Vehicle operation supporting device and vehicle operation supporting method

• US 8,489,286 B2
• Filed: 06/17/2010
• Issued: 07/16/2013
• Est. Priority Date: 06/18/2009
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kobayashi, Masahiro, Hayakawa, Yasuhisa, Satou, Kou
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US12/817,844
• Publication Number:
  US 20100324823A1
• Time in Patent Office: 1,125 Days
• Field of Search: 701400-541, 701300-302, 701/1, 701/28, 701/41, 701/42, 701/45, 701/36, 701/65, 701/93, 701/32.3, 701/70, 701/71, 701/72, 701/80, 701/11, 701/7, 701/119, 340988-996, 340/436, 340/933, 340/435, 340/932.2, 348/148, 348/149, 348/169, 348/208.14
• US Class Current: 701/45
• 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 2520/28 Wheel speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• 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 30/18009 related to particular drive situations
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

When an obstacle on either of the two sides of a vehicle is detected, the future position of the vehicle after a prescribed time is predicted. When the future predicted vehicle position reaches a prescribed lateral position in the width direction of the lane, control start is determined such that obstacle avoiding control is carried out to prevent the approach of the vehicle to the obstacle. When an intention of the driver to enter the lane of the obstacle is detected, the start timing for obstacle avoiding control is shortened.

Claims

1. A vehicle operation supporting device for a vehicle travelling on a road with travel lanes comprising:

a side obstacle detector for detecting a presence of an obstacle in a lane on a side of the vehicle;

an intention detector that detects an intention of the driver to change from a current lane to the lane of the obstacle;

a future position predictor that predicts a future position of the vehicle after a prescribed time passes starting from when the obstacle is detected by the side obstacle detector;

and

an obstacle avoiding controller configured to perform the following control;

determine whether the vehicle may enter the lane of the obstacle based on the future position of the vehicle predicted by the future position predictor;

determine a control start timing responsive to determining that the vehicle may enter the lane of the obstacle;

apply obstacle avoiding control to prevent approach of the vehicle to the obstacle responsive to the control start timing; and

shorten the control start timing of the obstacle avoiding control when the intention detector detects that the driver intends to enter the lane of the obstacle, in part by modifying at least one parameter utilized by the future position predictor or the obstacle avoiding controller

wherein the intention of the driver to change from the current lane to the lane of the obstacle is a probability that the driver intends to enter the lane of the obstacle; and

wherein the obstacle avoiding controller is configured to shorten the control start timing as the probability that the driver intends to enter the lane of the obstacle increases.

2. The vehicle operation supporting device of claim 1, wherein the obstacle avoiding controller is configured to determine whether the vehicle may enter the lane of the obstacle responsive to the future position of the vehicle reaching a prescribed lateral position in a width direction of the lane.

3. The vehicle operation supporting device of claim 1, wherein the obstacle avoiding controller is configured to apply obstacle avoiding control by controlling vehicle movement to prevent the vehicle from approaching the obstacle and by generating an alarm to a driver before controlling the vehicle movement;

and wherein the obstacle avoiding controller is further configured to;

shorten a timing of generating the alarm when the intention detector detects the intention of the driver is to change from the current lane to the lane of the obstacle.

4. The vehicle operation supporting device of claim 1, wherein the obstacle avoiding controller is configured to apply obstacle avoiding control by controlling the vehicle movement to prevent the vehicle from approaching the obstacle and by generating an alarm to a driver before controlling the vehicle movement;

and wherein the obstacle avoiding controller is configured to shorten an amount of time between generating the alarm and controlling the vehicle movement when the intention detector detects the intention of the driver is to change from the current lane to the lane of the obstacle.

5. The vehicle operation supporting device of claim 4, wherein controlling the vehicle movement comprises applying a yaw moment to the vehicle.

6. The vehicle operation supporting device of claim 1, wherein modifying at least one parameter comprises increasing the prescribed time used to predict the future position of the vehicle.

7. The vehicle operation supporting device of claim 1, wherein modifying at least one parameter comprises adjusting the future position of the vehicle predicted by the future position predictor to a position closer to the obstacle in a width direction of the vehicle.

