Vehicle obstacle detecting apparatus

• US 6,879,249 B2
• Filed: 04/28/2003
• Issued: 04/12/2005
• Est. Priority Date: 06/19/2002
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takahashi, Hiroshi
• Primary Examiner(s): PHAM, TOAN NGOC
• Application Number:
  US10/423,916
• Publication Number:
  US 20030236605A1
• Time in Patent Office: 715 Days
• Field of Search: 340/435, 340/436, 340/437, 340/438, 340/439, 340/576, 701/301
• US Class Current: 340/435
• 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: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/16 Ratio selector position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: G06V 10/75 Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries

Abstract

A vehicle obstacle detecting apparatus has an obstacle sensor, an obstacle detecting section, a vehicle response section, a driver operation storing section, a precision determining section and a threshold value updating section. The obstacle detecting section is configured to determine a presence of an obstacle around the vehicle to output a positive obstacle determination based on a similarity value between the detected obstacle information sent from the obstacle sensor and pre-stored obstacle detection reference information with a threshold value. The driver operation storing section is configured to store an average operation characteristic data calculated based on a driver operation. The precision determining section is configured to determine a detection precision of the obstacle by comparing an expected driver operation determined based on the average operation characteristic data with an actual driver operation. The threshold value updating section is configured to adjust the threshold value based on the detection precision.

Claims

1. A vehicle obstacle detecting apparatus comprising:

an obstacle sensor configured and arranged to detect objects around a vehicle and to output detected obstacle information;

an obstacle detecting section configured and arranged to compare the detected obstacle information from the obstacle sensor and pre-stored obstacle detection reference information to produce a similarity value that is compared with a threshold value to determine a presence of an obstacle around the vehicle and to output a positive obstacle determination based on the similarity value and the threshold value;

a vehicle response section configured and arranged to produce a vehicle response upon the positive obstacle determination by the obstacle detecting section;

a driver operation storing section configured and arranged to detect a driver operation, and to store an average operation characteristic data calculated based on the driver operation;

a precision determining section configured and arranged to determine an expected driver operation upon the positive obstacle determination by the obstacle detecting section based on the average operation characteristic data, and to compare the expected driver operation with an actual driver operation to determine a precision of a detection of the obstacle; and

a threshold value updating section configured and arranged to adjust the threshold value based on the precision of the detection of the obstacle determined in the precision determining section.

2. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the driver operation information storing section is further configured and arranged to detect, upon the positive obstacle determination by the obstacle detecting section, at least one of

a distance between the vehicle and the obstacle when the driver releases an accelerator pedal,

a distance between the vehicle and the obstacle when the driver operates a brake,

a distance between the vehicle and the obstacle when the driver manually operates a gear to shift down, and

a distance between the vehicle and the obstacle when the driver starts a steering operation to avoid the obstacle;

and

the driver operation information storing section is further configured and arranged to store at least one of the at least one of the distances and a time obtained by dividing the at least one of the distances by a vehicle speed at a time when the at least one of the distances was measured.

3. The vehicle obstacle detecting apparatus as recited in claim 2, wherein

the driver operation information storing section is further configured and arranged to detect a change in an acceleration operation, a braking operation, a steering operation and a down shifting operation to detect the at least one of the distances.

4. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the precision determining section is further configured and arranged to determine a false positive obstacle detection by the obstacle detecting section when the precision determining section determines there is no unexpected change in an acceleration operation, a braking operation, a steering operation and a down shifting operation upon the positive obstacle determination by the obstacle detecting section;

and

the threshold value updating section is further configured and arranged to increase the threshold value by a first prescribed adjustment value to reduce a sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the false positive obstacle detection of the obstacle detecting section.

5. The vehicle obstacle detecting apparatus as recited in claim 4, wherein

the precision determining section is further configured and arranged to determine a reliable obstacle detection by the obstacle detecting section when an unexpected change in at least one of an acceleration operation, a braking operation, a steering operation and a down shifting operation is detected upon the positive obstacle determination by the obstacle detecting section;

and

the threshold value updating section is further configured and arranged to reduce the threshold value by a second prescribed adjustment value to increase a sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the reliable obstacle detection of the obstacle detecting section.

6. The vehicle obstacle detecting apparatus as recited in claim 5, wherein

the precision determining section is further configured and arranged to determine a highly reliable obstacle detection by the obstacle detecting section when an unexpected change in at least one of an acceleration operation, a braking operation, a steering operation and a down shifting operation is detected, and when a change in at least one of a headlight operation and a windshield wiper operation is detected upon the positive obstacle determination by the obstacle detecting section;

and

the threshold value updating section is further configured and arranged to reduce the threshold value by a third prescribed adjustment value that is larger than the first prescribed value to increase the sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the highly reliable obstacle detection of the obstacle detecting section.

