Avoidance maneuver calculation device, avoidance control device, vehicle having each device, avoidance maneuver calculating method, and avoidance controlling method

• US 8,392,104 B2
• Filed: 03/19/2007
• Issued: 03/05/2013
• Est. Priority Date: 03/22/2006
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nishira, Hikaru, Deguchi, Yoshitaka
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): TISSOT, ADAM D
• Application Number:
  US12/293,704
• Publication Number:
  US 20100235035A1
• Time in Patent Office: 2,178 Days
• Field of Search: 701/23, 701/41, 701/43, 701/301, 180/421, 180/443, 180/280, 342/70, 342/71, 348/119, 348/148
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0033 Single-track, 2D vehicle model, i.e. two-wheel bicycle model
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• 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

Provided is an avoidance maneuver calculation device that calculates a driving maneuver amount that enables an automotive vehicle to avoid an obstacle within a travelable range of a road. The device includes: a road boundary detector for detecting a road 13 where a vehicle 12 is traveling and a boundary section thereof; an obstacle detector for detecting an obstacle 14 existing on the road 13; an automotive vehicle information detector for detecting information on the vehicle 12; and an avoidance maneuver calculator 28 for calculating a maneuver amount for avoiding the obstacle 14 on the road 13.

Claims

1. An avoidance maneuver calculation device comprising:

a road boundary detector configured to detect a road located ahead of an automotive vehicle and on which the automotive vehicle is traveling, and a boundary section of the road;

an obstacle detector configured to detect an obstacle existing on the road ahead of the automotive vehicle;

an automotive vehicle information detector configured to detect an attitude angle formed by a traveling direction of the automotive vehicle with respect to a direction of the road, a position of the automotive vehicle on the road, and a speed of the automotive vehicle; and

an avoidance maneuver calculator configured to calculate an optimum maneuver amount for avoiding the obstacle on the road, based on detection information from the detectors, wherein the avoidance maneuver calculator comprises;

an attitude angle target value setting unit configured to set, as a target attitude angle, a target of an attitude angle at a time after the automotive vehicle avoids and passes the obstacle, wherein the target attitude angle is set according to a location on the road where the automotive vehicle is predicted to reach after the automotive vehicle avoids and passes the obstacle,

an evaluation function setting unit configured to set up an evaluation function that evaluates a plurality of predicted traveling loci of the automotive vehicle corresponding to a plurality of possible maneuver amounts, the evaluation function evaluating a vehicle condition in the plurality of predicted traveling loci, wherein the evaluation of the vehicle condition is based at least on a state of attitude of the automotive vehicle calculated using (i) the target attitude angle, and (ii) a plurality of predicted attitude angles that are the attitude angles that the automotive vehicle on the plurality of predicted traveling loci is predicted to have at the time after the automotive vehicle avoids and passes the obstacle, and

an optimum maneuver amount calculator configured to calculate the optimum maneuver amount based on a minimum value obtained from the evaluation function.

2. The avoidance maneuver calculation device according to claim 1, wherein the evaluation function setting unit is further configured to:

set, as an avoidance time, a predicted time of accession of the automotive vehicle to a position of the obstacle, based on the evaluation starting time being and on a vehicle speed of the automotive vehicle at the evaluation starting time,

sets, as an evaluation ending time, the time after the automotive vehicle avoids and passes the obstacle and when a predicted avoidance maneuver is over, and

sets up the evaluation function to evaluate the vehicle condition in the predicted traveling loci in a period from the evaluation starting time to the evaluation ending time, wherein the evaluation of the vehicle condition is further based on a state of accession of the automotive vehicle to the obstacle, and a state of accession of the automotive vehicle to the boundary section of the road.

3. The avoidance maneuver calculation device according to claim 2, wherein

an output value of the evaluation function becomes smaller as a clearance between the obstacle and the automotive vehicle and a clearance between the boundary section and the automotive vehicle become greater, and also as a difference between the predicted attitude angle and the target attitude angle becomes smaller, and

the optimum maneuver amount calculator calculates the optimum maneuver amount for the automotive vehicle at the evaluation starting time.

4. The avoidance maneuver calculation device according to claim 3, wherein

the avoidance maneuver calculator comprises an obstacle movement locus prediction unit that predicts a movement locus of the obstacle, based on information on the obstacle detected by the obstacle detector, and

the evaluation function setting unit uses, as the state of accession of the automotive vehicle to the obstacle, a state of accession of the automotive vehicle to the obstacle, based on the movement locus of the obstacle predicted by the obstacle movement locus prediction unit.

5. The avoidance maneuver calculation device according to claim 3, wherein

the evaluation function comprises the state of attitude of the automotive vehicle, the state being determined by a target traveling position where the automotive vehicle reaches at the evaluation ending time and a predicted traveling position of the automotive vehicle at the evaluation ending time calculated by use of the predicted traveling locus, and

an output value of the evaluation function becomes smaller as a clearance between the target traveling position and the predicted traveling position becomes smaller.

