COLLISION AVOIDANCE APPARATUS

• Main Authors: MASAYA ENDO, SHOTA KAMEOKA, KENTA TOMINAGA, TOMOKI UNO
• Format: Patent
• Language: Chinese; English
• Published: 13.03.2020
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The present invention provides a collision avoidance apparatus that can avoid a collision through both steering and braking. In a collision avoidance apparatus (201), a no-entry zone defining unit defines a no-entry zone (220) for preventing a subject vehicle from colliding with an obstacle around the subject vehicle, based on obstacle information including information on a position of the obstacle and based on lane information that is information on a traveling lane of the subject vehicle. A following determination unit (230) determines whether the obstacle is an avoidance target or a following target, based on the position of the obstacle or a position of the no-entry zone. A constraint establishing unit (240) establishes a constraint on a state quantity or a control input of the subjectvehicle to prevent the subject vehicle from at least entering the no-entry zone. 本发明提供一种能够实施基于转向的碰撞回避和基于制动的碰撞回避这两者的碰撞回避装置。在碰撞回避装置(201)中，禁止进入区域设定部(220)基于包含存在于本车周边的障碍物的位置信息的障碍物信息、以及本车行驶的车道的信息即车道信息，设定用于使本车不与障碍物接触的禁止进入区域。追踪判定部(2