Estimated time-to-collision (TTC) calculation apparatus and estimated TTC calculation method

Patent metadata

Field	Value
Publication number	US-10384658-B2
Application number	US-201515500511-A
Country	US
Kind code	B2
Filing date	Aug 3, 2015
Priority date	Aug 1, 2014
Publication date	Aug 20, 2019
Grant date	Aug 20, 2019

Abstract

An estimated time-to-collision (TTC) calculation apparatus includes a distance acquisition unit, relative velocity acquisition unit, relative acceleration acquisition unit, and estimated TTC calculation unit. The distance acquisition unit acquires a distance X between the own vehicle and an object. The relative velocity acquisition unit acquires a relative velocity V of the object with respect to the own vehicle. The relative acceleration acquisition unit acquires a relative acceleration β of the object with respect to the own vehicle. The estimated TTC calculation unit calculates an estimated TTC t until the own vehicle collides with the object. In this apparatus and method, the estimated TTC calculation unit calculates t, based on the distance X and the relative velocity V, when the own vehicle is accelerating, and when the own vehicle is decelerating, calculates t based on the distance X, the relative velocity V, and the relative acceleration β.

First claim

The invention claimed is:

1. An estimated time-to-collision (TTC) calculation apparatus comprising:
a distance acquisition unit, performed by a processor, that acquires a distance X between an own vehicle and an object;
a relative velocity acquisition unit, performed by the processor, that acquires a relative velocity V of the object with respect to the own vehicle;
a relative acceleration acquisition unit, performed by the processor, that acquires a relative acceleration β of the object with respect to the own vehicle; and
an estimated TTC calculation unit, performed by the processor, that calculates an estimated TTC t, the estimated TTC t being an estimated period of time until the own vehicle collides with the object,
wherein
the estimated TTC calculation unit calculates the estimated TTC t, based on the distance X and the relative velocity V, when the own vehicle is accelerating, and when the own vehicle is decelerating, calculates the estimated TTC t, based on the distance X, the relative velocity V, and the relative acceleration β.

2. The estimated TTC calculation apparatus according to claim 1 , wherein the relative acceleration acquisition unit calculates the relative acceleration β by differentiating the relative velocity V with respect to time.

3. The estimated TTC calculation apparatus according to claim 1 , wherein the apparatus includes an alarm unit that outputs an alarm signal on condition that the estimated TTC t is less than or equal to a predetermined lower limit.

4. The estimated TTC calculation apparatus according to claim 1 , wherein the apparatus includes an automatic brake unit that outputs an automatic brake signal causing the own vehicle to brake on condition that the estimated TTC t is less than or equal to a predetermined lower limit.

5. An estimated time-to-collision (TTC) calculation apparatus comprising:
a distance acquisition unit, performed by a processor, that acquires a distance X between an own vehicle and an object;
a relative velocity acquisition unit, performed by the processor, that acquires a relative velocity V of the object with respect to the own vehicle;
an own vehicle acceleration acquisition unit, performed by the processor, that acquires an acceleration α of the own vehicle;
a relative acceleration acquisition unit, performed by the processor, that acquires a relative acceleration β of the object with respect to the own vehicle;
an own vehicle velocity acquisition unit, performed by the processor, that acquires a velocity Y of the own vehicle; and
an estimated TTC calculation unit, performed by the processor, that calculates an estimated TTC t, the estimated TTC t being an estimated period of time until the own vehicle collides with the object,
wherein
the estimated TTC calculation unit calculates the estimated TTC t, based on the relative acceleration β, the distance X, and the relative velocity V, when the velocity Y is greater than or equal to a predetermined value, and when the velocity Y is less than the predetermined value, calculates the estimated TTC t, based on the acceleration α, the distance X, and the relative velocity V.

6. The estimated TTC calculation apparatus according to claim 5 , wherein the acceleration a is calculated by differentiating the velocity Y with respect to time.

7. The estimated TTC calculation apparatus according to claim 5 , wherein the relative acceleration acquisition unit calculates the relative acceleration β by differentiating the relative velocity V with respect to time.

8. The estimated TTC calculation apparatus according to claim 5 , wherein the apparatus includes an alarm unit that outputs an alarm signal on condition that the estimated TTC t is less than or equal to a predetermined lower limit.

9. An estimated time-to-collision (TTC) calculation method comprising:
acquiring a distance X between an own vehicle and an object;
acquiring a relative velocity V of the object with respect to the own vehicle;
acquiring a relative acceleration β of the object with respect to the own vehicle;
calculating an estimated TTC t, based on the distance X and the relative velocity V, when the own vehicle is accelerating; and
calculating the estimated TTC t, based on the distance X, the relative velocity V, and the relative acceleration β when the own vehicle is decelerating.

10. An estimated time-to-collision (TTC) calculation method comprising:
acquiring a distance X between an own vehicle and an object;
acquiring a relative velocity V of the object with respect to the own vehicle;
acquiring an acceleration α of the own vehicle;
acquiring a relative acceleration β of the object with respect to the own vehicle;
acquiring a velocity Y of the own vehicle;
calculating an estimated TTC t, based on the relative acceleration β, the distance X, and the relative velocity V, when the velocity Y is greater than or equal to a predetermined value; and
calculating the estimated TTC t, based on the acceleration a, the distance X, and the relative velocity V when the velocity Y is less than the predetermined value.

Assignees

• Denso Corp
• Toyota Motor Co Ltd

Inventors

• Ito Yosuke
• Yamada Yukihiko
• Minemura Akitoshi
• Tsuchida Jun
• Shimizu Masayuki

Classifications

• B60T2201/022

  Collision avoidance systems · CPC title

• B60T7/22 Primary

  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} · CPC title

• B60T2201/02

  Active or adaptive cruise control system; Distance control · CPC title

• B60R21/0134

  responsive to imminent contact with an obstacle {, e.g. using radar systems} · CPC title

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title