# US 12,179,753 B2 · Vehicle collision determination apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,753 B2 - Document ID: US12179753B2 - Status: Granted - Kind: B2 - Application number: 17/652,455 - Filed: 2022-02-24 - Published: 2022-06-09 - Granted: 2024-12-31 - Earliest claimed: 2019-08-29 - Assignees: Denso Corporation; Toyota Jidosha Kabushiki Kaisha - Applicants: Denso Corporation; Toyota Jidosha Kabushiki Kaisha - Inventors: Atsushi Kobayashi; Yuki Minase; Motonari Ohbayashi; Masumi Fukuman - Web page: https://patentgrep.com/patent/US12179753B2 ## CPC - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 40/04: Traffic conditions - B60W 40/105: Speed - 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 - G08G 1/163: {involving continuous checking} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2554/4041: Position - B60W 2554/4044: Direction of movement, e.g. backwards - B60W 2554/80: Spatial relation or speed relative to objects - G06V 2201/07: Target detection - G06V 2201/08: Detecting or categorising 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 - 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 vehicle collision determination apparatus, a position calculation unit calculates a trajectory of a target that is a movement trajectory of the target, and calculates an entrainment trajectory of the vehicle that is a movement trajectory of the vehicle during a turn, and calculate a position of collision where a collision is likely to occur between the vehicle and the target based on the trajectory of the target and the entrainment trajectory of the vehicle. A time calculation unit calculates a time to collision (TTC) that is a time it takes for the target to reach the position of collision. In response to the time to collision being equal to or less than a predefined determination threshold, a risk determination unit determines that there is a risk of collision between the vehicle and the target. ## Claims ### Claim 1 A vehicle collision determination apparatus for determining a risk of collision of a vehicle with a moving object as an obstacle during a turn of the vehicle, comprising: a non-transitory memory storing one or more computer programs; a processor executing the one or more computer programs to: calculate a trajectory of a target that is a movement trajectory of the moving object as the target, calculate an entrainment trajectory of the vehicle that is a movement trajectory of the vehicle during the turn, and calculate a position of collision where a collision is likely to occur between the vehicle and the target based on the trajectory of the target and the entrainment trajectory of the vehicle; calculate a first point and a second point from the entrainment trajectory of the vehicle and the trajectory of the target, and calculate a closest collision point which comprises an intersection point where a first line segment and a second line segment intersect as the position of collision, the first line segment representing a relationship between an arrival distance and an arrival time of the target for each of the first point and the second point, the second line segment representing a relationship between an arrival distance and an arrival time of the vehicle for each of the first point and the second point, the arrival distance of the target for each of the first point and the second point being a distance to each of the first point and the second point traveled by the target, the arrival time of the target for each of the first point and the second point being a time it takes for the target to reach each of the first point and the second point, the arrival time of the target being calculated from a movement speed of the target, the arrival distance of the vehicle for each of the first point and the second point being a distance to each of the first point and the second point traveled by the vehicle, the arrival time of the vehicle for each of the first point and the second point being a time it takes for the vehicle to reach each of the first point and the second point, the arrival time of the vehicle being calculated from a travel speed of the vehicle, and calculate a time it takes for both the target and the vehicle to reach the closest collision point as a time to collision, the time to collision comprising a time it takes for the target to reach the position of collision, based on the movement speed of the target; and in response to the time to collision being equal to or less than a predefined determination threshold, determine that there is a risk of collision between the vehicle and the target, wherein the vehicle is controlled to perform a process responsive to the risk of collision between the vehicle and the target. ### Claim 2 (depends on 1) The vehicle collision determination apparatus according to claim 1, wherein the processor further executes the one or more computer programs to calculate the position of collision to be a position where the trajectory of the target and the entrainment trajectory of the vehicle overlap. ### Claim 3 (depends on 1) The vehicle collision determination apparatus according to claim 1, wherein the processor further executes the one or more computer programs to calculate the position of collision where a collision is likely to occur to be an intersection point where the trajectory of the target intersects with an outer turning trajectory of the vehicle that belongs to the entrainment trajectory of the vehicle. ### Claim 4 (depends on 1) The vehicle collision determination apparatus according to claim 1, wherein the processor further executes the one or more computer programs to in response to the time to collision it takes for the vehicle to reach the position of collision being equal to or less than the determination threshold, determine that there is a risk of collision between the vehicle and the target. ### Claim 5 (depends on 1) The vehicle collision determination apparatus according to claim 1, wherein the processor further executes the one or more computer programs to in response to there being two intersection points where the trajectory of the target intersects with an outer turning trajectory of the vehicle that belongs to the entrainment trajectory of the vehicle, set the first point to either a closest point to a turning center of the vehicle along a line segment connecting the two intersection points or the intersection point that is farther from a current position of the target among the two intersection points, whichever is closer to the current position of the target, and set the second point to the intersection point that is closer to the current position of the target among the two intersection points. ### Claim 6 (depends on 1) The vehicle collision determination apparatus according to claim 1, wherein the processor further executes the one or more computer programs to in response to there being only one intersection point between the trajectory of the target and an outer turning trajectory of the vehicle that belongs to the entrainment trajectory of the vehicle and there being an intersection point between the trajectory of the target and a side of the vehicle, set the first point to the intersection point between the trajectory of the target and the side of the vehicle, and set the second point to the intersection point between the trajectory of the target and the outer turning trajectory of the vehicle. ### Claim 7 (depends on 1) The vehicle collision determination apparatus according to claim 1, wherein the processor further executes the one or more computer programs to in response to there being only one intersection point between the trajectory of the target and an outer turning trajectory of the vehicle that belongs to the entrainment trajectory of the vehicle and a current position of the target being within a region of the entrainment trajectory of the vehicle, set the first point to the current position of the target, and set the second point to the intersection point between the trajectory of the target and the outer turning trajectory of the vehicle. ### Claim 8 (depends on 1) The vehicle collision determination apparatus according to claim 1, wherein the process responsive to the risk of collision between the vehicle and the target comprises generating a braking force to decelerate the vehicle.