Vehicle control

• US 6,577,334 B1
• Filed: 02/16/1999
• Issued: 06/10/2003
• Est. Priority Date: 02/18/1998
• Status: Expired due to Term

• Current Assignee: Aisin AW Company Limited (Aisin Corp.), Kabushikikaisha Equos Research
• Original Assignee: Aisin AW Company Limited (Aisin Corp.), Kabushikikaisha Equos Research
• Inventors: Kimura, Keiichi, Kawai, Masao, Aruga, Hideki
• Primary Examiner(s): DIEP, NHON THANH
• Application Number:
  US09/250,709
• Time in Patent Office: 1,575 Days
• Field of Search: H04/N.718, 348/148, 348/118, 348/119, 701/23, 701/28, 701/41, 701/82, 701/93, 701/24, 701/117, 701/44, 701/211
• US Class Current: 348/148
• CPC Class Codes: B60G 17/0165 to an external condition, e.g. rough road surface, side wind
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60G 2400/80 Exterior conditions
• CPC Class Codes: B60G 2400/82 Ground surface
• CPC Class Codes: B60G 2400/821 Uneven, rough road sensing affecting vehicle body vibration
• CPC Class Codes: B60G 2401/142 Visual Display Camera, e.g. LCD
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/088 using transmission control
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A vehicle control system includes a road data memory, current position sensor that detects a current position of a vehicle and a camera that takes a picture of the road ahead of the current position. At least one indicator line such as a lane dividing line on the road is shown in the picture. The picture changes as the vehicle moves forward along the road, during which increase in width of the indicator line or increase of distance between two indicator lines may be detected. By such detection, the vehicle position with respect to the indicator line is determined, the result of which is incorporated into control operation of an automatic transmission, for example.

Claims

1. A vehicle control system comprising:

line recognizing means for recognizing indicator lines on a road;

branch determination means for determining which branch the vehicle has taken at a junction in the road where the road divides into a plurality of branches, based on the status of indicator lines on the road recognized by the line recognizing means;

drive position determining means for determining the vehicle position with respect to the indicator lines; and

control means for controlling operation of at least one system in the vehicle depending upon the result of the determination by said drive position determination means and the determination made by said branch determination means.

2. A vehicle control system according to claim 1 wherein said line recognizing means includes camera means for taking a picture of the road ahead of the vehicle on which the vehicle is running.

3. A vehicle control system according to claim 1 wherein said drive position determination means comprises lane width change detecting means for detecting the distance between two of the indicator lines, said two indicator lines being located at opposite sides of a lane in which the vehicle is traveling, and said branch determination means determines the branch taken by the vehicle at the junction in the road in accordance with the distance detected by said lane width change detecting means.

4. A vehicle control system according to claim 1 wherein said drive position determination means comprises line width change detecting means for detecting the width of at least one of the indicator lines, said indicator line being located at one side of a lane on which the vehicle is running, and said branch determination means determines the branch taken by the vehicle at the junction in the road depending upon the width detected by said line width change detecting means.

5. A vehicle control system according to claim 1 wherein said drive position determination means comprises lane width change detecting means for detecting the distance between two of the indicator lines, said two indicator lines being located at opposite sides of a lane in which the vehicle is traveling, line width change detecting means for detecting the width of at least one of said two indicator lines, and wherein said branch determination means determines the branch taken by the vehicle at the junction in the road in accordance with the distance detected by said lane width change detecting means and the width detected by said line width change detection means.

6. A vehicle control system according to claim 1 wherein said drive position determination means comprises lane continuity detecting means for detecting continuity of at least one of the indicator lines, to determine if the one indicator line is solid or broken, said one indicator line being located at one of opposing sides of a lane in which the vehicle is traveling, and drive lane determination means for determining the lane of the road traveled by the vehicle in accordance with the determination of said lane continuity detecting means.

7. A vehicle control system according to claim 1 wherein said drive position determination means comprises line shift detecting means for detecting that one of the indicator lines has gradually moved from one side to the other, and lane change determination means for determining that the vehicle has changed lanes when a line shift is detected by said line shift detecting means.

