Driving assist system
First Claim
1. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
- a data acquisition system acquiring data including information on vehicle state and information on environment in a field around the vehicle;
a controller, mounted to the vehicle, for receiving the acquired data, for determining future environment in the field using the acquired data, for making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle in a desired manner for the determined future environment, to determine command, and for generating the command; and
at least one actuator, mounted to the vehicle, for prompting the operator in response to the command to operating the vehicle in the desired manner.
1 Assignment
0 Petitions
Accused Products
Abstract
A driving assist system for assisting effort by an operator to operate a vehicle in traveling is provided. The driving assist system receives data including information on vehicle state and information on environment in a field around the vehicle. A controller, mounted to the vehicle, determines future environment in the field, makes an operator response plan in response to the determined future environment to determine command, and generates the command. The operator response plan prompts the operator to operating the vehicle in a desired manner for the determined future environment. At least one actuator, mounted to the vehicle, prompts the operator in response to the command to operating the vehicle in the desired manner.
103 Citations
76 Claims
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1. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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a data acquisition system acquiring data including information on vehicle state and information on environment in a field around the vehicle;
a controller, mounted to the vehicle, for receiving the acquired data, for determining future environment in the field using the acquired data, for making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle in a desired manner for the determined future environment, to determine command, and for generating the command; and
at least one actuator, mounted to the vehicle, for prompting the operator in response to the command to operating the vehicle in the desired manner. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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a data acquisition system acquiring data including information on vehicle state and information on environment in a field around the vehicle, the information on environment involving information on the presence of obstacles in the field;
a controller, mounted to the vehicle, for receiving the acquired data, for determining future environment in the field, the determined future environment involving a risk which each of the obstacles would cause the operator to perceive, for making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle at least longitudinally to reduce the risks, to determine commands, and for generating the commands; and
a plurality of actuators, mounted to the vehicle, for prompting the operator in response to the commands to operating the vehicle at least longitudinally, the plurality of actuators includes an accelerator reaction modulation actuator capable of modulating reaction characteristic to manual effort applied onto an accelerator of the vehicle.
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13. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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a data acquisition system acquiring data involving information on the presence of a leading vehicle in a field around the vehicle; and
a controller, mounted to the vehicle, for receiving the acquired data, for determining a first extent to which the vehicles has approached to each other and a second extent to which the first extent might be influenced if a change in environment should occur, and for determining future environment in the field based on the first and second extents. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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24. A driving assist for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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a data acquisition system acquiring data involving information on the presence of a leading vehicle in a field around the vehicle; and
a controller, mounted to the vehicle, for receiving the acquired data, for determining an extent to which the vehicles has approached to each other, for determining a period of time as a function of the determined extent and for determining a future quantity of the extent that would occur upon elapse of the period of time from the determined extent to give future environment in the field. - View Dependent Claims (25, 26, 27)
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38. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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a data acquisition system acquiring data involving information on the presence of an obstacle in a field around the vehicle;
a controller, mounted to the vehicle, for receiving the acquired data, for determining a risk which the obstacle would cause the operator to perceive, for allocating commands for prompting the operator to operating the vehicle longitudinally and laterally, and for generating the commands; and
a plurality of actuators, mounted to the vehicle, to prompt the operator in response to the commands to operating the vehicle longitudinally and laterally. - View Dependent Claims (39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 54, 55, 56)
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53. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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a data acquisition system acquiring data involving information on the presence of obstacles in a field around the vehicle;
a controller, mounted to the vehicle, for receiving the acquired data, for determining a risk which each of the obstacles would cause the operator to perceive, for making an operator response plan in response to the risks, which plan prompts the operator to operating the vehicle longitudinally and laterally, to determine commands, and for generating the commands; and
a plurality of actuators, mounted to the vehicle, to prompt the operator in response to the commands to operating the vehicle longitudinally and laterally.
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57. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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a data acquisition system, mounted to the vehicle, acquiring data involving information on the presence of an obstacle in a field around the vehicle;
a controller, mounted to the vehicle, for receiving the acquired data, for determining a risk which the obstacle would cause the operator to perceive using a direction from the vehicle to the obstacle, a separation between the vehicle and the obstacle, and a relative velocity between the vehicle and the obstacle, for allocating commands for prompting the operator to operating the vehicle longitudinally and laterally, and for generating the commands; and
a plurality of actuators, mounted to the vehicle, to prompt the operator in response to the commands to operating the vehicle longitudinally and laterally, the plurality of actuators including an accelerator reaction modulation actuator capable of modulating reaction characteristic to manual effort applied onto an accelerator of the vehicle by the operator, a brake pedal reaction modulation actuator capable of modulating reaction characteristic to manual effort applied onto a brake of the vehicle by the operator, and a steering reaction modulation actuator capable of modulating reaction characteristic to manual steering effort by the operator.
