# US 11,897,459 B2 · Collision avoidance assist apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,459 B2 - Document ID: US11897459B2 - Status: Granted - Kind: B2 - Application number: 17/130,595 - Filed: 2020-12-22 - Published: 2021-04-15 - Granted: 2024-02-13 - Earliest claimed: 2017-09-29 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Kotaro Saiki - Web page: https://patentgrep.com/patent/US11897459B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60Q 9/008: {for anti-collision purposes} - 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 10/06: including control of combustion engines - B60W 10/10: including control of change-speed gearings - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 50/0097: {Predicting future conditions} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 15/0265: {Automatic obstacle avoidance by steering} - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60T 2201/022: Collision avoidance systems - B60W 2050/143: {Alarm means} - B60W 2050/146: {Display means} - B60W 2520/10: Longitudinal speed - B60W 2520/105: Longitudinal acceleration - B60W 2520/14: Yaw - B60W 2540/18: Steering angle - B60W 2554/00: Input parameters relating to objects - B60W 2554/20: Static objects - B60W 2554/4026: Cycles - B60W 2554/4029: Pedestrians - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - B60W 2554/805: Azimuth angle - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/931: of land vehicles - G01S 2013/9318: {Controlling the steering} - G01S 2013/93185: {Controlling the brakes} - G01S 2013/9319: {Controlling the accelerator} - 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 - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES 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 - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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}) - 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 ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The collision avoidance assist apparatus according to claim 1, wherein the one or more processors is further programmed to: alert a driver when a collision probability of the collision of said own vehicle with said detected obstacle exceeds a threshold; have stored in advance a driver response required time which is a time from a time point at which said alert is started to a time point at which said driver can start a driving operation for avoiding the collision between said own vehicle and the detected obstacle; calculate a remaining time obtained by subtracting, from said driver response required time, a time from a time point at which said alert is started to a time point at which said own vehicle passes through said termination position; and set said setting time to said calculated remaining time. ### Claim 3 (depends on 1) The collision avoidance assist apparatus according to claim 1, wherein the one or more processors is further programmed to: use, as said setting time, a time which has been set based on an assist control handing over time which is a time from a time point at which the own vehicle passes through said termination position to a time point at which a new automatic turn control for avoiding a newly detected obstacle can be started. ### Claim 4 (depends on 1) The collision avoidance assist apparatus according to claim 1, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle travels for said setting time at a vehicle speed of said own vehicle when said own vehicle passes through said termination position with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 5 (depends on 2) The collision avoidance assist apparatus according to claim 2, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle travels for said setting time at a vehicle speed of said own vehicle when said own vehicle passes through said termination position with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 6 (depends on 3) The collision avoidance assist apparatus according to claim 3, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle travels for said setting time at a vehicle speed of said own vehicle when said own vehicle passes through said termination position with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 7 (depends on 1) The collision avoidance assist apparatus according to claim 1, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle is decelerated at a given deceleration for said setting time with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 8 (depends on 2) The collision avoidance assist apparatus according to claim 2, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle is decelerated at a given deceleration for said setting time with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 9 (depends on 3) The collision avoidance assist apparatus according to claim 3, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle is decelerated at a given deceleration for said setting time with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 10 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. ### Claim 11 (depends on 10) The collision avoidance assist apparatus according to claim 10, wherein the one or more processors is further programmed to: alert a driver when a collision probability of the collision of said own vehicle with said detected obstacle exceeds a threshold; have stored in advance a driver response required time which is a time from a time point at which said alert is started to a time point at which said driver can start a driving operation for avoiding the collision between said own vehicle and said detected obstacle; calculate a remaining time obtained by subtracting, from said driver response required time, a time from a time point at which said alert is started to a time point at which said own vehicle passes through said termination position; and set said setting time to said calculated remaining time. ### Claim 12 (depends on 10) The collision avoidance assist apparatus according to claim 10, wherein the one or more processors is further programmed to: use, as said setting time, a time which has been set based on an assist control handing over time which is a time from a time point at which said own vehicle passes through said termination position to a time point at which a new automatic turn control for avoiding a newly detected obstacle can be started. ### Claim 13 (depends on 10) The collision avoidance assist apparatus according to claim 10, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle travels for said setting time at a vehicle speed of said own vehicle when said own vehicle passes through said termination position with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 14 (depends on 11) The collision avoidance assist apparatus according to claim 11, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle travels for said setting time at a vehicle speed of said own vehicle when said own vehicle passes through said termination position with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 15 (depends on 12) The collision avoidance assist apparatus according to claim 12, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle travels for said setting time at a vehicle speed of said own vehicle when said own vehicle passes through said termination position with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 16 (depends on 10) The collision avoidance assist apparatus according to claim 10, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle is decelerated at a given deceleration for said setting time with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 17 (depends on 11) The collision avoidance assist apparatus according to claim 11, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle is decelerated at a given deceleration for said setting time with keeping a turning angle when said own vehicle passes through said termination position. ### Claim 18 (depends on 12) The collision avoidance assist apparatus according to claim 12, wherein the one or more processors is further programmed to: calculate said post-avoidance route on the assumption that said own vehicle is decelerated at a given deceleration for said setting time with keeping a turning angle when said own vehicle passes through said termination position.