Travel route estimation device and travel route estimation method used in the same device

• US 8,989,913 B2
• Filed: 12/26/2008
• Issued: 03/24/2015
• Est. Priority Date: 12/26/2008
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tsunekawa, Jun
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): CASS, JEAN PAUL
• Application Number:
  US13/130,851
• Publication Number:
  US 20110264302A1
• Time in Patent Office: 2,279 Days
• Field of Search: 701/1
• US Class Current: 701/1
• CPC Class Codes: B60W 2050/0051 combined with averaging
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road

Abstract

Provided is a travel route estimation device capable of accurately estimating, without excessively increasing communication load of the device, a shape of a travel route even when one'"'"'s own-vehicle is traveling on a travel route that does not have any objects installed on the route. A calculation section calculates and successively stores a radius of curvature of the travel route based on a yaw rate detected by a yaw rate detection section and on a traveling velocity detected by a velocity detection section. When conducting a filtering process for reducing variation of the calculate radius of curvature, the calculation section selects a filtering constant for multiplying the stored radius of curvature in accordance with the type of the travel route of the own-vehicle, and generates information representing a radius of curvature obtained by conducting at least one filtering process by using the selected filtering constant.

Claims

1. A travel route estimation device comprising:

a displacement velocity detection unit which detects a displacement velocity of one'"'"'s own-vehicle over a travel route surface;

a radius-of-curvature calculation unit which calculates, based on the displacement velocity, a plurality of radius of curvatures of a travel route of the own-vehicle;

a filtering process unit which conducts a filtering process on radius of curvatures up to a radius of curvature preceding a latest estimated radius of curvature by a predetermined number, among the plurality of radius of curvatures calculated by the radius-of-curvature calculation unit, and outputs a first radius of curvature and a second radius of curvature which is a value obtained at a same point as the first radius of curvature and has a lower responsivity to a change in the radius of curvature of the travel route of the own-vehicle than the first radius of curvature;

a weighted average unit which calculates, as a radius of curvature to be output to a safety apparatus of the own-vehicle, a third radius of curvature obtained by multiplying a first weight constant to the first radius of curvature and a second weight constant to the second radius of curvature and adding results of the multiplications, the first and second radius of curvatures being obtained at a same time point as a latest radius of curvature; and

a weight constant control unit which performs

a process of changing the first weight constant and the second weight constant when the travel route of the own-vehicle is determined as having changed from a straight route to a curve and every time the third radius of curvature is calculated, wherein the first weight constant is increased and the second weight constant is decreased compared to those at a last calculation of the third radius of curvature by the weighted average unit, and

a process of changing the first weight constant and the second weight constant when the travel route of the own-vehicle is determined as having changed from a curve to a straight route and every time the third radius of curvature is calculated, wherein the first weight constant is decreased and the second weight constant is increased compared to those at the last calculation of the third radius of curvature by the weighted average unit.

2. The travel route estimation device according to claim 1, wherein the filtering process unit includes:

a first filtering process unit which calculates the first radius of curvature, by multiplying filtering constants to the radius of curvatures that are up to the radius of curvature preceding the latest radius of curvature by the predetermined number among the plurality of radius of curvatures calculated by the radius-of-curvature calculation unit, such that the filtering constants are set to become sequentially larger by having a filtering constant for multiplying an oldest radius of curvature, of the radius of curvatures that are up to the radius of curvature preceding the latest radius of curvature by the predetermined number among the plurality of radius of curvatures, to be a smallest of the filtering constants and a filtering constant for multiplying a latest radius of curvature, of the radius of curvatures that arc up to the radius of curvature preceding the latest radius of curvature by the predetermined number among the plurality of radius of curvatures, to be a largest of the filtering constants, and adding results of the multiplications; and

a second filtering process unit which calculates the second radius of curvature, by multiplying filtering constants to the radius of curvatures that are up to the radius of curvature preceding the latest radius of curvature by the predetermined number among the plurality of radius of curvatures calculated by the radius-of-curvature calculation unit, such that the filtering constants are set to become sequentially smaller by having a filtering constant for multiplying the oldest radius of curvature, of radius of curvatures that are up to the radius of curvature preceding the latest radius of curvature by the predetermined number among the plurality of radius of curvatures, to be the largest of the filtering constants and a filtering constant for multiplying a latest radius of curvature, radius of curvatures that are up to the radius of curvature preceding the latest radius of curvature by the predetermined number among the plurality of radius of curvatures, to be a smallest of the filtering constants, and adding results of the multiplications.

