Patent ID: 9663076
Date: 2017-05-30
CPC Classifications: B60T

Claim:
1. A vehicle braking control apparatus comprising: an obstacle detection unit configured to detect (i) an obstacle ahead of a vehicle, (ii) a distance to the obstacle from the vehicle, and (iii) a relative speed of the obstacle with respect to the vehicle; a time to collision calculation unit configured to calculate a time to collision until the vehicle collides with the obstacle, based on the distance and the relative speed; an estimated distance calculation unit configured to calculate, when the obstacle has gone out of a detection range of the obstacle detection unit, an estimated distance to the obstacle from the vehicle, at least based on the distance and the relative speed before the obstacle has gone out of the detection range of the obstacle detection unit; and a braking control unit configured to generate a braking force of the vehicle automatically when the time to collision is less than or equal to a predetermined time, and when the obstacle has gone out of the detection range of the obstacle detection unit in a state where the braking force is being generated, to release the state where the braking force is being generated when the estimated distance is less than or equal to a predetermined threshold set less than zero, wherein the obstacle detection unit classifies the obstacle into a type of obstacle depending on a detection precision of the distance and the relative speed, and the braking control unit reduces the predetermined threshold so as to be further less than zero as the detection precision becomes lower.