US 12,420,786 B2
Risk estimation system and vehicle control system
Fumio Sugaya, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 21, 2023, as Appl. No. 18/516,041.
Claims priority of application No. 2023-006586 (JP), filed on Jan. 19, 2023.
Prior Publication US 2024/0246534 A1, Jul. 25, 2024
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 40/105 (2012.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 30/18154 (2013.01); B60W 40/105 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A risk estimation system that estimates a degree of risk ahead of a vehicle, the risk estimation system comprising:
one or more processors; and
one or more storage devices configured to store three-dimensional object layout information, the three-dimensional object layout information indicating a three-dimensional layout of a three-dimensional object ahead of the vehicle, wherein:
an intersecting road is a road that intersects a traveling road at an intersection ahead of the vehicle, the traveling road being a road on which the vehicle is traveling; and
the one or more processors are configured
to set a first area that extends from the intersection into the intersecting road by a first length,
to calculate a degree of blocking based on the three-dimensional object layout information, the degree of blocking indicating a degree to which the first area is blocked by the three-dimensional object when seen from a position of the vehicle, and
to calculate the degree of risk in such a way that the degree of risk increases as the degree of blocking is higher, wherein:
the traveling road intersects a left intersecting road and a right intersecting road at the intersection;
the left intersecting road is the intersecting road on a left side as seen from the vehicle;
the right intersecting road is the intersecting road on a right side as seen from the vehicle;
a degree of left blocking is the degree of blocking for the left intersecting road;
a degree of right blocking is the degree of blocking for the right intersecting road; and
the one or more processors are configured
to calculate a total degree of blocking in such a way that the total degree of blocking is higher than a sum of the degree of left blocking and the degree of right blocking when both the degree of left blocking and the degree of right blocking are nonzero, and
to calculate the degree of risk in such a way that the degree of risk increases as the total degree of blocking is higher.