US 11,731,621 B2
Collision avoidance assistance apparatus
Wataru Ike, Nagoya (JP); Yuma Hoshikawa, Nagoya (JP); Ryota Murakami, Toyota (JP); and Yuto Shimbo, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on May 20, 2022, as Appl. No. 17/749,756.
Application 17/749,756 is a continuation of application No. 17/004,481, filed on Aug. 27, 2020, granted, now 11,370,421.
Claims priority of application No. 2019-159260 (JP), filed on Sep. 2, 2019.
Prior Publication US 2022/0274591 A1, Sep. 1, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/09 (2012.01); B60T 7/22 (2006.01); B60T 8/1755 (2006.01); B60W 10/18 (2012.01); B60W 30/095 (2012.01); G06V 20/58 (2022.01)
CPC B60W 30/09 (2013.01) [B60T 7/22 (2013.01); B60T 8/17558 (2013.01); B60W 10/18 (2013.01); B60W 30/0956 (2013.01); G06V 20/58 (2022.01); B60T 2201/022 (2013.01); B60W 2540/106 (2013.01); B60W 2554/4026 (2020.02); B60W 2554/4029 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A collision avoidance assistance apparatus comprising:
a braking device configured to generate a braking force in a driver's vehicle in response to a braking operation of a driver;
an obstacle detector configured to detect an obstacle around the driver's vehicle; and
a controller configured to:
(i) perform, when determination is made that the driver's vehicle has a strong possibility of colliding with the obstacle, automatic braking control for avoiding collision between the driver's vehicle and the obstacle by generating the braking force with the braking device;
(ii) prohibit the automatic braking control based on a predetermined accelerator operation of the driver; and
(iii) avoid prohibiting the automatic braking control when determination is made that the type of the obstacle is at least a pedestrian or a bicycle.