VEHICLE BEHAVIOR ESTIMATION DEVICE

• US 20110313740A1
• Filed: 06/13/2011
• Published: 12/22/2011
• Est. Priority Date: 06/16/2010
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: IKEDA, Takuro, Kitagawa, Eiji
• Granted Patent: US 8,930,173 B2
• Time in Patent Office: Days
• US Class Current: 703/2
• CPC Class Codes: G05B 17/02 electric
• CPC Class Codes: G08G 1/01 Detecting movement of traffic to be counted or controlled G08G1/07 - G08G1/14 take precedence

Abstract

A vehicle behavior estimation device includes: a storage unit configured to store a restriction condition at a point of a vehicle for which behavior is estimated; vehicle state data that includes position information and speed information of the vehicle; behavior parameters that include speed information and acceleration information of the vehicle; and physical restriction conditions that include an upper limit and a lower limit of the acceleration information; and a processor configured to obtain the vehicle state data by using the restriction condition at the point; calculate behavior parameters of a vehicle model that satisfy a physical restriction condition from the vehicle state data and the restriction condition at the point; update the vehicle state data of the vehicle model based on the behavior parameters; and repeat processing to calculate behavior parameters by using the updated vehicle state data and to update the vehicle state data.

Claims

1. A vehicle behavior estimation device comprising:

a storage unit configured to store

a restriction condition at a first point and a second point of a vehicle for which behavior is estimated;

vehicle state data that includes at least position information and speed information of the vehicle;

behavior parameters that include at least speed information and acceleration information of the vehicle; and

physical restriction conditions that include at least an upper limit and a lower limit of the acceleration information; and

a processor configured to

obtain the vehicle state data by using the restriction condition at the first point;

calculate behavior parameters of a vehicle model that satisfy a physical restriction condition from the vehicle state data and the restriction condition at the second point;

update the vehicle state data of the vehicle model based on the behavior parameters; and

repeat processing to calculate behavior parameters by using the updated vehicle state data and to update the vehicle state data.

2. The vehicle behavior estimation device according to claim 1;

wherein the processor calculates driving behavior including an operation amount of a driver based on the behavior parameters; and

updates the vehicle state data based on the behavior parameters and the driving behavior.

3. The vehicle behavior estimation device according to claim 1;

wherein the restriction condition at the first point includes position information, time, and speed information at the first point, and the restriction condition at the second point includes position information, time, and speed information at the second point, and the processing to calculate the behavior parameters allows an error of speed information more than errors of other information in restriction conditions.

4. The vehicle behavior estimation device according to claim 3;

wherein, the restriction condition at the first point and the restriction condition at the second point are generated from information collected by a group of sensors installed along a road, the position information is generated based on identification information that identifies a sensor, and the time is generated based on time when information is output from the sensor, and the speed information is generated based on speed information output by the sensor.

5. The vehicle behavior estimation device according to claim 1;

wherein the processing to calculate the behavior parameter calculates a distance based on position information included in the vehicle state data and position information included in the restriction condition at the second point; and

calculates target acceleration information and target speed information so that an integrated value of speed information included in the vehicle state data becomes close to the distance.

6. The vehicle behavior estimation device according to claim 1;

wherein the restriction condition at the first point and the restriction condition at the second point include lane information that identifies a lane in a road with a plurality of lanes, and the behavior parameter calculation unit includes target lane information calculated based on the lane information.

7. The vehicle behavior estimation device according to claim 1, further comprising:

a restriction condition satisfaction state output unit configured to calculate and output a restriction condition satisfaction level that is how much vehicle state data output by the vehicle model calculation unit satisfies the restriction condition.

8. The vehicle behavior estimation device according to claim 1 further comprising:

a behavior parameter correction unit configured to correct behavior parameters calculated by the processor to calculate behavior parameters based on at least one of state information of a signal, a railway crossing, and a pedestrian crossing.

