Vehicle control apparatus, vehicle control method, and computer program

• US 7,194,347 B2
• Filed: 03/22/2004
• Issued: 03/20/2007
• Est. Priority Date: 03/26/2003
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Takeuchi, Hiroshi, Harumoto, Satoshi, Miyamoto, Naotoshi, Yamato, Toshitaka, Maeno, Yoshihiko, Sakiyama, Kazuhiro
• Primary Examiner(s): Nguyen; Tan Q.
• Application Number:
  US10/805,423
• Publication Number:
  US 20040193347A1
• Time in Patent Office: 1,093 Days
• Field of Search: 701/45, 701/93, 701/96, 701/36, 701/41, 701/207, 701/301, 340/903, 340/435, 340/43, 367/89, 367/95, 367/99
• US Class Current: 701/45
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/10 Number of lanes
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle control apparatus includes an information acquiring/managing unit that acquires information for controlling various units in a vehicle instead of a driver of the vehicle, and manages the information acquired, a situation determining unit that determines a situation under which the vehicle is placed, based on the information, a danger determining unit that selects predetermined information corresponding to the situation from among the information, and determines degree of danger of the situation based on the predetermined information, and a vehicle controller that controls predetermined units in the vehicle in such a manner that the degree of danger is reduced.

Claims

1. A vehicle control apparatus comprising:

an information acquiring/managing unit that acquires information for controlling various units in a vehicle instead of a driver of the vehicle, and manages the acquired information, the acquired information including real-time-acquired information and past-acquired information;

a storage unit that stores information regarding a plurality of situations for the vehicle;

a situation determining unit that determines a situation under which the vehicle placed from among the plurality of situations, based on the stored information and the acquired information;

a danger determining unit that selects predetermined information corresponding to the determined situation from among the stored information and the acquired information, and determines degree of danger of the situation based on the predetermined information; and

a vehicle controller that controls predetermined units in the vehicle in such a manner that the degree of danger is reduced.

2. The vehicle control apparatus according to claim 1, wherein the information acquiring/managing unit selectively manages the information in accordance with the situation.

3. The vehicle control apparatus according to claim 1, wherein the information acquiring/managing unit acquires the information from inside and outside of the vehicle, via at least one of an image input unit, a voice input unit, and a communication unit.

4. The vehicle control apparatus according to claim 1, wherein the information acquiring/managing unit further acquires a content of driving operation of the vehicle by the driver.

5. The vehicle control apparatus according to claim 1, wherein the situation determining unit determines at least one of situations in which the vehicle approaches an intersection, in which the vehicle makes a right turn at the intersection, and in which the vehicle makes a left turn at the intersection.

6. The vehicle control apparatus according to claim 5, wherein the situation determining unit determines the situation under which the vehicle is placed, while keeping on determining at least one of presence of traffic lights in the intersection and number of lanes.

7. The vehicle control apparatus according to claim 1, wherein the situation determining unit determines a situation in which the vehicle deviates from a current driving lane.

8. The vehicle control apparatus according to claim 7, wherein the situation determining unit determines the situation in which the vehicle deviates from the current driving lane based on at least one of external conditions of the vehicle, condition of the driver, and the content driving operation.

9. The vehicle control apparatus according to claim 7, wherein the situation determining unit determines the situation in which the vehicle deviates from the current driving lane based on a speed of the vehicle and a condition of the road on which the vehicle is traveling when approaching a curve.

10. The vehicle control apparatus according to claim 1, wherein the danger determining unit selects an object having a possibility of direct collision with the vehicle based on the situation, and estimates the possibility of direct collision based on information on the object and the vehicle, when determining the degree of danger.

11. The vehicle control apparatus according to claim 10, wherein the danger determining unit determines the degree of danger based on both information on a previous condition of at least one of the object and the vehicle and information on a current condition of at least one of the object and the vehicle.

12. The vehicle control apparatus according to claim 11, wherein the storage unit stores an accident history database which includes information of an accident that previously occurred in a respective situation, the danger determining unit determines the degree of danger based on information of the accident that previously occurred in the situation determined by the situation determining unit.

13. The vehicle control apparatus according to claim 1, wherein the danger determining unit selects an object having a possibility of direct and indirect collision with the vehicle based on the situation, and estimates the possibility of direct and indirect collision based on information on the object and the vehicle, when determining the degree of danger.

14. The vehicle control apparatus according to claim 13, wherein the danger determining unit determines the degree of danger based on both information on a previous condition of at least one of the object and the vehicle and information on a current condition of at least one of the object and the vehicle.

15. The vehicle control apparatus according to claim 14, wherein the storage unit stores an accident history database which includes information of an accident that previously occurred in a respective situation, the danger determining unit determines the degree of danger based on information of the accident that previously occurred in the situation determined by the situation determining unit.

16. The vehicle control apparatus according to claim 1, wherein the danger determining unit sets a danger area around an object based on type and condition of the object having a possibility of at least one of direct collision and indirect collision, and determine the degree of danger based on the danger area.

17. The vehicle control apparatus according to claim 16, wherein the danger determining unit determines the degree of danger based on both information on a previous condition of at least one of the object and the vehicle and information on a current condition of at least one of the object and the vehicle.

