# US 11,897,458 B2 · Collision avoidance apparatus for vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,458 B2 - Document ID: US11897458B2 - Status: Granted - Kind: B2 - Application number: 17/077,767 - Filed: 2020-10-22 - Published: 2021-02-11 - Granted: 2024-02-13 - Earliest claimed: 2018-04-24 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Kei Kamiya; Yosuke Ito; Toru Takahashi; Shogo Matsunaga; Takaharu Oguri; Takahiro Baba; Ryo Takaki - Web page: https://patentgrep.com/patent/US11897458B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - 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 10/18: including control of braking systems - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 30/18154: {Approaching an intersection} - B60W 40/04: Traffic conditions - B60W 40/105: Speed - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/584: {of vehicle lights or traffic lights} - G08G 1/09: Arrangements for giving variable traffic instructions ({railroad crossing signals B61L; reflectors E01F, G08B}; indicating arrangements for variable information by selection or combination of individual elements G09F9/00) - 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) - B60T 2201/022: Collision avoidance systems - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/10: Longitudinal speed - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/45: External transmission of data to or from the vehicle - G06T 2207/30236: Traffic on road, railway or crossing - G06T 2207/30241: Trajectory - G06T 2207/30261: Obstacle - 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 - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - 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}) ## Abstract In a collision avoidance apparatus for a vehicle, a collision avoidance controller is configured to calculate a movement trajectory of a moving object moving on a road crossing a road that the vehicle is traveling on from a succession of locations of the moving object, calculate a movement trajectory of the vehicle using a speed of the vehicle, determine whether the movement trajectory of the moving object is a trajectory of a moving object likely colliding with the vehicle, and in response to determining that the movement trajectory of the moving object is a trajectory of a moving object likely colliding with the vehicle and that the moving object fails to be recognized by a camera due to a view of the moving object being obstructed, calculate a risk index for determining a collision avoidance measure and employ the collision avoidance measure in dependence upon the risk index. ## Claims ### Claim 1 A collision avoidance apparatus for a vehicle, comprising: 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; 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; and a collision avoidance controller configured 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. ### Claim 2 (depends on 1) The collision avoidance apparatus according to claim 1, wherein the collision avoidance controller is configured to, in response to a traffic volume of the crossing road being equal to or greater than a predetermined threshold, increase the risk index as compared to a case where the traffic volume of the crossing road is less than the predetermined threshold. ### Claim 3 (depends on 2) The collision avoidance apparatus according to claim 2, wherein the collision avoidance controller is configured to determine the traffic volume of the crossing road using at least one of a traffic volume of the crossing road acquired from traffic information received by the receiver and a traffic volume of the crossing road acquired by analyzing images captured by the camera. ### Claim 4 (depends on 2) The collision avoidance apparatus according to claim 2, further comprising a radar, wherein the collision avoidance controller is configured to determine the traffic volume of the crossing road using a traffic volume of the crossing road acquired by analyzing signals received by the radar. ### Claim 5 (depends on 2) The collision avoidance apparatus according to claim 2, wherein the collision avoidance controller is configured to acquire priorities of the road that the vehicle is traveling on and the road that the moving object is moving on, and in response to the priority of the road that the moving object is moving on being higher than the priority of the road that the vehicle is traveling on, increase the risk index as compared to a case where the priority of the road that the moving object is moving on is lower than the priority of the road that the vehicle is traveling on. ### Claim 6 (depends on 5) The collision avoidance apparatus according to claim 5, further comprising a navigation unit, wherein the collision avoidance controller is configured to acquire, using the navigation unit, the priorities of the road that the vehicle is traveling on and the road that the moving object is moving on. ### Claim 7 (depends on 5) The collision avoidance apparatus according to claim 5, wherein the collision avoidance controller is configured to acquire the priorities of the road that the vehicle is traveling on and the road that the moving object is moving on, using information about a road sign or a road marking acquired by analyzing images captured by the camera. ### Claim 8 (depends on 2) The collision avoidance apparatus according to claim 2, wherein the collision avoidance controller is configured to, based on information received by the receiver about traffic lights installed along the crossing road and the succession of locations of the moving object, and the location and the speed of the vehicle, determine whether the vehicle and the moving object are likely to reach trajectories for collision, and in response to determining that the vehicle and the moving object are likely to reach the trajectories for collision, increase the risk index as compared to a case where it is not determined that the vehicle and the moving object are likely to reach the trajectories for collision. ### Claim 9 (depends on 2) The collision avoidance apparatus according to claim 2, wherein the collision avoidance controller is configured to, in response to recognizing light from a headlight of the moving object from a result of analysis of images captured by the camera, increase the risk index as compared to a case where the light from the headlight of the moving object is not recognized. ### Claim 10 (depends on 2) The collision avoidance apparatus according to claim 2, further comprising a microphone configured to acquire travel noise of vehicles other than the vehicle, wherein the collision avoidance controller is configured to, in response to determining that travel noise of the moving object is included in the travel noise of vehicles other than the vehicle, increase the risk index as compared to a case where it is not determined that the travel noise of the moving object is included in the travel noise of vehicles other than the vehicle. ### Claim 11 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. ### Claim 12 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. ### Claim 13 (depends on 12) The method according to claim 12, wherein in response to determining that the view of the moving object by the camera is not obstructed by the obstacle, controlling the braking device to apply the first braking force. ### Claim 14 (depends on 12) The method according to claim 12, wherein in response to determining that the risk index is greater than or equal to the predetermined first threshold, controlling the braking device to apply the first braking force.