Branch-lane entry judging system

• US 8,447,484 B2
• Filed: 06/19/2008
• Issued: 05/21/2013
• Est. Priority Date: 06/22/2007
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Saito, Toru, Maruyama, Tasuku
• Primary Examiner(s): SHAPIRO, JEFFREY ALAN
• Application Number:
  US12/141,975
• Publication Number:
  US 20090157286A1
• Time in Patent Office: 1,797 Days
• Field of Search: 701/117, 701/208, 701/301, 701/302, 701/36, 701/41, 701/70, 701/93, 701/300, 382104-107, 382/121, 382/171, 382/172, 382/184, 180169-179, 340/901
• US Class Current: 701/70
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

A branch-lane entry judging system includes a traffic-line detecting means for detecting traffic lines on right and left sides of a vehicle, a length and width detecting means for detecting lengths and widths of the traffic lines in a real space, a lane-type judging means for judging types of the traffic lines and a type of a lane in which the vehicle is running, a branch-lane detecting means for detecting a branch lane when one of the traffic lines changes from a solid line to a broken line having a predetermined length and a predetermined width, the branch lane existing near the changed traffic line, and a branch-lane entry judging means for judging that the vehicle will enter the branch lane when the vehicle moves toward the branch lane or a directional indicator is operated toward the branch lane while the branch lane is detected.

Claims

1. A branch-lane entry judging system comprising:

traffic-line detecting means configured to detect traffic lines on right and left sides of a vehicle;

length and width detecting means configured to detect lengths and widths, in a traveling direction of the vehicle on a real space, of the traffic lines detected by the traffic-line detecting means;

lane-type judging means configured to judge types of the traffic lines and judge a type of a lane in which the vehicle is running, on the basis of a result of detection performed by the length and width detecting means;

branch-lane detecting means configured to detect the existence of a branch lane when detecting, on the basis of the result of detection performed by the length and width detecting means, that one of the traffic lines changes from a solid line to a broken line having a predetermined length and a predetermined width, the branch lane existing near the changed traffic line;

branch-lane entry judging means configured to judge that the vehicle will enter the branch lane when the vehicle moves toward the branch lane, or when a directional indicator is operated toward the branch lane;

control means configured to output a deceleration signal for decelerating the vehicle when;

the length and width detecting means detects that both the traffic lines on the right and left sides of the vehicle have changed to solid lines,

while a predetermined time passes or while the vehicle runs by a predetermined distance,

after the branch-lane entry judging means judges that the vehicle will enter the branch lane; and

history holding means configured to hold a sampling period history, said history including data representative of a traffic line status in a previous sampling period,

wherein the system is configured to judge, with reference to the history held by the history holding means, that the one of the traffic lines changes from a solid line to a broken line.

2. The branch-lane entry judging system according to claim 1, wherein the control means is configured to output an acceleration-prohibiting signal for prohibiting acceleration of the vehicle when the branch-lane entry judging means judges that the vehicle will enter the branch lane.

3. The branch-lane entry judging system according to claim 1, wherein the control means is configured to stop output of the deceleration signal when at least one of the traffic lines on the right and left sides of the vehicle is not detected by the length and width detecting means after the output of the deceleration signal starts.

4. The branch-lane entry judging system according to claim 1, wherein the control means is configured to stop output of the deceleration signal when:

a predetermined time passes,

the vehicle runs by a predetermined distance, or

a speed of the vehicle falls below a predetermined speed,

after the output of the deceleration signal starts.

5. The branch-lane entry judging system according to claim 3, wherein the control means is configured to output a signal for stopping a constant-speed running control of the vehicle when the output of the deceleration signal is stopped.

6. The branch-lane entry judging system according to claim 4, wherein the control means is configured to output a signal for stopping a constant-speed running control of the vehicle when the output of the deceleration signal is stopped.

7. The branch-lane entry judging system according to claim 1, wherein the control means is configured to stop output of the deceleration signal when a curvature of a road becomes more than or equal to a predetermined curvature after the length and width detecting means detects that both the traffic lines on the right and left sides of the vehicle have changed to solid lines.

