US 12,391,238 B2
Collision avoidance support device for a vehicle and collision avoidance support program for a vehicle
Yusuke Fukui, Toyota (JP); Yuzo Kaneshige, Toyota (JP); and Takashi Moriya, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Aug. 29, 2022, as Appl. No. 17/897,332.
Claims priority of application No. 2021-141616 (JP), filed on Aug. 31, 2021.
Prior Publication US 2023/0063729 A1, Mar. 2, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/105 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 40/105 (2013.01); B60W 2520/14 (2013.01); B60W 2530/203 (2020.02); B60W 2540/18 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A collision avoidance support device for a vehicle that includes an obstacle detection device that detects an obstacle in front of a vehicle and an electronic control unit configured to perform automatic brake control to apply braking force automatically to the vehicle when it is determined that an obstacle is detected by the obstacle detection device and the vehicle may collide with the obstacle, wherein
the electronic control unit is configured to prohibit the automatic brake control when it is determined that the vehicle is not towing a trailer and a turning index value indicating a degree of turning of the vehicle is equal to or higher than a first reference value, and prohibit the automatic brake control when it is determined that the vehicle is towing a trailer and the turning index value is equal to or larger than a second reference value smaller than the first reference value, and wherein
the electronic control unit is configured to continue the prohibition of the automatic brake control until a predetermined time elapses from a time point when it is determined that the turning index value becomes equal to or smaller than a third reference value smaller than the second reference value from a value larger than the third reference value, and release the prohibition of the automatic brake control after the predetermined time has elapsed from the above time point.