Granted - Kind: B2 - Application number: 16/777,111 - Filed: 2020-01-30 - Published: 2020-08-06 - Granted: 2022-04-19 - Earliest claimed: 2019-02-04 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Yuhei Miyamoto; Kohei Morotomi - Web page: https://patentgrep.com/patent/US11305761B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)} - G01S 13/931: of land vehicles - B60Q 9/008: {for anti-collision purposes} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - 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 2013/9322: {using additional data, e.g. driver condition, road state or weather data} - G01S 2013/93271: {in the front 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 - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL ## Abstract Provided is a collision avoidance control apparatus for a vehicle including a first sensor configured to detect a first object present in a first area; a second sensor configured to detect a second object present in a second area; and a controller configured to execute collision avoidance control when determining the first object and the second object as the same object, in which the controller is further configured to determine the first object and the second object as the same object when determining that the first object enters the first area, and determining that at least part of the second object is present in a specific region, the specific region being a region which includes a first object region in which the first object exists, and which includes a part of a region contiguous to the first object region and outside of the first area. ## Claims ### Claim 1 A collision avoidance control apparatus for a vehicle, comprising: a first sensor configured to capture a predetermined first area in a peripheral region of the vehicle to acquire image data, detect as a first object an object present in the first area through use of the image data, and acquire first detection information which is information on the detected first object; a second sensor configured to, through use of an electromagnetic wave, detect as a second object an object present in a predetermined second area in the peripheral region of the vehicle, and acquire second detection information which is information on the detected second object, the second area including the first area and being larger than the first area; and a controller configured to execute collision avoidance control for avoiding a collision when determining the first object and the second object as the same object based on the first detection information and the second detection information, and determining the first object as an obstacle which is likely to collide with the vehicle based on one or both of the first detection information and the second detection information, wherein: the controller is further configured to determine whether or not a specific condition is satisfied based on the first detection information, the specific condition being satisfied when the first object enters the first area from outside of the first area, determine the first object and the second object as the same object when determining that the specific condition is not satisfied, and determining that at least part of the second object is present in a first object region in which the first object exists, and determine the first object and the second object as the same object when determining that the specific condition is satisfied, and determining that at least part of the second object is present in a specific region, the specific region being a region which includes the first object region, and which includes a part of a region contiguous to the first object region and outside of the first area. ### Claim 2 (depends on 1) The collision avoidance control apparatus according to claim 1, wherein the controller is configured to set as the specific region a region obtained by enlarging the first object area in a direction opposite to a moving direction of the first object. ### Claim 3 (depends on 2) The collision avoidance control apparatus according to claim 2, wherein the first sensor is configured to determine a category of the first object based on the image data, and the controller is configured to change a size of a region outside of the first area in the specific region in accordance with the determined category of the first object. ### Claim 4 (depends on 1) The collision avoidance control apparatus according to claim 1, wherein the first sensor is configured to determine a category of the first object based on the image data, and the controller is configured to change a size of a region outside of the first area in the specific region in accordance with the determined category of the first object.