Travelled-route selecting apparatus and method

• US 10,279,809 B2
• Filed: 02/10/2016
• Issued: 05/07/2019
• Est. Priority Date: 02/10/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Habu, Toshiya, Yokoyama, Takahisa
• Primary Examiner(s): To, Tuan C
• Application Number:
  US15/549,642
• Publication Number:
  US 20180022351A1
• Time in Patent Office: 1,182 Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2530/201 Dimensions of vehicle
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A travelled-route selecting apparatus includes a first route selecting unit to select, from travelled routes of other vehicles generated by a route generating unit, one or more travelled routes. The one or more travelled routes each have a relative distance relative to an own vehicle equal to or lower than a predetermined threshold value. The travelled-route selecting apparatus includes a second route selecting unit to select, from the travelled routes selected by the first route selecting unit, a travelled route corresponding to a selected other vehicle. The selected other vehicle is the closest to the own vehicle among the other vehicles corresponding to the travelled routes selected by the first route selecting unit.

Claims

1. A travelled-route selecting apparatus comprising:

an other vehicle detecting means configured to detect other vehicles in front of an own vehicle;

a route generating means configured to generate a travelled route of each of the other vehicles detected by the other vehicle detecting means;

a first route selecting means configured to select, from the travelled routes of the other vehicles generated by the route generating means, one or more travelled routes, the one or more travelled routes each having a relative distance relative to the own vehicle equal to or lower than a predetermined threshold value; and

a second route selecting means configured to select, from the travelled routes selected by the first route selecting means, a travelled route corresponding to a selected other vehicle, the selected other vehicle being the closest to the own vehicle among the other vehicles corresponding to the travelled routes selected by the first route selecting means.

2. The travelled-route selecting apparatus according to claim 1, wherein:

the first route selecting means is configured to select the one or more travelled routes each having a lateral distance relative to the own vehicle, each of the lateral distances of the one or more travelled routes satisfying a first determination condition that the corresponding one of the lateral distances being equal to or lower than a first threshold value as the predetermined threshold value; and

the second route selecting means is configured to, when the travelled routes are selected by the first route selecting means, select, from the travelled routes selected by the first route selecting means, the travelled route that satisfies a second determination condition that a longitudinal distance of the travelled route relative to the own vehicle is the shortest in the longitudinal distances of all the travelled routes relative to the own vehicle.

3. The travelled-route selecting apparatus according to claim 2, further comprising:

a threshold value changing means configured to change the first threshold value.

4. The travelled-route selecting apparatus according to claim 3, wherein, when the travelled routes of the other vehicles generated by the route generating means are defined as candidate vehicles, the threshold value changing means is configured to:

increase, based on a detection accuracy of each of the candidate vehicles by the other vehicle detecting means, the first threshold value of the corresponding one of the travelled routes.

5. The travelled-route selecting apparatus according to claim 3, further comprising:

an imaging means configured to capture an image ahead of the own vehicle;

a radar means configured to transmit radar waves in front of the own vehicle, and receive echoes based on the respective transmitted radar waves,

at least one of the imaging means and the radar means being configured to calculate a position of each of the other vehicles in accordance with corresponding at least one of the captured image and echoes; and

an FSN position calculating means configured to, when the positions of the other vehicles are calculated by both the imaging means and the radar means, calculate a position of each of the other vehicles in accordance with a first calculation result calculated by the imaging means, and a second calculation result calculated by the radar means,

wherein;

the route generating means is configured to generate the travelled route of each of the other vehicles in accordance with at least one of the first calculation result, the second calculation result, and a third calculation result calculated by the FSN position calculating means; and

the threshold value changing means further comprises;

a threshold value setting means configured to set the first threshold value such that;

the first threshold value when the travelled route of each of the other vehicles is generated in accordance with the third calculation result is greater than the first threshold when the travelled route of each of the other vehicles is generated in accordance with the first calculation result or the second calculation result.

6. The travelled-route selecting apparatus according to claim 4, further comprising:

an imaging means configured to capture an image of a front of the own vehicle;

a radar means configured to transmit radar waves in front of the own vehicle, and receive echoes based on the respective transmitted radar waves,

at least one of the imaging means and the radar means being configured to calculate a position of each of the other vehicles in accordance with corresponding at least one of the captured image and echoes; and

an FSN position calculating means configured to, when the positions of the other vehicles are calculated by both the imaging means and the radar means, calculate a position of each of the other vehicles in accordance with a first calculation result calculated by the imaging means, and a second calculation result calculated by the radar means,

wherein;

the route generating means is configured to generate the travelled route of each of the other vehicles in accordance with at least one of the first calculation result, the second calculation result, and a third calculation result calculated by the FSN position calculating means; and

the threshold value changing means further comprises;

a threshold value setting means configured to set the first threshold value such that;

the first threshold value when the travelled route of each of the other vehicles is generated in accordance with the third calculation result is greater than the first threshold when the travelled route of each of the other vehicles is generated in accordance with the first calculation result or the second calculation result.

7. The travelled-route selecting apparatus according to claim 3, further comprising:

a lane recognizing means configured to recognize, based on the captured image of the front of the own vehicle, an own lane as a travelling lane of the own vehicle,

wherein;

the threshold value changing means is configured to;

increase, based on a recognition level of the own lane by the lane recognition means, the first threshold value of the corresponding one of the travelled routes as the recognition level becomes higher.

8. The travelled-route selecting apparatus according to claim 4, further comprising:

a lane recognizing means configured to recognize, based on the captured image of the front of the own vehicle, an own lane as a travelling lane of the own vehicle,

wherein;

the threshold value changing means is configured to;

increase, based on a recognition level of the own lane by the lane recognition means, the first threshold value of the corresponding one of the travelled routes as the recognition level becomes higher.

