US 12,241,972 B2
Collision avoidance assistance device, storage medium, and collision avoidance assistance method
Ryo Takaki, Kariya (JP); Yosuke Ito, Kariya (JP); Kei Kamiya, Kariya (JP); Toru Takahashi, Kariya (JP); Shogo Matsunaga, Kariya (JP); Takaharu Oguri, Kariya (JP); and Takahiro Baba, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Aug. 6, 2020, as Appl. No. 16/986,529.
Application 16/986,529 is a continuation of application No. PCT/JP2018/047870, filed on Dec. 26, 2018.
Claims priority of application No. 2018-020582 (JP), filed on Feb. 8, 2018.
Prior Publication US 2020/0361454 A1, Nov. 19, 2020
Int. Cl. G01S 13/931 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/072 (2012.01); B60W 50/14 (2020.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC G01S 13/931 (2013.01) [B60W 30/09 (2013.01); B60W 30/095 (2013.01); B60W 40/072 (2013.01); B60W 50/14 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2050/143 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/801 (2020.02); B60W 2556/50 (2020.02); G01S 2013/9327 (2020.01)] 21 Claims
OG exemplary drawing
 
1. A collision avoidance assistance device of a vehicle, the vehicle including:
information output devices that output information for detecting an obstacle, information for recognizing a road structure in a traveling direction, and information related to a traveling situation of the vehicle;
internal field sensors that detect a state quantity of the vehicle, the state quantity indicating an operating state of the vehicle; and
a collision avoidance assistance mechanism for assisting in avoidance of a collision with the obstacle,
the collision avoidance assistance device comprising:
a first determination section that determines a probability that a driver of the vehicle intends to change a course of the vehicle, by
(i) using, as a recognition result, the information for recognizing the road structure in the traveling direction output by the information output devices and
(ii) using, as a detection result, the state quantity of the vehicle comprising a predicted change in steering angle over time as the vehicle travels and information from the internal field sensors;
a second determination section that determines the probability that the driver of the vehicle intends to change the course of the vehicle, by using the information related to the traveling situation of the vehicle output by the information output devices;
a decision section that decides an operation mode of collision avoidance assistance using the collision avoidance assistance mechanism, by using a combination of a determination result of the first determination section and a determination result of the second determination section; and
an assistance section that performs a process for controlling the collision avoidance assistance mechanism in the operation mode that has been decided by the decision section, upon detection of a collision probability with the obstacle using the information output by the information output devices.