Vehicular control apparatus and method

• US 8,755,983 B2
• Filed: 09/10/2010
• Issued: 06/17/2014
• Est. Priority Date: 09/17/2009
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Ota, Ryo, Oosawa, Toshiya, Kubo, Jun
• Primary Examiner(s): Jen, Ian
• Application Number:
  US12/879,195
• Publication Number:
  US 20110066343A1
• Time in Patent Office: 1,376 Days
• Field of Search: None
• US Class Current: 701/70
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• 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 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 30/181 Preparing for stopping
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

In vehicular control apparatus and method, a traveling environment of a forward position of an advance direction of a vehicle in which an actuator for a vehicular control purpose is mounted is detected, a reliability of a result of measurement of the traveling environment by the traveling environment measurement section is determined, and an operation of the actuator is determined with the determined reliability as a requiring condition.

Claims

1. A vehicular control apparatus comprising:

a traveling environment measurement section comprising a camera and configured to measure a traveling environment of a forward position of an advance direction of a vehicle in which an actuator for a vehicular control purpose is mounted; and

a control unit comprising;

a reliability determination section configured to determine a reliability of a stop-line drawn on a road surface or a mark obtained from the result of measurement used for the determination of whether the vehicle should be decelerated; and

an actuator control section configured to perform an operation of the actuator with the determined reliability as a requiring condition, wherein;

the reliability determination section calculates brilliances of a plurality of points of places within an image of the road surface as the traveling environment photographed by the camera, and determines the reliability of the stop-line drawn on the road surface, according to the brilliances of the image photographed by the camera,

the control unit of the vehicular control apparatus further comprises;

a proper stop position coefficient setting section configured to set a coefficient corresponding to a kind of a signal or mark which is measured by the traveling environment measurement section, and

the reliability determination section calculates the reliability of presence on the measured traveling environment on a basis of the determined reliability and the set coefficient, and the actuator control section operates the actuator in accordance with the calculated reliability of presence.

2. The vehicular control apparatus as claimed in claim 1, wherein the reliability determination section is configured to determine a portion of the plurality of points of places within the photographed image of the road surface, whose brilliances are equal to or higher than a first predetermined value to be the stop-line drawn on the road surface.

3. The vehicular control apparatus as claimed in claim 1, wherein the reliability determination section is configured to determine a portion of the plurality of points of places within the photographed image of the road surface, in which a density of the brilliances is equal to or higher than a second predetermined value to be the stop-line drawn on the road surface.

4. The vehicular control apparatus as claimed in claim 1, wherein the actuator is constituted by a braking controller.

5. The vehicular control apparatus as claimed in claim 4, wherein the vehicular control apparatus further comprises:

an accelerator pedal operation state detecting section configured to detect an operation state of an accelerator pedal that a vehicle driver operates, and wherein the actuator control section operates the braking controller in accordance with the calculated reliability to decelerate the vehicle in a case where a deceleration intention of the vehicle driver is detected from the operation state of the detected accelerator pedal.

6. The vehicular control apparatus as claimed in claim 5, wherein the traveling environment measurement section measures the stop-line on the road surface, measures a distance between the stop-line and the vehicle, and comprises:

an arrival time calculation section configured to measure an arrival time during which the vehicle arrives at the stop-line on a basis of the measured distance, and the actuator control section operates the braking controller in a case where the calculated arrival time is shorter than a preset time and the reliability determined by the reliability determination section is higher than a preset reliability.

7. The vehicular control apparatus as claimed in claim 1, wherein an information measured by the traveling environment measurement section is a white line drawn on a road surface and a mark, and the reliability determination section determines the reliability on a basis of a result of determination by a stop-line determination section configured to make the determination of whether the white line is the stop-line and another result of determination by a mark determination section configured to make the determination of whether the mark is a temporary stop mark.

8. The vehicular control apparatus as claimed in claim 7, wherein the vehicular control apparatus further comprises:

an arrival time calculation section configured to calculate a time for the vehicle to arrive at the stop-line, and the actuator control section operates the actuator in a case where the determination by the reliability determination section is higher than a preset reliability and the calculated arrival time is shorter than a preset arrival time, and limits the operation of the actuator in a case where the determination by the reliability determination section is higher than the preset reliability and the calculated arrival time is longer than the preset arrival time.