9. The travelled-route selecting apparatus according to claim 5, further comprising:

a lane recognizing means configured to recognize, based on the captured image of the front of the own vehicle, an own lane as a travelling lane of the own vehicle,

wherein;

the threshold value changing means is configured to;

increase, based on a recognition level of the own lane by the lane recognition means, the first threshold value of the corresponding one of the travelled routes as the recognition level becomes higher.

10. The travelled-route selecting apparatus according to claim 6, further comprising:

a lane recognizing means configured to recognize, based on the captured image of the front of the own vehicle, an own lane as a travelling lane of the own vehicle,

wherein;

the threshold value changing means is configured to;

increase, based on a recognition level of the own lane by the lane recognition means, the first threshold value of the corresponding one of the travelled routes as the recognition level becomes higher.

11. The travelled-route selecting apparatus according to claim 3, further comprising:

a lane detection means configured to detect, based on the captured image of the front of the own vehicle, lane marking lines of a travelling lane of the own vehicle,

wherein;

the threshold value changing means further comprises;

a second threshold value setting means configured to;

set, when the lane marking lines are detected by the lane detection means, the threshold value based on a width of the travelling lane; and

set, when the lane marking lines are not detected by the lane detection means, the threshold value based on a width of the own vehicle.

12. The travelled-route selecting apparatus according to claim 4, further comprising:

a lane detection means configured to detect, based on the captured image of the front of the own vehicle, lane marking lines of a travelling lane of the own vehicle,

wherein;

the threshold value changing means further comprises;

a second threshold value setting means configured to;

set, when the lane marking lines are detected by the lane detection means, the threshold value based on a width of the travelling lane; and

set, when the lane marking lines are not detected by the lane detection means, the threshold value based on a width of the own vehicle.

13. The travelled-route selecting apparatus according to claim 5, further comprising:

a lane detection means configured to detect, based on the captured image of the front of the own vehicle, lane marking lines of a travelling lane of the own vehicle,

wherein;

the threshold value changing means further comprises;

a second threshold value setting means configured to;

set, when the lane marking lines are detected by the lane detection means, the threshold value based on a width of the travelling lane; and

set, when the lane marking lines are not detected by the lane detection means, the threshold value based on a width of the own vehicle.

14. The travelled-route selecting apparatus according to claim 6, further comprising:

a lane detection means configured to detect, based on the captured image of the front of the own vehicle, lane marking lines of a travelling lane of the own vehicle,

wherein;

the threshold value changing means further comprises;

a second threshold value setting means configured to;

set, when the lane marking lines are detected by the lane detection means, the threshold value based on a width of the travelling lane; and

set, when the lane marking lines are not detected by the lane detection means, the threshold value based on a width of the own vehicle.

15. The travelled-route selecting apparatus according to claim 7, further comprising:

a lane detection means configured to detect, based on the captured image of the front of the own vehicle, lane marking lines of a travelling lane of the own vehicle,

wherein;

the threshold value changing means further comprises;

a second threshold value setting means configured to;

set, when the lane marking lines are detected by the lane detection means, the threshold value based on a width of the travelling lane; and

set, when the lane marking lines are not detected by the lane detection means, the threshold value based on a width of the own vehicle.

16. The travelled-route selecting apparatus according to claim 1, wherein:

the first route selecting means is configured to select the one or more travelled routes each having a longitudinal distance relative to the own vehicle, each of the longitudinal distances of the one or more travelled routes satisfying a first determination condition that the corresponding one of the longitudinal distances being equal to or lower than a second threshold value as the predetermined threshold value; and

the second route selecting means is configured to, when the travelled routes are selected by the first route selecting means, select, from the travelled routes selected by the first route selecting means, the travelled route that satisfies a second determination condition that a lateral distance of the travelled route relative to the own vehicle being the shortest in the lateral distances of all the travelled routes relative to the own vehicle.

17. The travelled-route selecting apparatus according to claim 1, further comprising:

an other vehicle selecting means configured to;

obtain an own lane probability for each of the other vehicles detected by the other vehicle detecting means using an own-lane probability map, the own-lane probability map including own-lane probabilities previously defined for respective plural areas, each of the areas has a horizontal orientation and a distance from own vehicle, the own-lane probability for each of the areas representing a probability that each of the other vehicles located on the corresponding area is within a same own lane of the own vehicle; and

select, from the other vehicles, candidate other vehicles in descending order according to the corresponding own-lane probabilities, the number of the selected candidate other vehicles being within a predetermined maximum number,

wherein the route generating means is configured to generate the travelled route of each of the candidate other vehicles selected by the other vehicle selecting means.

19. A driving assist system comprising:

the travelled-route selecting apparatus according to claim 1; and

a driving assist apparatus configured to perform driving assist of the own vehicle in accordance with the travelled route selected by the second route selecting means of the travelled-route selecting apparatus.

20. The driving assist system according to claim 19, wherein:

the driving assist apparatus is configured to perform, as the driving assist, at least one of;

full speed range adaptive cruise control; and

lane trace control.

18. A travelled-route selecting method comprising:

a first step of detecting, using a detection device, other vehicles in front of an own vehicle;

a second step of generating, using a processor, a travelled route of each of the other vehicles detected by the first step;

a third step of selecting, using the processor, from the travelled routes of the other vehicles generated by the second step, one or more travelled routes, the one or more travelled routes each having a relative distance relative to the own vehicle equal to or lower than a predetermined threshold value; and

a fourth step of selecting, using the processor, from the travelled routes selected by the third step, a travelled route corresponding to a selected other vehicle, the selected other vehicle being the closest to the own vehicle among the other vehicles corresponding to the travelled routes selected by the third step.