OBSTACLE AVOIDANCE PATH COMPUTING APPARATUS, OBSTACLE AVOIDANCE PATH COMPUTING METHOD, AND OBSTACLE AVOIDANCE CONTROL SYSTEM EQUIPPED WITH OBSTACLE AVOIDANCE PATH COMPUTING SYSTEM

• US 20070288133A1
• Filed: 06/11/2007
• Published: 12/13/2007
• Est. Priority Date: 06/13/2006
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nishira, Hikaru, Deguchi, Yoshitaka
• Granted Patent: US 8,090,537 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

An obstacle avoidance path computing apparatus is provided with a preceding object detecting section, a host vehicle information detecting section, a preceding object arrival region estimating section and a preceding object avoidance path setting section. The preceding object detecting section detects a preceding object. The host vehicle information detecting section detects host vehicle information. The preceding object arrival region estimating section calculates an estimated arrival region within which the preceding object could arrive after a prescribed amount of time has elapsed since the preceding object was detected, based on an estimated attribute of the preceding object from the preceding object information. The preceding object avoidance path setting section calculates an avoidance path that will not encroach on the estimated arrival region based the preceding object information and the host vehicle information.

Claims

1. An obstacle avoidance path computing apparatus comprising:

a preceding object detecting section configured to detect a preceding object state and a movement velocity of a preceding object existing in front of a host vehicle as preceding object information;

a host vehicle information detecting section configured to detect a host vehicle traveling state as host vehicle information;

a preceding object arrival region estimating section configured to calculate an estimated arrival region within which the preceding object could arrive after a prescribed amount of time has elapsed since the preceding object was detected, based on an estimated attribute of the preceding object from the preceding object state and the movement velocity of the preceding object; and

a preceding object avoidance path setting section configured to calculate an avoidance path that will not encroach on the estimated arrival region based the preceding object information and the host vehicle information.

2. The obstacle avoidance path computing apparatus as recited in claim 1, wherein

the preceding object arrival region estimating section is configured to calculate the estimated arrival region based on a maximum velocity and a minimum velocity of a velocity range that corresponds to the attribute of the preceding object and that includes the movement velocity of the preceding object.

3. The obstacle avoidance path computing apparatus as recited in claim 1, wherein

the preceding object arrival region estimating section is further configured to calculate the estimated arrival region using a widest velocity range existing among a set of previously stored velocity ranges that correspond to the attribute of the preceding object when the preceding object arrival region estimating section first calculates the estimated arrival region.

4. The obstacle avoidance path computing apparatus as recited in claim 1, wherein

the host vehicle information detecting section is further configured to detect a steering angle of the host vehicle as part of the host vehicle information;

and

the preceding object avoidance path setting section is further configured to calculate the avoidance path using the steering angle detected by the host vehicle information detecting section.

5. The obstacle avoidance path computing apparatus as recited in claim 4, wherein

the preceding object avoidance path setting section is further configured to calculate the avoidance path with a resultant force that is smaller than a maximum value of a tire grip force of the host vehicle, the resultant force being a sum of an acceleration force, a deceleration force, and a lateral force based on the steering angle.

6. The obstacle avoidance path computing apparatus as recited in claim 1, wherein

the host vehicle information detecting section is further configured to detect a braking force applied to the host vehicle as part of the host vehicle information;

and

the preceding object avoidance path setting section is further configured to calculate the avoidance path using the braking force detected by the host vehicle information detecting section.

7. The obstacle avoidance path computing apparatus as recited in claim 1, wherein

the preceding object avoidance path setting section is further configured to calculate a plurality of travel paths that can be feasibly followed by the host vehicle to avoid the preceding object;

and

the preceding object avoidance path setting section is further configured to evaluate each of the travel paths to select one of the travel paths based on a degree to which the host vehicle will approach the estimated arrival region of the preceding object if that travel path is adopted.

8. The obstacle avoidance path computing apparatus as recited in claim 1, further comprising

a road boundary detecting section configured to detect a road boundary between a travel region in which travel is possible and a non-travel region in which travel is not possible on a road on which the host vehicle is traveling;

and

the preceding object avoidance path setting section is further configured to calculate the avoidance path taking into account avoidance of the road boundary.

