Traveling control system for motor vehicle

• US 5,648,905 A
• Filed: 12/01/1994
• Issued: 07/15/1997
• Est. Priority Date: 12/07/1993
• Status: Expired due to Term

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Okuda, Kazuyoshi, Shimizu, Kenji, Inada, Takahiro, Ando, Satoru, Sugamoto, Yoshiaki, Ishihara, Toshihiro, Izumi, Tomoji, Okuda, Tsunehisa
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/353,207
• Time in Patent Office: 957 Days
• Field of Search: 364/426.04, 364/460, 364/461, 180/167-169, 180/176-179, 342/454, 342/455, 342/70, 342/71, 340/901, 340/903, 340/904, 340/435, 340/436
• US Class Current: 701/301
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0257 : using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/22 : Platooning, i.e. convoy of communicating vehicles

Abstract

A traveling control system for a motor vehicle includes a detector for detecting an object which exists in front of the motor vehicle to follow a vehicle traveling ahead. The system further includes a first course determination device for estimating a first course on which the motor vehicle will travel hereafter, an identification device for identifying an first target vehicle among the objects existing on the first course, and a second course estimation device for estimating, based on the first target vehicle, a second course on which the motor vehicle will travel hereafter at least while the first target vehicle is outside of the first course. The identification device identifies a second target vehicle among vehicles which travel on the first or second courses while the first target vehicle is outside of the first course.

Claims

1. An obstacle detection system for a motor vehicle comprising:

detecting means for detecting objects as obstacles which exist in front of the motor vehicle;

first course estimation means for estimating a first course on which the motor vehicle will travel;

identification means for identifying a first target vehicle among the objects on the first course detected by the detecting means; and

second course estimation means for estimating, based on traveling orientations of the first target vehicle, a second course on which the motor vehicle will travel at least while the first target vehicle is outside of the first course;

said identification means identifying a second target vehicle as the obstacle, said second target vehicle being a vehicle currently preceding the motor vehicle among vehicles which travel on one of the first and second courses while the first target vehicle is outside of the first course.

2. An obstacle detection system according to claim 1, wherein said first course estimation means estimates the first course based on driving conditions of the motor vehicle.

3. An obstacle detection system according to claim 1, wherein said identification means identifies the first target vehicle as a target vehicle to be followed by the motor vehicle.

4. An obstacle detection system according to claim 3, wherein said identification means identifies the second target vehicle as the target vehicle to be followed by the motor vehicle.

5. An obstacle detection system according to claim 1, wherein said second course estimation means estimates the second course to be a region having a predetermined width and defined along a line extending between the motor vehicle and the second target vehicle.

6. An obstacle detection system according to claim 1, wherein said identification means identifies the second target vehicle among the vehicles on the first course where a radius of curvature of the second course is less than a predetermined value.

7. An obstacle detection system according to claim 1, wherein the identification means identifies the second target vehicle among the vehicles on the first course after the first target vehicle has left the first course and stopped.

8. An obstacle detection system according to claim 1, wherein the identification means identifies the second target vehicle among the vehicles on the first and second courses based on distances, relative speeds or combinations of a distance and a relative speed between the motor vehicle and the respective vehicles on the first and second courses.

9. An obstacle detection system according to claim 1, and further comprising means for determining that at least one of the objects existing in front of the motor vehicle is a stationary object, said first course estimation means estimating the first course based on a property of the stationary object.

10. An obstacle detection system according to claim 9, wherein said property of the stationary object includes a distance between the motor vehicle and the stationary object, a direction of the stationary object from the motor vehicle, and a relative speed and a lateral moving speed between the motor vehicle and the stationary object.

11. An obstacle detection system according to claim 9, wherein said first course estimation means estimates the first course based on properties of a plurality of stationary objects.

12. An obstacle detection system according to claim 9, wherein said first course estimation course estimates the first course based on the property of the stationary object when the stationary object exists in front of the motor vehicle and estimates the first course based on driving conditions of the motor vehicle when the stationary object does not exist in front of the motor vehicle.

13. An obstacle detection system according to claim 12, and further comprising means for calculating a slip angle of the motor vehicle, said first course estimation means estimating the first course based on traveling conditions including the slip angle of the motor vehicle when the stationary object does not exist in front of the motor vehicle.

14. An obstacle detection system according claim 1, wherein said first course estimation means estimates the first course based on driving conditions of a vehicle traveling ahead of the motor vehicle.

15. An obstacle detection system according to claim 14, and further comprising means for determining that at least one of the objects existing in front of the motor vehicle is a stationary object, said first course estimation means estimating the first course based on a property of the stationary object when the stationary object exists in front of the motor vehicle and estimating the first course based on driving conditions of the vehicle traveling ahead when the stationary object does not exist in front of the motor vehicle.

16. An obstacle detection system according to claim 14, wherein said first course estimation means estimates the first course when the vehicle ahead is traveling on the same lane as the motor vehicle and when the vehicle ahead is traveling on a lane adjacent to the lane on which the motor vehicle is traveling.

17. An obstacle detection system for a motor vehicle comprising:

detecting means for detecting objects as obstacles which exist in front of the motor vehicle;

first course estimation means for estimating a first course on which the motor vehicle will travel;

identification means for identifying a first target vehicle among the objects on the first course detected by the detecting means; and

second course estimation means for estimating, based on traveling orientations of the first target vehicle, a second course on which the motor vehicle will travel at least while the first target vehicle is outside of the first course;

said identification means identifying a second target vehicle as the obstacle, said second target vehicle being a vehicle currently preceding the motor vehicle among vehicles which travel on one of the first and second courses while the first target vehicle is outside of the first course;

wherein said identification means identifies the second target vehicle among the vehicles on the second course from a time when the first target vehicle leaves the first course to a predetermined time and identifies the second target vehicle among the vehicles on the first course when the first target vehicle does not return back to the first course and the predetermined time has passed, and said second course estimation means estimates the second course based on the second target vehicle identified.

18. An obstacle detection system according to claim 17, wherein said first course estimation means estimates the first course based on driving conditions of the motor vehicle.

19. An obstacle detection system according to claim 17, wherein the identification means identifies the second target vehicle among the vehicles on the first and second courses based on distances, relative speeds or combinations of a distance and a relative speed between the motor vehicle and the respective vehicles on the first and second courses.

20. An obstacle detection system according to claim 17, wherein said first course estimation means estimates the first course based on driving conditions of a vehicle traveling ahead of the motor vehicle.