Drive assist apparatus, method, and recording medium

• US 8,423,279 B2
• Filed: 11/24/2010
• Issued: 04/16/2013
• Est. Priority Date: 11/30/2009
• Status: Expired due to Fees

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Kitagawa, Eiji, Ikeda, Takuro
• Primary Examiner(s): Jen, Ian
• Application Number:
  US12/953,746
• Publication Number:
  US 20110130964A1
• Time in Patent Office: 874 Days
• Field of Search: 701/22, 701/23, 701/301, 701/410, 701/411, 701/414, 701/416, 701/417, 701/431, 701/457, 701/516, 701/532, 701/533, 701/70, 318/587, 340/990, 340/995.1, 340/995.21, 340/995.22, 362/465, 362/466, 362/467
• US Class Current: 701/301
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles

Abstract

A drive assist apparatus includes: a road-information storage unit storing road information; a traffic-signal information storage unit to store information regarding a traffic-signal change timing; a receiving unit to receive other-vehicle information; an obtaining unit to obtain host-vehicle information; a determining unit to determine whether the other vehicle becomes an obstacle to the host vehicle; and a calculating unit to calculate a recommended speed based on the host-vehicle information, the road information, and information regarding the traffic-signal change timing, when the other vehicle is determined to not become an obstacle to the host vehicle, and calculate the recommended speed based on the host-vehicle information, the road information, the information regarding the traffic-signal change timing, and an arrival delay time for avoiding an obstacle caused by the other vehicle, when the other vehicle is determined to become the obstacle to the host vehicle.

Claims

1. A drive assist apparatus comprising:

a road-information storage unit to store road information including positions of intersections on a road;

a traffic-signal information storage unit to store information regarding a presence/absence of a signal light at each of the intersections and information regarding change timing of a traffic signal of the signal light;

a receiving unit to receive other-vehicle information including information regarding a position and a speed of an other vehicle traveling ahead of a host vehicle;

an obtaining unit to obtain host-vehicle information including a speed of the host vehicle;

a determining unit to determine whether the other vehicle becomes an obstacle to travel of the host vehicle, by comparing the other-vehicle information and the host-vehicle information; and

a calculating unit to calculate a recommended speed on a basis of the host-vehicle information, the road information, and information regarding the traffic-signal change timing when the determining unit determines that the other vehicle does not become an obstacle to the travel of the host vehicle, and that calculates the recommended speed on a basis of the host-vehicle information, the road information, the information regarding the traffic-signal change timing, and an arrival delay time for avoiding an obstacle caused by the other vehicle when the determining unit determines that the other vehicle becomes the obstacle to the travel of the host vehicle.

2. The drive assist apparatus according to claim 1, wherein the determining unit determines a first time from when the other vehicle stops at a red signal ahead of the host vehicle until the other vehicle starts moving at a next green signal, on a basis of the other-vehicle information received from the other vehicle and the information regarding the traffic-signal change timing at the intersection located ahead of the host vehicle, and that determines whether the other vehicle becomes an obstacle to the travel of the host vehicle, on a basis of the first time.

3. The drive assist apparatus according to claim 1, further comprising:

a delay-time-information storage unit to store information of a second time for the other vehicle to complete a right turn or a left turn at the intersection;

wherein the receiving unit receives other-vehicle information including right-and-left turn information indicating that the other vehicle makes a right turn or a left turn at the intersection located ahead of the host vehicle, and

the determining unit refers to the second time information stored in the delay-time-information storage unit on a basis of the right-and-left turn information included in the other-vehicle information, and that determines whether the other vehicle becomes an obstacle to the travel of the host vehicle on a basis of the second time information.

4. The drive assist apparatus according to claim 1, further comprising:

a delay-time-information storage unit to store information of a third time for a vehicle to reach a normal travel speed when the vehicle merges into the road from a facility along the road or from a side road;

wherein the receiving unit receives other-vehicle information including merge information indicating that another vehicle merges ahead of the host vehicle, and

the determining unit refers to the third time information stored in the delay-time-information storage unit, on a basis of the merge information included in the other-vehicle information, and determines whether the other vehicle that merges ahead of the host vehicle becomes an obstacle to the travel of the host vehicle, on a basis of the third time.

5. The drive assist apparatus according to claim 1, further comprising:

a delay-time-information storage unit to store information of a fourth time for a vehicle to complete entry into a facility along the road;

wherein the receiving unit receives other-vehicle information including destination information indicating that a destination of the other vehicle is the facility along the road, and

the determining unit refers to the fourth time information stored in the delay-time-information storage unit, on a basis of the destination information included in the other-vehicle information, and determines whether the other vehicle becomes an obstacle to the travel of the host vehicle, on a basis of the fourth time.

6. A non-transitory computer-readable medium for recording a program allowing a computer to execute:

receiving other-vehicle information including information regarding a position and a speed of an other vehicle traveling ahead of a host vehicle;

obtaining host-vehicle information including a speed of the host vehicle;

determining whether the other vehicle becomes an obstacle to travel of the host vehicle, by comparing the other-vehicle information and the host-vehicle information;

calculating a recommended speed on a basis of the host-vehicle information, road information including a distance between intersections, and information regarding change timing of a traffic signals at the intersection, when it is determined that the other vehicle does not become an obstacle to the travel of the host vehicle, and calculating the recommended speed on a basis of the host-vehicle information, the road information, the information regarding the change timing at the traffic signals, and an arrival delay time for avoiding an obstacle caused by the other vehicle, when it is determined that the other vehicle becomes the obstacle to the travel of the host vehicle; and

outputting the recommended speed calculated by the calculating.