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58. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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a data acquisition system, mounted to the vehicle, acquiring data involving information on the presence of obstacles in a field around the vehicle;
a controller, mounted to the vehicle, for receiving the acquired data, for determining a risk which each the obstacles would cause the operator to perceive using a direction from the vehicle to the obstacle, a separation between the vehicle and the obstacle, and a relative velocity between the vehicle and the obstacle, for making an operator response plan in response to the risk, which plan prompts the operator to operating the vehicle longitudinally and laterally, to determine commands, and for generating the commands; and
a plurality of actuators, mounted to the vehicle, to prompt the operator in response to the commands to operating the vehicle longitudinally and laterally, wherein, in making an operator response plan, the controller divides each the determined risks into a longitudinal, with respect to the vehicle, risk component and a lateral, with respect to the vehicle, risk component, uses the total of the longitudinal risk components to determine the amount of input to one of the plurality of actuators, and uses the total of the lateral risk components to determine the amount of input to another of the plurality of actuators. - View Dependent Claims (59)
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60. A driving assist system for assisting effort by an operator to operate a vehicle in traveling, the driving assist system comprising:
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means for acquiring data involving information on the presence of obstacles in a field around the vehicle;
means for determining a risk which each the obstacles would cause the operator to perceive using a direction from the vehicle to the obstacle, a separation between the vehicle and the obstacle, and a relative velocity between the vehicle and the obstacle means for dividing each the determined risks into a longitudinal, with respect to the vehicle, risk component and a lateral, with respect to the vehicle, risk component;
means for calculating the total of the longitudinal risk components and the total of the lateral risk components;
means for making an operator response plan in response to the calculated totals, which plan prompts the operator to operating the vehicle longitudinally and laterally, to determine commands; and
means for prompting the operator in response to the commands to operating the vehicle longitudinally and laterally.
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61. A vehicle operated by an operator in traveling, the vehicle comprising:
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a data acquisition system acquiring data including information on vehicle state and information on environment in a field around the vehicle;
a controller for determining future environment in the field using the acquired data, for making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle in a desired manner for the determined future environment, to determine command, and for generating the command; and
at least one actuator for prompting the operator in response to the command to operating the vehicle in the desired manner.
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62. A vehicle operated by an operator in traveling, the vehicle comprising:
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a data acquisition system acquiring data including information on vehicle state and information on environment in a field around the vehicle, the information on environment involving information on the presence of obstacles in the field;
a controller for receiving the acquired data, for determining future environment in the field, the determined future environment involving a risk which each of the obstacles would cause the operator to perceive, for making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle at least longitudinally to reduce the risks, to determine commands, and for generating the commands; and
a plurality of actuators for prompting the operator in response to the commands to operating the vehicle at least longitudinally, the plurality of actuators includes an accelerator reaction modulation actuator capable of modulating reaction characteristic to manual effort applied onto an accelerator of the vehicle.
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63. A vehicle operated by an operator in traveling, the vehicle comprising:
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a data acquisition system acquiring data involving information on the presence of an obstacle in a field around the vehicle;
a controller for receiving the acquired data, for determining a risk which the obstacle would cause the operator to perceive, for allocating commands for prompting the operator to operating the vehicle longitudinally and laterally, and for generating the commands; and
a plurality of actuators, mounted to the vehicle, to prompt the operator in response to the commands to operating the vehicle longitudinally and laterally.
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64. A vehicle operated by an operator in traveling, the vehicle comprising:
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a data acquisition system acquiring data involving information on the presence of obstacles in a field around the vehicle;
a controller for receiving the acquired data, for determining a risk which each of the obstacles would cause the operator to perceive, for making an operator response plan in response to the risks, which plan prompts the operator to operating the vehicle longitudinally and laterally, to determine commands, and for generating the commands; and
a plurality of actuators to prompt the operator in response to the commands to operating the vehicle longitudinally and laterally.
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65. A vehicle operated by an operator in traveling, the vehicle comprising:
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a data acquisition system acquiring data involving information on the presence of an obstacle in a field around the vehicle;
a controller for receiving the acquired data, for determining a risk which the obstacle would cause the operator to perceive using a direction from the vehicle to the obstacle, a separation between the vehicle and the obstacle, and a relative velocity between the vehicle and the obstacle, for making an operator response plan in response to the risk, which plan prompts the operator to operating the vehicle longitudinally and laterally, to determine commands, and for generating the commands; and
a plurality of actuators to prompt the operator in response to the commands to operating the vehicle longitudinally and laterally, the plurality of actuators including an accelerator reaction modulation actuator capable of modulating reaction characteristic to manual effort applied onto an accelerator of the vehicle by the operator, a brake pedal reaction modulation actuator capable of modulating reaction characteristic to manual effort applied onto a brake of the vehicle by the operator, and a steering reaction modulation actuator capable of modulating reaction characteristic to manual steering effort by the operator.
