Driving assist system for vehicle

• US 6,982,647 B2
• Filed: 06/17/2003
• Issued: 01/03/2006
• Est. Priority Date: 06/20/2002
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Yamamura, Tomohiro, Kuge, Nobuyuki
• Primary Examiner(s): Wu, Daniel
• Assistant Examiner(s): Walk, Samuel J.
• Application Number:
  US10/462,733
• Publication Number:
  US 20030236602A1
• Time in Patent Office: 931 Days
• Field of Search: 340/576, 340/435, 340/436, 340/903, 701/65, 701/66, 701/70, 701/79, 701/96, 701/300, 701/301, 745/13
• US Class Current: 340/576
• CPC Class Codes: B60K 26/021 with means for providing feel, e.g. by changing pedal force characteristics
• CPC Class Codes: B60T 17/18 Safety devices; Monitoring
• 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 2050/143 Alarm means
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: F02D 11/105 characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
• CPC Class Codes: G05G 1/30 Controlling members actuated by foot
• CPC Class Codes: Y10T 74/20534 Accelerator

Abstract

A vehicle driving assist system comprises a travel situation detection device that detects a vehicle condition and a traveling environment around a subject vehicle; a risk potential calculation device that calculates a risk potential around the subject vehicle based upon detection results of the traveling situation detection device; an accelerator pedal reaction force calculation device that calculates an accelerator pedal reaction force command value based upon the risk potential which is calculated by the risk potential calculation device; an accelerator pedal reaction force generation device that generates an actuation reaction force for an accelerator pedal, according to the accelerator pedal reaction force command value which is calculated by the accelerator pedal reaction force calculation device; a driving intention detection device that detects a driving intention of an operator of the subject vehicle; and an accelerator pedal reaction force modification device that adjusts the actuation reaction force to be generated for the accelerator pedal, based upon a detection result of the driving intention detection device.

Claims

1. A vehicle driving assist system, comprising:

a travel situation detection device that detects a vehicle condition and a traveling environment around a subject vehicle;

a risk potential calculation device that calculates a risk potential around the subject vehicle based upon detection results of the traveling situation detection device;

an accelerator pedal reaction force calculation device that calculates an accelerator pedal reaction force command value based upon the risk potential which is calculated by the risk potential calculation device;

an accelerator pedal reaction force generation device that generates an actuation reaction force for an accelerator pedal, according to the accelerator pedal reaction force command value which is calculated by the accelerator pedal reaction force calculation device;

a driving intention detection device that detects a driving intention of an operator of the subject vehicle; and

an accelerator pedal reaction force modification device that adjusts the actuation reaction force to be generated for the accelerator pedal, based upon a detection result of the driving intention detection device.

2. A vehicle driving assist system according to claim 1, wherein:

the accelerator pedal reaction force calculation device calculates the accelerator pedal reaction force command value according to a characteristic (hereinafter termed a RP-F characteristic) of the accelerator pedal reaction force command value in terms of the risk potential; and

the accelerator pedal reaction force modification device modifies the RP-F characteristic when a predetermined driving intention of the operator is detected by the driving intention detection device.

3. A vehicle driving assist system according to claim 2, wherein:

when the predetermined driving intention of the operator is detected, the accelerator pedal reaction force modification device modifies the RP-F characteristic so as to reduce the accelerator pedal reaction force command value as compared with a case in which the predetermined driving intention of the operator is not detected, even if the risk potential which is calculated by the risk potential calculation device is a same.

4. A vehicle driving assist system according to claim 2, wherein:

the accelerator pedal reaction force calculation device calculates the accelerator pedal reaction force command value according to a first reaction force characteristic set as the RP-F characteristic in which a minimum risk potential corresponds to a first reaction force command value, and a maximum risk potential corresponds to a second reaction force command value, wherein as the risk potential becomes greater between the minimum risk potential and the maximum risk potential, the accelerator pedal reaction force command value becomes greater, and when the risk potential exceeds the maximum risk potential, the accelerator pedal reaction force command value increases discontinuously to a third reaction force command value which is greater than the second reaction force command value; and

when the predetermined driving intention of the operator has been detected, the accelerator pedal reaction force modification device modifies the first reaction force characteristic so that the reaction force command value when the risk potential exceeds the maximum risk potential comes to be less than the third reaction force command value.

