Road-shape recognition system

• US 20020044080A1
• Filed: 04/25/2001
• Published: 04/18/2002
• Est. Priority Date: 05/25/2000
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Morikawa, Katsuhiro, Shirai, Noriaki
• Granted Patent: US 6,567,039 B2
• Time in Patent Office: Days
• US Class Current: 342/70
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• 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 radar device operates for emitting a detection wave ahead of a vehicle, and detecting objects in response to echoes of the emitted detection wave. A reflector detecting device operates for detecting reflectors among the objects detected by the radar device. The detected reflectors are located along a road. A reflector-row extracting device operates for, in cases where there are a plurality of rows of the reflectors detected by the reflector detecting device in one side of the vehicle, extracting one from among the reflector rows. A road-shape recognizing device operates for recognizing a shape of the road on the basis of the reflector row extracted by the reflector-row extracting device.

Claims

1. A road-shape recognition apparatus comprising:

a radar device for emitting a detection wave ahead of a vehicle, and detecting objects in response to echoes of the emitted detection wave;

reflector detecting means for detecting reflectors among the objects detected by the radar device, the reflectors being located along a road;

reflector-row extracting means for, in cases where there are a plurality of rows of the reflectors detected by the reflector detecting means in one side of the vehicle, extracting one from among the reflector rows; and

road-shape recognizing means for recognizing a shape of the road on the basis of the reflector row extracted by the reflector-row extracting means.

2. A road-shape recognition apparatus as recited in claim 1, wherein the reflector-row extracting means comprises means for extracting one, which exists in a specified region with respect to the vehicle in a width-wise direction of the vehicle, from among the reflector rows.

3. A road-shape recognition apparatus as recited in claim 2, wherein the reflector-row extracting means comprises means for setting the specified region in accordance with a width of a lane along which the vehicle is traveling.

4. A road-shape recognition apparatus as recited in claim 2, wherein the reflector-row extracting means comprises:

position estimating means for estimating positions, in the width-wise direction of the vehicle, of the reflectors detected by the reflector detecting means which occur after a lapse of an arbitrary time;

minimum position detecting means for detecting, among the positions estimated by the position estimating means, a minimum position corresponding to a position nearest to the vehicle; and

means for setting the specified region on the basis of the minimum position detected by the minimum position detecting means.

5. A road-shape recognition apparatus as recited in claim 2, wherein the reflector-row extracting means comprises:

position estimating means for estimating positions, in the width-wise direction of the vehicle, of the reflectors detected by the reflector detecting means which occur after a lapse of an arbitrary time;

determining means for determining whether or not there are a plurality of the positions estimated by the position estimating means;

lane-width calculating means for, in cases where the determining means determines that there are a plurality of the positions estimated by the position estimating means, calculating a lane width on the basis of an interval between the estimated positions; and

means for setting the specified region on the basis of the lane width calculated by the lane-width calculating means.

6. A road-shape recognition apparatus as recited in claim 1, further comprising:

at least one of

     1) a steering sensor for detecting a steering angle of the vehicle and

     2) a yaw rate sensor for detecting a yaw rate of the vehicle;

curvature-radius calculating means for calculating a curvature radius of a course, along which the vehicle is traveling, from at least one of

     1) the steering angle detected by the steering sensor and

     2) the yaw rate detected by the yaw rate sensor;

position converting means for converting positions, in a width-wise direction of the vehicle, of the reflectors detected by the reflector detecting means into positions in the width-wise direction of the vehicle which occur on the assumption that the vehicle is traveling along a straight road; and

means provided in the reflector-row extracting means for extracting one, which exists in a specified region with respect to the vehicle in the width-wise direction of the vehicle, from among the reflector rows in response to the positions resulting from the conversion by the position converting means.

7. A road-shape recognition apparatus as recited in claim 4, wherein the road-shape recognizing means comprises means for recognizing the shape of the road on the basis of the reflector row extracted by the reflector-row extracting means and the positions estimated by the position estimating means.

8. A road-shape recognition apparatus as recited in claim 4, wherein the position estimating means comprises means for estimating the positions, in the width-wise direction of the vehicle, of the reflectors detected by the reflector detecting means which occur after the lapse of the arbitrary time on the basis of relative speeds between the vehicle and the reflectors detected by the reflector detecting means.

9. A road-shape recognition apparatus as recited in claim 1, wherein the reflector detecting means comprises means for detecting the reflectors among the objects detected by the radar device on the basis of relative speeds between the vehicle and the objects and sizes of the objects.

11. A preceding-vehicle detection apparatus for a subject vehicle, comprising:

the road-shape recognition apparatus of claim 1;

relative position detecting means for detecting positions of the objects detected by the radar device relative to the subject vehicle;

lane-sameness probability calculating means for calculating a probability for each of the objects that the object and the subject vehicle are on a same lane on the basis of the road shape recognized by the road-shape recognizing means and the relative position detected by the relative position detecting means; and

preceding-vehicle detecting means for detecting a preceding vehicle with respect to the subject vehicle among the objects in response to the probabilities calculated by the lane-sameness probability calculating means.

10. A recording medium storing a computer program for road-shape recognition which comprises the steps of:

detecting reflectors among detected objects, the reflectors being located along a road;

in cases where there are a plurality of rows of the detected reflectors in one side of a vehicle, extracting one from among the reflector rows; and

recognizing a shape of the road on the basis of the extracted reflector row.