9. A vehicle behavior estimation device configured to estimate behavior of a vehicle model between points comprising:

at least one memory including

a restriction condition storage unit configured to store restriction conditions including speed information, position information and time information of a vehicle that are obtained at a plurality of points;

a behavior parameter storage unit configured to store behavior parameters including target speed information and target acceleration information of a vehicle model;

a vehicle state data storage unit configured to store vehicle state data including position information and speed information of a vehicle model;

a vehicle model calculation unit configured to calculate vehicle state data at a simulation time when a vehicle model is calculated based on target speed information and target acceleration information included in the behavior parameters;

a behavior parameter calculation unit configured to calculate behavior parameters at a simulation time when a vehicle model is calculated based on the restriction condition and the vehicle state data; and

a simulation control unit configured to sequentially generate the simulation time used by the vehicle model calculation unit and the behavior parameter calculation unit and to control the vehicle model calculation unit and the behavior parameter calculation unit.

10. The vehicle behavior estimation device according to claim 9, wherein the simulation control unit

generates the simulation time and deletes the vehicle model when a restriction condition in which the time information matches the simulation time is present and a vehicle model that corresponds to the restriction condition is present;

adds the vehicle model when a restriction condition in which the time information that matches the simulation time is present and a vehicle model that corresponds to the restriction condition is not present;

makes the behavior parameter calculation unit and the vehicle model calculation unit calculate vehicle state data of a vehicle model if there is any vehicle model to which calculation is not executed yet; and

updates the simulation time if vehicle state data is calculated for all of the vehicles.

11. The vehicle behavior estimation device according to claim 9, wherein

the behavior parameter calculation unit

calculates target acceleration information from speed information included in the restriction condition and speed information included in the vehicle state data;

compares time to reach the speed information included in the restriction condition by the target acceleration information with time information included in the restriction condition and determines whether the speed is reached at or before the time information;

updates target speed information and target acceleration information of behavior parameters to the speed information included in the restriction condition and the calculated target acceleration information if the speed is determined to be reached as a result of the comparison and the calculated target acceleration information is within a substantially maximum deceleration and a substantially maximum acceleration;

calculates target speed information from the substantially maximum deceleration and the substantially maximum acceleration and updates target speed information and target acceleration information of behavior parameters to the calculated target speed information and one of the substantially maximum deceleration and the substantially maximum acceleration that is closer to the calculated target acceleration information if the speed is determined to be reached as a result of the comparison and the calculated target acceleration information is outside a range of the substantially maximum deceleration and the substantially maximum acceleration;

updates the target speed information and target acceleration information of behavior parameters to speed information included in the vehicle state data and target acceleration information of 0 if the speed is determined not to be reached as a result of the comparison and the restriction condition is satisfied by maintaining a speed based on the speed information included in the vehicle state data; and

updates the target acceleration information and the target speed information of the behavior parameters to acceleration selected from the substantially maximum deceleration and the substantially maximum acceleration based on speed information included in the restriction condition and a target speed information obtained by using the target acceleration information if the speed is not determined to be reached as a result of the comparison and the restriction condition is not satisfied by maintaining a speed based on the speed information included in the vehicle state data.

12. A non-transitory computer-readable storage medium storing a program executed by a computer that stores restriction conditions at a first point and a second point of a vehicle to which behavior is estimated, vehicle state data that includes at least position information and speed information of the vehicle, and behavior parameters that include at least speed information and acceleration information of the vehicle, and physical restriction conditions that include at least an upper limit and a lower limit of the acceleration information in a storage unit, the program causes the computer to execute a process comprising:

obtaining the vehicle state data by using the restriction condition at the first point;

calculating behavior parameters of a vehicle model that satisfy the physical restriction conditions from the vehicle state data and the restriction condition at the second point;

updating vehicle state data of the vehicle model based on the behavior parameters; and

repeating calculating the behavior parameters using the updated vehicle state data and updating the vehicle state data.

13. A method to estimate vehicle behavior with a computer that stores restriction conditions at a first point and a second point of a vehicle to which behavior is estimated, vehicle state data that includes at least position information and speed information of the vehicle, and behavior parameters that include at least speed information and acceleration information of the vehicle, and physical restriction conditions that include at least an upper limit and a lower limit of the acceleration information in a storage unit to execute a process comprising:

obtaining the vehicle state data by using the restriction condition at the first point;

calculating, with the computer, behavior parameters of a vehicle model that satisfy the physical restriction condition from the vehicle state data and the restriction condition at the second point;

updating vehicle state data of the vehicle model based on the behavior parameters; and

repeating calculating the behavior parameters using the updated vehicle state data and updating the vehicle state data.