Driving assistance apparatus

• US 8,204,642 B2
• Filed: 11/12/2008
• Issued: 06/19/2012
• Est. Priority Date: 11/13/2007
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Tanaka, Hiromichi, Kamada, Tadashi
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Alsomiri, Majdi
• Application Number:
  US12/292,154
• Publication Number:
  US 20090125177A1
• Time in Patent Office: 1,315 Days
• Field of Search: 701/23, 701 28- 30, 701/213, 701/300, 382/103, 382/104, 382/181, 340/435, 340/436, 340/901, 340/903
• US Class Current: 701/28
• CPC Class Codes: B60G 17/0165 to an external condition, e.g. rough road surface, side wind
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/821 Uneven, rough road sensing affecting vehicle body vibration
• CPC Class Codes: B60G 2400/824 Travel path sensing; Track monitoring
• CPC Class Codes: B60G 2401/16 GPS track data
• CPC Class Codes: B60G 2600/0422 involving data transmission, e.g. via satellite or GPS; for data monitoring, telemetry or platooning purposes
• CPC Class Codes: B60G 2600/70 Computer memory; Data storage, e.g. maps for adaptive control
• CPC Class Codes: B60G 2800/16 Running
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Abstract

A driving assistance apparatus that performs accurate driving assistance in accordance with actual road environment is provided. An electronic control unit (ECU) acquires shape information and vehicular swept path information about a subject vehicle and a nearby vehicle, representing vehicles and movement thereof as rectangular solids. A three-dimensional space is formed as a vehicular swept path for the rectangular solid and a road map generated based on the formed three-dimensional space. A notification is provided if the subject vehicle runs outside a space. Control support is provided to return the subject vehicle to an area indicated as safe.

Claims

1. A driving assistance apparatus capable of being mounted on a subject vehicle and providing driving assistance for a driver of the subject vehicle, the apparatus comprising:

a nearby vehicle dimension acquisition means for acquiring an exterior dimension of a nearby vehicle running near the subject vehicle;

a running state information acquisition means for acquiring running state information indicating a running state of the nearby vehicle;

a space formation means for forming a nearby vehicle virtual solid which is three-dimensional using the exterior dimension of the nearby vehicle and for forming a virtual three-dimensional space associated with a moving locus of the nearby vehicle virtual solid by following a vehicular swept path of the nearby vehicle included in the running state information acquired by the running state information acquisition means;

a subject vehicle dimension acquisition means for acquiring an exterior dimension of the subject vehicle;

a passing determination means for forming a subject vehicle virtual solid which is three-dimensional using the exterior dimension of the subject vehicle and for determining whether the subject vehicle virtual solid is capable of passing through the virtual three-dimensional space; and

a notification control means for providing a notification to the subject vehicle of a determination result from the passing determination means as to whether or not the subject vehicle virtual solid which is three-dimensional is capable of passing through the virtual three-dimensional space.

2. The driving assistance apparatus of claim 1, comprising:

a position detection means for detecting a current position of the subject vehicle,

wherein the passing determination means is further for determining;

whether the subject vehicle virtual solid, when positioned at the current position, is contained in the virtual three-dimensional space formed by the space formation means;

that the subject vehicle virtual solid is able to pass through the virtual three-dimensional space when the subject vehicle virtual solid is contained in the virtual three-dimensional space; and

that the subject vehicle virtual solid is unable to pass through the virtual three-dimensional space when the subject vehicle virtual solid is not contained in the virtual three-dimensional space.

3. The driving assistance apparatus of claim 2, comprising:

a subject vehicle behavior detection means for detecting a first behavior of the subject vehicle,

wherein the passing determination means is further for adjusting a second behavior of the subject vehicle virtual solid to the first behavior of the subject vehicle and determines whether the subject vehicle virtual solid is contained in the virtual three-dimensional space.

4. The driving assistance apparatus of claim 2, wherein:

the nearby vehicle dimension acquisition means further acquires an exterior dimension of each of a plurality of nearby vehicles;

the running state information acquisition means acquires running state information about the each of the plurality of the nearby vehicles;

the space formation means forms a plurality of nearby vehicle virtual solids, each of the plurality of nearby vehicle virtual solids having the exterior dimension of the each of the plurality of nearby vehicles and forms a virtual three-dimensional space as a moving locus for the each of the plurality of the nearby vehicle virtual solids; and

the passing determination means;

uses a maximum allowable three-dimensional space that belongs to the virtual three-dimensional space and represents the moving locus based on a largest of the plurality of nearby vehicle virtual solids; and

is further for determining whether the subject vehicle virtual solid is contained in the maximum allowable three-dimensional space.

