Traveling-path deduction apparatus and method for vehicles

• US 5,841,366 A
• Filed: 07/18/1996
• Issued: 11/24/1998
• Est. Priority Date: 07/20/1995
• Status: Expired due to Fees

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Yamamoto, Yasunori, Yoshioka, Tohru, Adachi, Tomohiko, Doi, Ayumu
• Primary Examiner(s): Hofsass, Jeffery A.
• Assistant Examiner(s): Lieu, Julie B.
• Application Number:
  US08/683,143
• Time in Patent Office: 859 Days
• Field of Search: 340/901, 340/903, 340/435, 340/436, 364/424.01, 364/424.02, 364/426.04, 364/461, 364/443, 364/447, 364/449.4, 364/449.3, 182/169, 182/167, 182/168, 348/149, 701/23, 701/25, 701/26 R, 701/28, 701/200, 701/201, 701/202, 701/208, 701/209, 701/205, 701/210, 701/211
• US Class Current: 340/901
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders

Abstract

A traveling-path temporary-setting unit 21 sets a plurality of temporary traveling paths with different curvatures, and a calculation unit 22 calculates distances between the temporary traveling paths and preceding vehicles detected by a radar unit 1. In case of a properly-set temporary traveling path, the path and running loci of the preceding vehicles are on a concentric circle. In this case, the preceding vehicles are running along this temporary traveling path, and a time change amount of calculated distances is approximately "0". A traveling-path determination unit 23 determines, one temporary traveling path having the minimum time change amount in the distances, as a traveling path of the vehicle.

Claims

1. A traveling-path deduction apparatus which detects objects existing ahead of a vehicle and deduces a traveling path of the vehicle, comprising:

(a) object detection means for detecting the positions of objects existing ahead of the vehicle;

(b) traveling-path temporary-setting means for setting at least one temporary traveling path as a line having a predetermined curvature, extending from the vehicle as an original point, based on results of detection by said object detection means;

(c) distance calculation means for calculating distances between the temporary traveling path set by said traveling-path temporary-setting means and the objects detected by said object detection means; and

(d) traveling-path deduction means for deducing the traveling path of the vehicle, based on a time change amount in the distances calculated by said distance calculation means.

2. The traveling-path deduction apparatus according to claim 1, wherein in a case where said traveling-path temporary-setting means sets a plurality of temporary traveling paths with different curvatures, said traveling-path deduction means deduces a temporary traveling path having the minimum time change amount in the distances calculated by said distance calculation means, as the traveling path of the vehicle.

3. The traveling-path deduction apparatus according to claim 2, wherein said traveling-path temporary-setting means simultaneously sets the plurality of temporary traveling paths with different curvatures.

4. The traveling-path deduction apparatus according to claim 2, wherein said traveling-path temporary-setting means sequentially sets the plurality of temporary traveling paths with different curvatures.

5. The traveling-path deduction apparatus according to claim 4, wherein said traveling-path deduction means deduces a temporary traveling path having a time change amount in the distances, calculated by said distance calculation means, equal to a predetermined value or less, as the traveling path of the vehicle.

6. The traveling-path deduction apparatus according to claim 4, wherein said traveling-path temporary-setting means sets the plurality of temporary traveling paths with different curvatures, in incremental order of time change amount in the distances calculated by said distance calculation means, one by one.

7. The traveling-path deduction apparatus according to claim 4, wherein said traveling-path deduction means deduces a previous temporary traveling path as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated by said distance calculation means.

8. The traveling-path deduction apparatus according to claim 6, wherein said traveling-path deduction means deduces a previous temporary traveling path as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated by said distance calculation means.

9. The traveling-path deduction apparatus according to claim 1, further comprising preceding-vehicle discrimination means for discriminating a running object among objects existing within the traveling path deduced by said traveling-path deduction means, closest to the vehicle, as a preceding vehicle.

10. A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising:

(a) an object detection step of detecting the positions of objects existing ahead of the vehicle;

(b) a traveling-path temporary-setting step of setting at least one temporary traveling path as a line having a predetermined curvature, extending from the vehicle as an original point, based on results of detection at said object detection step;

(c) a distance calculation step of calculating distances between the temporary traveling path set at said traveling path temporary-setting step and the objects detected at said object detection step; and

(d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step.

11. The traveling-path deduction method according to claim 10, wherein in a case where a plurality of temporary traveling paths are set with different curvatures at said traveling-path temporary-setting step, a temporary traveling path, having the minimum time change amount in the distances calculated at said distance calculation step, is deduced as the traveling path of the vehicle at said traveling-path deduction step.

12. The traveling-path deduction method according to claim 10, wherein in a case where a plurality of temporary traveling paths are set at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.

13. The traveling-path deduction method according to claim 11, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.

14. The traveling-path deduction method according to claim 11, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are sequentially set with different curvatures.

15. The traveling-path deduction method according to claim 14, wherein at said traveling-path deduction step, a temporary traveling path, having a time change amount in the distances calculated at said distance calculation step, equal to a predetermined value or less, is deduced as the traveling path of the vehicle.

