US 11,912,269 B2
Collision avoidance assist apparatus
Mafune Kakeshita, Toyota (JP); Takashi Moriya, Toyota (JP); Sho Hashimoto, Shizuoka-ken (JP); Akshay Rajendra, Frankfurt (DE); and Michael Patzelt, Frankfurt (DE)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, Ingolstadt (DE)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and Continental Automotive Corporation, Yokohama (JP)
Filed on Jul. 1, 2021, as Appl. No. 17/365,737.
Claims priority of application No. 2020-121850 (JP), filed on Jul. 16, 2020.
Prior Publication US 2022/0017079 A1, Jan. 20, 2022
Int. Cl. B60W 30/09 (2012.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01); B60W 40/072 (2012.01); B62D 15/02 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/09 (2013.01) [B60W 10/20 (2013.01); B60W 30/0956 (2013.01); B60W 40/072 (2013.01); B62D 15/0265 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2510/202 (2013.01); B60W 2552/20 (2020.02); B60W 2552/53 (2020.02)] 3 Claims
OG exemplary drawing
 
1. A collision avoidance assist apparatus, comprising:
a lane marking recognition device which recognizes a pair of lane markings including a left lane marking and a right lane marking provided on a road on which a vehicle moves;
an obstacle recognition device which recognizes obstacles in an area ahead of the vehicle;
an electric motor which applies a steering torque to a steering mechanism including a steering wheel of the vehicle to change a steering angle of at least one steered wheel of the vehicle; and
an electronic control unit configured to execute an emergency steering control including processes to:
determine a target steering torque used to change the steering angle to avoid a collision of the vehicle with the obstacle so as not to move the vehicle out of a moving lane defined by the pair of lane markings when (i) the electronic control unit determines that the vehicle has a high probability of colliding with the obstacle, and (ii) the moving lane is a straight lane; and
drive the electric motor to apply the steering torque corresponding to the determined target steering torque to the steering mechanism,
wherein a side of the obstacle on which the vehicle moves to pass the obstacle while the electronic control unit executes the emergency steering control defines an avoidance side of the obstacle,
wherein a lane marking of the pair of lane markings disposed on the avoidance side of the obstacle is an avoidance-side lane marking, and a lane marking of the pair of lane markings other than the avoidance-side lane marking is a non-avoidance-side lane marking,
wherein the electronic control unit is further configured, while the electronic control unit executes the emergency steering control, to:
determine a shape of the moving lane based on the avoidance-side lane marking, the determination omitting consideration of the non-avoidance-side lane marking, and
stop executing the emergency steering control responsive to determining the shape of the moving lane to be curved.