US 12,246,707 B2
Control device for collision avoidance assistance, and collision avoidance assistance method
Kazuyuki Fujita, Gotemba Shizuoka-ken (JP); Minami Sato, Ebina Kanagawa-ken (JP); and Taira Nagashima, Sunto-gun Shizuoka-ken (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota Aichi-ken (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota Aichi-ken (JP)
Filed on Jul. 22, 2022, as Appl. No. 17/870,999.
Claims priority of application No. 2021-124787 (JP), filed on Jul. 29, 2021.
Prior Publication US 2023/0030310 A1, Feb. 2, 2023
Int. Cl. B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 40/105 (2012.01)
CPC B60W 30/0956 (2013.01) [B60W 40/04 (2013.01); B60W 40/105 (2013.01); B60W 2520/12 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A control device for collision avoidance assistance, the control device comprising a processor configured to:
execute region setting processing for setting an assistance determination region indicating a particular region forward of a vehicle;
execute accumulation processing in which the processor gives an object a determination value and accumulates the determination value, the object being located in the assistance determination region, the determination value being decided according to a position of the object; and
perform collision avoidance assistance control of assisting in avoidance of collision of the vehicle and the object based on driving environment information representing a driving environment of the vehicle, when a cumulative value regarding the object calculated in the accumulation processing exceeds a predetermined threshold value, wherein:
the processor is configured to, in the region setting processing,
set a plurality of assumed lateral velocities, the plurality of assumed lateral velocities being assumed values of a velocity of the object in a direction perpendicular to a direction of travel of the vehicle, and
set a caution region for each of the plurality of assumed lateral velocities, the caution region being a region in which the object is located in a passage region of the vehicle with a collision leeway time of no more than a predetermined value,
the assistance determination region is a combined region of each of the caution regions;
in the accumulation processing, the determination value is a value decided for each region sectioned by boundary lines of each of the caution regions; and
magnitudes of an inclination of a first boundary line and a second boundary line of the caution region are different for each of the plurality of assumed lateral velocities, and are represented by a ratio of a relative velocity between the velocity of the vehicle and the velocity in any direction of the object to the lateral velocity of the object.