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66. A vehicle operated by an operator in traveling, the vehicle comprising:
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a data acquisition system acquiring data involving information on the presence of obstacles in a field around the vehicle;
a controller for receiving the acquired data, for determining a risk which each the obstacles would cause the operator to perceive using a direction from the vehicle to the obstacle, a separation between the vehicle and the obstacle, and a relative velocity between the vehicle and the obstacle, for making an operator response plan in response to the risk, which plan prompts the operator to operating the vehicle longitudinally and laterally, to determine commands, and for generating the commands; and
a plurality of actuators to prompt the operator in response to the commands to operating the vehicle longitudinally and laterally, wherein, in making an operator response plan, the controller divides each the determined risks into a longitudinal, with respect to the vehicle, risk component and a lateral, with respect to the vehicle, risk component, uses the total of the longitudinal risk components to determine the amount of input to one of the plurality of actuators, and uses the total of the lateral risk components to determine the amount of input to another of the plurality of actuators.
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67. A method for assisting effort by an operator to operate a vehicle in traveling, the method comprising:
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acquiring data including information on vehicle state and information on environment in a field around the vehicle;
determining future environment in the field using the acquired data;
making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle in a desired manner for the determined future environment, to determine command; and
prompting the operator in response to the command to operating the vehicle in the desired manner.
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68. A method for assisting effort by an operator to operate a vehicle in traveling, the method comprising:
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acquiring data including information on vehicle state and information on environment in a field around the vehicle, the information on environment involving information on the presence of obstacles in the field;
determining future environment in the field based on the acquired data, the determined future environment involving a risk which each of the obstacles would cause the operator to perceive;
making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle at least longitudinally to reduce the risks, to determine commands; and
prompting the operator in response to the commands to operating the vehicle at least longitudinally, by modulating reaction characteristic to manual effort applied onto an accelerator of the vehicle.
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69. A method for assisting effort by an operator to operate a vehicle in traveling, the method comprising:
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acquiring data involving information on the presence of a leading vehicle in a field around the vehicle; and
determining, based on the acquired data, a reciprocal of a time to contact (TTC) between the vehicles;
determining, based on the acquired data a reciprocal of a time headway (THW) between the vehicles;
determining future environment in the field based on the determined reciprocals;
making an operator response plan in response to the determined future environment to determine a command; and
modulating reaction characteristic to manual effort applied onto an accelerator of the vehicle in response to the command.
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70. A method for assisting effort by an operator to operate a vehicle in traveling, the method comprising:
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acquiring data involving information on the presence of a leading vehicle in a field around the vehicle; and
determining, based on the acquired date, an extent to which the vehicles has approached to each other;
determining a period of time as a function of the determined extent;
determining a future quantity of the extent that would occur upon elapse of the period of time from the determined extent to give future environment in the field;
making an operator response plan in response to the determined future environment to determine a command; and
modulating reaction characteristic to manual effort applied onto an accelerator of the vehicle by the operator in response to the command.
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71. A method for assisting effort by an operator to operate a vehicle in traveling, the method comprising:
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acquiring data involving information on the presence of an obstacle in a field around the vehicle;
determining, out of the acquired data, a risk which the obstacle would cause the operator to perceive;
allocating commands for prompting the operator to operating the vehicle longitudinally and laterally; and
prompting the operator in response to the commands to operating the vehicle longitudinally and laterally.
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72. A method for assisting effort by an operator to operate a vehicle in traveling, the method comprising:
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acquiring data involving information on the presence of obstacles in a field around the vehicle;
determining, out of the acquired data, a risk which each of the obstacles would cause the operator to perceive;
making an operator response plan in response to the risks, which plan prompts the operator to operating the vehicle longitudinally and laterally, to determine commands; and
prompting the operator in response to the commands to operating the vehicle longitudinally and laterally.
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73. A method for assisting effort by an operator to operate a vehicle in traveling, the method comprising:
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acquiring data involving information on the presence of obstacles in a field around the vehicle;
determining, out of the acquired data, a risk which each of the obstacles would cause the operator to perceive using a direction from the vehicle to the obstacle, a separation between the vehicle and the obstacle, and a relative velocity between the vehicle and the obstacle;
making an operator response plan in response to the risks, which plan prompts the operator to operating the vehicle longitudinally and laterally, to determine commands;
modulating reaction characteristic to manual effort applied onto an accelerator of the vehicle by the operator in response to one of the commands;
modulating reaction characteristic to manual effort applied onto a brake of the vehicle by the operator in response to another of the commands; and
modulating reaction characteristic to manual steering effort by the operator in response to other of the commands. - View Dependent Claims (74)
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75. A system for assisting effort by an operator to operate a vehicle in traveling, the system comprising:
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means for acquiring data including information on vehicle state and information on environment in a field around the vehicle;
means for determining future environment in the field using the acquired data;
means for making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle in a desired manner for the determined future environment, to determine command; and
means for prompting the operator in response to the command to operating the vehicle in the desired manner.
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76. A vehicle operated by an operator in traveling, the vehicle comprising:
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means for acquiring data including information on vehicle state and information on environment in a field around the vehicle;
means for determining future environment in the field using the acquired data;
means for making an operator response plan in response to the determined future environment, which plan prompts the operator to operating the vehicle in a desired manner for the determined future environment, to determine command; and
means for prompting the operator in response to the command to operating the vehicle in the desired manner.
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Specification