Method and apparatus for detecting road circumstances around a traveling vehicle and a recording medium for storing a related software program

• US 6,198,426 B1
• Filed: 09/07/1999
• Issued: 03/06/2001
• Est. Priority Date: 09/07/1998
• Status: Expired due to Term

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kumon, Hiroaki, Tamatsu, Yukimasa
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US09/390,680
• Time in Patent Office: 546 Days
• Field of Search: 342/70, 342/71, 342/72, 342/104, 342/106, 342/107, 342/109, 342/113, 342/114, 342/115, 342/118, 342/119, 342/125, 342/147, 342/195, 342/196
• US Class Current: 342/70
• CPC Class Codes: G01S 13/931 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
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The present position of a previously recognized stationary object group (SOp) is estimated based on past position data and the movement of the traveling vehicle during a past time (ΔT). A clearance (Mwr, Mwl) between a traveling vehicle (Mx) and an adjacent stationary object group (Mxr, Mxl) is obtained based on the estimated position data. A clearance (Twr, Twl) between a preceding vehicle (Tx) and an adjacent stationary object group (Txr, Txl) is obtained based on the estimated position data and the position data of the preceding vehicle. A same lane judgement is performed to judge whether the traveling vehicle (VM) and the preceding vehicle (VT) are traveling on a same traffic lane based on at least one of the detected clearances (Mwr, Mwl, Twr, Twl).

Claims

1. A road circumstance detecting apparatus comprising:

a radar system mounted on a traveling vehicle for emitting radar wave toward a presently measurable stationary object group existing in front of said radar system and for measuring the momentary position of said presently measurable stationary object group based on reflection of said radar wave;

memory means for storing measured position data of said presently measurable stationary object group existing in front of said radar system;

estimating means for estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group stored in said memory means and the movement of said traveling vehicle during a past time; and

detecting means for detecting a clearance between said traveling vehicle and a stationary object group positioned adjacent to said traveling vehicle along a road edge based on the present position data of said previously recognized stationary object group estimated by said estimating means.

2. The road circumstance detecting apparatus in accordance with claim 1, wherein said clearance detection is performed by using the present position data of a previously recognized stationary object group existing within a predetermined region with respect to said traveling vehicle.

3. The road circumstance detecting apparatus in accordance with claim 2, wherein said predetermined region has a longitudinal size longer than a longitudinal length of said traveling vehicle.

4. The road circumstance detecting apparatus in accordance with claim 3, wherein the longitudinal size of said predetermined region is substantially equal to two times the longitudinal length of said traveling vehicle.

5. The road circumstance detecting apparatus in accordance with claim 1, wherein said stationary object group positioned adjacent to said traveling vehicle along the road edge is separated into right and left groups to detect a clearance between said traveling vehicle and each of said right and left groups.

15. The road circumstance detecting apparatus in accordance with any one of claims 1, 6 and 13, wherein said radar system is a FMCW (frequency modulated continuous wave) type radar system comprises:

transmitting means for transmitting a radar wave carrying a transmission signal having a periodically increasing and decreasing frequency with a predetermined modulation width;

receiving means for receiving a radar wave reflected from a target object to generate a reception signal, said reception signal being mixed with said transmission signal to generate a beat signal;

spectrum producing means for producing an ascending spectrum from an ascending beat signal obtained during an ascending modulation where the frequency of said transmission signal increases and also for producing a descending spectrum from a descending beat signal obtained during a descending modulation where the frequency of said transmission signal decreases; and

detecting means for shifting a peak of at least one of said ascending spectrum and said descending spectrum by a predetermined frequency shift amount to compare corresponding peaks of said ascending spectrum and said descending spectrum, thereby detecting a shift condition of said target object.

16. The road circumstance detecting apparatus in accordance with claim 15, further comprising:

frequency shift amount determining means for setting a plurality of frequency shift amounts based on a traveling speed of said traveling vehicle;

evaluation means for evaluating a spectrum matching degree for each of said ascending spectrum and said descending spectrum corresponding to each of said frequency shift amounts;

identifying means for identifying an optimum frequency shift amount having the highest degree in spectrum matching; and

stationary object judging means for judging whether said target object is a stationary object based on the ascending spectrum and the descending spectrum of said optimum frequency shift amount.

6. A road circumstance detecting apparatus comprising:

a radar system mounted on a traveling vehicle for emitting radar wave toward a presently measurable stationary object group existing in front of said radar system and for measuring the momentary position of said presently measurable stationary object group based on reflection of said radar wave;

memory means for storing measured position data of said presently measurable stationary object group existing in front of said radar system;

estimating means for estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group stored in said memory means and the movement of said traveling vehicle during a past time; and

detecting means for detecting a clearance between a preceding vehicle and a stationary object group positioned adjacent to said preceding vehicle along a road edge based on the present position data of said previously recognized stationary object group estimated by said estimating means and position data of said preceding vehicle.

