Vehicle operation support apparatus
First Claim
1. A vehicle operation support apparatus comprising:
- an input section including;
a vehicle detection section configured to detect a vehicle present on a road where a host vehicle is present; and
a lane detection section configured to detect a lane of the road; and
a control unit connected for signal communication to the input section, the control unit including;
a vehicle operation plan determination section to determine a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time;
the vehicle operation plan determination section including;
a vehicle group behavior prediction operation part to predict a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle;
a predicted-behavior evaluation operation part configured to perform an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state; and
a vehicle operation plan generation operation part configured to generate the vehicle operation plan by optimization based on the evaluation operation, the vehicle group behavior prediction operation part including;
a vehicle speed control logic operation part configured to provide a normative value of a time series of a control input to the host vehicle over a control horizon of time in accordance with the candidate value of the vehicle operation plan;
a host vehicle behavior prediction operation part configured to predict a time series of a state of the host vehicle over the prediction horizon in accordance with the normative value of the time series control input and the candidate value of the vehicle operation plan; and
a detected-vehicle behavior prediction operation part configured to predict a future time series of a state of each detected vehicle over the prediction horizon.
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Accused Products
Abstract
A vehicle operation support apparatus includes a vehicle operation plan determination section to determine a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time. The vehicle operation plan determination section includes an operation part to predict a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle, an operation part configured to perform an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state, and an operation part configured to generate the vehicle operation plan by optimization based on the evaluation operation.
54 Citations
27 Claims
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1. A vehicle operation support apparatus comprising:
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an input section including;
a vehicle detection section configured to detect a vehicle present on a road where a host vehicle is present; and
a lane detection section configured to detect a lane of the road; and
a control unit connected for signal communication to the input section, the control unit including;
a vehicle operation plan determination section to determine a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time;
the vehicle operation plan determination section including;
a vehicle group behavior prediction operation part to predict a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle;
a predicted-behavior evaluation operation part configured to perform an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state; and
a vehicle operation plan generation operation part configured to generate the vehicle operation plan by optimization based on the evaluation operation, the vehicle group behavior prediction operation part including;
a vehicle speed control logic operation part configured to provide a normative value of a time series of a control input to the host vehicle over a control horizon of time in accordance with the candidate value of the vehicle operation plan;
a host vehicle behavior prediction operation part configured to predict a time series of a state of the host vehicle over the prediction horizon in accordance with the normative value of the time series control input and the candidate value of the vehicle operation plan; and
a detected-vehicle behavior prediction operation part configured to predict a future time series of a state of each detected vehicle over the prediction horizon. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 17, 18, 19, 20, 21)
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14. A vehicle operation support apparatus comprising:
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input means for including;
vehicle detection means for detecting a vehicle present on a road where a host vehicle is present; and
lane detection means for detecting a lane of the road; and
control means for including;
vehicle operation plan determination means for determining a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time;
the vehicle operation plan determination means including;
vehicle group behavior prediction operation means for predicting a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle;
predicted-behavior evaluation operation means for performing an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state; and
vehicle operation plan generation operation means for generating the vehicle operation plan by optimization based on the evaluation operation, the vehicle group behavior prediction operation means including;
vehicle speed control logic operation means for providing a normative value of a time series of a control input to the host vehicle over a control horizon of time in accordance with the candidate value of the vehicle operation plan;
host vehicle behavior prediction operation means for predicting a time series of a state of the host vehicle over the prediction horizon in accordance with the normative value of the time series control input and the candidate value of the vehicle operation plan; and
detected-vehicle behavior prediction operation means for predicting a future time series of a state of each detected vehicle over the prediction horizon.
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15. A vehicle operation support method comprising:
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an input operation including;
a vehicle detection operation of detecting a vehicle present on a road where a host vehicle is present; and
a lane detection operation of detecting a lane of the road; and
a control operation including;
a vehicle operation plan determination operation of determining a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time;
the vehicle operation plan determination operation including;
a vehicle group behavior prediction operation of predicting a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle;
a predicted-behavior evaluation operation of performing an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state; and
a vehicle operation plan generation operation of generating the vehicle operation plan by optimization based on the evaluation operation, the vehicle group behavior prediction operation including;
a vehicle speed control logic operation of providing a normative value of a time series of a control input to the host vehicle over a control horizon of time in accordance with the candidate value of the vehicle operation plan;
a host vehicle behavior prediction operation of predicting a time series of a state of the host vehicle over the prediction horizon in accordance with the normative value of the time series control input and the candidate value of the vehicle operation plan; and
a detected-vehicle behavior prediction operation of predicting a future time series of a state of each detected vehicle over the prediction horizon. - View Dependent Claims (22, 23, 24, 25, 26, 27)
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Specification