5. A vehicle driving assist system according to claim 2, wherein:

the accelerator pedal reaction force calculation device calculates the accelerator pedal reaction force command value according to a second reaction force characteristic set as the RP-F characteristic in which a minimum risk potential corresponds to a first reaction force command value, and a maximum risk potential corresponds to a second reaction force command value, wherein as the risk potential becomes greater between the minimum risk potential and the maximum risk potential, the accelerator pedal reaction force command value becomes greater; and

when the predetermined driving intention of the operator has been detected, the accelerator pedal reaction force modification device modifies the second reaction force characteristic so that as the risk potential becomes greater, the accelerator pedal reaction force command value becomes greater between the first reaction force command value corresponding to the minimum risk potential and a third reaction force command value corresponding to the maximum risk potential which is less than the second reaction force command value.

6. A vehicle driving assist system according to claim 1, wherein:

when the predetermined driving intention of the operator has been detected by the driving intention detection device, the accelerator pedal reaction force modification device modifies a characteristic of the risk potential with respect to the detection results of the traveling situation detection device which is used for calculating the risk potential by the risk potential calculation device.

7. A vehicle driving assist system according to claim 6, wherein:

when the predetermined driving intention of the operator has been detected, the accelerator pedal reaction force modification device modifies the characteristic of the risk potential so that the risk potential becomes smaller, as compared to a case when the predetermined driving intention of the operator has not been detected, even if the detection results of the traveling situation detection device are a same.

8. A vehicle driving assist system according to claim 6, wherein:

when the predetermined driving intention of the operator has been detected, the accelerator pedal reaction force modification device inserts a constant into a calculation equation for calculating the risk potential which is based upon the detection results of the traveling situation detection device and is used by the risk potential calculation device as the characteristic of the risk potential, so that the risk potential becomes smaller, as compared to a case when the predetermined driving intention of the operator has not been detected.

9. A vehicle driving assist system according to claim 1, wherein:

the driving intention which is detected by the driving intention detection device is an intention to change a vehicle lane.

10. A vehicle driving assist system according to claim 9, wherein:

the driving intention detection device detects an actuation state of a direction indicator of the subject vehicle, and detects the intention to change the vehicle lane based upon the actuation state of the direction indicator which has thus been detected.

11. A vehicle driving assist system according to claim 1, wherein:

the traveling situation detection device detects a subject vehicle speed, a relative speed of the subject vehicle and a preceding vehicle, and a vehicle distance between the subject vehicle and the preceding vehicle; and

the risk potential calculation device calculates the risk potential using a time headway which is based upon the subject vehicle speed and the vehicle distance, and a time to contact which is based upon the relative speed and the vehicle distance.

12. A vehicle driving assist system according to claim 1, wherein:

the driving intention detection device detects an actuation state of a direction indicator of the subject vehicle to detect the driving intention of the operator,

the accelerator pedal reaction force calculation device sets the accelerator pedal reaction force command value to increase continuously from a first reaction force command value corresponding to a minimum risk potential to a second reaction force command value corresponding to a maximum risk potential according to increase of the risk potential, and to increase discontinuously to a third reaction force command value which is greater than the second reaction force command value when the risk potential exceeds the maximum risk potential, and

when the driving intention detection device detects that the direction indicator has been actuated to be on, the accelerator pedal reaction force modification device adjusts the accelerator pedal reaction force command value to increase continuously when the risk potential exceeds the maximum risk potential.

13. A vehicle driving assist system according to claim 1, wherein:

the driving intention detection device detects an actuation state of a direction indicator of the subject vehicle to detect the driving intention of the operator,

the accelerator pedal reaction force calculation device sets the accelerator pedal reaction force command value to increase continuously according to increase of the risk potential, and

the accelerator pedal reaction force modification device adjusts the accelerator pedal reaction force command value to reduce a rate of change of the accelerator pedal reaction force command value with respect to the increase of the risk potential when the driving intention detection device detects that the direction indicator has been actuated to be on.

