Apparatus for travel support

• US 8,280,588 B2
• Filed: 08/04/2009
• Issued: 10/02/2012
• Est. Priority Date: 08/06/2008
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Sawada, Mamoru, Inou, Hiroshi
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US12/462,416
• Publication Number:
  US 20100036563A1
• Time in Patent Office: 1,155 Days
• Field of Search: 701/36, 701/41, 701/42, 701/93, 701/96, 701/300, 701/301, 701/514
• US Class Current: 701/41
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165

Abstract

A travel support apparatus sets a travel locus of a vehicle based on a gaze point of a driver of the vehicle. By utilizing the gaze point, the travel locus is calculated and set for the travel control of the vehicle, especially for a curved portion of a road, in a matching manner that the calculated travel locus approximates the travel locus created by the steering operation of the driver. The above locus calculation scheme generates a natural travel locus because the driver of the vehicle usually gazes at an exit of the curved portion of the road when he/she steers the vehicle on the road. The natural travel locus calculated and set by the travel support apparatus prevents the driver from having discomfort and/or unsafe feeling while the travel of the vehicle is controlled by the apparatus.

Claims

1. A travel support apparatus comprising:

a gaze point set unit for setting a gaze point of a driver of a movable body;

a trajectory set unit for setting a trajectory of the movable body based on the gaze point set by the gaze point set unit;

a position acquisition unit for acquiring, as environment information, a position of an object existing at a proximity of the movable body;

a motion acquisition unit for acquiring, as motion information, a motion of the movable body; and

an observed motion calculation unit for calculating, based on a retina sphere model that models a retina of a driver of the movable body together with the environment information and motion information, observed motion representative of motion information of the object in the retina coordinate system for the purpose of quantification of a vision of the driver of the movable body, wherein

the movable body travel on a road,

the observed motion calculation unit calculates the observed motion, for each of multiple grid points, by drawing grid lines on the traveled road orthogonally in a crossing manner at preset intervals, the grid lines formed by the multiple grid points respectively serving as trajectory candidate points, and

the trajectory set unit connects the gaze point and minimum motion grid points that are determined, on each of the grid lines, to have minimum observed motion to set the trajectory of the movable body.

2. The travel support apparatus of claim 1, wherein

the gaze point set unit sets the gaze point of the driver based on the environment information acquired by the position information unit and the motion information of the movable body acquired by the motion acquisition unit.

3. The travel support apparatus of claim 2, wherein

the gaze point set unit sets the gaze point of the driver based on the observed motion calculated by the observed motion calculation unit.

4. The travel support apparatus of claim 3, wherein

the observed motion calculation unit calculates observed motions of multiple points on the road traveled by the movable body, and

the gaze point set unit sets, as the gaze point, a minimum motion point that minimizes the observed motion from among the multiple points on the road.

5. The travel support apparatus of claim 1, wherein

a driver camera for capturing the driver of the movable body is included to capture a driver image of the driver that at least includes an image of an eye of the driver, and

the gaze point set unit sets the gaze point by analyzing the driver image captured by the driver camera.

6. The travel support apparatus of claim 1, wherein

a front camera for capturing a front image in a travel direction of the movable body is disposed on the movable body, and

the gaze point set unit sets the gaze point based on an optical flow in the front image captured by the front camera.

7. The travel support apparatus of claim 1 further comprising a trajectory control unit for performing trajectory control of the movable body by comparing a target trajectory of the movable body set by the trajectory set unit with a current trajectory calculated based on a current condition of the movable body.

8. The travel support apparatus of claim 7, wherein

the movable body has a front wheel and a rear wheel, and

the trajectory control unit shifts a load balance between the front wheel and the rear wheel for performing the trajectory control of the movable body.

9. The travel support apparatus of claim 7, wherein

the trajectory control unit changes a steering assist torque for performing the trajectory control.

10. The travel support apparatus of claim 1 further comprising a consciousness determination unit is provided so as to perform consciousness determination of the driver of the movable body by comparing a target trajectory of the movable body set by the trajectory set unit and a current trajectory calculated based on a current condition of the movable body.

11. A travel support apparatus comprising:

a gaze point set unit for setting a gaze point of a driver of a movable body;

a trajectory set unit for setting a trajectory of the movable body based on the gaze point set by the gaze point set unit;

a trajectory control unit for performing trajectory control of the movable body by comparing a target trajectory of the movable body set by the trajectory set unit with a current trajectory calculated based on a current condition of the movable body;

wherein

the movable body has a front wheel and a rear wheel, and

the trajectory control unit shifts a load balance between the front wheel and the rear wheel for performing the trajectory control of the movable body.