18. The vehicle control apparatus according to claim 17, wherein the storage unit stores an accident history database which includes information of an accident that previously occurred in a respective situation, the danger determining unit determines the degree of danger based on information of the accident that previously occurred in the situation determined by the situation determining unit.

19. The vehicle control apparatus according to claim 16, wherein the object is another vehicle, the information aquiring/managing unit receives a driving history of a driver of the another vehicle, and the danger area includes an operation prediction area determined based on the driving history.

20. The vehicle control apparatus according to claim 19, wherein

the danger area further includes a caution area determined based on performance of the another vehicle.

21. The vehicle control apparatus according to claim 20, wherein the operation prediction area is determined based on driving tendency of the driver of the another vehicle from the driving history.

22. The vehicle control apparatus according to claim 1, further comprising a driving history acquiring unit that acquires driving history of the driver.

23. The vehicle control apparatus according to claim 22, further comprising a driver identifying unit that identifies the driver of the vehicle, wherein

the driving history acquiring unit associates the driver identified to the driving history acquired.

24. The vehicle control apparatus according to claim 22, further comprising a history transmitting unit that transmits the driving history to at least one of a history managing center that manages the driving history and other vehicle.

25. The vehicle control apparatus according to claim 24, further comprising a history receiving unit that receives the driving history of a driver of the other vehicle from at least one of the history managing center and the other vehicle.

26. The vehicle control apparatus according to claim 1, wherein

the danger determining unit determines a level of danger from among a predetermined plurality of danger levels, and

the vehicle controller controls the predetermined unit based on the level of danger.

27. The vehicle control apparatus according to claim 26, wherein

the danger determining unit determines whether the degree of danger is a level to issue a forecast to the driver or a level to issue a warning to the driver, and

the vehicle controller controls the predetermined unit based on the level of danger to issue a forecast to the driver or to issue a warning to the driver.

28. The vehicle control apparatus according to claim 27, wherein

the danger determining unit determines whether the degree of danger is a level avoidable by an operation of the driver or a level difficult to avoid by the operation of the driver, and

the vehicle controller controls the predetermined unit based on the level of danger to avoid the danger by assisting the operation of the driver or forcing the operation of the vehicle.

29. The vehicle control apparatus according to claim 26, wherein

the danger determining unit determines whether the degree of danger is a level to issue a forecast to the driver, a level to issue a warning to the driver, a level avoidable by an operation of the driver, or a level difficult to avoid by the operation of the driver, and

the vehicle controller controls the predetermined unit based on the level of danger to issue a forecast to the driver, to issue a warning to the driver, to assist the operation of the driver, or to force the operation of the vehicle.

30. The vehicle control apparatus according to claim 29, wherein the danger determining unit and the vehicle controller include

a first electronic device that determines whether the degree of danger is a level to issue a forecast to the driver or a level to issue a warning to the driver, and controls the predetermined unit to issue a forecast to the driver or to issue a warning to the driver, and

a second electronic device connected to the first electronic device to determine whether the degree of danger is a level avoidable by an operation of the driver or a level difficult to avoid by the operation of the driver, and controls the predetermined unit to avoid the danger by assisting the operation of the driver or forcing the operation of the vehicle.

31. The vehicle control apparatus according to claim 28, further comprising a operation predicting unit that predicts an operation of the driver or an operation of the vehicle required to avoid the danger based on the information acquired and managed by the information acquiring/managing unit, and

when assisting the operation of the driver or forcing the operation of the vehicle, the vehicle controller controls the predetermined unit based on the operation of the driver or the operation of the vehicle predicted by the operation predicting unit to avoid the danger.

32. The vehicle control apparatus according to claim 31, wherein when it is difficult to completely avoid the danger, the operation predicting unit predicts the operation of the driver or the operation of the vehicle in such a manner that a damage in the situation becomes minimum.

33. The vehicle control apparatus according to claim 32, wherein the operation predicting unit predicts the operation of the driver or the operation of the vehicle in such a manner that the damage caused in the vehicle and an object having a possibility of at least one of direct collision and indirect collision with the vehicle becomes minimum.

34. A vehicle control method comprising:

acquiring information for controlling various units in a vehicle instead of a driver of the vehicle and managing the acquired information, the acquired information includes real-time-acquired information and past-acquired information;

storing information regarding a plurality of situations for the vehicle;

determining a situation under which the vehicle is placed from among the plurality of situations, based on the stored information and the acquired information;

selecting predetermined information corresponding to the determined situation from among the stored information and the acquired information;

determining degree of danger of the situation based on the predetermined information; and

controlling predetermined units in the vehicle in such a manner that the degree of danger is reduced.

35. A computer program for controlling a vehicle, making a computer to execute:

acquiring information for controlling various units in a vehicle instead of a driver of the vehicle and managing the acquired information, the acquired information includes real-time-acquired information and past-acquired information;

storing information regarding a plurality of situations for the vehicle;

determining situation under which the vehicle is placed from among the plurality of situations, based on the stored information and the acquired information;

selecting predetermined information corresponding to the determined situation from among the stored information and the acquired information;

determining degree of danger of the situation based on the predetermined information; and

controlling predetermined units in the vehicle in such a manner that the degree of danger is reduced.