Vehicle driving support control apparatus

• US 8,996,276 B2
• Filed: 10/05/2010
• Issued: 03/31/2015
• Est. Priority Date: 10/22/2009
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: Takazawa, Atsuyoshi, Kaneko, Norimasa
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US12/898,158
• Publication Number:
  US 20110098927A1
• Time in Patent Office: 1,638 Days
• Field of Search: 180/170, 180/178, 701/93, 701/96, 701/117, 701/300, 701/301, 701/97, 701/98
• US Class Current: 701/98
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication

Abstract

When a stereo image recognition device detects a vehicle ahead, a driving support apparatus extracts the vehicle ahead as a vehicle against which control should be performed, and performs driving support control based upon the information from the stereo image recognition device. When the stereo image recognition device does not detect the vehicle ahead, the driving support apparatus sets either one of the distance from the driving lane on which the vehicle travels and a start point of a curve ahead according to the configuration of the road ahead and a detection limit distance of the information of the vehicle ahead by the stereo image recognition device (front recognition device) as a threshold value IVC_L. When the vehicle ahead is present distant by more than the threshold value IVC_L, the driving support apparatus performs driving support control based upon the information by the inter-vehicle communication from a communication device.

Claims

1. A vehicle driving support control apparatus comprising:

a first vehicle information detecting unit that acquires vehicle information of a vehicle around an own vehicle by inter-vehicle communication within an inter-vehicle communication first distance;

a second vehicle information detecting unit that acquires vehicle information, on the basis of images captured by an imaging device in the travelling direction of the own vehicle, as to a vehicle at least up to a second distance ahead of the own vehicle, the second distance being shorter than the first distance; and

a driving support control unit that, when the second vehicle information detecting unit detects a vehicle ahead, acquires, by the second vehicle information detecting unit, vehicle information of the detected vehicle ahead and performs a driving support control for the own vehicle based upon the vehicle information from the second vehicle information detecting unit, and

that, the driving support control unit, upon determining that the second vehicle information detecting unit does not detect a vehicle ahead;

a) initiates reliance on the first vehicle information detecting unit to the exclusion of the second vehicle information detecting unit relative to vehicle ahead extraction for performing driving support control for the own vehicle relative to the extracted vehicle ahead when the inter-vehicle communication first distance is satisfied and a threshold condition is satisfied, and

b) acquires, by the first vehicle information detecting unit, vehicle information of a vehicle more than a threshold value ahead, the threshold value being selected from either one of a distance to a start point of a curve ahead or the second distance according to the configuration of the driving lane on which the own vehicle travels and the configuration of the road ahead, and when the vehicle ahead is present a distance more than the threshold value, the threshold condition is deemed satisfied and the driving support control unit performs driving support control for the own vehicle based upon the vehicle information from the first vehicle information detecting unit.

2. The vehicle driving support control apparatus according to claim 1, wherein

when it is determined that the own vehicle is not traveling through a curve, and a curve is detected ahead, the driving support control unit sets the distance to the start point of the curve from the vehicle as the threshold value, while, when it is determined that the vehicle is not traveling through a curve, and a curve is not detected ahead, the driving support control unit sets the detection limit distance vehicle ahead information by the second vehicle information detecting unit as the threshold value, in either one of a case in which an uphill and downhill is not detected ahead and a case in which the vehicle is not traveling through an uphill or a downhill.

3. The vehicle driving support control apparatus according to claim 1, wherein

when the own vehicle is traveling through the curve, and when there is a vehicle newly detected by the first vehicle information detecting unit in a time-series manner as the own vehicle advances through the curve, the driving support control unit extracts the newly detected vehicle as the vehicle against which control should be performed, and performs driving support control based upon the information from the first vehicle information detecting unit.

