Collision avoidance apparatus for vehicle

A collision avoidance system for a vehicle, the vehicle including a receiver configured to receive at least location information of a moving object moving on a crossing road that is a road crossing a road that the vehicle is traveling on, a camera configured to image in a travel direction of the vehicle, a speed acquirer configured to acquire a speed of the vehicle, and a braking device configured to brake the vehicle, the braking device configured to apply a first braking force and a second braking force, the first braking force being greater than the second braking force, the collision avoidance system comprising:

• a processor;
• a non-transitory computer-readable storage medium;
• and
• a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:
• calculate a movement trajectory of the moving object from a succession of locations of the moving object received by the receiver,
• calculate a movement trajectory of the vehicle using the speed of the vehicle acquired by the speed acquirer,
• determine, using the movement trajectory of the moving object and the movement trajectory of the vehicle, whether the movement trajectory of the moving object is a trajectory of a moving object that is likely to collide with the vehicle,
• for a state in which the movement trajectory of the moving object is likely to collide with the vehicle, determine whether a view of the moving object by the camera is obstructed by an obstacle,
• in response to determining that the view of the moving object by the camera is not obstructed by the obstacle, control the braking device to apply the first braking force,
• in response to determining that the view of the moving object by the camera is obstructed by the obstacle, calculate a risk index for determining a collision avoidance measure, the risk index calculated by summing of a plurality of risk values,
• compare the risk index to each of a predetermined first threshold and a predetermined second threshold that is less than the predetermined first threshold,
• in response to determining that the risk index is greater than or equal to the predetermined first threshold, control the braking device to apply the first braking force, and
• in response to determining that the risk index is less than the predetermined first threshold and greater than or equal to the predetermined second threshold, control the braking device to apply the second braking force.

A method for a vehicle to perform collision avoidance, the vehicle including a receiver configured to receive at least location information of a moving object moving on a crossing road that is a road crossing a road that the vehicle is traveling on, a camera configured to image in a travel direction of the vehicle, a speed acquirer configured to acquire a speed of the vehicle, and a braking device configured to brake the vehicle, the braking device configured to apply a first braking force and a second braking force, the first braking force being greater than the second braking force, the method comprising:

• calculating a movement trajectory of the moving object from a succession of locations of the moving object received by the receiver,
• calculating a movement trajectory of the vehicle using the speed of the vehicle acquired by the speed acquirer,
• determining, using the movement trajectory of the moving object and the movement trajectory of the vehicle, whether the movement trajectory of the moving object is a trajectory of a moving object that is likely to collide with the vehicle,
• for a state in which the movement trajectory of the moving object is likely to collide with the vehicle, determining whether a view of the moving object by the camera is obstructed by an obstacle,
• in response to determining that the view of the moving object by the camera is obstructed by the obstacle, calculating a risk index for determining a collision avoidance measure, the risk index calculated by summing of a plurality of risk values,
• comparing the risk index to each of a predetermined first threshold and a predetermined second threshold that is less than the predetermined first threshold, and
• in response to determining that the risk index is less than the predetermined first threshold and greater than or equal to the predetermined second threshold, controlling the braking device to apply the second braking force.