7. The road circumstance detecting apparatus in accordance with claim 6, wherein

first selecting means is provided for selecting a previously recognized stationary object group existing within a predetermined region with respect to said preceding vehicle, and

said clearance detection is performed by using the present position data of said previously recognized stationary object group selected by said first selecting means.

8. The road circumstance detecting apparatus in accordance with claim 7, wherein said predetermined region has a longitudinal size longer than a longitudinal length of said preceding vehicle.

9. The road circumstance detecting apparatus in accordance with claim 8, wherein the longitudinal size of said predetermined region is substantially equal to two times the longitudinal length of said preceding vehicle.

10. The road circumstance detecting apparatus in accordance with claim 7, wherein

second selecting means is provided for selecting a presently measurable stationary object group existing within a predetermined region with respect to said preceding vehicle, and

said clearance detection is performed by using the position data of said presently measurable stationary object group selected by said second selecting means.

11. The road circumstance detecting apparatus in accordance with claim 6, wherein said stationary object group positioned adjacent to said preceding vehicle along the road edge is separated into right and left groups to detect a clearance between said preceding vehicle and each of said right and left groups.

12. The road circumstance detecting apparatus in accordance with claim 6, wherein an estimated traffic lane of a traveling road is corrected based on the clearance obtained by said detecting means.

13. A road circumstance detecting apparatus comprising:

a radar system mounted on a traveling vehicle for emitting radar wave toward a presently measurable stationary object group existing in front of said radar system and for measuring the momentary position of said presently measurable stationary object group based on reflection of said radar wave;

memory means for storing measured position data of said presently measurable stationary object group existing in front of said radar system;

estimating means for estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group stored in said memory means and the movement of said traveling vehicle during a past time;

first detecting means for detecting a clearance between said traveling vehicle and a stationary object group positioned adjacent to said traveling vehicle along a road edge based on the present position data of said previously recognized stationary object group estimated by said estimating means;

second detecting means for detecting a clearance between a preceding vehicle and a stationary object group positioned adjacent to said preceding vehicle along a road edge based on the present position data of said previously recognized stationary object group estimated by said estimating means and position data of said preceding vehicle; and

same lane judging means forjudging whether said traveling vehicle and said preceding vehicle are traveling on a same traffic lane based on at least one of the detected clearances detected by said first detecting means and said second detecting means.

14. The road circumstance detecting apparatus in accordance with claim 13, wherein

the clearance between said traveling vehicle and the stationary object group positioned adjacent to said traveling vehicle is compared with the clearance between said preceding vehicle and the stationary object group positioned adjacent to said preceding vehicle, and

it is recognized that said preceding vehicle and said traveling vehicle are traveling on the same traffic lane when a difference between said compared clearances is smaller than a predetermined value.

17. A method for detecting road circumstances comprising:

a step of obtaining the momentary position of a presently measurable stationary object group existing in front of a radar system mounted on a traveling vehicle;

a step of estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group and the movement of said traveling vehicle during a past time; and

a step of detecting a clearance between said traveling vehicle and a stationary object group positioned adjacent to said traveling vehicle along a road edge based on the present position data of said previously recognized stationary object group.

18. The road circumstance detecting method in accordance with claim 17, further comprising a step of selecting a previously recognized stationary object group existing within a predetermined region with respect to said traveling vehicle, for performing said clearance detection by using the present position data of said previously recognized stationary object group.

19. The road circumstance detecting method in accordance with claim 17, further comprising a step of separating said stationary object group positioned adjacent to said traveling vehicle along the road edge into right and left groups to detect a clearance between said traveling vehicle and each of said right group and said left group.

20. A method for detecting road circumstances comprising:

a step of obtaining the momentary position of a presently measurable stationary object group existing in front of a radar system mounted on a traveling vehicle;

a step of estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group and the movement of said traveling vehicle during a past time; and

a step of detecting a clearance between a preceding vehicle and a stationary object group positioned adjacent to said preceding vehicle along a road edge based on the present position data of said previously recognized stationary object group and position data of said preceding vehicle.

21. The road circumstance detecting method in accordance with claim 20, further comprising a step of selecting a previously recognized stationary object group existing within a predetermined region with respect to said preceding vehicle, for performing said clearance detection by using the present position data of said previously recognized stationary object group.

22. The road circumstance detecting method in accordance with claim 20, further comprising a step of selecting a presently measurable stationary object group existing within a predetermined region with respect to said preceding vehicle, for performing said clearance detection by using the position data of said presently measurable stationary object group.

23. The road circumstance detecting method in accordance with claim 20, further comprising a step of separating said stationary object group positioned adjacent to said preceding vehicle along the road edge into right and left groups to detect a clearance between said preceding vehicle and said right group and a clearance between said preceding vehicle and said left group.

24. The road circumstance detecting method in accordance with claim 20, further comprising a step of correcting an estimated traffic lane of a traveling road based on the obtained clearance.

