Driving assist apparatus and method for vehicle

• US 7,127,339 B2
• Filed: 06/21/2004
• Issued: 10/24/2006
• Est. Priority Date: 06/26/2003
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Matsui, Akira, Satonaka, Hisashi, Kataoka, Hiroaki, Sugiyama, Toru, Kubota, Yuichi, Endo, Tomohiko, Iwazaki, Katsuhiko, Iwakiri, Hideyuki, Kawakami, Seiji, Tanaka, Yuu, Iwata, Yoshifumi
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US10/871,010
• Publication Number:
  US 20050027414A1
• Time in Patent Office: 855 Days
• Field of Search: 701/1, 701/36, 701/41, 180/204, 180/446, 180/167, 180/199, 340/425.5
• US Class Current: 701/36
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8086 for vehicle path indication
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A driving assist apparatus for a vehicle which calculates a path by an algorithm suitable for real-time path calculation in a vehicle-installed computing device is provided. A basic path that changes the deflection angle of the vehicle to 0 is computed from an initial vehicle position. From the basic path, a target path is computed, for example, by adding straight-line paths to the two opposite ends of the basic path. On the basis of the target path, a driving assist is performed. During the driving assist, a basic path is re-calculated. If it is determined that a similarity-enlarged path obtained through similarity enlargement of the basic path can be used to reach the target position point, a target path is re-set on the basis of the similarity-enlarged path. Then a driving assist is performed on the basis of the re-set target path.

Claims

1. A driving assist apparatus for a vehicle comprising:

a detecting portion that detects a deflection angle that is an angle formed between a direction of the vehicle at a present position and a direction of the vehicle at a target position;

a setting portion that sets a basic path that extends until the deflection angle is changed to a state of 0 by steering the vehicle at a predetermined steering rate;

a computing portion that computes a target path that extends from the present position to the target position based on the basic path;

a driving assist portion that performs a driving assist by using the target path; and

a transforming portion that re-calculates a basic path during the driving assist, and that determines whether it is possible to set a path that reaches the target position through similarity transformation of the basic path based on a relationship between the present position of the vehicle and the target position of the vehicle, and that, if it is possible to set a path, re-sets a path that reaches the target position through similarity transformation.

2. The driving assist apparatus according to claim 1, wherein the setting portion sets the basic path as a change in a turning curvature of the vehicle with respect to a running distance.

3. The driving assist apparatus according to claim 1, wherein the transforming portion compares a first ratio (Z₀/Zf) between a distance Z₀ from the present position to the target position in a first direction that is a direction of the vehicle at the target position and a length Zf of the basic path in the first direction, and a second ratio (X₀/Xf) between a distance X₀ from the present position to the target position in a second direction that is a direction orthogonal to the first direction and a length Xf of the basic path in the second direction, and wherein if the first ratio is greater than the second ratio, the transforming portion determines that it is possible to set a path that reaches the target position by similarity-transforming the basic path.

4. The driving assist apparatus according to claim 3, wherein the transforming portion similarity-enlarges the basic path by the ratio (X₀/Xf) between the distance X₀ from the present position to the target position in the second direction and the length Xf of the basic path in the second direction.

5. The driving assist apparatus according to claim 1, wherein the transforming portion compares a first ratio (Z₀/X₀) between a distance Z₀ from the present position to the target position in a first direction that is a direction of the vehicle at the target position and a distance X₀ from the present position to the target position in a second direction that is a direction orthogonal to the first direction, and a second ratio (Zf/Xf) between a length Zf of the basic path in the first direction and a length Xf of the basic path in the second direction, and wherein if the first ratio is greater than the second ratio, the transforming portion determines that it is possible to set a path that reaches the target position by similarity-transforming the basic path.

6. The driving assist apparatus according to claim 5, wherein the transforming portion similarity-enlarges the basic path by a ratio (X₀/Xf) between the distance X₀ from the present position to the target position in the second direction and the length Xf of the basic path in the second direction.

7. The driving assist apparatus according to claim 1, wherein the basic path includes a first path in which the steering angle and the turning curvature become equal to their respective set maximum values, and the turning radius becomes equal to a set minimum turning radius, a second path in which, this steering angle is maintained, and third path in which the steering angle is reduced while the rate of change in the steering angle with respect to the running distance is kept constant, and the steering angle changes to the neutral state.

8. The driving assist apparatus according to claim 7, wherein the basic path includes a first path in which the vehicle is driven by increasing steering angle from an initial actual steering angle to a predetermined steering angle, a second path in which the vehicle is driven by maintaining the predetermined steering angle, and a third path in which the vehicle is driven by decreasing the steering angle to 0.

9. The driving assist apparatus according to claim 1, wherein the basic path includes a first path in which the vehicle is driven by increasing steering angle from an initial actual steering angle to a predetermined steering angle, a second path in which the vehicle is driven by maintaining the predetermined steering angle, and a third path in which the vehicle is driven by decreasing the steering angle to 0.

10. The driving assist apparatus according to claim 1, wherein the apparatus sets a target parking position as the target position to perform a parking assist.