8. The branch-lane entry judging system according to claim 2, wherein the control means is configured to stop output of the acceleration-prohibiting signal when the length and width detecting means detects:

that the one of the traffic lines is a broken line having the predetermined length and the predetermined width,

while a predetermined time passes or the vehicle runs by a predetermined distance,

after the branch-lane entry judging means judges that the vehicle will enter the branch lane.

9. The branch-lane entry judging system according to claim 7, wherein the control means is configured to output a signal for a constant-speed running control of the vehicle when the output of the deceleration signal or an acceleration-prohibiting signal is stopped.

11. The branch-lane entry judging system according to claim 2, further comprising:

preceding-vehicle detecting means configured to detect a preceding vehicle, wherein

the control means is configured such that when the acceleration-prohibiting signal or the deceleration signal is output by the control means, a deceleration calculated from a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle detected by the preceding-vehicle detecting means is output, and

the control means is configured to compare the output deceleration and a deceleration based on the acceleration-prohibiting signal or the deceleration signal, and to perform control while giving priority to the deceleration, of the compared decelerations, having a larger absolute value.

12. The branch-lane entry judging system according to claim 1, further comprising:

preceding-vehicle detecting means configured to detect a preceding vehicle, wherein

the control means is configured such that when an acceleration-prohibiting signal or the deceleration signal is output by the control means, a deceleration calculated from a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle detected by the preceding-vehicle detecting means is output, and

the control means is configured to compare the output deceleration and a deceleration based on the acceleration-prohibiting signal or the deceleration signal, and perform control while giving priority to the deceleration having a larger absolute value.

13. The branch-lane entry judging system according to claim 2, further comprising:

preceding-vehicle detecting means configured to detect a preceding vehicle,

wherein, the control means is configured such that when the preceding vehicle is detected by the preceding-vehicle detecting means, the control means outputs a signal for a preceding-vehicle follow control so that the vehicle follows the preceding vehicle.

14. The branch-lane entry judging system according to claim 1, further comprising:

preceding-vehicle detecting means configured to detect a preceding vehicle,

wherein, the control means is configured such that when the preceding vehicle is detected by the preceding-vehicle detecting means, the control means outputs a signal for a preceding-vehicle follow control so that the vehicle follows the preceding vehicle.

16. The branch-lane entry judging system according to claim 1, wherein, the control means is configured to output a signal for a constant-speed running control of the vehicle when the directional indicator is operated in a direction opposite the branch lane.

18. The branch-lane entry judging system according to claim 1, wherein, the branch-lane entry judging means is configured to judge that the vehicle will enter the branch lane when the vehicle moves toward the branch lane, or when a directional indicator is operated toward the branch lane, while the branch-lane detecting means is detecting the branch lane.

23. The branch-lane entry judging system according to claim 16, wherein the control means is configured such that,

after a constant-speed running control of the vehicle is stopped due to a judgment that the vehicle will enter the branch lane, and

after a directional indicator is operated in a direction opposite the branch lane, the control means outputs a signal to return the vehicle to the constant-speed running control.

10. A branch-lane entry judging system comprising:

traffic-line detecting means configured to detect traffic lines on right and left sides of a vehicle;

length and width detecting means configured to detect lengths and widths, in a traveling direction of the vehicle on a real space, of the traffic lines detected by the traffic-line detecting means;

lane-type judging means configured to judge types of the traffic lines and judge a type of a lane in which the vehicle is running, on the basis of a result of detection performed by the length and width detecting means;

branch-lane detecting means configured to detect the existence of a branch lane when detecting, on the basis of the result of detection performed by the length and width detecting means, that one of the traffic lines changes from a solid line to a broken line having a predetermined length and a predetermined width, the branch lane existing near the changed traffic line;

branch-lane entry judging means configured to judge that the vehicle will enter the branch lane when the vehicle moves toward the branch lane, or when a directional indicator is operated toward the branch lane;

control means configured to output an acceleration-prohibiting signal for prohibiting acceleration of the vehicle when the branch-lane entry judging means judges that the vehicle will enter the branch lane; and

