Driving support apparatus

• US 10,607,490 B2
• Filed: 09/27/2017
• Issued: 03/31/2020
• Est. Priority Date: 11/18/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ikedo, Yuji, Akiyama, Tomonori, Morishita, Ryo
• Primary Examiner(s): Mott, Genna M
• Assistant Examiner(s): Patrick, Melanie J
• Application Number:
  US15/717,052
• Publication Number:
  US 20180144637A1
• Time in Patent Office: 916 Days
• Field of Search: None
• CPC Class Codes: B60Q 1/36 using movable members, e.g. arms with built-in flashing lamps
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60Y 2400/3017 Radars
• CPC Class Codes: B60Y 2400/303 Speed sensors
• CPC Class Codes: B60Y 2400/304 Acceleration sensors
• CPC Class Codes: B60Y 2400/83 Steering input members
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• 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 2013/93274 on the side of the vehicles
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0116 from roadside infrastructure, e.g. beacons
• CPC Class Codes: G08G 1/0133 for classifying traffic situation
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/056 with provision for distinguishing direction of travel
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A driving support apparatus estimates an expected route of an own vehicle, calculates an effective length of the expected route, and alerts a driver of the own vehicle when it is determined that there exists an object which crosses a part within the effective length within a predetermined time. A formula of a circle with a radius of an estimated turning radius is used for an expected route formula expressing the expected route. Once it is determined that the own vehicle is trying to start turning left or right, the driving support apparatus calculates a turning angle of the own vehicle, and calculates the effective length of the expected route using a value based on a product of the estimated turning radius and a remaining turning angle which is an angle obtained by subtracting the turning angle from a predetermined angle.

Claims

1. A driving support apparatus comprising:

object information acquisition means for acquiring object information including a position of an object existing around an own vehicle with respect to said own vehicle, a moving direction of said object, and a moving speed of said object, using a first sensor apparatus mounted in said own vehicle;

own vehicle information acquisition means for acquiring own vehicle information including an own vehicle speed which is a vehicle speed of said own vehicle, a yaw rate of said own vehicle, and a direction indicator signal showing a state of a direction indicator of said own vehicle, using a second sensor apparatus mounted in said own vehicle;

turning-right-or-left-start-determination-means for determining whether or not said own vehicle is trying to start turning left or right based on said own vehicle information;

expected route estimation means for estimating an expected route of said own vehicle at a current point in time based on said own vehicle speed and said yaw rate upon determining that said own vehicle is trying to start turning left or right;

alert request means for generating a request signal to alert a driver of said own vehicle based on said object information and said expected route; and

alerting means for conducting an operation to alert said driver in response to said request signal, wherein;

said expected route estimation means is configured to use a formula of a circle as an expected route formula expressing said expected route,

a center of said circle is positioned at a position shifted from a current position of said own vehicle in a direction perpendicular to a traveling direction of said own vehicle at a current point in time by a length of an estimated turning radius estimated using at least said yaw rate at said current point in time to a left side with respect to said traveling direction when said own vehicle is turning left and to a right side with respect to said traveling direction when said own vehicle is turning right,

a radius of said circle is said estimated turning radius, and

said alert request means is configured to;

calculate a turning angle of said own vehicle from a point in time upon determining that said own vehicle is trying to start turning left or right by said turning-right-or-left-start-determination-means to said current point in time, using at least said yaw rate;

calculate a value based on a product of said estimated turning radius and a remaining turning angle, which is an angle obtained by subtracting said calculated turning angle from a predetermined angle, as an effective length of said expected route;

determine whether or not a target object of alerting exists, which is an object that crosses a part within said effective length of said expected route within a predetermined time, using said object information; and

generate said request signal upon determining that said target object of alerting exists.