3. The travel route estimation device according to claim 2, wherein the weight constant control unit further includes

a calculation unit which calculates an absolute value of a difference obtained by subtracting, from a rotational angular velocity of the own-vehicle above a travel route surface of the own-vehicle estimated based on the first radius of curvature, a rotational angular velocity of the own-vehicle above a travel route surface of the own-vehicle estimated based on the second radius of curvature;

a first determination unit determines that the type of the travel route of the own-vehicle has changed from a straight route to a curve, if the first radius of curvature is less than a predetermined threshold and the absolute value is larger than a predetermined threshold; and

a second determination unit determines that the type of the travel route of the own-vehicle has changed from a curve to a straight route, if the second radius of curvature is less than a predetermined threshold and the absolute value is larger than a predetermined threshold.

4. The travel route estimation device according to claim 1, wherein the displacement velocity detection unit detects, as the displacement velocity, both a traveling velocity of the own-vehicle and a rotational angular velocity of the own-vehicle over the travel route surface.

5. The travel route estimation device according to claim 1, further comprising a generation unit that generates, using the third radius of curvature as a prediction result of a travelling direction of the own-vehicle, information for a device that detects a possibility that the own-vehicle and another vehicle will collide.

6. The travel route estimation device according to claim 1, wherein the weight constant control unit:

maintains, when the travel route of the own-vehicle is determined as having changed from a straight route to a curve, the first and second weight constants at fixed values after the third radius of curvature has become equal to the first radius of curvature until the travel route of the own-vehicle changes to a straight route; and

maintains, when the travel route of the own-vehicle is determined as having changed from a curve to a straight route, the first and second weight constants at fixed values after the third radius of curvature has become equal to the second radius of curvature until the travel route of the own-vehicle changes to a curve.

7. A travel route estimation method implemented by a processor of a travel route estimation device, the method comprising:

a displacement velocity detection step of detecting a displacement velocity of one'"'"'s own-vehicle over a travel route surface;

a radius-of-curvature calculation step of calculating, based on the displacement velocity, a plurality of radius of curvatures of a travel route of the own-vehicle;

a filtering process step of conducting a filtering process on radius of curvatures up to a radius of curvature preceding a latest estimated radius of curvature by a predetermined number, among the plurality of radius of curvatures calculated by the radius-of-curvature calculation step, and outputting a first radius of curvature and a second radius of curvature which is a value obtained at a same point as the first radius of curvature and has a lower responsivity to a change in the radius of curvature of the travel route of the own-vehicle than the first radius of curvature;

a weighted average step of calculating, as a radius of curvature to be output to a safety apparatus of the own-vehicle, a third radius of curvature obtained by multiplying a first weight constant to the first radius of curvature and a second weight constant to the second radius of curvature and adding results of the multiplications, the first and second radius of curvatures being obtained at a same time point as a latest radius of curvature; and

a weight constant control step of performing

a process of changing the first weight constant and the second weight constant when the travel route of the own-vehicle is determined as having changed from a straight route to a curve and every time the third radius of curvature is calculated, wherein the first weight constant is increased and the second weight constant is decreased compared to those at a last calculation of the third radius of curvature by the weighted average step, and

a process of changing the first weight constant and the second weight constant when the travel route of the own-vehicle is determined as having changed from a curve to a straight route and every time the third radius of curvature is calculated, wherein the first weight constant is decreased and the second weight constant is increased compared to those at the last calculation of the third radius of curvature by the weighted average step.

8. The travel route estimation method according to claim 7, wherein the weight constant control step further includes:

maintaining, when the travel route of the own-vehicle is determined as having changed from a straight route to a curve, the first and second weight constants at fixed values after the third radius of curvature has become equal to the first radius of curvature until the travel route of the own-vehicle changes to a straight route; and

maintaining, when the travel route of the own-vehicle is determined as having changed from a curve to a straight route, the first and second weight constants at fixed values after the third radius of curvature has become equal to the second radius of curvature until the travel route of the own-vehicle changes to a curve.