Collision avoidance assist apparatus
AssigneeToyota Jidosha Kabushiki Kaisha
InventorKotaro Saiki
Life of this patent
Estimating the term…
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.
Claims18
A collision avoidance assist apparatus comprising:
- a sensor that detects an obstacle which is present ahead of an own vehicle;
- and
- one or more processors programmed to:
- calculate an avoidance route for avoiding a collision between said own vehicle and said detected obstacle;
- perform an automatic turn control based on a distance between said own vehicle and said detected obstacle, 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 post-avoidance route, a route along which said own vehicle is predicted to travel for a time period from a first time point at which said own vehicle passes through a termination position of said avoidance route to a second time point at which a setting time elapses since said first time point, wherein the termination position is a position at which the collision between said own vehicle and said detected obstacle is predicted to have been avoided;
- determine, on the assumption that said own vehicle travels along said post-avoidance route, whether another obstacle that interferes with said post-avoidance route is present;
- and
- prohibit performing said automatic turn control when said another obstacle is determined to be present.
A collision avoidance assist apparatus comprising:
- a sensor that detects an obstacle which is present ahead of an own vehicle;
- and
- one or more processors programmed to:
- calculate an avoidance route for avoiding a collision between said own vehicle and said detected obstacle;
- perform an automatic turn control based on a distance between said own vehicle and said detected obstacle, 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;
- and
- prohibit performing said automatic turn control based on a determination that another obstacle is present ahead of a termination position of the avoidance route in the vehicle's direction of travel, wherein the termination position is a position at which the collision between said own vehicle and said detected obstacle is predicted to have been avoided.
Dependencies are inferred from the claim text.