# US 12,600,352 B2 · Vehicle driving support device

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- Number: US 12,600,352 B2
- Document ID: US12600352B2
- Status: Granted
- Kind: B2
- Application number: 18/739,349
- Filed: 2024-06-11
- Published: 2025-05-01
- Granted: 2026-04-14
- Earliest claimed: 2023-10-31
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Yuichi Takehira
- Web page: https://patentgrep.com/patent/US12600352B2

## CPC

- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B62D 15/0265: {Automatic obstacle avoidance by steering}
- B60W 30/095: Predicting travel path or likelihood of collision
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 40/10: related to vehicle motion
- B62D 6/001: {the torque NOT being among the input parameters}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/04: Vehicle stop
- B60W 2520/06: Direction of travel
- 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
- 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)

## Abstract

The driving support ECU calculates a first avoidance path for avoiding collision between the host vehicle and the continuous structure only by automatic braking, a second avoidance path for avoiding collision between the host vehicle and the continuous structure by forward automatic steering, and a third avoidance path for avoiding collision between the host vehicle and the continuous structure by reverse automatic steering when it is determined that there is a possibility that the host vehicle collides with an end portion of the continuous structure. The driving support ECU selects, as the final collision avoidance path, an avoidance path in which the collision avoidance operation (any of the automatic braking, the forward automatic steering, and the reverse automatic steering) is started at the latest among the avoidance paths.

## Claims

### Claim 1

A vehicle driving support device that performs collision avoidance operation in a case where an obstacle is present in a predetermined area in an advancing direction of a host vehicle to avoid a collision between the host vehicle and the obstacle, the vehicle driving support device comprising:
a camera configured to acquire image data of a scene in front of the host vehicle;
a radar configured to acquire radar data by transmitting millimeter waves within a predetermined detection range and receiving millimeter waves reflected by the obstacle, the radar data indicating a distance to the obstacle and an orientation of the obstacle with respect to the host vehicle; and
a processor configured to
generate obstacle information based on the image data acquired from the camera and the radar data acquired from the radar, the obstacle information including image data of the obstacle and position data of the obstacle, the position data indicating a position of the obstacle with respect to the host vehicle on an x-y coordinate system, the x-y coordinate system including an origin located at a front end of the host vehicle, a y-axis extending in a front-rear direction of the host vehicle, and an x-axis extending in a left-right direction of the host vehicle,
determine whether the obstacle is a continuous structure based on the obstacle information, wherein the processor
extracts features of the obstacle from the image data of the obstacle,
compares the extracted features with learned features of the continuous structure that are learned by the processor in advance, and
determines that the obstacle is the continuous structure in a case where the extracted features match the learned features, and
determine whether the host vehicle reaches an end portion of the continuous structure on a side of the host vehicle when the host vehicle maintains a current steering angle and a current vehicle speed based on information of the continuous structure obtained from the obstacle information, in a case where it is determined that the obstacle is the continuous structure, wherein
the processor is further configured to, in a case where it is determined that the host vehicle reaches the end portion of the continuous structure when the host vehicle maintains the current steering angle and the current vehicle speed,
calculate a first time as a start time of automatic braking, in which a braking force is applied to the host vehicle and which is executed as the collision avoidance operation, when the host vehicle is caused to travel according to a first avoidance path for avoiding a collision between the host vehicle and the continuous structure by stopping the host vehicle before the end portion,
calculate a second avoidance path for avoiding a collision between the host vehicle and the continuous structure by causing the host vehicle to pass through an area on the host vehicle side of the continuous structure by varying the advancing direction of the host vehicle by executing automatic steering as the collision avoidance operation,
calculate a second time as a start time of the automatic steering for causing the host vehicle to travel according to the second avoidance path,
calculate a third avoidance path for avoiding a collision between the host vehicle and the continuous structure by causing the host vehicle to pass through an area at a side of the end portion of the continuous structure so as to intersect a longitudinal direction of the continuous structure by executing automatic steering as the collision avoidance operation,
calculate a third time as a start time of the automatic steering for causing the host vehicle to travel according to the third avoidance path,
select one of the first avoidance path, the second avoidance path, and the third avoidance path corresponding to a latest time of the first time, the second time, and the third time as a collision avoidance path, and
start the collision avoidance operation corresponding to the selected collision avoidance path at the latest time.

### Claim 2 (depends on 1)

The vehicle driving support device according to claim 1, wherein the second avoidance path is not selected as the collision avoidance path when there is no vehicle stop space that enables the host vehicle to stop without colliding with another obstacle at and after a time point when the host vehicle has avoided a collision with the continuous structure when the host vehicle is caused to travel according to the second avoidance path.

### Claim 3 (depends on 1)

The vehicle driving support device according to claim 1, wherein the third avoidance path is not selected as the collision avoidance path when there is no vehicle stop space that enables the host vehicle to stop without colliding with another obstacle at and after a time point when the host vehicle has avoided a collision with the continuous structure when the host vehicle is caused to travel according to the third avoidance path.

### Claim 4 (depends on 1)

The vehicle driving support device according to claim 1, wherein the processor is further configured to
acquire the information of the continuous structure from the obstacle information, the information of the continuous structure including a longitudinal length of the continuous structure, an angle between an extending direction of the continuous structure and the x-axis, and a position of the continuous structure on the x-y coordinate system, and
determine whether the host vehicle reaches the end portion of the continuous structure on the side of the host vehicle when the host vehicle maintains the current steering angle and the current vehicle speed based on the acquired information of the continuous structure.

### Claim 5 (depends on 1)

The vehicle driving support device according to claim 1, wherein the continuous structure is a wall.

### Claim 6 (depends on 1)

The vehicle driving support device according to claim 1, wherein the origin of the x-y coordinate system is located at a center of the front end of the host vehicle in the left- right direction of the host vehicle.