7. The vehicle obstacle detecting apparatus as recited in claim 6, wherein

the precision determining section is further configured and arranged to determine a false negative obstacle detection by the obstacle detecting section when the positive obstacle determination is not output from the obstacle detecting section, and upon detection of at least one of the actual driver operation including

decelerating to stop,

steering by an amount that is more than a prescribed steering amount,

a rate of change in an accelerator operation that is larger than a prescribed value, and

a rate of change in a steering operation that is larger than a prescribed value;

and

the threshold value updating section is further configured and arranged to reduce the threshold value by the third prescribed adjustment value to increase the sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the false negative obstacle detection of the obstacle detecting section.

8. The vehicle obstacle detecting apparatus as recited in claim 7, wherein

the threshold value updating section is further configured and arranged to set maximum and minimum threshold values, and to adjust the threshold value in a range between the maximum threshold value and the minimum threshold value.

9. The vehicle obstacle detecting apparatus as recited in claim 8, wherein

the threshold value updating section is further configured and arranged to determine a standard deviation of a change in the threshold value, and to suspend updating the threshold value for a prescribed period of time when the standard deviation is larger than a prescribed deviation value.

10. The vehicle obstacle detecting apparatus as recited in claim 6, wherein

the vehicle response produced by the vehicle response section further includes a brake control.

11. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the precision determining section is further configured and arranged to determine a reliable obstacle detection by the obstacle detecting section when a unexpected change in at least one of an acceleration operation, a braking operation, a steering operation and a down shifting operation is detected upon the positive obstacle determination by the obstacle detecting section;

and

the threshold value updating section is further configured and arranged to reduce the threshold value by a prescribed adjustment value to increase a sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the reliable obstacle detection of the obstacle detecting section.

12. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the precision determining section is further configured and arranged to determine a highly reliable obstacle detection by the obstacle detecting section when an unexpected change in at least one of an acceleration operation, a braking operation, a steering operation and a down shifting operation is detected, and when a change in at least one of a headlight operation and a windshield wiper operation is detected upon the positive obstacle determination by the obstacle detecting section;

and

the threshold value updating section is further configured and arranged to reduce the threshold value by a prescribed adjustment value to increase the sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the highly reliable obstacle detection of the obstacle detecting section.

13. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the precision determining section is further configured and arranged to determine a false negative obstacle detection by the obstacle detecting section when the positive obstacle determination is not output from the obstacle detecting section, and upon detection of at least one of the actual driver operation including

decelerating to stop,

steering by an amount that is more than a prescribed steering amount,

a rate of change in an accelerator operation that is larger than a prescribed value, and

a rate of change in a steering operation that is larger than a prescribed value;

and

the threshold value updating section is further configured and arranged to reduce the threshold value by a prescribed adjustment value to increase the sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the false negative obstacle detection of the obstacle detecting section.

14. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the precision determining section is further configured and arranged to determine

a false positive obstacle detection by the obstacle detecting section when the positive obstacle determination is output from the obstacle detecting section and when the actual driver operation is not detected,

a reliable obstacle detection by the obstacle detecting section when the positive obstacle determination is output from the obstacle detecting section and when the actual driver operation is detected,

a false negative obstacle detection when the positive obstacle determination is not output from the obstacle detecting section and the actual driver operation is detected;

and

the threshold value updating section is further configured and arranged to reduce the threshold value to increase the sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the reliable obstacle detection and the false negative obstacle detection of the obstacle detecting section, and to increase the threshold value to reduce the sensitivity of the vehicle obstacle detecting apparatus upon the precision determining section determining the false positive detection of the obstacle detecting section.

15. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the threshold value updating section is further configured and arranged to set maximum and minimum threshold values, and to adjust the threshold value in a range between the maximum threshold value and the minimum threshold value.

16. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the threshold value updating section is further configured and arranged to determine a standard deviation of a change in the threshold value, and to suspend updating the threshold value for a prescribed period of time when the standard deviation is larger than a prescribed deviation value.

17. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the vehicle response produced by the vehicle response section includes an alarm.

18. The vehicle obstacle detecting apparatus as recited in claim 1, wherein

the vehicle response produced by the vehicle response section includes a brake control.

19. A vehicle obstacle detecting apparatus, comprising:

obstacle detecting means for obtaining obstacle information around a vehicle;

obstacle determining means for determining a presence of an obstacle around the vehicle by comparing a similarity value between the obstacle information obtained by the object detecting means and pre-stored obstacle detection reference information with a threshold value;

responding means for controlling a response to determination of the presence of the obstacle around the vehicle;

driver operation storing means for storing an average driver operation characteristic determined based on a driver operation;

precision determining means for determining a precision of the determination of the presence of the obstacle around the vehicle by comparing the average driver operation characteristic and an actual driver operation; and

threshold value adjusting means for adjusting the threshold value based on the precision of the determination of the presence of the obstacle.

20. A method of detecting a vehicle obstacle, comprising;

obtaining obstacle information around a vehicle;

comparing the object information with stored obstacle information to determine an obstacle around the vehicle based on a threshold value;

controlling a vehicle response upon determination of the obstacle;

storing an average driver operation characteristic determined based on a driver operation;

determining a precision of the determination of the obstacle based on the average driver operation and a actual driver operation; and

adjusting the threshold value based on the precision of the determination of the obstacle.