US 11,897,458 B2
Collision avoidance apparatus for vehicle
Kei Kamiya, Kariya (JP); Yosuke Ito, Kariya (JP); Toru Takahashi, Kariya (JP); Shogo Matsunaga, Kariya (JP); Takaharu Oguri, Kariya (JP); Takahiro Baba, Kariya (JP); and Ryo Takaki, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Oct. 22, 2020, as Appl. No. 17/077,767.
Application 17/077,767 is a continuation of application No. PCT/JP2019/006570, filed on Feb. 21, 2019.
Claims priority of application No. 2018-082676 (JP), filed on Apr. 24, 2018.
Prior Publication US 2021/0039636 A1, Feb. 11, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 30/095 (2012.01); G06V 20/58 (2022.01); G06T 7/70 (2017.01); B60W 40/04 (2006.01); B60W 40/105 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 30/0953 (2013.01); B60W 40/04 (2013.01); B60W 40/105 (2013.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); G06V 20/584 (2022.01); B60W 2420/52 (2013.01); B60W 2554/80 (2020.02); B60W 2556/45 (2020.02); G06T 2207/30236 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30261 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A collision avoidance apparatus for a vehicle, comprising:
a receiver configured to receive at least location information of a moving object moving on a crossing road that is a road crossing a road that the vehicle is traveling on;
a camera configured to image in a travel direction of the vehicle;
a speed acquirer configured to acquire a speed of the vehicle;
a braking device configured to brake the vehicle, the braking device configured to apply a first braking force and a second braking force, the first braking force being greater than the second braking force; and
a collision avoidance controller configured to
calculate a movement trajectory of the moving object from a succession of locations of the moving object received by the receiver,
calculate a movement trajectory of the vehicle using the speed of the vehicle acquired by the speed acquirer,
determine, using the movement trajectory of the moving object and the movement trajectory of the vehicle, whether the movement trajectory of the moving object is a trajectory of a moving object that is likely to collide with the vehicle,
for a state in which the movement trajectory of the moving object is likely to collide with the vehicle, determine whether a view of the moving object by the camera is obstructed by an obstacle,
in response to determining that the view of the moving object by the camera is not obstructed by the obstacle, control the braking device to apply the first braking force,
in response to determining that the view of the moving object by the camera is obstructed by the obstacle, calculate a risk index for determining a collision avoidance measure, the risk index calculated by summing of a plurality of risk values,
compare the risk index to each of a predetermined first threshold and a predetermined second threshold that is less than the predetermined first threshold,
in response to determining that the risk index is greater than or equal to the predetermined first threshold, control the braking device to apply the first braking force, and
in response to determining that the risk index is less than the predetermined first threshold and greater than or equal to the predetermined second threshold, control the braking device to apply the second braking force.