Drive assist apparatus

Patent metadata

Field	Value
Publication number	US-11458936-B2
Application number	US-201815968063-A
Country	US
Kind code	B2
Filing date	May 1, 2018
Priority date	Jul 18, 2017
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

A drive assist apparatus includes a detector and a traveling controller. The detector detects an operation target of automatic emergency braking of a vehicle. The traveling controller includes a calculator and a determiner, and controls the automatic emergency braking on the basis of a result of the detection performed by the detector. The calculator calculates each of a target deceleration rate and a variation rate. The target deceleration rate is a target value of a deceleration rate of the automatic emergency braking. The variation rate is a rate of variation in the deceleration rate required for the deceleration rate of the automatic emergency braking to reach the target deceleration rate. The determiner determines a contact risk of the vehicle with the operation target on the basis of the target deceleration rate. The calculator increases the variation rate when the contact risk is determined by the determiner as being relatively high.

First claim

The invention claimed is:

1. A drive assist apparatus comprising:
a detector including a sensor, the detector being provided on a vehicle, the detector being configured to detect a three-dimensional object located in surroundings outside the vehicle; and
a controller configured to:
estimate, based on a detection result of the detector, a contact time for the vehicle to contact the three-dimensional object;
execute repeatedly a series of processes comprising i) setting a target deceleration rate of the vehicle and ii) setting a jerk of the vehicle; and
execute automatic emergency braking of the vehicle based on the target deceleration rate and the jerk,

wherein the automatic emergency braking includes first braking and second braking,
wherein a maximum value of a deceleration rate upon the second braking is greater than a decelerator rate upon the first braking,
wherein, in response to determining that an execution condition of the second braking is satisfied, the controller executes the second braking based on a second target deceleration rate and one of a second jerk and a third jerk, the execution condition of the second braking including the estimated contact time being equal to or less than a second reference time,
wherein, in response to determining that an execution condition of the first braking is satisfied, the controller executes the first braking based on a first target deceleration rate and a first jerk, the first jerk being less than the second jerk, the execution condition of the first braking including (i) the execution condition of the second braking being not satisfied and (ii) the estimated contact time being equal to or less than a first reference time, and
wherein the series of processes further comprises:
in response to determining that the execution condition of the second braking is satisfied:
calculating, based on the estimated contact time, the second target deceleration rate being a target value of a deceleration rate of the second braking;
setting the second target deceleration rate as the target deceleration rate;
calculating, based on the second target deceleration rate, the second jerk being a rate of variation in the deceleration rate required for the deceleration rate of the second braking to reach the second target deceleration rate;
setting the second jerk as the jerk of the vehicle; and
changing the jerk of the vehicle from the second jerk to the third jerk that is greater than the second jerk based on determining that a difference between the second target deceleration rate and a reference deceleration rate is greater than a predetermined threshold;

in response to determining that the execution condition of the first braking is satisfied:
calculating the first target deceleration rate being a target value of a deceleration rate of the first braking;
setting the first target deceleration rate as the target deceleration rate;
calculating, based on the first target deceleration rate, the first jerk being a rate of variation in the deceleration rate required for the deceleration rate of the first braking to reach the first target deceleration rate;
setting the first jerk as the jerk of the vehicle;
setting, when the deceleration rate upon the first braking reaches the first target deceleration rate, the first target deceleration rate as the reference deceleration rate; and
setting, when the deceleration rate upon the first braking does not reach the first target deceleration rate, a current value of the deceleration rate that is increased in accordance with the jerk of the vehicle as the reference deceleration rate; and

setting, when the first braking is not performed, zero to the reference deceleration rate.

2. The drive assist apparatus according to claim 1 , wherein the detector comprises a stereo image recognizer configured to process a pair of captured images to three-dimensionally recognize the three-dimensional object, the pair of captured images being captured by a stereo camera mounted on the vehicle.

3. A drive assist apparatus comprising:
a detector including a sensor, the detector being provided on a vehicle, the detector being configured to detect a three-dimensional object located in surroundings outside the vehicle; and
circuitry configured to:
estimate, based on a detection result of the detector, a contact time for the vehicle to contact the three-dimensional object;
execute repeatedly a series of processes comprising i) setting a target deceleration rate of the vehicle and ii) setting a jerk of the vehicle; and
execute automatic emergency braking of the vehicle based on the target deceleration rate and the jerk,

wherein the automatic emergency braking includes first braking and second braking,
wherein a maximum value of a deceleration rate upon the second braking is greater than a decelerator rate upon the first braking,
wherein, in response to determining that an execution condition of the second braking is satisfied, the circuitry executes the second braking based on a second target deceleration rate and one of a second jerk and a third jerk, the execution condition of the second braking including the estimated contact time being equal to or less than a second reference time,
wherein, in response to determining that an execution condition of the first braking is satisfied, the circuitry executes the first braking based on a first target deceleration rate and a first jerk, the first jerk being less than the second jerk, the execution condition of the first braking including (i) the execution condition of the second braking being not satisfied and (ii) the estimated contact time being equal to or less than a first reference time, and
wherein the series of processes further comprises:
in response to determining that the execution condition of the second braking is satisfied:
calculating, based on the estimated contact time, the second target deceleration rate being a target value of a deceleration rate of the second braking;
setting the second target deceleration rate as the target deceleration rate;
calculating, based on the second target deceleration rate, the second jerk being a rate of variation in the deceleration rate required for the deceleration rate of the second braking to reach the second target deceleration rate;
setting the second jerk as the jerk of the vehicle; and
changing the jerk of the vehicle form the second jerk to the third jerk that is greater than the second jerk based on determining that a difference between the second target deceleration rate and a reference deceleration rate is greater than a predetermined threshold;

in response to determining that the execution condition of the first braking is satisfied:
calculating the first target deceleration rate being a target value of a deceleration rate of the first braking;
setting the first target deceleration rate as the target deceleration rate;
calculating, based on the first target deceleration rate, the first jerk being a rate of variation in the deceleration rate required for the deceleration rate of the first braking to reach the first target deceleration rate;
setting the first jerk as the jerk of the vehicle;
setting, when the deceleration rate upon the first braking reaches the first target deceleration rate, the first target deceleration rate as the reference deceleration rate; and
setting, when the deceleration rate upon the first braking does not reach the first target deceleration rate, a current value of the deceleration rate that is increased in accordance with the jerk of the vehicle as the reference deceleration rate; and

setting, when the first braking is not performed, zero to the reference deceleration rate.

Assignees

• Subaru Corp

Inventors

• Kumagai Hikaru
• Dong Zhaofei

Classifications

• 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

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• B60Y2300/09

  Taking automatic action to avoid collision, e.g. braking or steering · CPC title

• B60T8/172

  Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} · CPC title

• B60T2230/03

  Overturn, rollover · CPC title