Patent ID: 9711049
Date: 2017-07-18
CPC Classifications: B60W,G01S,G08G

Claim:
1. A collision reduction apparatus installed in a vehicle, comprising a collision reduction electronic control unit, an engine electronic control unit, and a brake electronic control unit, wherein the collision reduction electronic control unit: specifies, of a target detected in a traveling direction of the vehicle, target positions, which are positions of the target on an X-Y plane, on which a width direction of the vehicle is defined as an X-axis with reference to a position of the vehicle, and a longitudinal direction of the vehicle is defined as a Y-axis with reference to the position of the vehicle; calculates a target path, which is a path of the target position on the X-Y plane, by using the target positions specified by the collision reduction electronic control unit several times, and calculates a predicted arrival position of the target on the X-axis based on the calculated target path; determines a probability of a collision between the vehicle and the target based on the predicted arrival position calculated by the collision reduction electronic control unit; defines the target position specified last time by the collision reduction electronic control unit as a last specified value, and defines the target position specified this time by the collision reduction electronic control unit as a current specified value, and, when detecting that the target path, whose end point is the last specified value, is a straight line or has a shape related to a straight line and then if a difference value between an X-coordinate of the last specified value and an X-coordinate of the current specified value exceeds a predetermined threshold, changes a calculation origin of the target path calculated by the collision reduction electronic control unit to the last specified value or the current specified value, and if the difference value between the X-coordinate of the last specified value and the X-coordinate of the current specified value does not exceed the predetermined threshold, does not change the calculation origin of the target path; performs a collision reduction control based on the determined probability of the collision between the vehicle and the target by at least one of generating an engine control instruction to an engine electronic control unit to decrease a driving force of the vehicle and generating a braking control instruction to a brake electronic control unit to increase a braking force of the vehicle; wherein the engine electronic control unit decreases the driving force of the vehicle in response to receiving the engine control instruction from the collision reduction electronic control unit; and wherein the brake electronic control unit increases the braking force of the vehicle in response to receiving the braking control instruction from the collision reduction electronic control unit.