16. The traveling-path deduction method according to claim 14, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are set with different curvatures, in incremental order of time change amount in the distances calculated at said distance calculation step, one by one.

17. The traveling-path deduction method according to claim 14, wherein at said traveling-path deduction step, a previous temporary traveling path is deduced as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated at said distance calculation step.

18. The traveling-path deduction method according to claim 16, wherein at said traveling-path deduction step, a previous temporary traveling path is deduced as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated at said distance calculation step.

19. The traveling-path deduction method according to claim 10, further comprising a preceding-vehicle discrimination step of discriminating a running object among objects existing within the traveling path deduced at said traveling-path deduction step, closest to the vehicle, as a preceding vehicle.

20. A traveling-path deduction apparatus which detects objects existing ahead of a vehicle and deduces a traveling path of the vehicle, comprising:

(a) object detection means for detecting the positions of objects existing ahead of the vehicle;

(b) traveling-path temporary-setting means for setting a plurality of temporary traveling paths as respective lines having predetermined different curvatures, extending from the vehicle as an original point, based on results of detection by said object detection means;

(c) distance calculation means for calculating distances between the respective plurality of temporary traveling paths set by said traveling-path temporary-setting means and the objects detected by said object detection means; and

(d) traveling-path deduction means for deducing the traveling path of the vehicle, based on a time change amount in the distances calculated by said distance calculation means, and wherein said traveling-path deduction means deduces a temporary traveling path having the minimum time change amount in the distances calculated by said distance calculation means, as the traveling path of the vehicle.

21. The traveling-path deduction apparatus according to claim 20, wherein said traveling-path temporary-setting means simultaneously sets the plurality of temporary traveling paths having different curvatures.

22. The traveling-path deduction apparatus according to claim 20, wherein said traveling-path temporary-setting means sequentially sets the plurality of temporary traveling paths having different curvatures.

23. The traveling-path deduction apparatus according to claim 22, wherein said traveling-path deduction means deduces a temporary traveling path having a time change amount in the distances, calculated by said distance calculation means, equal to a predetermined value or less, as the traveling path of the vehicle.

24. The traveling-path deduction apparatus according to claim 22, wherein said traveling-path temporary-setting means sets the plurality of temporary traveling paths having different curvatures, in incremental order of time change amount in the distances calculated by said distance calculation means, one by one.

25. The traveling-path deduction apparatus according to claim 22, wherein said traveling-path deduction means deduces a previous temporary traveling path as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated by said distance calculation means.

26. The traveling-path deduction apparatus according to claim 24, wherein said traveling-path deduction means deduces a previous temporary traveling path as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated by said distance calculation means.

27. A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising:

(a) an object detection step of detecting the positions of objects existing ahead of the vehicle;

(b) a traveling-path temporary-setting step of setting a plurality of temporary traveling paths as lines having respective predetermined curvatures, extending from the vehicle as an original point, based on results of detection at said object detection step;

(c) a distance calculation step of calculating distances between the respective temporary traveling paths set by said traveling path temporary-setting step and the objects detected at said object detection step; and

(d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step, wherein a temporary traveling path, having the minimum time change amount in the distances calculated at said distance calculation step, is deduced as the traveling path of the vehicle.

29. The traveling-path deduction method according to claim 27, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.

30. The traveling-path deduction method according to claim 27, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are sequentially set with different curvatures.

31. The traveling-path deduction method according to claim 30, wherein at said traveling-path deduction step, a temporary traveling path, having a time change amount in the distances calculated at said distance calculation step, equal to a predetermined value or less, is deduced as the traveling path of the vehicle.

32. The traveling-path deduction method according to claim 30, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are set with different curvatures, in incremental order of time change amount in the distances calculated at said distance calculation step, one by one.

33. The traveling-path deduction method according to claim 30, wherein at said traveling-path deduction step, a previous temporary traveling path is deduced as the traveling path of the vehicle, if a current temporary traveling path shows transition from decrement to increment of the time change amount in the distances calculated at said distance calculation step.

34. The traveling-path deduction method according to claim 32, wherein at said traveling path deduction step, a previous temporary traveling path is deduced as the traveling path of the vehicle, if a current temporary traveling paths shows transition from decrement to increment of the time change amount in the distances calculated at said distance calculation step.

28. A traveling-path deduction method for detecting objects existing ahead of the vehicle and deducing a traveling path of the vehicle, comprising:

(a) an object detection step of detecting the positions of objects existing ahead of the vehicle;

(b) a traveling-path temporary-setting step of setting a plurality of temporary traveling paths as lines having respective predetermined curvatures, extending from the vehicle as an original point, based on results of detection at said object detection step;

(c) a distance calculation step of calculating distances between the respective temporary traveling paths set by said traveling-path temporary-setting step and the objects detected at said object detection step; and

(d) a traveling-path deduction step of deducing the traveling path of the vehicle, based on a time change amount in the distances calculated at said distance calculation step, wherein at said traveling-path temporary-setting step, the plurality of temporary traveling paths are simultaneously set with different curvatures.