Navigation system

• US 8,005,615 B2
• Filed: 08/03/2006
• Issued: 08/23/2011
• Est. Priority Date: 08/05/2005
• Status: Expired due to Fees

• Current Assignee: Aisin AW Company Limited (Aisin Corp.)
• Original Assignee: Aisin AW Company Limited (Aisin Corp.)
• Inventors: Okabe, Hidefumi
• Primary Examiner(s): To; Tuan C
• Assistant Examiner(s): MUSTAFA, IMRAN K
• Application Number:
  US11/498,062
• Publication Number:
  US 20070032943A1
• Time in Patent Office: 1,846 Days
• Field of Search: 701/96, 701/200, 701/209, 701/213, 701/223, 340/902, 340/903, 340/435, 340/436, 340/988, 340/444, 340/441, 340/467, 340/465
• US Class Current: 701/301
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• 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 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G08G 1/096816 where the complete route is transmitted to the vehicle at once
• CPC Class Codes: G08G 1/096827 where the route is computed onboard
• CPC Class Codes: G08G 1/096861 where the immediate route instructions are output to the driver, e.g. arrow signs for next turn

Abstract

A navigation system includes data storage that contains map data, a current position detection portion that detects a current position of a host vehicle, an acceleration lane remaining distance determination portion that determines a distance from the current position to the end of an acceleration lane where it merges with a main thoroughfare, based on the map data and the current position of the host vehicle, a merging support guidance selection portion that selects a type of merging support guidance for supporting the merging of the host vehicle from the acceleration lane into the main thoroughfare, based on information for the host vehicle in the acceleration lane, information for another vehicle so located on the main thoroughfare as to be accounted for in merging, and the distance from the current position to the end of the acceleration lane, and a guidance execution portion that executes the selected merging support guidance.

Claims

1. A navigation system for providing a host vehicle with guidance for merging into a main thoroughfare from an access road, through an acceleration lane, the navigation system comprising:

(a) a computer-readable data storage portion containing map data including location data for location of a guide zone located between an end portion of the access road and the main thoroughfare, the guide zone having an end where the access road ends and the acceleration lane begins;

(b) a current position detection portion that detects a current position of the a host vehicle;

(c) a vehicle periphery monitoring portion, including an image capture device, for capturing an image of a vicinity of the host vehicle, for recognizing the guide zone in a captured image and for recognizing a vehicle traveling on the main thoroughfare in a captured image;

(d) a position information correction portion that corrects the detected current position of the host vehicle based on the location data for the recognized guide zone;

(e) an acceleration lane entry detection portion that judges whether or not the corrected current position of the host vehicle has passed the end of the guide zone and entered the acceleration lane; and

(f) a guidance execution portion that, responsive to a judgment that the corrected current position of the host vehicle has passed the end of the guide zone and entered the acceleration lane, executes merging support guidance to guide the driver in merging of the host vehicle from the acceleration lane into the main thoroughfare, based on the corrected current position of the host vehicle and on information for the recognized vehicle.

2. The navigation system according to claim 1, wherein the merging support guidance includes one of stopping guidance, guidance for entering the main thoroughfare while accelerating, and guidance for entering the main thoroughfare after letting the recognized vehicle on the main thoroughfare pass.

3. The navigation system according to claim 2, wherein stopping guidance is selected when the time until the host vehicle will arrive at the end of the acceleration lane is less than or equal to a predetermined time, and the recognized vehicle on the main thoroughfare is in or will enter a space to the side of the host vehicle within the predetermined time.

4. The navigation system according to claim 3, wherein the guidance execution portion controls the brakes to stop the host vehicle when the selected merging support guidance is stopping guidance.

5. The navigation system according to claim 2, wherein guidance for entering the main thoroughfare while accelerating is selected when the recognized vehicle on the main thoroughfare is not in and will not enter a space to the side of the host vehicle within a predetermined time.

6. The navigation system according to claim 2, wherein -guidance for entering the main thoroughfare after letting the recognized vehicle on the main thoroughfare pass is selected when the time until the host vehicle will arrive at the end of the acceleration lane is greater than a predetermined time, and the recognized vehicle on the main thoroughfare will enter or exit a space to the side of the host vehicle within the predetermined time.

7. The navigation system according to claim 1, wherein the guidance zone is a stripped area of road surface.

8. The navigation system according to claim 1 wherein the guide zone extends in the direction of travel between the access road and the main thoroughfare, to a vertex where the access road ends and the acceleration lane begins.

9. The navigation system according to claim 8 wherein the guide zone is triangular in shape.

10. The navigation system according to claim 1 additionally comprising:

(g) an acceleration lane remaining distance acquisition portion that determines a distance from the corrected current position to the end of an acceleration lane where it merges with a main thoroughfare, based on the map data and the corrected current position of the host vehicle; and

(h) a merging support guidance selection portion that selects a type of merging support guidance that will support the merging of the host vehicle from the acceleration lane into the main thoroughfare, based on information for the host vehicle in the acceleration lane, the acquired information for the recognized vehicle on the main thoroughfare, and the determined distance from the corrected current position to the end of the acceleration lane.

