# US 11,897,462 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 11,897,462 B2 - Document ID: US11897462B2 - Status: Granted - Kind: B2 - Application number: 17/514,942 - Filed: 2021-10-29 - Published: 2022-02-17 - 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/US11897462B2 ## 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 a first 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 first route; calculate, as a position of said first route, a position at which said collision between said own vehicle and said obstacle is predicted to have been avoided on the assumption that said own vehicle travels along said first route, and calculate, as a second 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 said position to a second time point at which a setting time elapses since said first time point; determine, on the assumption that said own vehicle travels along said second route, whether another obstacle that interferes with said second 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 processor 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 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 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 second 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 position with keeping a turning angle when said own vehicle passes through said 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 second 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 position with keeping a turning angle when said own vehicle passes through said 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 second 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 position with keeping a turning angle when said own vehicle passes through said 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 second 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 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 second 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 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 second 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 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 a plurality of first routes for avoiding a collision between said own vehicle and said detected obstacle; perform one of a plurality of automatic turn controls based on a distance between said own vehicle and said detected obstacle, said automatic turn controls being controls for changing a traveling direction of said own vehicle in such a manner that said own vehicle travels along said plurality of first routes; calculate, as a respective position of each of said plurality of first routes, a position at which said collision between said own vehicle and said obstacle is predicted to have been avoided on the assumption that said own vehicle travels along each respective first route of said plurality of first routes, and calculate, as a respective second route for each of said plurality of first routes, 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 said respective position to a second time point at which a setting time elapses since said first time point; determine, on the assumption that said own vehicle travels along said second routes, whether another obstacle that interferes with said second routes is present; and select one of said first routes for said automatic turn control, which is connected with said second route in which said another obstacle is not determined to be present, for its respective said automatic control.