5. The driving assistance apparatus of claim 2, wherein:

the nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of nearby vehicles;

the running state information acquisition means acquires running state information about the each of the plurality of the nearby vehicles;

the space formation means forms a plurality of nearby vehicle virtual solids associated with the plurality of nearby vehicles and forms a virtual three-dimensional space as a moving locus for the each of the plurality of the nearby vehicle virtual solids, the virtual space three-dimensional including a frequent three-dimensional space that is most frequently formed; and

the passing determination means determines whether the subject vehicle virtual solid is contained in the frequent three-dimensional space.

6. The driving assistance apparatus of claim 1, further comprising a storage means for storing information representing the virtual three-dimensional space,

wherein the passing determination means, in the determining whether the subject vehicle virtual solid is capable of passing through the virtual three-dimensional space, reads the information representing the virtual three-dimensional space from the storage means.

7. The driving assistance apparatus of claim 4, wherein the notification control means is further for providing the notification based on the determination of whether the subject vehicle virtual solid is contained in the maximum allowable three-dimensional space.

8. The driving assistance apparatus of claim 5, wherein the notification control means is further for providing the notification based on the determination of whether the subject vehicle virtual solid is contained in the frequent three-dimensional space.

9. A driving assistance apparatus capable of being mounted on a subject vehicle and providing driving assistance for the subject vehicle, the apparatus comprising:

a nearby vehicle dimension acquisition means for acquiring an exterior dimension of a nearby vehicle running near the subject vehicle;

a running state information acquisition means for acquiring running state information indicating a running state of the nearby vehicle;

a space formation means for forming a nearby vehicle virtual solid which is three-dimensional using the exterior dimension of the nearby vehicle and for forming a virtual three-dimensional space as a moving locus of the nearby vehicle virtual solid, wherein the nearby vehicle virtual solid forms the moving locus by following a vehicular swept path for the nearby vehicle included in the running state information;

a subject vehicle dimension acquisition means for acquiring an exterior dimension of the subject vehicle; and

a passing determination means for forming a subject vehicle virtual solid which is three-dimensional, using the dimension of the subject vehicle and for determining whether the subject vehicle virtual solid is able to pass the virtual three-dimensional space formed by the space formation means,

wherein the driving assistance apparatus provides driving assistance for the subject vehicle based on a determination result from the passing determination means as to whether or not the subject vehicle virtual solid which is three-dimensional is capable of passing through the virtual three-dimensional space.

10. The driving assistance apparatus of claim 9, further comprising a position detection means for:

detecting a current position of the subject vehicle, the passing determination means further for determining whether the subject vehicle virtual solid, when positioned at the current position, is contained in the virtual three-dimensional space formed by the space formation means;

determining that the subject vehicle virtual solid is capable of passing through the virtual three-dimensional space when the subject vehicle virtual solid is contained in the virtual three-dimensional space; and

determining that the subject vehicle virtual solid is unable to pass the virtual three-dimensional space when the subject vehicle virtual solid is not contained in the virtual three-dimensional space.

11. The driving assistance apparatus of claim 10, further comprising a subject vehicle behavior detection means for detecting a first behavior of the subject vehicle,

wherein the passing determination means is further for adjusting a second behavior of the subject vehicle virtual solid to the first behavior and for determining whether the subject vehicle virtual solid is contained in the virtual three-dimensional space formed by the space formation means.

12. The driving assistance apparatus of claim 10, wherein:

the nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of nearby vehicles;

the running state information acquisition means acquires running state information about each of a plurality of the nearby vehicles;

the space formation means a plurality of nearby vehicle virtual solids associated with the plurality of nearby vehicles and forms a virtual three-dimensional space as a moving locus for each of a plurality of the nearby vehicle virtual solids; and

the passing determination means is further for;

using a three-dimensional space, hereafter referred to as a maximum allowable three-dimensional space, that belongs to the virtual three-dimensional space formed by the space formation means and represents a moving locus for a largest nearby vehicle virtual solid; and

determining whether the subject vehicle virtual solid is contained in the maximum allowable three-dimensional space.

13. The driving assistance apparatus of claim 10, wherein:

the nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of nearby vehicles;

the running state information acquisition means acquires running state information about each of a plurality of the nearby vehicles;

the space formation means a plurality of nearby vehicle virtual solids associated with the plurality of nearby vehicles and forms a virtual three-dimensional space as a moving locus for each of a plurality of the nearby vehicle virtual solids; and

the passing determination means is further for;

using a three-dimensional space, hereafter referred to as a frequent three-dimensional space, that belongs to the virtual three-dimensional space formed by the space formation means and is most frequently formed; and

determining whether or not the subject vehicle virtual solid is contained in the frequent three-dimensional space.

