Notification device of an approaching vehicle

• US 10,310,078 B2
• Filed: 03/15/2017
• Issued: 06/04/2019
• Est. Priority Date: 04/01/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kato, Mitsuharu
• Primary Examiner(s): Bythrow, Peter M
• Application Number:
  US15/459,519
• Publication Number:
  US 20170285164A1
• Time in Patent Office: 811 Days
• CPC Class Codes: G01S 13/46 Indirect determination of position data
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/464 using only the non-line-of-sight signal(s), e.g. to enable survey of scene 'behind' the target only the indirect signal is evaluated
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations

Abstract

A notification device of an approaching vehicle detects an approach of the other vehicle running a crossroad intersecting a run way of an own vehicle at an anterior intersection and an arrival direction thereof by a radar sensor and notifies a driver thereof. A reflection distance-acquisition part computes a reflection distance Xw according to a difference between absolute values of an X-axis component of a relative position acquired by the radar sensor and an X-axis component of a converted relative position acquired by a relative-position acquisition part of the other vehicle in an X-Y rectangular coordinates with its origin at a location and a Y-axis in a traveling direction of the own vehicle. A notification restriction part forbids a notification of the arrival direction of the other vehicle when the Xw has not fluctuated for a predetermined time or longer.

Claims

1. A notification device of an approaching vehicle,

comprising:

a radar sensor configured to transmit a radio wave and received a reflected wave of said transmitted radio wave,

and to acquire, as radar sensor information,

information required for determining a location of the other vehicle with respect to an own vehicle based on said transmitted radio wave and said reflected wave which was received,

a notification unit configured to notify a driver of said own vehicle of information for drive assist,

and a control unit configured to make said notification unit give notice of first information showing that the other vehicle is approaching and second information showing an arrival direction of said approaching other vehicle,

when it is judged that there is the other vehicle approaching said own vehicle while running a crossroad which intersects an anterior run way of said own vehicle,

based on a time shift of said radar sensor information;

wherein said control unit comprises;

an other vehicle information-acquisition part configured to acquire other vehicle information for determining a location of said other vehicle using at least one of vehicle-to-vehicle communication and road-to-vehicle communication,

an own vehicle information-acquisition part configured to acquire own vehicle information for determining a location of said own vehicle based on a signal given from the outside of said own vehicle,

a relative position-acquisition part configured to acquire a relative position of said other vehicle with respect to said own vehicle by calculation based on said other vehicle information and said own vehicle information,

a reflection distance-acquisition part configured to compute a value according to a difference between an absolute value of a first component and an absolute value of a second component,

as a reflection distance-correlation value, based on said radar sensor information and said relative position acquired by said relative-position acquisition part,

said first component is an X-axis component of a relative position of said other vehicle with respect to said own vehicle,

which is determined based on said radar sensor information,

in an X-V coordinate space with its origin set at a location of said own vehicle,

a Y-axis set in a traveling direction of said own vehicle and an X-axis set in a direction perpendicular to the Y-axis,

and said second component is an X-axis component of a converted relative position that is a location of said relative position acquired by said relative-position acquisition part in said coordinate space,

and a notification restriction part configured to forbid said notification unit to give notice of said second information when it can be considered that said reflection distance-correlation value has not fluctuated for a predetermined time period or longer.

2. The notification device of an approaching vehicle according to claim 1,

wherein:

said notification restriction part is configured to consider that said reflection distance-correlation value has not fluctuated for said predetermined time period or longer when a specific condition in which a state that an absolute value of a difference between said reflection distance-correlation value at present and said reflection distance-correlation value said predetermined time period ago is less than a predetermined threshold value has continued for said predetermined time period or longer is satisfied.

3. The notification device of an approaching vehicle according to claim 1,

wherein:

said notification restriction part is configured not to forbid said notification unit to give notice of said second information even when it can be considered that said reflection distance-correlation value has not fluctuated for said predetermined time period or longer,

in a case where both said first component and said second component are positive values or a case where both said first component and said second component are negative values.

4. The notification device of an approaching vehicle according to claim 2,

wherein:

said notification restriction part is configured not to forbid said notification unit to give notice of said second information even when it can be considered that said reflection distance-correlation value has not fluctuated for said predetermined time period or longer,

in a case where both said first component and said second component are positive values or a case where both said first component and said second component are negative values.

5. The notification device of an approaching vehicle according to claim 1,

wherein:

said reflection distance acquisition part is configured to compute a value of a half of the difference between the absolute value of said first component and the absolute value of said second component as a reflection distance as said reflection distance correlation value.

6. The notification device of an approaching vehicle according to claim 5,

wherein:

said reflection distance acquisition part is configured to compute said reflection distance Xw based on the following formula in a case where a relative distance Lr from said own vehicle to said other vehicle is included in said radar sensor information and said converted relative position is expressed as (Xc, Yc),