OBJECT EXISTENCE DETERMINATION METHOD AND APPARATUS

• US 20180114442A1
• Filed: 03/31/2016
• Published: 04/26/2018
• Est. Priority Date: 03/31/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Minemura, Akitoshi, Ito, Yosuke, Tsuchida, Jun, Yuasa, Hitoshi
• Granted Patent: US 10,559,205 B2
• Time in Patent Office: Days
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• 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: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• 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: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A setting unit of an object existence determination apparatus sets an object-existence determination region with a lateral width in the travelling direction of an own vehicle using a lateral speed of a target object and a determination result by a straight-travel determining unit. An existence determining unit determines, based on the lateral position of the target object and the object-existence determination region, whether there is a possibility of at least part of the target object existing on a travelling course of the own vehicle. The setting unit sets the lateral width of the object existence determination region to be larger as the lateral speed becomes higher, and sets, upon determination that the own vehicle is not travelling straight, the lateral width of the object existence determination region to be smaller than the lateral width of the object-existence determination region used when the own vehicle is travelling straight.

Claims

1. An object existence determination apparatus comprising:

an obtaining means that obtains a lateral position and a lateral speed of a target object located in a travelling direction of an own vehicle, the lateral position representing a relative position of the target object relative to the own vehicle in a lateral direction perpendicular to the travelling direction of the own vehicle, the lateral speed representing a lateral relative speed of the target object relative to the own vehicle in the lateral direction;

a straight travel determining means that determines whether the own vehicle is travelling straight;

a setting means that sets an object existence determination region in the travelling direction of the own vehicle in accordance with the lateral speed obtained by the obtaining means and a determination result by the straight travel determining means, the object existence determination region having a width in the lateral direction; and

an existence determining means that determines, based on the lateral position of the target object and the object existence determination region, whether there is a possibility of at least part of the target object existing on a travelling course of the own vehicle,

the setting means being configured to;

set the width of the object existence determination region in the lateral direction to be larger as the lateral speed becomes higher; and

set, upon determination that the own vehicle is not travelling straight, the width of the object existence determination region in the lateral direction to be smaller than the width of the object existence determination region in the lateral direction used when the own vehicle is travelling straight.

2. The object existence determination apparatus according to claim 1, wherein:

the setting means is configured to calculate a sum of a reference region set based on the determination result by the straight travel determining means and a correction region set based on the lateral speed to correspondingly set the object existence determination region.

3. The object existence determination apparatus according to claim 1, wherein:

the existence determining means is configured to perform, as the determination of whether there is a possibility of at least part of the target object existing in the travelling course of the own vehicle, at least one of a first determination routine and a second determination routine,

the first determination routine determining whether at least part of the target object is existing in the object existence determination region in accordance with the lateral position of the target object and the object existence determination region; and

the second determination routine determining whether there is a possibility of at least part of the target object existing in the object existence determination region in accordance with the lateral position of the target object and the object existence determination region.

4. The object existence determination apparatus according to claim 3, wherein:

the obtaining means is configured to obtain the lateral position and, as the lateral relative speed relative to the own vehicle, the lateral speed of the target object in accordance with detection information, the detection information being obtained by a sensor device provided to the own vehicle, and being within a detection range of the sensor device in which the target object is detectable; and

the setting means is configured to limit, based on the detection range of the sensor device, the object existence determination region.

5. The object existence determination apparatus according to claim 1, wherein:

the obtaining means is configured to;

cyclically obtain the lateral position of the target object and a longitudinal position of the target object, the longitudinal position of the target device being a relative position of the target object relative to the own vehicle in the travelling direction of the own vehicle; and

store the cyclically obtained lateral positions and the longitudinal positions of the target object as historical information;

the existence determining means further comprises a calculation means that;

estimates a movement trajectory of the target object in accordance with the historical information about the longitudinal positions and lateral positions of the target object; and

calculates, as a predicted lateral position, a lateral position of an intersection point between the estimated movement trajectory and a horizontal line passing through a front end of the own vehicle,

the existence determining means being configured to determine whether there is a possibility of the target object existing in the travelling course of the own vehicle based on determination of whether the predicted lateral position is located within the object existence determination region.

