Travel control device and travel control method

• US 10,351,134 B2
• Filed: 09/29/2014
• Issued: 07/16/2019
• Est. Priority Date: 09/29/2014
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nakamura, Masahide
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US15/512,827
• Publication Number:
  US 20180326981A1
• Time in Patent Office: 1,751 Days
• Field of Search: 701301
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• 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 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A travel control device executes a first information acquisition function to acquire subject vehicle information including the position of a subject vehicle, a second information acquisition function to acquire object information including the position of an avoidance object, a setting function to set a detection area for detecting the avoidance object, the detection area set in accordance with the position of the subject vehicle, and a control function for controlling travel of the subject vehicle when it is detected that the avoidance object exists within the detection area. The setting function is used to extend the detection area rearward from the subject vehicle when it is detected that the avoidance object located behind the subject vehicle exists within the detection area and extend the detection area frontward from the subject vehicle when it is detected that the avoidance object located ahead of the subject vehicle exists within the detection area.

Claims

1. A travel control device comprising:

a first information acquisition unit configured to acquire subject vehicle information including a position of a subject vehicle;

a second information acquisition unit configured to acquire object information including a position of a first avoidance object which the subject vehicle should avoid;

a setting unit configured to set a detection area for detecting the first avoidance object, the detection area being set in accordance with the position of the subject vehicle;

a detection unit configured to determine whether or not the first avoidance object exists within the detection area; and

a control unit configured to output command information for controlling travel of the subject vehicle when it is detected that the first avoidance object exists within the detection area,

the setting unit being further configured to execute a first process to extend the detection area rearward from the subject vehicle when it is detected that the first avoidance object located behind the subject vehicle enters the detection area from behind the subject vehicle and exists within the detection area.

2. The travel control device according to claim 1, wherein, upon detection of a predetermined number or more of entry and exit of the first avoidance object to/from the detection area within a predetermined time period, the setting unit executes the first process.

3. The travel control device according to claim 1, wherein the setting unit, when having executed the first process, maintains a state of the detection area extended rearward from the subject vehicle for a predetermined time period and thereafter contracts an extended detection area toward subject vehicle.

4. The travel control device according to claim 1, wherein the setting unit specifies the first avoidance object existing within the detection area and maintains an extended state of the detection area while a specified first avoidance object exists within the detection area, and thereafter contracts an extended detection area when it is detected that the first avoidance object does not exist within the extended detection area.

5. The travel control device according to claim 1, wherein the setting unit increases a distance to extend the detection area as a speed of the subject vehicle increases.

6. The travel control device according to claim 1, wherein the setting unit increases a distance to extend the detection area as a time for the subject vehicle to accelerate increases.

7. The travel control device according to claim 1, wherein the setting unit increases a distance to extend the detection area as an acceleration of the subject vehicle increases.

8. The travel control device according to claim 1, wherein the setting unit, when having executed the first process, contracts an extended detection area toward the subject vehicle upon a second avoidance object different from the first avoidance object existing further behind the first avoidance object located behind the subject vehicle.

9. The travel control device according to claim 8, wherein, when the detection unit detects that the second avoidance object exists within the extended detection area, the setting unit contracts the extended detection area so that the second avoidance object falls outside the extended detection area.

10. The travel control device according to claim 1, further comprising

an output unit configured to output, to external, one or more information items among information in accordance with the object information, information in accordance with a location of the detection area, and information in accordance with the command information.

11. A travel control method executed by a computer, the computer outputting command information for driving a subject vehicle on a target route, the travel control method comprising:

acquiring object information including a position of an avoidance object which the subject vehicle should avoid;

setting a detection area for detecting the avoidance object, the detection area being set in accordance with the position of the subject vehicle; and

executing a first process and outputting command information for controlling travel of the subject vehicle, the first process being a process to extend the detection area rearward from the subject vehicle when it is detected that the avoidance object located behind the subject vehicle enters the detection area from behind the subject vehicle and exists within the detection area.

12. A travel control device comprising:

a first information acquisition unit configured to acquire subject vehicle information including a position of a subject vehicle;

a second information acquisition unit configured to acquire object information including a position of a first avoidance object which the subject vehicle should avoid;

a setting unit configured to set a detection area for detecting the first avoidance object, the detection area being set in accordance with the position of the subject vehicle;

a detection unit configured to determine whether or not the first avoidance object is located in an adjacent lane and exists within the detection area, the adjacent lane being adjacent to a lane in which the subject vehicle travels; and

a control unit configured to output command information for controlling travel of the subject vehicle when it is detected that the first avoidance object exists within the detection area,

the setting unit being further configured to execute at least one of a first process and a second process, the first process being a process to extend the detection area rearward from the subject vehicle when it is detected that the first avoidance object located behind the subject vehicle enters the detection area from behind the subject vehicle and exists within the detection area, the second process being a process to extend the detection area frontward from the subject vehicle when it is detected that the first avoidance object located ahead of the subject vehicle exists within the detection area, and

the setting unit, when having executed the first process, contracting the extended detection area toward the subject vehicle upon a second avoidance object different from the first avoidance object existing further behind the first avoidance object located behind the subject vehicle and, when having executed the second process, contracting the extended detection area toward the subject vehicle upon a second avoidance object different from the first avoidance object existing further ahead of the first avoidance object located ahead of the subject vehicle.

13. The travel control device according to claim 12, wherein, when the detection unit detects that the second avoidance object exists within the extended detection area, the setting unit contracts the extended detection area so that the second avoidance object falls outside the extended detection area.

14. The travel control device according to claim 12, further comprising

an output unit configured to output, to external, one or more information items among information in accordance with the object information, information in accordance with a location of the detection area, and information in accordance with the command information.