14. The driving assistance apparatus of claim 9, comprising:

a storage means for storing information representing the virtual three-dimensional space formed by the space formation means,

wherein the passing determination means reads information representing the virtual three-dimensional space stored in the storage means from the storage means.

15. The driving assistance apparatus of claim 9, further comprising a control support means for supporting a specified control object in the subject vehicle when the passing determination means determines that the subject vehicle virtual solid is unable to pass through the virtual three-dimensional space.

16. The driving assistance apparatus of claim 15, wherein:

the control object is a braking device provided for the subject vehicle; and

the control support means supports braking control using the braking device.

17. The driving assistance apparatus of claim 15, wherein:

the control object is an accelerator provided for the subject vehicle; and

the control support means supports throttle angle control using the accelerator.

18. The driving assistance apparatus of claim 15, wherein:

the control object is a steering unit provided for the subject vehicle; and

the control support means supports steering control using the steering unit.

19. The driving assistance apparatus of claim 9, further comprising:

a nearby vehicle behavior detection means for detecting a first behavior of the nearby vehicle, wherein;

the space formation means is further for adjusting a second behavior of the nearby vehicle virtual solid to the first behavior and for forming a virtual three-dimensional space as a moving locus of the nearby vehicle virtual solid; and

the nearby vehicle virtual solid is further for forming the moving locus by following a vehicular swept path acquired by the running state information acquisition means.

20. The driving assistance apparatus of claim 9, wherein:

the space formation means forms a new three-dimensional space by adding a specified extra space to a formed three-dimensional space.

21. The driving assistance apparatus of claim 9, wherein:

the nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of nearby vehicles;

the running state information acquisition means acquires running state information about the each of the plurality of the nearby vehicles;

the space formation means a plurality of nearby vehicle virtual solids associated with the plurality of nearby vehicles and forms a virtual three-dimensional space as a moving locus for the each of the plurality of the nearby vehicle virtual solids; and

the passing determination means is further for;

using a maximum allowable three-dimensional space associated with the virtual three-dimensional space and representing a moving locus for a largest one of the plurality of nearby vehicle virtual solids; and

determining whether the subject vehicle virtual solid is able to pass through the maximum allowable three-dimensional space.

22. The driving assistance apparatus of claim 9, wherein:

the nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of nearby vehicles;

the running state information acquisition means acquires running state information about the each of the plurality of the nearby vehicles;

the space formation means a plurality of nearby vehicle virtual solids associated with the plurality of nearby vehicles and forms a virtual three-dimensional space as a moving locus for the each of the plurality of the nearby vehicle virtual solids; and

the passing determination means uses a three-dimensional space, hereafter referred to as a frequent three-dimensional space, that belongs to the virtual three-dimensional space formed by the space formation means and is most frequently formed; and

determines whether or not the subject vehicle virtual solid is able to pass through the frequent three-dimensional space.

23. The driving assistance apparatus of claim 9, wherein:

the exterior dimensions of the nearby vehicle acquired by the nearby vehicle dimension acquisition means include an overall length, an overall width, and an overall height of the nearby vehicle; and

the exterior dimensions of the subject vehicle acquired by subject vehicle dimension acquisition means include an overall length, an overall width, and an overall height of the subject vehicle.

24. The driving assistance apparatus of claim 9, wherein:

the exterior dimensions of the nearby vehicle acquired by the nearby vehicle dimension acquisition means include a wheel base length, a tread length, and a gravity center height of the nearby vehicle; and

the exterior dimensions of the subject vehicle acquired by subject vehicle dimension acquisition means include a wheel base length, a tread length, and a gravity center height of the subject vehicle.

25. The driving assistance apparatus of claim 9, further comprising:

a communication apparatus for transmitting and receiving information between the subject vehicle and the nearby vehicle; and

a storage apparatus storing information representing the exterior dimension of one or more of the subject vehicle and the nearby vehicle;

wherein;

the nearby vehicle dimension acquisition means acquires the information representing the exterior dimension of the nearby vehicle using the communication apparatus; and

the subject vehicle dimension acquisition means acquires information representing an exterior dimension of the subject vehicle from the storage apparatus of the subject vehicle.

26. The driving assistance apparatus of claim 9, further comprising:

a detection apparatus for detecting a running state of the vehicle; and

a communication apparatus for transmitting and receiving information between the subject vehicle and the nearby vehicle,

wherein the information indicating the running state of the nearby vehicle is acquired from the communication apparatus.

27. The driving assistance apparatus of claim 9, wherein the nearby vehicle precedes the subject vehicle on a running route for the subject vehicle.

28. The driving assistance apparatus of claim 9, further comprising:

a storage means for storing information representing the virtual three-dimensional space formed by the space formation means,

wherein the passing determination means reads the information representing the virtual three-dimensional space stored in the storage means from the storage means.