Drive assist device

Patent metadata

Field	Value
Publication number	US-9481364-B2
Application number	US-201314650328-A
Country	US
Kind code	B2
Filing date	Feb 7, 2013
Priority date	Feb 7, 2013
Publication date	Nov 1, 2016
Grant date	Nov 1, 2016

Abstract

A drive assist device includes an object detection unit that is configured to detect an object in front of a host vehicle, a curve detection unit that is configured to detect a curved path in front of the host vehicle, a collision determination unit that is configured to determine a collision between the host vehicle and the object, and in a case where the curved path is detected, makes it difficult to determine the object detected in the direction opposite to the curving direction as an obstacle compared to an object detected in the curving direction, and a collision determination unit that is configured to perform a collision avoidance assist on the host vehicle in a case where it is determined that the host vehicle and the obstacle may collide with each other.

First claim

The invention claimed is:

1. A drive assist device comprising:
an object detection unit configured to detect an object in front of a host vehicle;
a curve detection unit configured to detect a curved path in front of the host vehicle; and
an electronic control unit comprising:
a collision determination unit that is configured to determine a collision between the host vehicle and the object, and in a case where the curved path is detected, makes it difficult to determine the object detected in a direction opposite to a curving direction as an obstacle compared to the object detected in the curving direction; and
a drive assist unit that is configured to perform a collision avoidance assist on the host vehicle by a notification assist or a control assist in a case where the object is determined as the obstacle,
wherein, in a case where the curved path is not detected, the collision determination unit sets a determination condition for straight line path, which is laterally symmetrical in a width direction of the host vehicle with a center of the host vehicle as a reference, and
wherein, in a case where the curved path is detected, the collision determination unit sets a gain such that an operation of the collision avoidance assist is more delayed in the direction opposite to the curving direction than that in the curving direction, and sets a determination condition for the curved path by adjusting the determination condition for the straight line path based on the gain.

2. The drive assist device according to claim 1 ,
wherein the collision determination unit sets a determination area in front of the host vehicle as the determination condition, and
wherein, in a case where the object is detected in the determination area, the drive assist unit performs the collision avoidance assist on the host vehicle.

3. The drive assist device according to claim 2 ,
wherein, in a case where the curved path is detected and the object is detected in the direction opposite to the curving direction, the collision determination unit sets a negative gain in the direction opposite to the curving direction such that the operation of the collision avoidance assist is delayed in the direction opposite to the curving direction.

4. The drive assist device according to claim 2 ,
wherein, in a case where the curved path is detected and the object is detected in the curving direction, the collision determination unit sets a positive gain in the curving direction such that the operation of the collision avoidance assist is advanced in the curving direction.

5. The drive assist device according to claim 2 ,
wherein, in a case where the curved path is detected and the object moving in the direction opposite to the curving direction is detected, the collision determination unit sets a negative gain in the direction opposite to the curving direction such that the operation of the collision avoidance assist is delayed in the direction opposite to the curving direction.

6. The drive assist device according to claim 2 ,
wherein, in a case where the curved path is detected and the object moving in the curving direction is detected, the collision determination unit sets a positive gain in the curving direction such that the operation of the collision avoidance assist is advanced in the curving direction.

7. The drive assist device according to claim 2 ,
wherein, in a case where the curved path is detected and the object moving in the direction opposite to the curving direction is detected in the direction opposite to the curving direction, the collision determination unit sets a negative gain in the direction opposite to the curving direction such that the operation of the collision avoidance assist is delayed in the direction opposite to the curving direction.

8. The drive assist device according to claim 2 ,
wherein, in a case where the curved path is detected and the object moving in the curving direction is detected in the curving direction, the collision determination unit sets a positive gain in the curving direction such that the operation of the collision avoidance assist is advanced in the curving direction.

9. The drive assist device according to claim 1 ,
wherein the collision determination unit sets an assist start timing as the determination condition, and
wherein, in a case where a time to collision between the host vehicle and the object is equal to or less than the assist start timing, the drive assist unit performs the collision avoidance assist on the host vehicle.

10. The drive assist device according to claim 9 ,
wherein, in a case where the curved path is detected and the object moving in the direction opposite to the curving direction is detected, the collision determination unit sets a negative gain in the direction opposite to the curving direction such that the operation of the collision avoidance assist is delayed in the direction opposite to the curving direction.

11. The drive assist device according to claim 1 ,
wherein the collision determination unit sets a determination area in front of the host vehicle as the determination condition, and sets a determination area in the direction opposite to the curving direction and a determination area in the curving direction based on at least one of a position or a moving direction of the object or a moving speed of the object, and
wherein, in a case where the object is detected in the determination area, the drive assist unit performs the collision avoidance assist on the host vehicle.

12. The drive assist device according to claim 1 ,
wherein the collision determination unit sets an assist start timing as the determination condition, and sets an assist start timing for the object detected in the direction opposite to the curving direction and an assist start timing for the object detected in the curving direction based on at least one of the position or moving direction of the object or the moving speed of the object, and
wherein, in a case where a time to collision between the host vehicle and the object is equal to or less than the assist start timing, the drive assist unit performs the collision avoidance assist on the host vehicle.

13. A drive assist device comprising:
an object detection unit configured to detect an object in front of a host vehicle;
a curve detection unit configured to detect a curved path in front of the host vehicle; and
an electronic control unit configured to perform a collision determination function and a drive assist function by execution of a computer program,
wherein the collision determination function is programmed to determine a collision between the host vehicle and the object, and in a case where the curved path is detected, makes it difficult to determine the object detected in a direction opposite to a curving direction as an obstacle compared to the object detected in the curving direction.
wherein the drive assist function is programmed to perform a collision avoidance assist on the host vehicle by a notification assist or a control assist in a case where the object is determined as the obstacle,
wherein, in a case where the curved path is not detected, a determination condition for a straight line path is set by the collision determination function, which is laterally symmetrical in a width direction of the host vehicle with a center of the host vehicle as a reference, and
wherein, in a case where the curved path is detected, a gain is set by the collision determination junction such that an operation of the collision avoidance assist is more delayed in the direction opposite to the curving direction than that in the curving direction, and a deter

Assignees

• Toyota Motor Co Ltd

Inventors

• Akiyama Tomonori

Classifications

• B60W2552/30

  Road curve radius · CPC title

• B60W30/18145

  Cornering · CPC title

• B60W30/09

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

• B60W2554/00

  Input parameters relating to objects · CPC title

• G08G1/166 Primary

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