6. The avoidance maneuver calculation device according to claim 5, further comprising:

a dividing line detector a lane dividing line drawn on the road on which the automotive vehicle is traveling, wherein

the avoidance maneuver calculator judges a lane on the road based on information on the lane dividing line from the dividing line detector,

the target traveling position is set on the lane on which the automotive vehicle is currently traveling, and

the target attitude angle is set up so as to orient the automotive vehicle in a direction to return to the lane on which the automotive vehicle is currently traveling.

7. The avoidance maneuver calculation device according to claim 5, further comprising:

a dividing line detector a lane dividing line drawn on the road on which the automotive vehicle is traveling, wherein;

the avoidance maneuver calculator judges a lane on the road based on information on the lane dividing line from the dividing line detector,

the target traveling position is set on a lane parallel to the lane on which the automotive vehicle is currently traveling, and

the target attitude angle is set up so as to orient the automotive vehicle to the parallel lane.

8. The avoidance maneuver calculation device according to claim 5, further comprising:

a track shape information acquisition unit that acquires track shape information on the road, wherein

the attitude angle target value setting unit sets up the target attitude angle of the automotive vehicle so as to align the traveling direction of the automotive vehicle with a direction to a position on the road where the automotive vehicle reaches at the evaluation ending time calculated based on the speed of the automotive vehicle at the evaluation starting time.

9. The avoidance maneuver calculation device according to claim 2, wherein

the avoidance maneuver calculator divides a time period from the evaluation starting time to the evaluation ending time into predetermined intervals and acquires the information detected by the road boundary detector, the obstacle detector, and the automotive vehicle information detector at each of the predetermined intervals,

the evaluation function setting unit applies the detection information from the detectors to the evaluation function at each of the predetermined intervals,

the attitude angle target value setting unit sets up the target attitude angle at each of the predetermined intervals, and

the optimum maneuver amount calculator calculates an optimum driving maneuver amount for the automotive vehicle at each of the predetermined intervals.

10. The avoidance maneuver calculation device according to claim 3, wherein

the evaluation function comprises a state of maneuver of a driving maneuver amount made for the automotive vehicle, and

an output value of the evaluation function becomes smaller as the driving maneuver amount made for the automotive vehicle becomes smaller.

11. An avoidance control device comprising:

the avoidance maneuver calculation device according to claim 1; and

a vehicle motion controller that performs a driving maneuver of the automotive vehicle by an optimum driving maneuver amount calculated by the avoidance maneuver calculation device.

12. The avoidance control device according to claim 11, wherein the vehicle motion controller controls an operation of at least one of a steering mechanism of the automotive vehicle and a braking mechanism of the automotive vehicle.

13. A vehicle comprising the avoidance maneuver calculation device according to claim 1.

14. A vehicle comprising the avoidance control device according to claim 11.

15. An avoidance maneuver calculating method comprising:

detecting, using a road boundary detector, a road located ahead of an automotive vehicle and on which the automotive vehicle is traveling, and a boundary section of the road;

detecting using an obstacle detector, an obstacle existing on the road ahead of the automotive vehicle;

detecting, using an automotive vehicle information detector, an attitude angle formed by a traveling direction of the automotive vehicle with respect to a direction of the road, a position of the automotive vehicle on the road, and a speed of the automotive vehicle; and

calculating, using an avoidance maneuver calculator, an optimum maneuver amount for avoiding the obstacle on the road, based on the detection information, wherein the calculation of the optimum maneuver amount includes;

setting, as a target attitude angle, a target of an attitude angle at a time after the automotive vehicle avoids and passes the obstacle, wherein the target attitude angle is set according to a location on the road where the automotive vehicle is predicted to reach after the automotive vehicle avoids and passes the obstacle,

setting up an evaluation function that evaluates a plurality of predicted traveling loci of the automotive vehicle corresponding to a plurality of possible maneuver amounts, the evaluation function evaluating a vehicle condition in the plurality of predicted traveling loci, wherein the evaluation of the vehicle condition is based at least on a state of attitude of the automotive vehicle calculated using (i) the target attitude angle, and (ii) a plurality of predicted attitude angles that are the attitude angles that the automotive vehicle on the plurality of predicted traveling loci is predicted to have at the time after the automotive vehicle avoids and passes the obstacle, and

calculating the optimum maneuver amount based on a minimum value obtained from the evaluation function.

16. The avoidance maneuver calculating method according to claim 15, further comprising:

setting, as an evaluation starting time, a time of detection of the obstacle,

setting, as an avoidance time, a predicted time of accession of the automotive vehicle to a position of the obstacle, based on the evaluation starting time and on a vehicle speed of the automotive vehicle at the evaluation starting time,

setting, as an evaluation ending time, the time when a predicted avoidance maneuver is over, and

setting up the evaluation function to evaluate the vehicle condition in the predicted traveling locus loci in a period from the evaluation starting time to the evaluation ending time, wherein the evaluation of the vehicle condition is further based on a state of accession of the automotive vehicle to the obstacle, and a state of accession of the automotive vehicle to the boundary section of the road.