2. The driving support apparatus according to claim 1, wherein:

said turning-right-or-left-start-determination-means is configured to determine that said own vehicle is trying to start turning left or right upon determining that any one of at least one of following three conditions is satisfied;

a first condition which is satisfied in a case when said direction indicator signal shows that said direction indicator has changed from a non-operating state to an operating state when own vehicle speed is more than or equal to a predetermined first vehicle speed threshold and is less than or equal to a predetermined second vehicle speed threshold greater than said first vehicle speed threshold,

a second condition which is satisfied in a case when said own vehicle speed has become more than or equal to said first vehicle speed threshold and less than or equal to said second vehicle speed threshold when said direction indicator signal shows that said direction indicator is in said operating state, and

a third condition which is satisfied in a case when said direction indicator signal shows that said direction indicator has changed from said non-operating state to said operating state at a same time of said own vehicle speed becoming more than or equal to said first vehicle speed threshold and less than or equal to said second vehicle speed threshold.

3. The driving support apparatus according to claim 2, wherein:

said expected route estimation means is configured to;

estimate a left side expected route through which a left end of said own vehicle at said current point in time is expected to pass and a right side expected route through which a right end of said own vehicle at said current point in time is expected to pass as said expected routes; and

use a formula of a circle as a left side expected route formula expressing said left side expected route and a right side expected route formula expressing said right side expected route,

a center of a circle of said left side expected route formula is positioned at a position shifted from said left end of said own vehicle in a direction perpendicular to a traveling direction of said own vehicle at said current point in time by a length of a left side turning radius which is a turning radius of said left end calculated as said estimated turning radius to a left side with respect to said traveling direction when said own vehicle is turning left and to a right side with respect to said traveling direction when said own vehicle is turning right, and a radius of said circle is said left side turning radius,

a center of a circle of said right side expected route formula is positioned at a position shifted from said right end of said own vehicle in a direction perpendicular to a traveling direction of said own vehicle at said current point in time by a length of a right side turning radius which is a turning radius of said right end calculated as said estimated turning radius to a left side with respect to said traveling direction when said own vehicle is turning left and to a right side with respect to said traveling direction when said own vehicle is turning right, and a radius of said circle is said right side turning radius, and

said alert request means is configured to;

calculate a value based on a product of said left side turning radius and said remaining turning angle as said effective length of said left side expected route; and

calculate a value based on a product of said right side turning radius and said remaining turning angle as said effective length of said right side expected route.

4. The driving support apparatus according to claim 3, wherein:

said alert request means is configured to;

calculate a formula of a straight line extending toward a moving direction of said object at said current point in time based on said object information acquired by said object information acquisition means;

in a case when a straight line expressed by said formula of said straight line crosses at least one of a part within said effective length of said left side expected route and a part within said effective length of said right side expected route at one or two first intersection points;

when a number of said first intersection points is two, calculate a first time required for said object to reach a first intersection point at which said straight line first crosses in said moving direction of said object at said current point in time, and

when said number of said first intersection points is one, calculate said first time required for said object to reach said first intersection point; and

in a case when a time condition that said first time is less than or equal to a first predetermined time is satisfied, determine that there exists said target object of alerting, and generate said request signal.

5. The driving support apparatus according to claim 3, wherein said alert request means is configured to:

calculate a formula of a straight line extending toward a moving direction of said object at said current point in time based on said object information acquired by said object information acquisition means;

in a case when a straight line expressed by said formula of a straight line crosses at least one of a first circle expressed by said left side expected route formula and a second circle expressed by said right side expected route formula at two or four second intersection points;

when a number of said second intersection points is four,

identify two second intersection points from among said four second intersection points at which said straight line expressed by said formula of a straight line crosses said first circle or said second circle at a portion where said straight line enters a target region which is a region between said first circle and said second circle from outside said target region in said moving direction of said object at said current point in time,

compare a length of said left side expected route from said left end of said own vehicle to an intersection point positioned on said left side expected route among said two identified intersection points in a turning direction of said own vehicle with a length of said right side expected route from said right end of said own vehicle to an intersection point positioned on said right side expected route among said two identified intersection points in a turning direction of said own vehicle,

extract an intersection point with a shorter length from among said two intersection points as a target intersection point, and

calculate a second time required for said object to reach said extracted target intersection point, and