9. An obstacle avoidance control system equipped with the obstacle avoidance path computing apparatus as recited in claim 1, further comprising

a braking force control section configured to control a braking mechanism to apply a braking force to the host vehicle;

the preceding object avoidance path setting section being further configured to calculate the avoidance path when a braking force control is not applied to the host vehicle; and

the braking force control section being configured to control the braking mechanism such that the avoidance path is followed.

10. The obstacle avoidance control system as recited in claim 9, wherein

the preceding object avoidance path setting section is further configured to calculate the avoidance path based on an assumption that a steering actuation amount detected at the point in time when the preceding object was detected remains constant.

11. The obstacle avoidance control system as recited in claim 9, further comprising

a steering angle control section configured to control a steering mechanism of the host vehicle,

the steering angle control section and the braking force control section are configured to control the steering mechanism and the braking mechanism in a coordinated manner to follow the avoidance path.

12. An obstacle avoidance path computing method comprising:

detecting a preceding object state and a movement velocity of a preceding object existing in front of a host vehicle as preceding object information;

detecting a host vehicle traveling state as host vehicle information;

calculating an estimated arrival region within which the preceding object could arrive after a prescribed amount of time has elapsed since the preceding object was detected, based on an estimated attribute of the preceding object from the preceding object state and the movement velocity of the preceding object; and

calculating an avoidance path that will not encroach on the estimated arrival region based the preceding object information and the host vehicle information.

13. The obstacle avoidance path computing method as recited in claim 12, wherein

the calculating of the estimated arrival region is based on a maximum velocity and a minimum velocity of a velocity range that corresponds to the attribute of the preceding object and that includes the movement velocity of the preceding object.

14. The obstacle avoidance path computing method as recited in claim 12, wherein

the calculating of the estimated arrival region includes using a widest velocity range existing among a set of previously stored velocity ranges that correspond to the attribute of the preceding object when first calculating the estimated arrival region.

15. The obstacle avoidance path computing method as recited in claim 12, wherein

the detecting section of the host vehicle information detecting a steering angle;

and

the calculating of the avoidance path using the steering angle.

16. The obstacle avoidance path computing method as recited in claim 15, wherein

the calculating of the avoidance path results in a resultant force that is smaller than a maximum value of a tire grip force of the host vehicle, the resultant force being a sum of an acceleration force, a deceleration force, and a lateral force based on the steering angle.

17. The obstacle avoidance path computing method as recited in claim 12, wherein

the detecting of the host vehicle information includes detecting a braking force applied to the host vehicle;

and

the calculating of the avoidance path includes using the braking force.

18. The obstacle avoidance path computing method as recited in claim 12, further comprises

calculating a plurality of travel paths that can be feasibly followed by the host vehicle to avoid the preceding object;

and

evaluating each of the travel paths to select one of the travel paths based on a degree to which the host vehicle will approach the estimated arrival region of the preceding object if that travel path is adopted.

19. The obstacle avoidance path computing method as recited in claim 12, further comprising

detecting a road boundary between a travel region in which travel is possible and a non-travel region in which travel is not possible on a road on which the host vehicle is traveling;

and

the calculating of the avoidance path taking into account avoidance of the road boundary.

20. An obstacle avoidance control method using the obstacle avoidance path computing method as recited in claim 12, further comprising

controlling a braking mechanism to apply a braking force to the host vehicle;

the calculating of the avoidance path taking into account a braking force control not being applied to the host vehicle; and

controlling the braking mechanism such that the avoidance path is followed.

21. The obstacle avoidance control method as recited in claim 20, wherein

the calculating of the avoidance path is based on an assumption that a steering actuation amount detected at the point in time when the preceding object was detected remains constant.

22. The obstacle avoidance control method as recited in claim 20, further comprising

controlling a steering mechanism of the host vehicle and the braking mechanism in a coordinated manner to follow the avoidance path.