Collision determination apparatus and collision determination method

Patent metadata

Field	Value
Publication number	US-2020074860-A1
Application number	US-201716461139-A
Country	US
Kind code	A1
Filing date	Oct 30, 2017
Priority date	Nov 17, 2016
Publication date	Mar 5, 2020
Grant date	—

Abstract

A collision determination apparatus includes: an own vehicle route estimating unit that estimates a route of an own vehicle; a target object route estimating unit that estimates a route of a target object; and a collision determining unit that performs a collision determination regarding the own vehicle and the target object. When the own vehicle route estimating unit estimates the route of the own vehicle to be circular arc-shaped, the collision determining unit divides a circular arc indicating the route of the own vehicle into a plurality of circular arcs, approximates each of the divided circular arcs as a straight line by connecting an end point and an end point of each of the divided circular arcs, and performs the collision determination based on whether any of the approximated straight lines and the route of the target object intersect.

First claim

1 . A collision determination apparatus comprising:
an own vehicle route estimating unit that estimates a route of an own vehicle; a target object route estimating unit that estimates a route of a target object; and a collision determining unit that performs a collision determination regarding the own vehicle and the target object, wherein when the own vehicle route estimating unit estimates the route of the own vehicle to be circular arc-shaped, the collision determining unit
divides a circular arc indicating the route of the own vehicle into a plurality of circular arcs,
approximates each of the divided circular arcs as a straight line by connecting end points of the divided circular arcs, and
performs the collision determination based on whether any of the approximated straight lines and the route of the target object intersect.

2 . The collision determination apparatus according to claim 1 , wherein:
the collision determining unit sets at least either of a division angle and a number of divisions when dividing the circular arc indicating the route of the own vehicle into a plurality of circular arcs based on a radius of the circular arc.

3 . The collision determination apparatus according to claim 2 , wherein:
the collision determining unit sets at least either of a division angle and a number of divisions when dividing the circular arc indicating the route of the own vehicle into a plurality of circular arcs based on a vehicle speed of the own vehicle.

4 . The collision determination apparatus according to claim 3 , wherein:
the collision determining unit evenly divides the circular arc indicating the route of the own vehicle from a starting point to a terminal point when dividing the circular arc into a plurality of circular arcs.

5 . The collision determination apparatus according to claim 4 , wherein:
the own vehicle route estimating unit estimates the route of the own vehicle when the own vehicle is traveling in reverse; and the target object route estimating unit estimates the route of the target object behind the own vehicle.

6 . A collision determination method comprising:
estimating a route of an own vehicle; estimating a route of a target object; and performing a collision determination regarding the own vehicle and the target object, wherein the collision determination method comprises
dividing a circular arc indicating the route of the own vehicle into a plurality of circular arcs when the route of the own vehicle is estimated to be circular arc-shaped,
approximating each of the divided circular arcs as a straight line by connecting end points of the divided circular arcs by a straight line, and
performing the collision determination based on whether any of the approximated straight lines and the route of the target object intersect.

7 . The collision determination apparatus according to claim 1 , wherein:
the collision determining unit sets at least either of a division angle and a number of divisions when dividing the circular arc indicating the route of the own vehicle into a plurality of circular arcs based on a vehicle speed of the own vehicle.

8 . The collision determination apparatus according to claim 1 , wherein:
the collision determining unit evenly divides the circular arc indicating the route of the own vehicle from a starting point to a terminal point when dividing the circular arc into a plurality of circular arcs.

9 . The collision determination apparatus according to claim 2 , wherein:
the collision determining unit evenly divides the circular arc indicating the route of the own vehicle from a starting point to a terminal point when dividing the circular arc into a plurality of circular arcs.

10 . The collision determination apparatus according to claim 1 , wherein:
the own vehicle route estimating unit estimates the route of the own vehicle when the own vehicle is traveling in reverse; and the target object route estimating unit estimates the route of the target object behind the own vehicle.

11 . The collision determination apparatus according to claim 2 , wherein:
the own vehicle route estimating unit estimates the route of the own vehicle when the own vehicle is traveling in reverse; and the target object route estimating unit estimates the route of the target object behind the own vehicle.

12 . The collision determination apparatus according to claim 3 , wherein:
the own vehicle route estimating unit estimates the route of the own vehicle when the own vehicle is traveling in reverse; and the target object route estimating unit estimates the route of the target object behind the own vehicle.

Assignees

• Denso Corp
• Toyota Motor Co Ltd

Inventors

• Kitaura Shinji
• Hiromitsu Takayuki
• Kida Akihiro

Classifications

• G08G1/16 Primary

  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

• B60R21/0132

  responsive to vehicle motion parameters {, e.g. to vehicle longitudinal or transversal deceleration or speed value} · CPC title

• B60R21/00

  Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks (safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19) · CPC title

• G08G1/166 Primary

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title