VEHICLE BEHAVIOR PREDICTION DEVICE AND VEHICLE BEHAVIOR PREDICTION METHOD, AND DRIVING ASSISTANCE DEVICE
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Abstract
In order to provide a vehicle behavior prediction device and a vehicle behavior prediction method, and a driving assistance device that uses said vehicle behavior prediction device, which enables vehicle behavior to be predicted in a highly accurate manner, a vehicle control device is installed in a vehicle. This vehicle control device is provided with a distribution calculation unit and a vehicle behavior prediction unit. The distribution calculation unit determines, on the basis of driving condition information that has been collected, probability distributions for when deceleration behavior occurs and does not occur. The vehicle behavior prediction unit determines the relative positional relationships between the driving speed and acceleration of vehicles ahead with respect to the probability distributions, and, on the basis of the relative positional relationships that have been determined, predicts the behavior of a vehicle that is subject to prediction.
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Citations
46 Claims
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1-24. -24. (canceled)
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25. A vehicle behavior prediction device for predicting vehicle behavior based on traveling state information representing a traveling state of a vehicle, wherein
the traveling state information includes at least one value of traveling speed of the vehicle and acceleration of the vehicle, the vehicle behavior prediction device includes a vehicle behavior prediction unit, which collects the traveling state information, inputs a plurality of kinds of probability distributions representing occurrence probability of vehicle behavior with respect to the at least one value obtained based on the collected traveling state information, and predicts vehicle behavior of a prediction-subject vehicle based on whether the at least one value concerning the prediction-subject vehicle belongs to one of the plurality of kinds of probability distributions, and it is determined whether the at least one value belongs to the probability distribution depending upon whether the at least one value is included in one continuous region in which occurrence probability in the probability distribution is greater than zero.
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36. A driving assistance device for assisting a driving operation of a driver based on a prediction result of vehicle behavior, the driving assistance device including a driving assistance unit that predicts vehicle behavior of a vehicle to be assisted in the driving operation or a vehicle in front traveling in front of the vehicle in the traveling direction using the vehicle behavior prediction device, and executes driving assistance based on the predicted vehicle behavior, wherein
the vehicle behavior prediction device predicts vehicle behavior based on traveling state information representing a traveling state of a vehicle, wherein the traveling state information includes at least one value of traveling speed of the vehicle and acceleration of the vehicle, the vehicle behavior prediction device includes a vehicle behavior prediction unit, which collects the traveling state information, inputs a plurality of kinds of probability distributions representing occurrence probability of vehicle behavior with respect to the at least one value obtained based on the collected traveling state information, and predicts vehicle behavior of a prediction-subject vehicle based on whether the at least one value concerning the prediction-subject vehicle belongs to one of the plurality of kinds of probability distributions, and it is determined whether the at least one value belongs to the probability distribution depending upon whether the at least one value is included in one continuous region in which occurrence probability in the probability distribution is greater than zero.
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37. A vehicle behavior prediction method for predicting vehicle behavior based on traveling state information representing a traveling state of a vehicle using a vehicle behavior prediction device, wherein
the traveling state information includes at least one of traveling speed of the vehicle and acceleration of the vehicle, the vehicle behavior prediction method comprising collecting the traveling state information; -
predicting vehicle behavior of a prediction-subject vehicle based on whether the at least one value concerning the prediction-subject vehicle belongs to one of a plurality of kinds of probability distributions using the plurality of kinds of probability distributions representing occurrence probability of vehicle behavior with respect to the at least one value obtained based on the collected traveling state information, and determining whether the at least one value belongs to the probability distribution depending upon whether the at least one value is included in one continuous region in which occurrence probability in the probability distribution is greater than zero. - View Dependent Claims (38, 39, 40, 41, 42, 43, 44, 45, 46)
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Specification