Vehicle travel track estimator

• US 8,781,720 B2
• Filed: 06/19/2008
• Issued: 07/15/2014
• Est. Priority Date: 06/20/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kindo, Toshiki, Aso, Kazuaki, Harada, Masahiro
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): King, Rodney P
• Application Number:
  US12/522,797
• Publication Number:
  US 20100106418A1
• Time in Patent Office: 2,217 Days
• Field of Search: 701/300, 701/93, 701/96, 701/301, 701/469, 180/271
• US Class Current: 701/300
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• 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 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle risk level acquiring ECU calculates and acquires a plurality of courses of other vehicles around a driver'"'"'s own vehicle, and acquires the predicted course of the driver'"'"'s own vehicle. The vehicle risk level acquiring ECU calculates the collision probability of the driver'"'"'s own vehicle as collision possibility on the basis of the predicted course of the driver'"'"'s own vehicle and the plurality of courses of other vehicles.

Claims

1. A vehicle travel track estimator comprising:

a plurality of target vehicle travel track estimating units that each estimate, in different ways, a travel track of a single target vehicle which is likely to collide with a driver'"'"'s own vehicle; and

a characteristic detecting unit that detects characteristics of the target vehicle,

wherein the plurality of target vehicle target track estimating units estimate a first target vehicle travel track under conditions that the target vehicle observes the traffic regulations and a second target vehicle travel track under conditions that the target vehicle does not observe the traffic regulations, as the travel path of the single target vehicle,

wherein either the first target vehicle travel track or the second target vehicle travel track is selected as the travel path of the single target vehicle on the basis of the characteristics of the target vehicle, to estimate the travel track of the target vehicle.

2. The vehicle travel track estimator according to claim 1,

wherein the characteristic detecting unit includes a vehicle characteristic acquiring unit that acquires vehicle characteristics of the target vehicle, and

either the first target vehicle travel track or the second target vehicle travel track is selected as the travel path of the single target vehicle on the basis of the vehicle characteristics of the target vehicle to estimate the travel track of the target vehicle.

3. The vehicle travel track estimator according to claim 1,

wherein the characteristic detecting unit includes a driver characteristic acquiring unit that acquires characteristics of a driver of the target vehicle, and

either the first target vehicle travel track or the second target vehicle travel track is selected as the travel path of the single target vehicle on the basis of the characteristics of the driver to estimate the travel track of the target vehicle.

4. The vehicle travel track estimator according to claim 3,

wherein the driver characteristic detecting unit includes:

a vehicle axis direction acquiring unit that acquires the axis direction of the target vehicle;

a lane direction acquiring unit that acquires the direction of a lane in which the target vehicle travels; and

an axis deviation acquiring unit that acquires the degree of deviation between the axis direction of the target vehicle and the direction of the lane in which the target vehicle travels, and

either the first target vehicle travel track or the second target vehicle travel track is selected as the travel path of the single target vehicle on the basis of the degree of deviation between the axis direction and the lane direction to estimate the travel track of the target vehicle.

5. The vehicle travel track estimator according to claim 4,

wherein the second target vehicle travel track is selected as the travel path of the single target vehicle when the degree of deviation between the axis direction and the lane direction is more than a threshold value and the first vehicle travel track is selected as the travel path of the single target vehicle when the degree of deviation between the axis direction and the lane direction is equal to or less than the threshold value.

6. The vehicle travel track estimator according to claim 3,

wherein the driver characteristic detecting unit includes a parameter acquiring unit that acquires a reaction parameter related to the reaction of the driver of the target vehicle to other vehicles, and

either the first target vehicle travel track or the second target vehicle travel track is selected as the travel path of the single target vehicle on the basis of the reaction parameter related to the reaction of the target vehicle to other vehicles to estimate the travel track of the target vehicle.

7. The vehicle travel track estimator according to claim 6,

wherein the reaction parameter indicates the tolerable risk level of the target vehicle for collision.

8. The vehicle travel track estimator according to claim 2,

wherein the reaction parameter indicates the sensitivity of the target vehicle to a risk.

9. The vehicle travel track estimator according to claim 7,

wherein the second target vehicle travel track is selected as the travel path of the single target vehicle when the reaction parameter is more than a threshold value and the first vehicle travel track is selected as the travel path of the single target vehicle when the reaction parameter is equal to or less than the threshold value.

10. The vehicle travel track estimator according to claim 8, wherein the parameter indicating the sensitivity of the target vehicle to the risk is the degree of alertness of the driver of the target vehicle.

11. The vehicle travel track estimator according to claim 6,

wherein the reaction parameter indicates the sensitivity of the target vehicle to a risk.

12. The vehicle travel track estimator according to claim 11,

wherein the parameter indicating the sensitivity of the target vehicle to the risk is the degree of alertness of the driver of the target vehicle.