8. The vehicle operation supporting device cited in claim 1, wherein the obstacle avoiding controller is configured to determine whether the vehicle may enter the lane of the obstacle responsive to the future position of the vehicle reaching a prescribed lateral position in a width direction of the lane;

and wherein

modifying at least one parameter comprises adjusting the prescribed lateral position in the width direction of the lane towards a position further from the obstacle in the width direction of the lane.

9. The vehicle operation supporting device of claim 1, wherein the obstacle avoiding controller further comprises a control start inhibitor that inhibits a start of the obstacle avoiding control during a period from the determination of control start timing until passage of a control inhibition time.

10. The vehicle operation supporting device of claim 9, wherein the obstacle avoiding controller is configured to decrease the control inhibition time as the probability that the driver intends to enter the lane of the obstacle increases.

11. The vehicle operation supporting device of claim 1, wherein the intention detector detects the intention of the driver to change from the current lane to the lane of the obstacle based on operation of a direction indicating switch.

12. The vehicle operation supporting device of claim 1, further comprising:

a steering angle detector that detects a steering angle of the vehicle; and

wherein the intention detector detects the intention of the driver to change from the current lane to the lane of the obstacle based on the steering angle detected by the steering angle detector.

13. The vehicle operation supporting device of claim 1, further comprising:

a yaw rate detector that detects a yaw rate generated at the vehicle; and

wherein the intention detector detects the intention of the driver to change from the current lane to the lane of the obstacle based on the yaw rate detected by the yaw rate detector.

14. The vehicle operation supporting device of claim 1, further comprising:

a viewing direction detector that detects a viewing direction of the driver; and

wherein the intention detector detects the intention of the driver to change from the current lane to the lane of the obstacle based on the viewing direction detected by the viewing direction detector.

15. A vehicle operation supporting device comprising:

means for detecting a presence of an obstacle in a lane at a side of the vehicle;

means for predicting a future position of the vehicle after a prescribed time;

means for determining whether the vehicle may enter the lane of the obstacle responsive to the future position of the vehicle;

means for determining a control start timing when it is determined that the vehicle may enter the lane of the obstacle;

means for performing obstacle avoiding control to prevent approach of the vehicle to the obstacle responsive to the control start timing;

means for determining whether a driver of the vehicle intends the vehicle to enter the lane of the obstacle, wherein the intention of the driver to change from a current lane to the lane of the obstacle is a probability that the driver intends to enter the lane of the obstacle and

means for shortening the control start timing when an intention of the driver is to enter the lane of the obstacle, in part by modifying at least one parameter utilized by the future position predictor or the obstacle avoiding controller, wherein the means for performing obstacle avoiding control is configured to shorten the control start timing as the probability that the driver intends to enter the lane of the obstacle increases.

16. A computer-implemented method for vehicle operation supporting, the method performed by a microcomputer and comprising:

detecting a presence of an obstacle in a lane at a side of the vehicle;

predicting a future position of the vehicle after a prescribed time;

determining whether the vehicle may enter the lane of the obstacle responsive to the future position of the vehicle;

determining a control start timing when it is determined that the vehicle may enter the lane of the obstacle;

performing, by a vehicle control unit, obstacle avoiding control to prevent approach of the vehicle to the obstacle responsive to the control start timing;

determining whether a driver of the vehicle intends the vehicle to enter the lane of the obstacle, wherein the intention of the driver to change from a current lane to the lane of the obstacle is a probability that the driver intends to enter the lane of the obstacle; and

shortening the control start timing when an intention of the driver is to enter the lane of the obstacle;

in part by modifying at least one parameter utilized by the future position predictor or the obstacle avoiding controller, and shortening the control start timing with the obstacle avoiding controller as the probability that the driver intends to enter the lane of the obstacle increases.

17. The vehicle operation supporting method of claim 16, wherein determining whether the vehicle may enter the lane of the obstacle comprises determining whether the future position of the vehicle reaches a prescribed lateral position in a width direction of the lane;

and wherein modifying at least one parameter utilized by the future position predictor or the obstacle avoiding controller comprises at least one of;

adjusting the prescribed lateral position in the width direction of the lane towards a position further from the obstacle in the width direction of the lane,

increasing the prescribed time used to predict the future position of the vehicle; and

adjusting the future position of the vehicle predicted by the future position predictor to a position closer to the obstacle in a width direction of the vehicle.

18. The vehicle operation supporting method of claim 16,

inhibiting a start of the obstacle avoiding control for a control inhibition time starting from the determination of the control start timing.