Risk potential calculation device and driving assist system

• US 20040249549A1
• Filed: 06/01/2004
• Published: 12/09/2004
• Est. Priority Date: 06/04/2003
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd., Via Telecom Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kondoh, Takayuki, Yamamura, Tomohiro
• Granted Patent: US 7,167,798 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60G 2400/80 Exterior conditions
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60G 2600/084 Supervisory systems
• CPC Class Codes: B60G 2800/222 during collision
• CPC Class Codes: B60G 2800/242 Obstacle avoidance manoeuvre
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60G 2800/94 Electronic Stability Program (ESP, i.e. ABS+ASC+EMS)
• CPC Class Codes: B60K 26/021 with means for providing feel, e.g. by changing pedal force characteristics
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 50/16 : Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal

Abstract

A risk potential calculating device for a vehicle, comprises a state recognition device that detects vehicle conditions of a subject vehicle and a traveling environment for vehicle surroundings; and a risk potential calculator that calculates a risk potential for the vehicle surroundings based on detection results of the state recognition device. The risk potential calculator calculates the risk potential by respectively calculating a first risk potential expressing a risk in a case where driving conditions of the subject vehicle are in a steady state and a second risk potential expressing a risk for a case where driving conditions of the subject vehicle are in a transient state, and adding the first risk potential weighted by a first coefficient and the second risk potential weighted by the second coefficient.

Claims

1. A risk potential calculating device for a vehicle, comprising:

a state recognition device that detects vehicle conditions of a subject vehicle and a traveling environment for vehicle surroundings; and

a risk potential calculator that calculates a risk potential for the vehicle surroundings based on detection results of the state recognition device, wherein

the risk potential calculator calculates the risk potential by respectively calculating a first risk potential expressing a risk in a case where driving conditions of the subject vehicle are in a steady state and a second risk potential expressing a risk for a case where driving conditions of the subject vehicle are in a transient state, and adding the first risk potential weighted by a first coefficient and the second risk potential weighted by the second coefficient.

2. A risk potential calculating device for a vehicle according to claim 1, wherein

the risk potential calculator calculates the risk potential by adding a product of the first risk potential and the first coefficient and a product of the second risk potential and the second coefficient.

3. A risk potential calculating device for a vehicle according to claim 1, wherein

the first coefficient is smaller than the second coefficient.

4. A risk potential calculating device for a vehicle according to claim 1, wherein

the risk potential calculator sets the first coefficient and the second coefficient in such a manner that an internal division ratio is taken for a ratio between the first coefficient and the second coefficient.

5. A risk potential calculating device for a vehicle according to claim 1, wherein

the risk potential calculator calculates a weighting variable for applying weightings to the first risk potential and the second risk potential respectively based on detection results of the state recognition device, and then sets the first coefficient and the second coefficient using the weighting variable.

6. A risk potential calculating device for a vehicle according to claim 5, wherein

the risk potential calculator calculates a necessary deceleration required in order to avoid making contact with a preceding vehicle at current driving conditions for the subject vehicle based on detection results of the state recognition device, and sets the weighting variable based on the necessary deceleration thus calculated.

7. A risk potential calculating device for a vehicle according to claim 5, wherein

the risk potential calculator sets the weighting variable based on a relative velocity between the subject vehicle and a preceding vehicle detected by the state recognition device.

8. A risk potential calculating device for a vehicle according to claim 5, wherein

the risk potential calculator calculates a time to contact representing a degree of closeness of the subject vehicle to the preceding vehicle based on detection results of the state recognition device and sets the weighting variable based on a reciprocal of the time to contact.

9. A risk potential calculating device for a vehicle according to claim 1, wherein:

the state recognition device detects a vehicle speed of the subject vehicle and an inter-vehicle distance between the subject vehicle and a preceding vehicle; and

the risk potential calculator calculates a time headway between the subject vehicle and the preceding vehicle from the vehicle speed and the inter-vehicle distance detected by the state recognition device and uses a reciprocal of the time headway as the first risk potential.

10. A risk potential calculating device for a vehicle according to claim 1, wherein:

the state recognition device detects an inter-vehicle distance for the subject vehicle and the preceding vehicle; and

the risk potential calculator uses a reciprocal of the inter-vehicle distance detected by the state recognition device as the first risk potential.

11. A risk potential calculating device for a vehicle according to claim 1, wherein:

the state recognition device detects a vehicle speed of the subject vehicle and an inter-vehicle distance between the subject vehicle and a preceding vehicle; and

the risk potential calculator uses a reciprocal of the inter-vehicle distance as the first risk potential when the vehicle speed detected by the state recognition device is equal to or less than a predetermined value, and uses a reciprocal of a time headway between the subject vehicle and the preceding vehicle calculated from the vehicle speed and the inter-vehicle distance as the first risk potential when the vehicle speed exceeds the predetermined value.