25. A method for detecting road circumstances comprising:

a step of obtaining the momentary position of a presently measurable stationary object group existing in front of a radar system mounted on a traveling vehicle;

a step of estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group and the movement of said traveling vehicle during a past time;

a step of detecting a clearance between said traveling vehicle and a stationary object group positioned adjacent to said traveling vehicle along a road edge based on the present position data of said previously recognized stationary object group;

a step of detecting a clearance between a preceding vehicle and a stationary object group positioned adjacent to said preceding vehicle along a road edge based on the present position data of said previously recognized stationary object group and position data of said preceding vehicle; and

a step of judging whether said traveling vehicle and said preceding vehicle are traveling on a same traffic lane based on at least one of the detected clearances.

26. The road circumstance detecting method in accordance with claim 25, wherein said judgement whether said traveling vehicle and said preceding vehicle are traveling on a same traffic lane comprises the steps of:

comparing the clearance between said traveling vehicle and the stationary object group positioned adjacent to said traveling vehicle with the clearance between said preceding vehicle and the stationary object group positioned adjacent to said preceding vehicle, and recognizing that said preceding vehicle and said traveling vehicle are traveling on the same traffic lane when a difference between said compared clearances is smaller than a predetermined value.

27. A recording medium storing a software program installable in a computer system for detecting road circumstances, wherein said software program comprises the processing of:

obtaining the momentary position of a presently measurable stationary object group existing in front of a radar system mounted on a traveling vehicle;

estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group and the movement of said traveling vehicle during a past time; and

detecting a clearance between said traveling vehicle and a stationary object group positioned adjacent to said traveling vehicle along a road edge based on the present position data of said previously recognized stationary object group.

28. The recording medium in accordance with claim 27, wherein said software program further comprises the processing of selecting a previously recognized stationary object group existing within a predetermined region with respect to said traveling vehicle, for performing said clearance detection by using the present position data of said previously recognized stationary object group.

29. The recording medium in accordance with claim 27, wherein said software program further comprises the processing of separating said stationary object group positioned adjacent to said traveling vehicle along the road edge into right and left groups to detect a clearance between said traveling vehicle and said right group and a clearance between said traveling vehicle and said left group.

30. A recording medium storing a software program installable in a computer system for detecting road circumstances, wherein said software program comprises the processing of:

obtaining the momentary position of a presently measurable stationary object group existing in front of a radar system mounted on a traveling vehicle;

estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group and the movement of said traveling vehicle during a past time; and

detecting a clearance between a preceding vehicle and a stationary object group positioned adjacent to said preceding vehicle along a road edge based on the present position data of said previously recognized stationary object group and position data of said preceding vehicle.

31. The recording medium in accordance with claim 30, wherein said software program further comprises the processing of selecting a previously recognized stationary object group existing within a predetermined region with respect to said preceding vehicle, for performing said clearance detection by using the present position data of said previously recognized stationary object group.

32. The recording medium in accordance with claim 30, wherein said software program further comprises the processing of selecting a presently measurable stationary object group existing within a predetermined region with respect to said preceding vehicle, for performing said clearance detection by using the position data of said presently measurable stationary object group.

33. The recording medium in accordance with claim 30, wherein said software program further comprises the processing of separating said stationary object group positioned adjacent to said preceding vehicle along the road edge into right and left groups to detect a clearance between said preceding vehicle and said right group and a clearance between said preceding vehicle and said left group.

34. The recording medium in accordance with claim 30, wherein said software program further comprises the processing of correcting an estimated traffic lane of a traveling road based on the obtained clearance.

35. A recording medium storing a software program installable in a computer system for detecting road circumstances, wherein said software program comprises the processing of:

obtaining the momentary position of a presently measurable stationary object group existing in front of a radar system mounted on a traveling vehicle;

estimating the present position of a previously recognized stationary object group based on the measured position data of said previously recognized stationary object group and the movement of said traveling vehicle during a past time;

detecting a clearance between said traveling vehicle and a stationary object group positioned adjacent to said traveling vehicle along a road edge based on the present position data of said previously recognized stationary object group;

detecting a clearance between a preceding vehicle and a stationary object group positioned adjacent to said preceding vehicle along a road edge based on the present position data of said previously recognized stationary object group and position data of said preceding vehicle; and

judging whether said traveling vehicle and said preceding vehicle are traveling on a same traffic lane based on at least one of the detected clearances.

36. The recording medium in accordance with claim 35, wherein said judgement whether said traveling vehicle and said preceding vehicle are traveling on a same traffic lane comprises the processing of:

comparing the clearance between said traveling vehicle and the stationary object group positioned adjacent to said traveling vehicle with the clearance between said preceding vehicle and the stationary object group positioned adjacent to said preceding vehicle, and

recognizing that said preceding vehicle and said traveling vehicle are traveling on the same traffic lane when a difference between said compared clearances is smaller than a predetermined value.