Granted Patent B2

US 12,246,705 · App. 17/814,429 · Granted Mar 11, 2025

Inventor: Isao Okawa (Kariya, JP)

Assignee: DENSO CORPORATION

B60W30/09B60W30/0956B60W50/0097B60W2400/00B60W2554/20

Abstract

Claims (43)

1. A contact determination system comprising a processor and determining whether a contact event, in which a risk of contact is predicted, occurs between target objects in a vicinity of a host vehicle, the target objects including at least one of (i) a road user other than the host vehicle and (ii) a road-installed object, wherein

the processor is configured to:

acquire, regarding each of the target objects, a type of the respective target object and a moving speed of the respective target object if moving;

model each of the target objects as a target model based on the type of the respective target object and the moving speed of the respective target object;

determine that the target models overlap with each other; and

determine that the contact event occurs between the target objects in response to determining that the target models overlap with each other.

2. The contact determination system of claim 1 , wherein

the road user includes, as a type thereof, at least one of a vehicle and personkind who is not using the vehicle for moving.

3. The contact determination system of claim 2 , wherein

determining whether the contact event occurs includes determining that the contact event occurs for a pair of vehicles, regardless of the moving speed of the vehicles.

4. The contact determination system of claim 2 , wherein

determining whether the contact event occurs includes determining that no contact event occurs for a pair including: (i) the vehicle having the moving speed in, from among a high speed range or a low speed range, the low speed range and (ii) the personkind.

5. The contact determination system of claim 2 , wherein

determining whether the contact event occurs includes:

(A) determining that the contact event occurs for a pair of: (i) a four-wheel vehicle among the vehicles having the moving speed in, from among a high speed range or a low speed range, the low speed range and (ii) the road-installed object, and

(B) determining that no contact event occurs for a pair of: (i) a two-wheel vehicle among the vehicles having the moving speed in the low speed range and (ii) the road-installed object.

6. The contact determination system of claim 2 , wherein

determining whether the contact event occurs includes determining that no contact event occurs for a pair of personkinds.

7. The contact determination system of claim 2 , wherein

determining whether the contact event occurs includes determining that no contact event occurs for a pair of (i) the personkind and (ii) the road-installed object.

8. The contact determination system of claim 1 , wherein

a fallback control of the host vehicle is performed upon determining that the contact event occurs.

9. The contact determination system of claim 1 , wherein

a notice related to an occurrence of the contact event is provided for an occupant of the host vehicle upon determining that the contact event occurs.

10. A contact determination device comprising:

a non-transitory computer-readable storage medium storing instructions; and

at least one processor configured to execute the stored instructions,

wherein the contact determination device is configured to perform a contact determination process to determine whether a contact event is predicted between target objects, the target objects including at least one of (i) a road user other than a host vehicle and (ii) a road-installed object, and

wherein the contact determination process includes:

acquiring, regarding each of the target objects, a type of the respective target object and a moving speed of the respective target object if moving;

modeling each of the target objects as a target model based on the type of the respective target object and the moving speed of the respective target object;

determining that the target models overlap with each other; and

determining that the contact event occurs between the target objects in response to determining that the target models overlap with each other.

11. A contact determination method performed by a processor for determining whether a contact event, in which a risk of contact is predicted occurs between target objects in a vicinity of a host vehicle, the target objects including at least one of (i) a road user other than the host vehicle and (ii) a road-installed object, the contact determination method comprising steps of:

acquiring, regarding each of the target objects, a type of the respective target object and a moving speed of the respective target object if moving;

modeling each of the target objects as a target model based on the type of the respective target object and the moving speed of the respective target object;

determining that the target models overlap with each other; and

determining that the contact event occurs between the target objects in response to determining that the target models overlap with each other.

12. A non-transitory, tangible storage medium storing instructions for controlling a computer to serve as a contact determination device or for implementing a contact determination method, the instructions to be executed by a processor for determining whether a contact event, in which a risk of contact is predicted, occurs between target objects in a vicinity of a host vehicle, the target objects including at least one of (i) a road user other than the host vehicle and (ii) a road-installed object, the instructions comprising steps of:

acquiring, regarding each of the target objects, a type of the respective target object and a moving speed of the respective target object if moving;

modeling each of the target objects as a target model based on the type of the respective target object and the moving speed of the respective target object;

determining that the target models overlap with each other; and

determining that the contact event occurs between the target objects in response to determining that the target models overlap with each other.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (9)