12. A risk potential calculating device for a vehicle according to claim 1, wherein:

the state recognition device detects an inter-vehicle distance and a relative velocity between the subject vehicle and a preceding vehicle; and

the risk potential calculator calculates a time to contact between the subject vehicle and the preceding vehicle from the inter-vehicle distance and the relative velocity detected by the state recognition device and uses a reciprocal of the time to contact as the second risk potential.

13. A risk potential calculating device for a vehicle according to claim 1, wherein:

the state recognition device detects a relative velocity between the subject vehicle and a preceding vehicle; and

the risk potential calculator uses a reciprocal of the relative velocity detected by the state recognition device as the second risk potential.

14. A risk potential calculating device for a vehicle according to claim 1, wherein:

the state recognition device detects an inter-vehicle distance and a relative velocity between the subject vehicle and a preceding vehicle; and

the risk potential calculator uses a reciprocal of the relative velocity as the second risk potential when the inter-vehicle distance detected by the state recognition device is equal to or less than a predetermined value, and uses a reciprocal of a time to contact between the subject vehicle and the preceding vehicle calculated from the inter-vehicle distance and the relative velocity as the second risk potential when the vehicle speed exceeds the predetermined value.

15. A vehicle driving assist system, comprising:

a state recognition device that detects vehicle conditions of a subject vehicle and a traveling environment for vehicle surroundings;

a risk potential calculator that calculates a risk potential for the vehicle surroundings based on detection results of the state recognition device;

a reaction force calculating device that calculates an operation reaction force to be generated at a vehicle operation equipment according to the risk potential calculated by the risk potential calculator; and

a reaction force generating device that generates the operation reaction force calculated by the reaction force calculating device at the vehicle operation equipment, wherein

the risk potential calculator calculates the risk potential by respectively calculating a first risk potential expressing a risk in a case where driving conditions of the subject vehicle are in a steady state and a second risk potential expressing a risk for a case where driving conditions of the subject vehicle are in a transient state, and adding the first risk potential weighted by a first coefficient and the second risk potential weighted by the second coefficient;

.

16. A vehicle, comprising:

a vehicle driving assist system that comprises (a) a state recognition device that detects vehicle conditions of a subject vehicle and a traveling environment for vehicle surroundings;

(b) a risk potential calculator that calculates a risk potential for the vehicle surroundings based on detection results of the state recognition device;

(c) a reaction force calculating device that calculates an operation reaction force to be generated at a vehicle operation equipment according to the risk potential calculated by the risk potential calculator; and

(d) a reaction force generating device that generates the operation reaction force calculated by the reaction force calculating device at the vehicle operation equipment, wherein the risk potential calculator calculates the risk potential by respectively calculating a first risk potential expressing a risk in a case where driving conditions of the subject vehicle are in a steady state and a second risk potential expressing a risk for a case where driving conditions of the subject vehicle are in a transient state, and adding the first risk potential weighted by a first coefficient and the second risk potential weighted by the second coefficient;

.

17. A risk potential calculating device for a vehicle, comprising:

a state recognition means for detecting vehicle conditions of a subject vehicle and a traveling environment for vehicle surroundings; and

a risk potential calculating means for calculating a risk potential for the vehicle surroundings based on detection results of the state recognition means, wherein

the risk potential calculating means calculates the risk potential by respectively calculating a first risk potential expressing risk in a case where driving conditions of the subject vehicle are in a steady state and a second risk potential expressing a risk for a case where driving conditions of the subject vehicle are in a transient state, and adding the first risk potential weighted by a first coefficient and the second risk potential weighted by the second coefficient.

18. A risk potential calculating method, comprising:

detecting vehicle conditions of a subject vehicle and a traveling environment for vehicle surroundings;

calculating a first risk potential expressing a risk in a case where driving conditions of the subject vehicle are in a steady state and a second risk potential expressing a risk for a case where driving conditions of the subject vehicle are in a transient state based on the detected vehicle conditions and traveling environment;

calculating a weighting variable for setting weighting of the first risk potential and the second risk potential based on the vehicle conditions and traveling environment;

determining a first coefficient multiplied to the first risk potential and a second coefficient multiplied to the second risk potential based on the calculated weighting variable; and

calculating a risk potential for the vehicle surroundings by adding the first risk potential multiplied by the first coefficient and the second risk potential multiplied by the second coefficient.