Method for judging vehicle traveling position and vehicle traveling position judgment device

• US 8,510,027 B2
• Filed: 06/11/2009
• Issued: 08/13/2013
• Est. Priority Date: 06/11/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tajima, Yasuhiro, Kagawa, Kazunori
• Primary Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US13/262,838
• Publication Number:
  US 20120029813A1
• Time in Patent Office: 1,524 Days
• Field of Search: 701/300, 701/301, 701/408, 340/436, 340/903, 340/435
• US Class Current: 701/300
• 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
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle traveling position judging method of the present invention is a vehicle traveling position judging method for judging the traveling position of a preceding vehicle, and includes: a relative position information acquisition step of acquiring the relative position information of the preceding vehicle and a host vehicle at a predetermined point in time; a host vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and a preceding vehicle position judging step of judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle.

Claims

1. A vehicle traveling position judging method for judging a traveling position of a preceding vehicle, comprising:

a relative position information acquisition step of acquiring relative position information of the preceding vehicle and a host vehicle at a predetermined point in time;

a host vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and

a preceding vehicle position judging step of judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle, wherein

in the relative position information acquisition step, the relative position information is calculated on the basis of a difference between coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS,

a lane change information acquisition step of acquiring lane change information regarding lane changes of the preceding vehicle after the predetermined point in time is further included,

in the host vehicle traveling trajectory information acquisition step, host vehicle passage information indicating that a traveling trajectory of the host vehicle after the predetermined point in time has passed a same lane judgment region, which is virtually set at the position of the preceding vehicle at the predetermined point in time, or a judgment end line, which is virtually set ahead of the same lane judgment region, is further acquired,

in the preceding vehicle position judging step, the traveling position of the preceding vehicle is judged on the basis of the lane change information and the host vehicle passage information, and

in the preceding vehicle position judging step, it is judged

that the preceding vehicle at the predetermined point in time is in the same lane as the host vehicle after the predetermined point in time, when the host vehicle has passed through the same lane judgment region, and

that the preceding vehicle at the predetermined point in time is in a different lane than the host vehicle after the predetermined point in time, when the host vehicle passes through the judgment end line without passing through the same lane judgment region.

2. A vehicle traveling position judging method for judging a traveling position of a preceding vehicle, comprising:

a relative position information acquisition step of acquiring relative position information of the preceding vehicle and a host vehicle at a predetermined point in time;

a host vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and

a preceding vehicle position judging step of judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle, wherein

in the relative position information acquisition step, the relative position information is calculated on the basis of a difference between coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS,

a lane change information acquisition step of acquiring lane change information regarding lane changes of the preceding vehicle after the predetermined point in time is further included,

in the preceding vehicle position judging step, the traveling position of the preceding vehicle is judged on the basis of the lane change information,

a preceding vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the preceding vehicle after the predetermined point in time and a lane shape acquisition step of acquiring a lane shape of a lane, in which the preceding vehicle travels, on the basis of the traveling trajectory information of the preceding vehicle and the lane change information are further included, and

in the preceding vehicle position judging step, the traveling position of the preceding vehicle is judged on the basis of the lane shape.

3. A vehicle traveling position judging method for judging a traveling position of a preceding vehicle, comprising:

a relative position information acquisition step of calculating relative position information of the preceding vehicle and a host vehicle at a predetermined point in time on the basis of coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS;

a host vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and

a preceding vehicle position judging step of judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle, wherein

a lane change information acquisition step of acquiring lane change information regarding lane changes of the preceding vehicle after the predetermined point in time is further included,

in the host vehicle traveling trajectory information acquisition step, host vehicle passage information indicating that a traveling trajectory of the host vehicle after the predetermined point in time has passed a same lane judgment region, which is virtually set at the position of the preceding vehicle at the predetermined point in time, or a judgment end line, which is virtually set ahead of the same lane judgment region, is further acquired,

in the preceding vehicle position judging step, the traveling position of the preceding vehicle is judged on the basis of the lane change information and the host vehicle passage information, and

in the preceding vehicle position judging step, it is judged

that the preceding vehicle at the predetermined point in time is in the same lane as the host vehicle after the predetermined point in time, when the host vehicle has passed through the same lane judgment region, and

that the preceding vehicle at the predetermined point in time is in a different lane than the host vehicle after the predetermined point in time, when the host vehicle passes through the judgment end line without passing through the same lane judgment region.