6. The object existence determination apparatus according to claim 1, wherein:

the target object comprises a plurality of target objects;

the obtaining means is configured to obtain the lateral position and the lateral speed of each of the target objects;

the setting means is configured to set the object existence determination region for each of the target objects; and

the existence determining means is configured to determine whether there is a possibility of at least part of each of the target objects existing in the travelling course of the own vehicle in accordance with the lateral position of the corresponding one of the target objects and the object existence determination region of the corresponding one of the target objects.

7. The object existence determination apparatus according to claim 1, wherein:

the object existence determination region includes;

a rightward existence determination region located rightward relative to the travelling direction of the own vehicle; and

a leftward existence determination region located leftward relative to the travelling direction of the own vehicle; and

the setting means is configured to set the rightward existence determination region and the leftward existence determination region in accordance with at least one of the lateral position of the target object and the determination result by the straight travel determining means.

8. The object existence determination apparatus according to claim 1, further comprising:

a type identifying means that identifies a type of the target object,

wherein the setting means is configured to change the object existence determination region in accordance with the identified type of the target object.

9. The object existence determination apparatus according to claim 1, wherein:

the obtaining means is configured to obtain;

a longitudinal position of the target object, the longitudinal position of the target device being a relative position of the target object relative to the own vehicle in the travelling direction of the own vehicle; and

at least one of a relative speed and a relative acceleration between the target object and the own vehicle,

the object existence determination apparatus further comprising;

a time-to-collision calculating means that calculates, based on the longitudinal position and at least one of the relative speed and the relative acceleration, a time to collision representing a margin time until which the own vehicle will collide with the target object; and

an activation means that activates a brake device provided in the own vehicle in accordance with the time to collision calculated by the time-to-collision calculating means.

10. The object existence determination apparatus according to claim 9, wherein:

the activation means is configured to activate a warning device provided in the own vehicle in accordance with a determination result by the existence determining means and the time to collision calculated by the time-to-collision calculating means; and

the setting means includes, as the object existence determination region, a first determination region for determining whether to activate the warning device, and a second determination region for determining whether to activate the brake device, each of the first and second determination region having a width in the lateral direction,

the setting means being configured to set the width of the first determination region in the lateral direction to be larger than the width of the first determination region in the lateral direction.

11. The object existence determination apparatus according to claim 1, wherein:

the obtaining means comprises;

a first obtaining means that obtains, from a radar device that transmits a probing wave and correspondingly receives a reflection wave from an object, a first position of the object based on the reflection wave, the first position representing a relative position of the object relative to the own vehicle; and

a second obtaining means that obtains a position of an object based on an image of the object captured by an imaging device as a second position,

the obtaining means is configured to;

obtain the lateral position and the lateral speed of a first target object as the target object, the first target object being an object whose first position and second position are both detected; and

obtain the lateral position and the lateral speed of a second target object as the target object, the second target object being an object whose first position or second position is only detected; and

the setting means is configured to set the width of the object existence determination region for the first target object in the lateral direction to be larger than the width of the object existence determination region for the second target object in the lateral direction.

12. The object existence determination apparatus according to claim 1, wherein:

at least one of an upper limit and a lower limit is set for the width of the object existence determination region.

13. The object existence determination apparatus according to claim 1, wherein:

the setting means is configured to variably set the width of the object existence determination region in the lateral direction in accordance with at least one of a speed of the own vehicle and a relative speed between the own vehicle and the target object.

14. An object existence determination method comprising:

an obtaining step that obtains a lateral position and a lateral speed of a target object located in a travelling direction of an own vehicle, the lateral position representing a relative position of the target object relative to the own vehicle in a lateral direction perpendicular to the travelling direction of the own vehicle, the lateral speed representing a lateral relative speed of the target object relative to the own vehicle in the lateral direction;

a straight travel determining step that determines whether the own vehicle is travelling straight;

a setting step that sets an object existence determination region in the travelling direction of the own vehicle in accordance with the lateral speed obtained by the obtaining step and a determination result by the straight travel determining step, the object existence determination region having a width in the lateral direction; and

an existence determining step that determines, based on the lateral position of the target object and the object existence determination region, whether there is a possibility of at least part of the target object existing on a travelling course of the own vehicle,

the setting step being configured to;

set the width of the object existence determination region in the lateral direction to be larger as the lateral speed becomes higher; and

set, upon determination that the own vehicle is not travelling straight, the width of the object existence determination region in the lateral direction to be smaller than the width of the object existence determination region in the lateral direction used when the own vehicle is travelling straight.