Vehicle driving assist system

• US 7,734,419 B2
• Filed: 11/06/2006
• Issued: 06/08/2010
• Est. Priority Date: 11/09/2005
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kondoh, Takayuki
• Primary Examiner(s): Beaulieu; Yonel
• Application Number:
  US11/593,046
• Publication Number:
  US 20070106475A1
• Time in Patent Office: 1,310 Days
• Field of Search: 701300-302, 701/96, 340435-436, 340/903, 340/425.5
• US Class Current: 701/301
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 2360/188 Displaying information using colour changes
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 2360/334 Projection means
• CPC Class Codes: B60K 26/021 with means for providing feel, e.g. by changing pedal force characteristics
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/23 Head-up displays [HUD] optical aspects of head-up displays G02B27/01
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/29 Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
• CPC Class Codes: B60K 35/81 for controlling displays
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/24 in front of the vehicle
• CPC Class Codes: B60R 2300/205 using a head-up display
• 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 2300/308 by overlaying the real scene, e.g. through a head-up display on the windscreen
• CPC Class Codes: B60R 2300/8033 for pedestrian protection
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: B60W 2540/22 Psychological state; Stress level or workload
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 30/08 : Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• 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: G02B 2027/014 : comprising information/image processing systems
• CPC Class Codes: G02B 2027/0141 : characterised by the informative content of the display
• CPC Class Codes: G02B 27/01 : Head-up displays
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

A vehicle driving assist system is configured to convey a risk potential relating to a preceding obstacle to a driver using both visual information and haptic information. For example, the vehicle driving assist system executes accelerator pedal actuation reaction force control such that an actuation reaction force is generated in accordance with a risk potential that expresses a degree of convergence between the host vehicle and a preceding obstacle. In order to convey to the driver in a clear manner which preceding obstacle(s) is an obstacle targeted by the risk potential calculation and the reaction force control, the system displays a reference frame or marker at a position corresponding to the targeted obstacle (preceding vehicle). At least one of size, color, shape and brightness of the marker is set in accordance with the risk potential.

Claims

1. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device; and

a visual information conveying section configured to convey visual information of the preceding obstacle to the driver that is targeted as a targeted obstacle based on the risk potential calculated by the risk potential calculating section, and to convey the degree of the risk potential with respect to the targeted obstacle as calculated by the risk potential calculating section,

the visual information conveying section being further configured to overlay the targeted obstacle with a risk potential marker indicating the degree of the risk potential as calculated by the risk potential calculating section.

2. The vehicle driving assist system as recited in claim 1, wherein

the haptic information conveying section includes an actuation reaction force control section that is configured to control an actuation reaction force exerted by the driver-operated driving operation device based on the risk potential calculated by the risk potential calculating section.

3. The vehicle driving assist system as recited in claim 1, wherein

the visual information conveying section includes a head up display that is configured to display the risk potential marker in an overlapping manner at a position corresponding to the targeted obstacle on the head up display.

4. The vehicle driving assist system as recited in claim 1, further comprising

an imaging section configured to obtain an image of a region in front of the host vehicle;

and

the visual information conveying section being further configured to display the risk potential marker in an overlapping manner at a position corresponding to the targeted obstacle displayed in the image of the region in front of the host vehicle obtained by the imaging section.

5. The vehicle driving assist system as recited in claim 4, wherein

the visual information conveying section is further configured to display the image of the region in front of the host vehicle and the risk potential marker on a monitor device of a navigation system.

6. The vehicle driving assist system as recited in claim 1, wherein

the visual information conveying section is further configured to selectively display a targeted obstacle image of the targeted obstacle as viewed from a rear position, from a side position, and from a top position, and display the risk potential marker such that the risk potential marker overlaps the targeted obstacle image of the targeted obstacle.

7. The vehicle driving assist system as recited in claim 1, wherein

the visual information conveying section is further configured to change a shape of the risk potential marker when the targeted obstacle changes.

8. The vehicle driving assist system as recited in claim 1, wherein

the visual information conveying section is further configured to change a degree of the risk potential marker in accordance with a change in the degree of the risk potential.

9. The vehicle driving assist system as recited in claim 1, wherein

the visual information conveying section is further configured to change a color of the risk potential marker in accordance with a change in the degree of the risk potential.

10. The vehicle driving assist system as recited in claim 1, wherein

the visual information conveying section is further configured to alternately flash the risk potential marker on and off to indicate a change in the degree of the risk potential.

11. The vehicle driving assist system as recited in claim 1, further comprising

a relative traveling state determining section configured to determine a relative traveling state of the host vehicle with respect to the targeted obstacle;

and

the visual information conveying section being further configured to change a brightness of the risk potential marker to indicate the degree of the risk potential based on the relative traveling state determined by the relative traveling state determining section.

