Collision avoidance assistance device for a vehicle

Patent metadata

Field	Value
Publication number	US-9849876-B2
Application number	US-201615171005-A
Country	US
Kind code	B2
Filing date	Jun 2, 2016
Priority date	Jun 5, 2015
Publication date	Dec 26, 2017
Grant date	Dec 26, 2017

Abstract

A collision avoidance assistance device for a vehicle is provided. The collision avoidance assistance device includes a camera configured to acquire an image of an area around the vehicle and a controller. The controller is configured to: detect an image of an animal in the image of the area around the vehicle; determine a type of the animal detected in the image; retrieve behavior characteristics index values representing behavior characteristics of the determined type of the animal; calculate a future presence area of the animal based on the behavior characteristics index values; determine a probability of a collision between the animal and the vehicle based on the calculated future presence area of the animal; and perform a collision avoidance assistance function based on the determined probability of the collision between the animal and the vehicle.

First claim

What is claimed is:

1. A collision avoidance assistance device for a vehicle comprising:
a camera configured to acquire an image of an area around the vehicle; and
a controller configured to:
detect an image of a tetrapod in the image of the area around the vehicle;
determine a species of the animal tetrapod detected in the image;
retrieve behavior characteristics index values representing behavior characteristics of the determined species of the tetrapod;
calculate a future presence area of the tetrapod based on the behavior characteristics index values;
determine a probability of a collision between the tetrapod and the vehicle based on the calculated future presence area of the tetrapod; and
perform a collision avoidance assistance function based on the determined probability of the collision between the tetrapod and the vehicle.

2. The collision avoidance assistance device for the vehicle according to claim 1 , wherein the controller is further configured to:
select a mode of the collision avoidance assistance function based on the determined species of the tetrapod, and
perform the collision avoidance assistance function according to the selected mode.

3. The collision avoidance assistance device for the vehicle according to claim 1 , wherein the controller is further configured to:
determine a direction, position and movement speed of the tetrapod based on a plurality of images acquired from the camera; and calculate a distribution of future presence probabilities of the tetrapod in a planar area around the vehicle using the behavior characteristics index values of the determined species of the tetrapod and the determined direction, position, and movement speed of the tetrapod.

4. The collision avoidance assistance device for the vehicle according to claim 3 , wherein the controller is further configured to:
calculate a future presence area of the vehicle; and
determine the probability of the collision between the tetrapod and the vehicle based on the calculated future presence area of the tetrapod and the calculated future presence area of the vehicle.

5. The collision avoidance assistance device for the vehicle according to claim 4 wherein the controller is further configured to:
calculate a distribution of future presence probabilities of the vehicle in the planar area around the vehicle, and
determine the probability of the collision between the tetrapod and the vehicle based on the distribution of future presence probabilities of the tetrapod and the distribution of future presence probabilities of the vehicle.

6. The collision avoidance assistance device for the vehicle according to claim 1 , wherein:
the collision avoidance assistance device further comprises a memory, and
the controller is further configured to retrieve the behavior characteristics index values of the determined species of the tetrapod from the memory.

7. The collision avoidance assistance device for the vehicle according to claim 1 , wherein the behavior characteristics index values of the determined species of the tetrapod comprise a movement direction and a movement speed of the tetrapod corresponding to a behavior pattern and a generation probability of the behavior pattern, the behavior pattern being a pattern of behavior that may be expected for the determined species of the tetrapod.

8. The collision avoidance assistance device for the vehicle according to claim 1 , wherein the controller is further configured to:
calculate a future presence area of the vehicle; and
determine the probability of the collision between the tetrapod and the vehicle based on the calculated future presence area of the tetrapod and the calculated future presence area of the vehicle.

9. The collision avoidance assistance device for the vehicle according to claim 1 , wherein the controller is further configured to:
determine, based on the image of the area around the vehicle, whether the tetrapod is part of a group of tetrapods; and
in response to the determining that the tetrapod is part of the group of tetrapods, calculate the future presence area of the tetrapod based on group behavior characteristics index values of the tetrapod.

10. A vehicle comprising a collision avoidance assistance device, the collision avoidance assistance device comprising:
a camera configured to acquire an image of an area around the vehicle; and
an electronic control device configured to:
detect an image of a tetrapod in the image of the area around the vehicle,
determine a species of the tetrapod detected in the image,

retrieve behavior characteristics index values representing behavior characteristics of the determined species of the tetrapod,
calculate a future presence area of the tetrapod based on the behavior characteristics index values,
determine a probability of a collision between the tetrapod and the vehicle based on the calculated future presence area of the tetrapod, and
perform a collision avoidance assistance function based on the determined probability of the collision between the tetrapod and the vehicle.

11. A collision avoidance method for a vehicle, the collision avoidance method comprising:
acquiring an image of an area around the vehicle;
detecting an image of a tetrapod in the image of the area around the vehicle;
determining a species of the tetrapod detected in the image;
retrieving behavior characteristics index values representing behavior characteristics of the determined species of the tetrapod;
calculating a future presence area of the tetrapod based on the behavior characteristics index values;
determining a probability of a collision between the tetrapod and the vehicle based on the calculated future presence area of the tetrapod; and
performing a collision avoidance assistance function based on the determined probability of the collision between the tetrapod and the vehicle.

12. The collision avoidance method of claim 11 , wherein the detecting the image of the tetrapod in the image of the area around the vehicle comprising detecting an image of a tetrapod in the image of the area around the vehicle.

13. The collision avoidance method of claim 11 , further comprising:
selecting a mode of the collision avoidance assistance function based on the determined species of the tetrapod, and
performing the collision avoidance assistance function according to the selected mode.

14. The collision avoidance method of claim 11 , further comprising:
acquiring a plurality of images of the area around the vehicle;
determining a direction, position and movement speed of the tetrapod based on the plurality of images acquired from the camera; and
calculating a distribution of future presence probabilities of the tetrapod in a planar area around the vehicle using the behavior characteristics index values of the determined species of the tetrapod and the determined direction, position, and movement speed of the tetrapod.

15. The collision avoidance method of claim 14 , further comprising:
calculating a future presence area of the vehicle; and
determining the probability of the collision between the tetrapod and the vehicle based on the calculated future presence area of the tetrapod and the calculated future presence area of the vehicle.

16. The collision avoidance method of claim 15 , further comprising:
calculating a distribution of future presence probabilities of the vehicle in the planar area around the vehicle, and
determining the probability of the collision between the tetrapod and the vehicle based on the distribution of future presence probabilities of the tetra

Assignees

• Toyota Motor Co Ltd

Inventors

• Morales Teraoka Edgar Yoshio
• Tanaka Shin
• Oikawa Yoshitaka

Classifications

• B60W10/30

  including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps · CPC title

• B60W30/09

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

• B60Y2300/08

  Predicting or avoiding probable or impending collision · CPC title

• B60W40/10

  related to vehicle motion · CPC title

• B60R21/0134

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