US 11,787,401 B2
Collision avoidance support device
Motoki Nishimura, Susono (JP); and Kotaro Saiki, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on May 5, 2021, as Appl. No. 17/302,515.
Application 17/302,515 is a continuation of application No. 15/850,313, filed on Dec. 21, 2017, granted, now 11,034,347.
Claims priority of application No. 2016-249144 (JP), filed on Dec. 22, 2016.
Prior Publication US 2021/0253096 A1, Aug. 19, 2021
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60T 8/1755 (2006.01); G08G 1/16 (2006.01); B60T 7/22 (2006.01); B60T 8/17 (2006.01)
CPC B60W 30/0956 (2013.01) [B60T 7/22 (2013.01); B60T 8/17 (2013.01); B60T 8/17558 (2013.01); B60W 30/09 (2013.01); G08G 1/161 (2013.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01); G08G 1/167 (2013.01); B60T 2201/022 (2013.01); B60T 2210/32 (2013.01); B60T 2260/02 (2013.01); B60W 2520/06 (2013.01); B60W 2554/00 (2020.02); B60W 2554/80 (2020.02); B60W 2710/182 (2013.01)] 2 Claims
OG exemplary drawing
 
1. A device configured to:
detect a target existing in front of a vehicle;
determine whether a type of said target is pedestrian and said target is in a travel lane of a road in which said vehicle is traveling;
calculate a target predicted track;
calculate a vehicle predicted track which has a first width orthogonal in a plan view to a traveling direction of said vehicle, when it is determined that said type of said target is a pedestrian and said target is in said travel lane;
calculate a vehicle predicted track which has a second width smaller than said first width, said second width being orthogonal in said plan view to said traveling direction of said vehicle, when it is determined that said object is an object other than an object whose type is a pedestrian and that is present in said travel lane;
determine whether said target predicted track and said vehicle predicted track interferes; and
execute, when it is determined that said target predicted track and said vehicle predicted track interferes, at least one of alert control to issue an alert and automatic brake control to activate a brake device of said vehicle.