when said number of said second intersection points is two,

extract a second intersection point from among said two second intersection points at which said straight line expressed by said formula of a straight line crosses said first circle or said second circle at a portion where said straight line enters said target region from outside said target region in said moving direction of said object at a current point in time, and

calculate a second time required for said object to reach said extracted intersection point,

determine whether or not a time condition that said second time is less than or equal to second predetermined time is satisfied, and

in a case when a length condition is satisfied, said length condition being a condition that a length of said left side expected route from said left end of said own vehicle to an intersection point at which said time condition is determined to be satisfied in a turning direction of said own vehicle is less than or equal to said left side effective length of said left side expected route when said determined intersection point is positioned on said left side expected route, or a length of said right side expected route from said right end of said own vehicle to an intersection point at which said time condition is determined to be satisfied in a turning direction of said own vehicle is less than or equal to said right side effective length of said right side expected route when said determined intersection point is positioned on said right side expected route, determine that there exists said target object of alerting, and generate said request signal.

6. A driving support apparatus comprising:

a driving support electronic control unit configured to;

acquire object information including a position of an object existing around an own vehicle with respect to said own vehicle, a moving direction of said object, and a moving speed of said object, using a first sensor apparatus mounted in said own vehicle;

acquire own vehicle information including an own vehicle speed which is a vehicle speed of said own vehicle, a yaw rate of said own vehicle, and a direction indicator signal showing a state of a direction indicator of said own vehicle, using a second sensor apparatus mounted in said own vehicle;

determine whether or not said own vehicle is trying to start turning left or right based on said own vehicle information;

estimate an expected route of said own vehicle at a current point in time based on said own vehicle speed and said yaw rate upon determining that said own vehicle is trying to start turning left or right, where a formula of a circle is used as an expected route formula expressing said expected route; and

generate a request signal to alert a driver of said own vehicle based on said object information and said expected route; and

a warning electronic control unit configured to conduct an operation to alert said driver in response to said request signal, wherein;

a center of said circle is positioned at a position shifted from a current position of said own vehicle in a direction perpendicular to a traveling direction of said own vehicle at a current point in time by a length of an estimated turning radius estimated using at least said yaw rate at said current point in time to a left side with respect to said traveling direction when said own vehicle is turning left and to a right side with respect to said traveling direction when said own vehicle is turning right,

a radius of said circle is said estimated turning radius, and

said driving support electronic control unit is configured to;

calculate a turning angle of said own vehicle from a point in time upon determining that said own vehicle is trying to start turning left or right to said current point in time, using at least said yaw rate;

calculate a value based on a product of said estimated turning radius and a remaining turning angle, which is an angle obtained by subtracting said calculated turning angle from a predetermined angle, as an effective length of said expected route;

determine whether or not a target object of alerting exists, which is an object that crosses a part within said effective length of said expected route within a predetermined time, using said object information; and

generate said request signal upon determining that said target object of alerting exists.

7. The driving support apparatus according to claim 6, wherein:

said driving support electronic control unit is configured to determine that said own vehicle is trying to start turning left or right upon determining that any one of at least one of following three conditions is satisfied;

a first condition which is satisfied in a case when said direction indicator signal shows that said direction indicator has changed from a non-operating state to an operating state when own vehicle speed is more than or equal to a predetermined first vehicle speed threshold and is less than or equal to a predetermined second vehicle speed threshold greater than said first vehicle speed threshold,

a second condition which is satisfied in a case when said own vehicle speed has become more than or equal to said first vehicle speed threshold and less than or equal to said second vehicle speed threshold when said direction indicator signal shows that said direction indicator is in said operating state, and

a third condition which is satisfied in a case when said direction indicator signal shows that said direction indicator has changed from said non-operating state to said operating state at a same time of said own vehicle speed becoming more than or equal to said first vehicle speed threshold and less than or equal to said second vehicle speed threshold.