9. The vehicular control apparatus as claimed in claim 7, wherein the control unit of the vehicular control apparatus further comprises:

a vehicle speed detecting section configured to detect a speed of the vehicle and the actuator is constituted by a braking controller, and the actuator control section operates the braking controller in a case where the determination by the reliability determination section is higher than a preset reliability and the vehicle speed is lower than a predetermined vehicle speed, and limits the operation of the braking controller in a case where the determination by the reliability determination section is higher than the preset reliability and the vehicle speed is higher than the predetermined vehicle speed.

10. The vehicular control apparatus as claimed in claim 7, wherein the control unit of the vehicular control apparatus further comprises:

a proper stop position coefficient setting section configured to set a coefficient corresponding to a kind of a signal or a mark measured by the traveling environment measurement section, the reliability determination section calculates the reliability of presence of the measured traveling environment on a basis of the determined reliability and the set coefficient, and the actuator control section operates the actuator in accordance with the calculated reliability.

11. A vehicular control apparatus comprising:

a camera photographing a situation of a forward position of an advance direction of a vehicle in which a braking controller is mounted; and

a control unit comprising;

a reliability determination section configured to determine a reliability of whether a stop line or mark drawn on a road surface and used to determine whether the vehicle should be decelerated, is present from an image photographed by means of the camera; and

a braking control section configured to control an operation of the braking controller in accordance with the determined reliability, wherein

the reliability determination section calculates respective brilliances of a plurality of points of places within an image of the road surface photographed by the camera as the traveling environment, and determines the reliability of the stop-line drawn on the road surface, on a basis of the calculated brilliances,

the control unit of the vehicular control apparatus further comprises;

a proper stop position coefficient setting section configured to set a coefficient corresponding to a kind of a signal or a mark which is measured by the traveling environment measurement section, and

the reliability determination section calculates the reliability of presence on the measured traveling environment on a basis of the determined reliability and the set coefficient, and the braking control section operates the braking controller in accordance with the calculated reliability of presence.

12. The vehicular control apparatus as claimed in claim 11, wherein the control unit of the vehicular control apparatus further comprises an arrival time calculation section configured to calculate a time for the vehicle to arrive at the stop-line, the camera photographs the stop-line drawn on the road surface, and the braking control section operates the braking controller when the calculated arrival time is shorter than a preset arrival time in a case where the determination by the reliability determination section is higher than a preset reliability, and limits the operation of the braking controller when the calculated arrival time is longer than the preset arrival time in the case where the determination by the reliability determination section is higher than the preset reliability.

13. The vehicular control apparatus as claimed in claim 11, wherein the control unit of the vehicular control apparatus further comprises:

a vehicle speed detecting section configured to detect a speed of the vehicle, the camera photographs a stop-line drawn on the road surface, and the braking control section operates the braking controller when the detected vehicle speed is lower than a preset vehicle speed in a case where the determination made by the reliability determination section is higher than a preset reliability, and limits the operation of the braking controller when the detected vehicle speed is higher than the preset vehicle speed in the case where the determination made by the reliability determination section is higher than the preset reliability.

14. The vehicular control apparatus as claimed in claim 11, wherein the reliability determination section determines points of places at which each of the calculated brilliances is higher than a predetermined brilliance that the reliability as the stop-line is high.

15. A vehicular control method comprising:

photographing, via a camera, a situation of a forward position of an advance direction of a vehicle in which a braking controller is mounted;

determining a reliability of whether a stop line or mark drawn on a road surface used to determine whether the vehicle should be decelerated, is present from an image photographed by means of the camera; and

controlling an operation of the braking controller in accordance with the determined reliability, wherein

respective brilliances of a plurality of points of places within an image of the road surface photographed by the camera, are calculated as the traveling environment,

the reliability of the stop-line drawn on the road surface is determined on a basis of the calculated brilliances, and a coefficient corresponding to a kind of a signal or a mark which is measured is set, and

the reliability of presence on the measured traveling environment is calculated on a basis of the determined reliability and the set coefficient, and the braking controller is operated in accordance with the calculated reliability of presence.

16. The vehicular control method as claimed in claim 15, wherein the operation of the braking controller is allowed in a case where the determined reliability is higher than a preset reliability, and the operation of the braking controller is limited in a case where the determined reliability is lower than the preset reliability.