7. The non-transitory computer-readable medium according to claim 6, wherein, in the determining, a first time from when the other vehicle stops at a red signal ahead of the host vehicle until the other vehicle starts moving at a next green signal is determined on a basis of the other-vehicle information received from the other vehicle and the information regarding the change timing of the traffic signal at the intersection located ahead of the host vehicle, and whether the other vehicle becomes an obstacle to the travel of the host vehicle is determined on a basis of the first time.

8. The non-transitory computer-readable medium according to claim 6, wherein, in the receiving, other-vehicle information including right-and-left turn information indicating that the other vehicle makes a right turn or a left turn at the intersection located ahead of the host vehicle;

and

in the determining, information of a second time for the other vehicle to complete the right turn or the left turn at the intersection, the second time information being stored in a delay-time information storage unit, is referred to on a basis of the right-and-left turn information included in the other-vehicle information, and whether the other vehicle becomes an obstacle to the travel of the host vehicle is determined on a basis of the second time information.

9. The non-transitory computer-readable medium according to claim 6, wherein, in the receiving, other-vehicle information including merge information indicating that another vehicle merges ahead of the host vehicle is received, and

in the determining, information of a third time for a vehicle to reach a normal travel speed when the vehicle merges into a road from a facility along the road or from a side road, the third time information being stored in a delay-time information storage unit, is referred to on a basis of the merge information included in the other-vehicle information, and whether the other vehicle that merges ahead of the host vehicle becomes an obstacle to the travel of the host vehicle is determined on a basis of the third time.

10. The non-transitory computer-readable medium according to claim 6, wherein, in the receiving, other-vehicle information including destination information indicating that a destination of the other vehicle is a facility along a road is received;

and

in the determining, information of a fourth time for a vehicle to complete entry into the facility along the road, the fourth time information being stored in a delay-time information storage unit, is referred to on a basis of the destination information included in the other-vehicle information, and whether the other vehicle becomes an obstacle to the travel of the host vehicle is determined on a basis of the fourth time.

11. A method of drive assist, the method comprising:

receiving vehicle information from each of a first vehicle and a second vehicle, the vehicle information including a vehicle speed;

determining whether the first vehicle becomes an obstacle to travel of the second vehicle, by comparing the vehicle information of the first vehicle and the vehicle information of the second vehicle;

calculating a recommended speed for the second vehicle on a basis of the vehicle information of the second vehicle, road information including a distance between intersections, and information regarding change timing of a traffic signal at each intersection, when it is determined that the first vehicle does not become an obstacle to the travel of the host vehicle, and calculating the recommended speed on a basis of the vehicle information of the second vehicle, the road information, the information regarding the change timing of the traffic signal, and an arrival delay time for avoiding an obstacle caused by the first vehicle, when it is determined that the first vehicle becomes the obstacle to the travel of the second vehicle; and

transmitting the recommended speed calculated by the calculating to the second vehicle.

12. The method according to claim 11, wherein, in the determining, a first time from when the second vehicle stops at a red signal ahead of the first vehicle until the second vehicle starts moving at a next green signal is determined on a basis of the vehicle information of the second vehicle and the information regarding the change timing of the traffic signal at the intersection located ahead of the first vehicle, and whether the second vehicle becomes an obstacle to the travel of the first vehicle is determined on a basis of the first time.

13. The method according to claim 11, wherein, in the receiving, vehicle information of the second vehicle including right-and-left turn information indicating that the second vehicle makes a right turn or a left turn at the intersection located ahead of the first vehicle;

and

in the determining, information of a second time for the second vehicle to complete the right turn or the left turn at the intersection, the second time information being stored in a delay-time information storage unit, is referred to on a basis of the right-and-left turn information included in the other-vehicle information, and whether the other vehicle becomes an obstacle to the travel of the first vehicle is determined on a basis of the second time information.

14. The method according to claim 11, wherein, in the receiving, vehicle information of an other vehicle including merge information indicating that the other vehicle merges ahead of the first vehicle is received, and

in the determining, information of a third time for a vehicle to reach a normal travel speed when the vehicle merges into a road from a facility along the road or from a side road, the third time information being stored in a delay-time information storage unit, is referred to on a basis of the merge information included in the other vehicle information, and whether the other vehicle that merges ahead of the first vehicle becomes an obstacle to the travel of the host vehicle is determined on a basis of the third time.

15. The method according to claim 11, wherein, in the receiving, vehicle information of an other vehicle including destination information indicating that a destination of the other vehicle is a facility along a road is received;

and

in the determining, information of a fourth time for a vehicle to complete entry into the facility along the road, the fourth time information being stored in a delay-time information storage unit, is referred to on a basis of the destination information included in the other vehicle information, and whether the other vehicle becomes an obstacle to the travel of the first vehicle is determined on a basis of the fourth time.