12. The vehicle driving assist system as recited in claim 1, further comprising

a convergence degree calculating section configured to calculate a degree of convergence between the host vehicle and the targeted obstacle;

and

the visual information conveying section being further configured to offset a display position of the risk potential marker depending on the degree of convergence calculated by the convergence degree calculating section.

13. The vehicle driving assist system as recited in claim 12, wherein

the visual information conveying section is further configured to offset the risk potential marker downward relative to the targeted obstacle when the vehicle is approaching the targeted obstacle and offset the risk potential marker upward relative to the targeted obstacle when the vehicle is drawing farther away from the targeted obstacle.

14. A vehicle equipped with the vehicle driving assist system according to claim 1.

15. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device; and

a visual information conveying section configured to convey visual information of the degree of the risk potential to the driver of the preceding obstacle that is targeted as a targeted obstacle,

the risk potential calculating section being further configured to calculate the risk potential with respect to each of a plurality of preceding obstacles existing in front of the host vehicle,

the visual information conveying section being further configured to display the degree of the risk potential of the host vehicle with respect to each of the preceding obstacles on a displaying section, and to display the degree of the risk potential of the host vehicle with respect to each of the preceding obstacles that has been predicted by the risk potential calculated by the risk potential calculating section as possibly becoming the targeted obstacle at a future time.

16. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device; and

a visual information conveying section configured to convey visual information of the degree of the risk potential to the driver of the preceding obstacle that is targeted as a targeted obstacle,

the risk potential calculating section being further configured to calculate the risk potential with respect to each of a plurality of preceding obstacles existing in front of the host vehicle,

the visual information conveying section being further configured to display the degree of the risk potential of the host vehicle with respect to each of the preceding obstacles on a displaying section, and to display the risk potential of the host vehicle with respect to each of the preceding obstacles for which the risk potential is equal to or larger than a prescribed value.

17. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device; and

a visual information conveying section configured to convey visual information of the degree of the risk potential to the driver of the preceding obstacle that is targeted as a targeted obstacle, and to display contour lines as a risk potential marker indicating the degree of the risk potential with respect to the targeted obstacle.

18. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device; and

a visual information conveying section configured to convey visual information of the degree of the risk potential to the driver of the preceding obstacle that is targeted as a targeted obstacle, and to display a risk potential marker indicating the degree of the risk potential with respect to the targeted obstacle and to change a display format of the risk potential marker when the targeted obstacle changes.

19. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device; and

a visual information conveying section configured to convey visual information of the degree of the risk potential to the driver of the preceding obstacle that is targeted as a targeted obstacle, and to display a risk potential marker indicating the degree of the risk potential with respect to the targeted obstacle and to change a size of the risk potential marker in accordance with an apparent surface area of the targeted obstacle, which changes as a following distance between the host vehicle and the targeted obstacle changes.

20. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device; and

a visual information conveying section configured to convey visual information of the degree of the risk potential to the driver of the preceding obstacle that is targeted as a targeted obstacle, and to display a risk potential marker indicating the degree of the risk potential and to change a size of the risk potential marker in accordance with a following distance between the host vehicle and the targeted obstacle changes.

21. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device;

a visual information conveying section configured to convey visual information of the degree of the risk potential to the driver of the preceding obstacle that is targeted as a targeted obstacle;

a first braking/driving force control section configured to control a braking/driving force exerted against the host vehicle based on the risk potential calculated by the risk potential calculating section;

a second braking/driving force control section configured to control the braking/driving force of the host vehicle such that a prescribed following distance is maintained between the vehicle and the targeted obstacle; and

an override detecting section configured to detect if operation of the second braking/driving force control section is in an overridden state based on a state of a driving operation executed by the driver,

the visual information conveying section being further configured to display a risk potential marker indicating the degree of the risk potential and to change a display format of the risk potential marker when the override detecting section detects that the second braking/driving force control section is in the overridden state.

22. A vehicle driving assist system comprising:

an obstacle detecting section configured to detect a preceding obstacle existing in front of a host vehicle and selectively output an obstacle detection result;

a risk potential calculating section configured to calculate a risk potential indicative of a degree of risk potential of the host vehicle with respect to the preceding obstacle based on the obstacle detection result of the obstacle detecting section;

a haptic information conveying section configured to convey the risk potential calculated by the risk potential calculating section to a driver as haptic information through a driver-operated driving operation device;

a visual information conveying section configured to convey visual information of the degree of the risk potential to the driver of the preceding obstacle that is targeted as a targeted obstacle; and

a braking/driving force control section configured to control a braking/driving force exerted against the host vehicle based on the risk potential calculated by the risk potential calculating section,

the visual information conveying section further including a display section that is configured to display a risk potential marker indicating the risk potential with the visual information conveying section being further configured to change a size of the risk potential marker in accordance with a control amount used by the braking/driving force control section to control the braking/driving force exerted against the host vehicle.