11. The navigation system according to claim 10, wherein the information for the host vehicle in the acceleration lane includes the vehicle speed of the host vehicle and the acceleration of the host vehicle, and the information for the recognized vehicle on the main thoroughfare includes the relative distance of the recognized vehicle on the main thoroughfare from the host vehicle, the relative vehicle speed of the recognized vehicle on the main thoroughfare in relation to the host vehicle, and the relative acceleration of the recognized vehicle on the main thoroughfare in relation to the host vehicle.

12. The navigation system according to claim 1, wherein the acquired information for the vehicle on the main thoroughfare includes the relative distance from the host vehicle, relative vehicle speed in relation to the host vehicle, and relative acceleration in relation to the host vehicle.

13. The navigation system according to claim 1 wherein the vehicle periphery monitoring portion, responsive to a judgment that the corrected current position of the host vehicle has passed the end of the guide zone and entered the acceleration lane, initiates nearby vehicle information acquisition to recognize a vehicle traveling on the main thoroughfare in a captured image and to obtain the information for the recognized vehicle.

14. The navigation system according to claim 1 wherein the vehicle periphery monitoring portion recognizes the guide zone in a captured image by pattern matching of features in the captured image with the location data.

15. A navigation method for providing a host vehicle with guidance for merging into a main thoroughfare from an access road, through an acceleration lane, comprising:

(a) determining the current position of the host vehicle;

(b) capturing an image of a vicinity of the host vehicle;

(c) recognizing, in the captured image, a guide zone located between an end portion of the access road and the main thoroughfare, the guide zone having an end where the access road ends and the acceleration lane begins;

(d) obtaining, from a computer-readable database, location data for location of the recognized guide zone;

(e) correcting the determined current position of the host vehicle based on the location data for the recognized guide zone;

(f) judging whether or not the corrected current position of the host vehicle has passed the end of the guide zone and entered the acceleration lane; and

(g) outputting merging support guidance, responsive to a judgment that the corrected current position of the host vehicle has passed the end of the guide zone and entered the acceleration lane, to guide the driver in merging of the host vehicle from the acceleration lane into the main thoroughfare, based on the corrected current position of the host vehicle and on the acquired information for the recognized vehicle.

16. The navigation method according to claim 15, wherein the acquired information for the recognized vehicle on the main thoroughfare includes the relative distance from the host vehicle, relative vehicle speed in relation to the host vehicle, and relative acceleration in relation to the host vehicle.

17. The navigation method according to claim 15 wherein the merging support guidance is selected from stopping guidance, guidance for entering the main thoroughfare with acceleration and guidance for entering the main thoroughfare after letting the recognized vehicle on the main thoroughfare pass.

18. The navigation method according to claim 17 wherein stopping guidance is selected when the time until the host vehicle will arrive at the end of the acceleration lane is less than or equal to a predetermined time, and the recognized vehicle on the main thoroughfare is in or will enter a space to the side of the host vehicle within the predetermined time.

19. The navigation method according to claim 18 further comprising automatically controlling brakes of the host vehicle to bring the host vehicle to a stop.

20. The navigation method according to claim 17 wherein guidance for entering the main thoroughfare with acceleration is selected when the recognized vehicle on the main thoroughfare is not in and will not enter a predetermined space to the side of the host vehicle within a predetermined time.

21. The navigation method according to claim 17 wherein guidance for entering the main thoroughfare after letting the recognized vehicle on the main thoroughfare pass is selected when the time until the host vehicle will arrive at the end of the acceleration lane is greater than a predetermined time, and the recognized vehicle on the main thoroughfare will enter or exit a space to the side of the host vehicle within the predetermined time.

22. The navigation method according to claim 15 wherein the guidance zone is a stripped area of road surface.

23. The navigation method according to claim 15 wherein the guide zone extends in the direction of travel between the access road and the main thoroughfare, to a vertex where the access road ends and the acceleration lane begins.

24. The navigation method according to claim 15 wherein the guide zone is triangular in shape.

25. The navigation method according to claim 15 additionally comprising:

(h) determining a distance from the corrected current position to the end of an acceleration lane where it merges with a main thoroughfare, based on the map data and the corrected current position of the host vehicle; and

(i) selects a type of merging support guidance that will support the merging of the host vehicle from the acceleration lane into the main thoroughfare, based on information for the host vehicle in the acceleration lane, information for the recognized vehicle on the main thoroughfare, and the determined distance from the corrected current position to the end of the acceleration lane.

26. A navigation system for providing a host vehicle with guidance for merging into a main thoroughfare from an access road, through an acceleration lane, the navigation system comprising:

image determination means for determining the current position of the host vehicle;

image capture means for capturing an image of a vicinity of the host vehicle;

image recognition means for recognizing, in the captured image, a guide zone located between an end portion of the access road and the main thoroughfare, the guide zone having an end where the access road ends and the acceleration lane begins;

means for obtaining, from a computer-readable database, location data for location of the recognized guide zone;

means for correcting the determined current position of the host vehicle based on the location data for the recognized guide zone;

means for judging whether or not the corrected current position of the host vehicle has passed the end of the guide zone and entered the acceleration lane; and

means for outputting merging support guidance, responsive to a judgment that the corrected current position of the host vehicle has passed the end of the guide zone and entered the acceleration lane, to guide the driver in merging of the host vehicle from the acceleration lane into the main thoroughfare, based on the corrected current position of the host vehicle and on information for the recognized vehicle.