4. A vehicle traveling position judgment device for judging a traveling position of a preceding vehicle, comprising:

relative position information acquisition means for acquiring relative position information of the preceding vehicle and the host vehicle at a predetermined point in time;

host vehicle traveling trajectory information acquisition means for acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and

preceding vehicle position judging means for judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle, wherein

the relative position information acquisition means calculates the relative position information on the basis of a difference between coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS,

lane change information acquisition means for acquiring lane change information regarding lane changes of the preceding vehicle after the predetermined point in time is further included,

the host vehicle traveling trajectory information acquisition means further acquires host vehicle passage information indicating that a traveling trajectory of the host vehicle after the predetermined point in time has passed a same lane judgment region, which is virtually set at the position of the preceding vehicle at the predetermined point in time, or a judgment end line, which is virtually set ahead of the same lane judgment region,

the preceding vehicle position judging means judges the traveling position of the preceding vehicle on the basis of the lane change information and the host vehicle passage information, and

the preceding vehicle position judging means judges

that the preceding vehicle at the predetermined point in time is in the same lane as the host vehicle after the predetermined point in time, when the host vehicle has passed through the same lane judgment region, and

that the preceding vehicle at the predetermined point in time is in a different lane than the host vehicle after the predetermined point in time, when the host vehicle passes through the judgment end line without passing through the same lane judgment region.

5. A vehicle traveling position judgment device for judging a traveling position of a preceding vehicle, comprising:

relative position information acquisition means for acquiring relative position information of the preceding vehicle and the host vehicle at a predetermined point in time;

host vehicle traveling trajectory information acquisition means for acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and

preceding vehicle position judging means for judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle, wherein

the relative position information acquisition means calculates the relative position information on the basis of a difference between coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS,

lane change information acquisition means for acquiring lane change information regarding lane changes of the preceding vehicle after the predetermined point in time is further included,

the preceding vehicle position judging means judges the traveling position of the preceding vehicle on the basis of the lane change information,

preceding vehicle traveling trajectory information acquisition means for acquiring traveling trajectory information of the preceding vehicle after the predetermined point in time and lane shape acquisition means for acquiring a lane shape of a lane, in which the preceding vehicle travels, on the basis of the traveling trajectory information of the preceding vehicle and the lane change information are included, and

the preceding vehicle position judging means judges the traveling position of the preceding vehicle on the basis of the lane shape.

6. A vehicle traveling position judgment device for judging a traveling position of a preceding vehicle, comprising:

relative position information acquisition means for calculating relative position information of the preceding vehicle and a host vehicle at a predetermined point in time on the basis of coordinate information of the preceding vehicle acquired by a GPS and coordinate information of the host vehicle acquired by a GPS;

host vehicle traveling trajectory information acquisition means for acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and

preceding vehicle position judging means for judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle, wherein

lane change information acquisition means for acquiring lane change information regarding lane change of the preceding vehicle after the predetermined point in time is further included,

the host vehicle traveling trajectory information acquisition means further acquires host vehicle passage information indicating that a traveling trajectory of the host vehicle after the predetermined point in time has passed a same lane judgment region, which is virtually set at the position of the preceding vehicle at the predetermined point in time, or a judgment end line, which is virtually set ahead of the same lane judgment region,

the preceding vehicle position judging means judges the traveling position of the preceding vehicle on the basis of the lane change information and the host vehicle passage information, and

the preceding vehicle position judging means judges

that the preceding vehicle at the predetermined point in time is in the same lane as the host vehicle after the predetermined point in time, when the host vehicle has passed through the same lane judgment region, and

that the preceding vehicle at the predetermined point in time is in a different lane than the host vehicle after the predetermined point in time, when the host vehicle passes through the judgment end line without passing through the same lane judgment region.