8. A vehicle control system according to claim 1 which further comprises reliability determination means for determining a reliability level for the drive position determined by said drive position determination means, operation of said control means varying in accordance with the reliability level determined by said reliability determination means.

9. A vehicle control system according to claim 8 wherein said reliability determination means determines a reliability level in accordance with a plurality of determinations by said drive position determination means that have been obtained within a predetermined period of time.

10. A vehicle control system according to claim 1 wherein said reliability determination means determines a reliability level in accordance with a first vehicle position determined by said drive position determination means and a second vehicle position determined by said drive position determination means within a predetermined period of time after determination of the first vehicle position.

11. A vehicle control system according to claim 1 wherein said control means utilizes road data for a first drive route inferred from the current position detected by said current position sensor means, and utilizes road data for a second drive route when a second drive route that is different from said first drive route is indicated by the determination of said drive position determination means.

12. A vehicle control system according to claim 8 which further comprises decelerating operation sensor means for detecting initiation of a decelerating operation, the reliability level determined by said reliability level determination means being based at least in part on detection of some decelerating operation by said decelerating operation sensor means.

13. A vehicle control system according to claim 1 which further comprises decelerating operation sensor means for detecting initiation of a decelerating operation, said control means being made operative in response to detection of some decelerating operation by said decelerating operation sensor means.

14. A vehicle control system according to claim 13 wherein said decelerating operation is at least one selected from the group consisting of operation of a foot brake pedal, release of an accelerator pedal, operation of a trafficator and rotation of a steering beyond a predetermined angle.

15. A vehicle control system according to claim 1 further comprising:

current position sensor means for detecting a current position of a vehicle;

memory means for storing road information or data;

wherein said control means controls operation of said one system in accordance with the road information stored in said memory means, based on the vehicle current position detected by said current position sensor means.

16. A vehicle control system according to claim 1 wherein said control means controls a shiftable range of speeds or gear ratios in an automatic transmission.

17. A vehicle control system according to claim 15 further comprising:

navigation means for guiding the driver along a drive route to a predetermined goal based on the current vehicle position detected by said current position sensor means, the road information stored in said memory means and navigation information determined by said control means based on the road data and the vehicle position determined by said drive position determination means.

18. A vehicle control system according to claim 17 further comprising:

reliability determination means for determining a reliability level for the drive position that has been determined by said drive position determination means, said control means including correction means for changing content of the navigation information in accordance with said reliability level.

21. A vehicle control system according to claim 15 wherein said decelerating operation is at least one selected from the group consisting of operation of a foot brake pedal, release of an accelerator pedal, operation of a trafficator and rotation of a steering element through a predetermined angle.

19. A process of vehicle control comprising the steps of:

taking a picture of a road ahead of a current vehicle position including indicator lines extending on the road;

determining a current vehicle position with respect to the indicator lines;

obtaining road data for a drive route to be determined extending from the current vehicle position; and

controlling operation of at least one system in the vehicle in accordance with the road data, said determining of the current vehicle position being based on at least one of;

drive lane determination that identifies a currently driven lane from among plural lanes of a multi-lane road by detection of the indicator lines as solid or broken;

branch determination that determines if the vehicle has entered a junction on the road based upon detection of change of profile of the indicator lines; and

lane change determination that determines a lane change by the vehicle at the junction based upon detection of lateral movement of the indicator lines in the picture.

20. A computer readable memory media to be used in combination with a computer mounted on a vehicle, said memory media storing a program by which the computer operates vehicle control in accordance with a specific process comprising the steps of:

taking a picture of a road ahead of a current vehicle position including indicator lines extending on the road;

determining a current vehicle position with respect to the indicator lines;

obtaining road data for a drive route from the current vehicle position; and

controlling operation of at least one system on the vehicle depending upon the road data;

said determining of the current vehicle position being based on at least of;

drive lane determination that identifies a currently driven lane from among plural lanes of a multi-lane road by detection of the indicator line as solid or broken;

branch determination that determines if the vehicle has entered a junction on the road based upon detection of change of profile of the indicator lines; and

lane change determination that determines a lane change by the vehicle at the junction based upon detection of lateral movement of the indicator lines in the picture.