Driving support system

• US 10,446,034 B2
• Filed: 07/08/2016
• Issued: 10/15/2019
• Est. Priority Date: 07/17/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Akamine, Yusuke, Tsuruta, Tomohiko, Miyake, Yasuyuki
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US15/744,953
• Publication Number:
  US 20180211536A1
• Time in Patent Office: 1,194 Days
• Field of Search: 701301, 382103, 340436, 340905, 340910, 340915, 340932, 348148, 348118, 348 46
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/72 for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The driving support system detects an object existing around an own vehicle. The driving support system 1 predicts a position of a movement destination of the detected object. The driving support system sets a region having a predetermined width at each of an X coordinate and a Y coordinate as a tracking region to be set for tracking the object, based on an XY coordinate of the position of the predicted movement destination of the object. The driving support system limits the tracking region, based on a tracking exclusion region where objects unsuitable as tracking targets may be detected with high probability. At that time, the driving support system limits the tracking region by excluding the tracking exclusion region from the tracking region.

Claims

1. A driving support system comprising:

an object detection means for detecting an object existing around an own vehicle;

a movement prediction means for predicting a position of a movement destination of the object detected by the object detection means;

a tracking region setting means for setting a tracking region for tracking the object, depending on the position of the movement destination of the object predicted by the movement prediction means, the tracking region being set excluding a region located further from the own vehicle in a direction of the object than the object is as a tracking exclusion region such that the position of the movement destination of the object is included within the tracking region after exclusion;

an object tracking means for tracking the object by using the tracking region set by the tracking region setting means;

a collision determination means for determining a risk of collision between the object tracked by the object tracking means and the own vehicle; and

a driving support means for executing a driving support for avoiding collision between the own vehicle and the object or alleviating collision damage therebetween, when the collision determination means determines that there is the risk of collision between the own vehicle and the object.

2. The driving support system according to claim 1, wherein

the tracking exclusion region includes a region located beyond a line segment, as seen from the own vehicle, of two regions that are divided by the line segment passing through a current position of the object along a longitudinal direction of the own vehicle, in the tracking region.

3. The driving support system according to claim 1, wherein

the tracking exclusion region includes a region located beyond a line segment, as seen from the own vehicle, of two regions that are divided by the line segment passing through the current position of the object along a lateral direction of the own vehicle, in the tracking region.

4. The driving support system according to claim 1, wherein

the tracking exclusion region includes a region located beyond a line segment, as seen from the own vehicle, of two regions that are divided by the line segment passing through the current position of the object along an orthogonal direction on a horizontal plane with respect to a predicted moving direction of the object, in the tracking region.