4. The vehicle driving support control apparatus according to claim 1, wherein

when the second vehicle information detecting unit confirms that a vehicle stopping at a side of the driving lane on which the vehicle travels or a vehicle traveling below a preset lower speed at a side of the driving lane on which the vehicle travels is present in case where the driving support control unit determines that the a vehicle ahead is present within the threshold value, and in case where the first vehicle information detecting unit detects any one of an operation of a hazard switch, an operation of a turn signal switch of the vehicle ahead, and a low-speed traveling with a speed lower than a set vehicle speed from the vehicle ahead, the second vehicle information detecting unit extracts the vehicle ahead as the vehicle against which control should be performed, and performs driving support control based upon the information from the second vehicle information detecting unit.

5. A vehicle driving support control apparatus comprising:

a first vehicle information detecting unit that acquires vehicle information of a vehicle around an own vehicle by inter-vehicle communication within an inter-vehicle communication first distance;

a second vehicle information detecting unit that acquires vehicle information, on the basis of images captured by an imaging device in the traveling direction of the own vehicle, as to a vehicle at least up to a second distance ahead of the own vehicle, the second distance being shorter than the first distance; and

a driving support control unit that,

(i) when the second vehicle information detecting unit detects a vehicle ahead, extracts the vehicle ahead as a vehicle against which control should be performed, and performs a driving support control for the own vehicle based upon the vehicle information from the second vehicle information detecting unit, and

(ii) when the second vehicle information detecting unit does not detect a vehicle ahead and the inter-vehicle first distance as well as a threshold condition is satisfied,

initiates reliance on the first vehicle information detecting unit to the exclusion of the second vehicle information detecting unit relative to vehicle ahead extraction for performing driving support control for the own vehicle relative to the extracted vehicle ahead,

determines, upon a triggering condition of the second vehicle information detecting unit not detecting a vehicle ahead, both of threshold values a) and b) and, according to the configuration of the driving lane on which the vehicle travels and the configuration of the road ahead, considers and selects for use one of a) and b) as a selected threshold value;

a) distance to a start point of a curve ahead,

b) the second distance; and

,

extracts the vehicle ahead as the vehicle against which control should be performed when the vehicle ahead is present a distance by more than the selected threshold value such that the threshold condition is satisfied and

performs driving support control based upon the information from the first vehicle information detecting unit.

6. The vehicle driving support control apparatus according to claim 5, wherein, when the vehicle ahead is present a distant not more than the selected threshold value, the second vehicle information detecting unit is considered for a determination as to whether the vehicle ahead is travelling at a lower value than a preset speed or whether a hazard or turn signal of the vehicle ahead is detected.

7. The vehicle driving support control apparatus according to claim 5, wherein

when it is determined that the own vehicle is not traveling through a curve, and a curve is detected ahead, the driving support control unit sets the distance to the start point of the curve from the vehicle as the selected threshold value, while, when it is determined that the vehicle is not traveling through a curve, and a curve is not detected ahead, the driving support control unit sets the detection limit distance vehicle ahead information by the second vehicle information detecting unit as the selected threshold value, in either one of a case in which an uphill and downhill is not detected ahead and a case in which the vehicle is not traveling through an uphill or a downhill.

8. The vehicle driving support control apparatus according to claim 5, wherein

when the own vehicle is traveling through the curve, and when there is a vehicle newly detected by the first vehicle information detecting unit in a time-series manner as the own vehicle advances through the curve, the driving support control unit extracts the newly detected vehicle as the vehicle against which control should be performed, and performs driving support control based upon the information from the first vehicle information detecting unit.

9. The vehicle driving support control apparatus according to claim 5, wherein

when the second vehicle information detecting unit confirms that a vehicle stopping at a side of the driving lane on which the vehicle travels or a vehicle traveling below a preset lower speed at a side of the driving lane on which the vehicle travels is present in case where the driving support control unit determines that the vehicle ahead is present within the threshold value, and in case where the first vehicle information detecting unit detects any one of an operation of a hazard switch, an operation of a turn signal switch of the vehicle ahead, and a low-speed traveling with a speed lower than a set vehicle speed from the vehicle ahead, the second vehicle information detecting unit extracts the vehicle ahead as the vehicle against which control should be performed, and performs driving support control based upon the information from the second vehicle information detecting unit.