14. A vehicle driving assist system, according to claim 1, wherein:

the traveling situation detection device detects a subject vehicle speed, a relative speed of the subject vehicle and a preceding vehicle, and a vehicle distance between the subject vehicle and the preceding vehicle,

the risk potential calculation device calculates a time headway using the subject vehicle speed and the vehicle distance, and a time to contact using the relative speed and the vehicle distance, and calculates the risk potential by a calculation equation which is based upon the time headway and the time to contact,

the driving intention detection device detects an actuation state of a direction indicator of the subject vehicle to detect the driving intention of the operator, and

the accelerator pedal reaction force modification device inserts a constant into the calculation equation to reduce the risk potential when the driving intention detection device detects that the direction indicator has been actuated to be on, in order to adjust the actuation reaction force for the accelerator pedal.

15. A vehicle driving assist system, comprising:

a travel situation detection means for detecting a vehicle condition and a traveling environment around a subject vehicle;

a risk potential calculation means for calculating a risk potential around the subject vehicle based upon detection results of the traveling situation detection means;

an accelerator pedal reaction force calculation means for calculating an accelerator pedal reaction force command value based upon the risk potential which is calculated by the risk potential calculation means;

an accelerator pedal reaction force generation means for generating an actuation reaction force for an accelerator pedal, according to the accelerator pedal reaction force command value which is calculated by the accelerator pedal reaction force calculation means;

a driving intention detection means for detecting a driving intention of an operator of the subject vehicle; and

an accelerator pedal reaction force modification means for adjusting the actuation reaction force to be generated for the accelerator pedal, based upon a detection result of the driving intention detection means.

16. A vehicle driving assist method, comprising:

detecting a vehicle condition and a traveling environment around a subject vehicle;

calculating a risk potential around the subject vehicle based upon the vehicle condition and the traveling environment around the subject vehicle;

calculating an accelerator pedal reaction force command value based upon the risk potential;

generating an actuation reaction force for an accelerator pedal, according to the accelerator pedal reaction force command value;

detecting a driving intention of an operator of the subject vehicle; and

adjusting the actuation reaction force to be generated for the accelerator pedal, based upon the driving intention of the operator.

17. A vehicle, comprising:

a travel situation detection device that detects a vehicle condition and a traveling environment around a subject vehicle;

a risk potential calculation device that calculates a risk potential around the subject vehicle based upon detection results of the traveling situation detection device;

an accelerator pedal reaction force calculation device that calculates an accelerator pedal reaction force command value based upon the risk potential which is calculated by the risk potential calculation device;

an accelerator pedal reaction force generation device that generates an actuation reaction force for an accelerator pedal, according to the accelerator pedal reaction force command value which is calculated by the accelerator pedal reaction force calculation device;

a driving intention detection device that detects a driving intention of an operator of the subject vehicle; and

an accelerator pedal reaction force modification device that adjusts the actuation reaction force to be generated for the accelerator pedal, based upon a detection result of the driving intention detection device.

18. A driving assistance system comprising:

a detection device configured to detect an operation condition associated with a vehicle;

a risk potential calculation device configured to calculate a risk potential based on the operation condition;

a driving control device configured to receive an input from the driver of the vehicle for operating the vehicle;

a driving intention detection device configured to detect a driving intention of the driver of the vehicle; and

a reaction force control device configured to provide a reaction force applied to the driving control device based on the risk potential and the driving intention.

19. A driving assistance system comprising:

means for detecting an operation condition associated with a vehicle;

means for calculating a risk potential based on the operation condition;

means for receiving an input from the driver of the vehicle for operating the vehicle;

means for detecting a driving intention of the driver of the vehicle; and

means for providing a reaction force applied to the means for receiving an input from the driver based on the risk potential and the driving intention.

20. A driving assistance method comprising the steps of:

detecting an operation condition associated with a vehicle;

calculating a risk potential based on the operation condition;

detecting a driving intention of the driver of the vehicle; and

providing a reaction force applied to a driving control device based on the risk potential and the driving intention, wherein the driving control device is configured to receive an input from the driver of the vehicle for operating the vehicle.

21. A vehicle comprising:

a detection device configured to detect an operation condition associated with the vehicle;

a risk potential calculation device configured to calculate a risk potential based on the operation condition;

a driving control device configured to receive an input from the driver of the vehicle for operating the vehicle;

a driving intention detection device configured to detect a driving intention of the driver of the vehicle; and

a reaction force control device configured to provide a reaction force applied to the driving control device based on the risk potential and the driving intention.