history holding means configured to hold a sampling period history, said history including data representative of a traffic line status in a previous sampling period, wherein

the system is configured to judge, with reference to the history held by the history holding means, that the one of the traffic lines changes from a solid line to a broken line,

the control means is configured to stop output of the acceleration-prohibiting signal when;

the length and width detecting means detects that the one of the traffic lines is a broken line having the predetermined length and the predetermined width,

while a predetermined time passes or the vehicle runs by a predetermined distance,

after the branch-lane entry judging means judges that the vehicle will enter the branch lane, and

the control means is configured to output a signal for a constant-speed running control of the vehicle when the output of a deceleration signal or the acceleration-prohibiting signal is stopped.

19. The branch-lane entry judging system according to claim 10, wherein, the branch-lane entry judging means is configured to judge that the vehicle will enter the branch lane when the vehicle moves toward the branch lane, or when a directional indicator is operated toward the branch lane, while the branch-lane detecting means is detecting the branch lane.

15. A branch-lane entry judging system comprising:

traffic-line detecting means configured to detect traffic lines on right and left sides of a vehicle;

length and width detecting means configured to detect lengths and widths, in a traveling direction of the vehicle on a real space, of the traffic lines detected by the traffic-line detecting means;

lane-type judging means configured to judge types of the traffic lines and judge a type of a lane in which the vehicle is running, on the basis of a result of detection performed by the length and width detecting means;

branch-lane detecting means configured to detect the existence of a branch lane when detecting, on the basis of the result of detection performed by the length and width detecting means, that one of the traffic lines changes from a solid line to a broken line having a predetermined length and a predetermined width, the branch lane existing near the changed traffic line;

branch-lane entry judging means configured to judge that the vehicle will enter the branch lane when the vehicle moves toward the branch lane, or when a directional indicator is operated toward the branch lane;

control means configured to output an acceleration-prohibiting signal for prohibiting acceleration of the vehicle when the branch-lane entry judging means judges that the vehicle will enter the branch lane; and

history holding means configured to hold a sampling period history, said history including data representative of a traffic line status in a previous sampling period, wherein

the system is configured to judge, with reference to the history held by the history holding means, that the one of the traffic lines changes from a solid line to a broken line, and

the control means is configured to output a signal for a constant-speed running control of the vehicle when the directional indicator is operated in a direction opposite the branch lane.

20. The branch-lane entry judging system according to claim 15, wherein, the branch-lane entry judging means is configured to judge that the vehicle will enter the branch lane when the vehicle moves toward the branch lane, or when a directional indicator is operated toward the branch lane, while the branch-lane detecting means is detecting the branch lane.

22. The branch-lane entry judging system according to claim 15, wherein the control means is configured such that,

after a constant-speed running control of the vehicle is stopped due to a judgment that the vehicle will enter the branch lane, and

after a directional indicator is operated in a direction opposite the branch lane, the control means outputs a signal to return the vehicle to the constant-speed running control.

17. A branch-lane entry judging system comprising:

traffic-line detecting means configured to detect traffic lines on right and left sides of a vehicle;

length and width detecting means configured to detect lengths and widths, in a traveling direction of the vehicle, on a real space, of the traffic lines detected by the traffic-line detecting means;

lane-type judging means configured to judge types of the traffic lines and judge a type of a lane in which the vehicle is running, on the basis of a result of detection performed by the length and width detecting means;

history holding means configured to hold a sampling period history, said history including data representative of a traffic line status in a previous sampling period;

branch-lane detecting means configured to detect the existence of a branch lane when detecting that one of the traffic lines changes from a solid line to a broken line having a predetermined length and a predetermined width by reference to the history held by the history holding means, the branch lane existing near the changed traffic line; and

branch-lane entry judging means configured to judge that the vehicle will enter the branch lane when the vehicle moves toward the branch lane, or when a directional indicator is operated toward the branch lane.

21. The branch-lane entry judging system according to claim 17, wherein, the branch-lane entry judging means is configured to judge that the vehicle will enter the branch lane when the vehicle moves toward the branch lane, or when a directional indicator is operated toward the branch lane, while the branch-lane detecting means is detecting the branch lane.