8. The driving support apparatus according to claim 7, wherein:

said driving support electronic control unit is configured to;

estimate a left side expected route through which a left end of said own vehicle at said current point in time is expected to pass and a right side expected route through which a right end of said own vehicle at said current point in time is expected to pass as said expected routes; and

use a formula of a circle as a left side expected route formula expressing said left side expected route and a right side expected route formula expressing said right side expected route,

a center of a circle of said left side expected route formula is positioned at a position shifted from said left end of said own vehicle in a direction perpendicular to a traveling direction of said own vehicle at said current point in time by a length of a left side turning radius which is a turning radius of said left end calculated as said estimated turning radius to a left side with respect to said traveling direction when said own vehicle is turning left and to a right side with respect to said traveling direction when said own vehicle is turning right, and a radius of said circle is said left side turning radius,

a center of a circle of said right side expected route formula is positioned at a position shifted from said right end of said own vehicle in a direction perpendicular to a traveling direction of said own vehicle at said current point in time by a length of a right side turning radius which is a turning radius of said right end calculated as said estimated turning radius to a left side with respect to said traveling direction when said own vehicle is turning left and to a right side with respect to said traveling direction when said own vehicle is turning right, and a radius of said circle is said right side turning radius, and

said driving support electronic control unit is configured to;

calculate a value based on a product of said left side turning radius and said remaining turning angle as said effective length of said left side expected route; and

calculate a value based on a product of said right side turning radius and said remaining turning angle as said effective length of said right side expected route.

9. The driving support apparatus according to claim 8, wherein:

said driving support electronic control unit is configured to;

calculate a formula of a straight line extending toward a moving direction of said object at said current point in time based on said acquired object information;

in a case when a straight line expressed by said formula of said straight line crosses at least one of a part within said effective length of said left side expected route and a part within said effective length of said right side expected route at one or two first intersection points;

when a number of said first intersection points is two, calculate a first time required for said object to reach a first intersection point at which said straight line first crosses in said moving direction of said object at said current point in time, and

when said number of said first intersection points is one, calculate said first time required for said object to reach said first intersection point; and

in a case when a time condition that said first time is less than or equal to a first predetermined time is satisfied, determine that there exists said target object of alerting, and generate said request signal.

10. The driving support apparatus according to claim 8, wherein said driving support electronic control unit configured to:

calculate a formula of a straight line extending toward a moving direction of said object at said current point in time based on said acquired object information;

in a case when a straight line expressed by said formula of a straight line crosses at least one of a first circle expressed by said left side expected route formula and a second circle expressed by said right side expected route formula at two or four second intersection points;

when a number of said second intersection points is four,

identify two second intersection points from among said four second intersection points at which said straight line expressed by said formula of a straight line crosses said first circle or said second circle at a portion where said straight line enters a target region which is a region between said first circle and said second circle from outside said target region in said moving direction of said object at said current point in time,

compare a length of said left side expected route from said left end of said own vehicle to an intersection point positioned on said left side expected route among said two identified intersection points in a turning direction of said own vehicle with a length of said right side expected route from said right end of said own vehicle to an intersection point positioned on said right side expected route among said two identified intersection points in a turning direction of said own vehicle,

extract an intersection point with a shorter length from among said two intersection points as a target intersection point, and

calculate a second time required for said object to reach said extracted target intersection point, and

when said number of said second intersection points is two,

extract a second intersection point from among said two second intersection points at which said straight line expressed by said formula of a straight line crosses said first circle or said second circle at a portion where said straight line enters said target region from outside said target region in said moving direction of said object at a current point in time, and

calculate a second time required for said object to reach said extracted intersection point,

determine whether or not a time condition that said second time is less than or equal to second predetermined time is satisfied, and

in a case when a length condition is satisfied, said length condition being a condition that a length of said left side expected route from said left end of said own vehicle to an intersection point at which said time condition is determined to be satisfied in a turning direction of said own vehicle is less than or equal to said left side effective length of said left side expected route when said determined intersection point is positioned on said left side expected route, or a length of said right side expected route from said right end of said own vehicle to an intersection point at which said time condition is determined to be satisfied in a turning direction of said own vehicle is less than or equal to said right side effective length of said right side expected route when said determined intersection point is positioned on said right side expected route, determine that there exists said target object of alerting, and generate said request signal.