VEHICLE OR TRAFFIC CONTROL METHOD AND SYSTEM

• US 20120143488A1
• Filed: 08/31/2010
• Published: 06/07/2012
• Est. Priority Date: 08/31/2009
• Status: Abandoned Application

• Current Assignee: Inria Institut National de Recherche EN Informatique et EN Automatique, Toyota Motor Europe SA (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Europe SA (Toyota Motor Corporation)
• Inventors: Othmezouri, Gabriel, Yanagihara, Hiromichi, Mekhnacha, Kamel, Sakai, Katsuhiro, Mazer, Emmanuel, Laugier, Christian, Tay Meng Keat, Christopher
• Application Number:
  US13/390,567
• Publication Number:
  US 20120143488A1
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• 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 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G06F 18/295 Markov models or related models, e.g. semi-Markov models; Markov random fields; Networks embedding Markov models
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

The invention relates to a vehicle or traffic control method and to a vehicle or traffic control system. The vehicle or traffic control method comprises the steps: a) estimating actual and/or future behavior of a first traffic participant and of a second traffic participant, respectively, the second traffic participant being different from the first traffic participant, b) estimating a trajectory to be taken by the first traffic participant and/or a trajectory to be taken by the second traffic participant, c) determining risk of collision of the first traffic participant relative to the second traffic participant by calculating information adapted for risk assessment of collision of the first traffic participant relative to the second traffic participant, and d) controlling the behavior of the first traffic participant based on the information provided after step a), step b) and/or step c). In this way a probability value is determined which indicates the plausibility that a vehicle or traffic participant might enter into collision within a certain time horizon in the future.

Claims

1. A driving assistance method comprising the steps:

a) probabilistically estimating actual and/or future behavior of a first traffic participant and of a second traffic object or second traffic participant, respectively, the second traffic object or second traffic participant being different from the first traffic participant,

b) probabilistically estimating a trajectory to be taken by the first traffic participant and/or a trajectory to be taken by the second traffic object or second traffic participant,

c) determining risk of collision of the first traffic participant relative to the second traffic object or second traffic participant by calculating information adapted for risk assessment of collision of the first traffic participant relative to the second traffic object or second traffic participant, based on a combination of said probabilistic behavior estimation with said probabilistic trajectory estimation,

d) outputting the information provided after step a), step b) and/or step c).

2. The method according to claim 1, further comprising:

e) controlling the behavior of the first traffic participant based on the information provided after step a), step b) and/or step c).

3. The method according to claim 1, comprising the step of displaying the information as a signal which is indicative for the risk of collision based on vehicle risk behavior over a time period in the past and/or for the future.

4. The method according to claim 1, comprising the step of performing a predetermined action based on the information provided after step a), step b) and/or step c).

5. The method according to claim 1, comprising the step of performing a geometrical transformation for an adaptation of a Gaussian process.

6. The method according to claim 5, wherein the geometrical transformation comprises Least Squares Conformal Mapping.

7. The method according to claim 1, comprising the step of measuring trajectory, speed, steering, forward and/or lateral acceleration of the first and/or second traffic object or second traffic participant.

8. The method according to claim 1, comprising the step of detecting and/or tracking of a position and/or orientation of the first and/or second traffic object or second traffic participant.

9. The method according to claim 1, comprising the step of applying a Hidden Markov Model and/or a variant of the Hidden Markov Model.

16. A computer program comprising instructions for carrying out the steps of the method according to claim 1, when said computer program is executed on a processing engine.

17. A machine readable signal storage medium with the computer program of claim 16 stored thereon.

10. A driving assistance system comprising:

a behavior estimator (1) adapted for probabilistically estimating actual and/or future behavior of a first traffic participant and of a second traffic object or second traffic participant, respectively, the second traffic object or second traffic participant being different from the first traffic participant, wherein the behavior estimator (1) is further adapted for estimating a trajectory to be taken by the first traffic participant and/or a trajectory to be taken by the second traffic object or second traffic participant,

a risk estimator (4) adapted for determining risk of collision of the first traffic participant relative to the second traffic object or second traffic participant by calculating information, which comprises an output probability value, adapted for risk assessment of collision of the first traffic participant relative to the second traffic object or second traffic participant, and

means for outputting the information provided by the risk estimator (4) and/or by the behavior estimator (1), wherein the behavior estimator is further adapted for probabilistically estimating actual and/or future behavior of the first traffic participant and of the second traffic object or second traffic participant, and

the output probability value is based on a combination of said probabilistic behavior estimation with said probabilistic trajectory estimation.

11. The system of claim 10, further comprising a behavior realizing unit (2) adapted for controlling the behavior of the first traffic participant based on the information provided by the risk estimator (4) and/or by the behavior estimator (1).

12. The system according to claim 10, wherein a display is provided and adapted for displaying the information as a signal which is indicative for the risk of collision based on vehicle risk behavior over a time period in the past and/or for the future.

13. The system according to claim 10, wherein the signal comprises an audio signal, a visual signal and/or a tactile signal.

14. The system according to claim 10, wherein a user and/or a control unit performs a predetermined action based on the information provided by the risk estimator (4) and/or the behavior estimator (1).

15. The system according to claim 10, wherein the behavior realizing unit (2) is adapted for performing a geometrical transformation for an adaptation of a Gaussian process.