17. The avoidance maneuver calculating method according to claim 16, wherein

an output value of the evaluation function becomes smaller as a clearance between the obstacle and the automotive vehicle and a clearance between the boundary section and the automotive vehicle become greater, and also as a difference between the predicted attitude angle and the target attitude angle becomes smaller, and

the step of calculating the optimum maneuver amount comprises calculating the optimum maneuver amount for the automotive vehicle at the evaluation starting time.

18. The avoidance maneuver calculating method according to claim 17, further comprising:

predicting a movement locus of the obstacle, based on information on the detected obstacle; and

using, as the state of accession of the automotive vehicle to the obstacle, a state of accession of the automotive vehicle to the obstacle, based on the predicted movement locus of the obstacle.

19. The avoidance maneuver calculating method according to claim 17, wherein

the evaluation function comprises the state of attitude of the automotive vehicle, the state being determined by a target traveling position where the automotive vehicle reaches at the evaluation ending time and a predicted traveling position of the automotive vehicle at the evaluation ending time calculated by use of the predicted traveling locus, and

an output value of the evaluation function becomes smaller as a clearance between the target traveling position and the predicted traveling position becomes smaller.

20. The avoidance maneuver calculating method according to claim 19, further comprising:

detecting a lane dividing line drawn on the road on which the automotive vehicle is traveling;

judging a lane on the road based on information on the lane dividing line;

setting up the target traveling position on the lane on which the automotive vehicle is currently traveling; and

setting up the target attitude angle so as to orient the automotive vehicle in a direction to return to the lane on which the automotive vehicle is currently traveling.

21. The avoidance maneuver calculating method according to claim 19, further comprising:

detecting a lane dividing line drawn on the road on which the automotive vehicle is traveling;

judging a lane on the road based on information on the lane dividing line;

setting up the target traveling position on a lane parallel to the lane on which the automotive vehicle is currently traveling; and

setting up the target attitude angle so as to orient the automotive vehicle to the parallel lane.

22. The avoidance maneuver calculating method according to claim 19, further comprising:

acquiring track shape information on the road; and

setting up the target attitude angle of the automotive vehicle so as to align the traveling direction of the automotive vehicle with a direction to a position on the road where the automotive vehicle reaches at the evaluation ending time calculated based on the speed of the automotive vehicle at the evaluation starting time.

23. The avoidance maneuver calculating method according to claim 16, further comprising:

dividing a time period from the evaluation starting time to the evaluation ending time into predetermined intervals and acquiring the detection information at each of the predetermined intervals;

applying the detection information to the evaluation function at each of the predetermined intervals,

setting up the target attitude angle at each of the predetermined intervals; and

calculating an optimum driving maneuver amount for the automotive vehicle at each of the predetermined intervals.

24. The avoidance maneuver calculating method according to claim 17, wherein

the evaluation function comprises a state of maneuver of a driving maneuver amount made for the automotive vehicle, and

an output value of the evaluation function becomes smaller as the driving maneuver amount made for the automotive vehicle becomes smaller.

25. An avoidance controlling method comprising:

performing driving maneuver of the automotive vehicle by an optimum driving maneuver amount calculated by the avoidance maneuver calculating method according to claim 15.

26. The avoidance controlling method according to claim 25, comprising:

controlling an operation of at least one of a steering mechanism of the automotive vehicle and a braking mechanism of the automotive vehicle.

27. An avoidance maneuver calculation device comprising:

road boundary detecting means for detecting a road located ahead of an automotive vehicle and on which the automotive vehicle is traveling and a boundary section of the road;

obstacle detecting means for detecting an obstacle existing on the road ahead of the automotive vehicle;

automotive vehicle information detecting means for detecting an attitude angle formed by a traveling direction of the automotive vehicle with respect to a direction of the road, a position of the automotive vehicle on the road, and a speed of the automotive vehicle; and

avoidance maneuver calculating means for calculating an optimum maneuver amount for avoiding the obstacle on the road, based on information from the detecting means, wherein the avoidance maneuver calculating means comprises;

attitude angle target value setting unit for setting, as a target attitude angle, a target of an attitude angle at a time after the automotive vehicle avoids and passes the obstacle, wherein the target attitude angle is set according to a location on the road where the automotive vehicle is predicted to reach after the automotive vehicle avoids and passes the obstacle,

evaluation function setting unit for setting up an evaluation function that evaluates a plurality of predicted traveling loci of the automotive vehicle corresponding to a plurality of possible maneuver amounts, the evaluation function evaluating a vehicle condition in the plurality of predicted traveling loci, wherein the evaluation of the vehicle condition is based at least on a state of attitude of the automotive vehicle calculated using (i) the target attitude angle, and (ii) a plurality of predicted attitude angles that are the attitude angles that the automotive vehicle on the plurality of predicted traveling loci is predicted to have at the time after the automotive vehicle avoids and passes the obstacle, and

optimum maneuver amount calculating means for calculating the optimum maneuver amount for avoiding the obstacle based on a minimum value obtained from the evaluation function.