11. The driving assist apparatus according to claim 1, further comprising:

an adding portion that adds a straight-line path to a path, wherein the adding portion adds the straight-line path to at least one of a site forward of a similarity-transformed path obtain through similarity transformation of the basic path and a site rearward of the similarity-transformed path.

12. The driving assist apparatus according to claim 1, further comprising:

an adding portion that adds a straight-line path to a path, wherein if the similarity transformation of the basic path is impossible by the transforming portion, the adding portion adds a straight-line path at least one of a site forward of the basic path and a site rearward of the basic path.

13. A driving assist method for a vehicle comprising the steps of:

detecting a deflection angle that is an angle formed between a direction of the vehicle at a present position and a direction of the vehicle at a target position;

setting a basic path that extends until the deflection angle is changed to a state of 0 by steering the vehicle at a predetermined steering rate;

computing a target path that extends from the present position to the target position based on the basic path;

performing a driving assist by using the target path; and

re-calculating a basic path during the driving assist, and checking whether it is possible to set a path that reaches the target position through similarity transformation of the basic path based on a relationship between the present position of the vehicle and the target position of the vehicle, and re-setting a path that reaches the target position through similarity transformation if it is possible to set a path.

14. The driving assist method according to claim 13, wherein the basic path is set as a change in a turning curvature of the vehicle with respect to a running distance.

15. The driving assist method according to claim 13, wherein a comparison is made between a first ratio (Z₀/Zf) between a distance Z₀ from the present position to the target position in a first direction that is a direction of the vehicle at the target position and a length Zf of the basic path in the first direction and a second ratio (X₀/Xf) between a distance X₀ from the present position to the target position in a second direction that is a horizontal plane direction orthogonal to the first direction and a length Xf of the basic path in the second direction, and wherein if the first ratio is greater than the second ratio, it is determined that it is possible to set a path that reaches the target position by similarity-transforming the basic path.

16. The driving assist method according to claim 15, wherein the basic path is similarity-enlarged by the ratio (X₀/Xf) between the distance X₀ from the present position to the target position in the second direction and the length Xf of the basic path in the second direction.

17. The driving assist method according to claim 13, wherein a comparison is made between a first ratio (Z₀/X₀) between a distance Z₀ from the present position to the target position in a first direction that is a direction of the vehicle at the target position and a distance X₀ from the present position to the target position in a second direction that is a direction orthogonal to the first direction and a second ratio (Zf/Xf) between a length Zf of the basic path in the first direction and a length Xf of the basic path in the second direction, and wherein if the first ratio is greater than the second ratio, it is determined that it is possible to set a path that reaches the target position by similarity-transforming the basic path.

18. The driving assist method according to claim 17, wherein the basic path is similarity-enlarged by a ratio (X₀/Xf) between the distance X₀ from the present position to the target position in the second direction and the length Xf of the basic path in the second direction.

19. The driving assist method according to claim 13, wherein the basic path includes a first path in which the steering angle and the turning curvature become equal to their respective set maximum values, and the turning radius becomes equal to a set minimum turning radius, a second path in which, this steering angle is maintained, and third path in which the steering angle is reduced while the rate of change in the steering angle with respect to the running distance is kept constant, and the steering angle changes to the neutral state.

20. The driving assist method according to claim 19, wherein the basic path includes a first path in which the vehicle is driven by increasing steering angle from an initial actual steering angle to a predetermined steering angle, a second path in which the vehicle is driven by maintaining the predetermined steering angle, and a third path in which the vehicle is driven by decreasing the steering angle to 0.

21. The driving assist method according to claim 13, wherein the basic path includes a first path in which the vehicle is driven by increasing steering angle from an initial actual steering angle to a predetermined steering angle, a second path in which the vehicle is driven by maintaining the predetermined steering angle, and a third path in which the vehicle is driven by decreasing the steering angle to 0.

22. The driving assist method according to claim 13, wherein a target parking position is set as the target position to perform a parking assist.

23. The driving assist method according to claim 13, further comprising the step of:

adding a straight-line path to a path, wherein the straight-line path is added to at least one of a site forward of a similarity-transformed path obtain through similarity transformation of the basic path and a site rearward of the similarity-transformed path.

24. The driving assist method according to claim 13, further comprising:

adding a straight-line path to a path, wherein if the similarity transformation of the basic path is impossible, the straight-line path is added to at least one of a site forward of the basic path and a site rearward of the basic path.

25. A driving assist apparatus for a vehicle comprising:

detecting means for detecting a deflection angle that is an angle formed between a direction of the vehicle at a present position and a direction of the vehicle at a target position;

setting means for setting a basic path that extends until the deflection angle is changed to a state of 0 by steering the vehicle at a predetermined steering rate;

computing means for computing a target path that extends from the present position to the target position based on the basic path;

driving assist means for executing a driving assist by using the target path; and

transforming means for re-calculating a basic path during the driving assist, and for determining whether it is possible to set a path that reaches the target position through similarity transformation of the basic path based on a relationship between the present position of the vehicle and the target position of the vehicle, and for, if it is possible to set a path, re-setting a path that reaches the target position through similarity transformation.