Vehicle pseudo-travel locus generator

• US 9,275,549 B2
• Filed: 11/25/2013
• Issued: 03/01/2016
• Est. Priority Date: 11/28/2012
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Ando, Motonori
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): WHITTINGTON, JESS G
• Application Number:
  US14/088,735
• Publication Number:
  US 20140148994A1
• Time in Patent Office: 827 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

An in-vehicle apparatus and method generates a pseudo-travel locus that is used to perform a driving support control. The in-vehicle apparatus has a pseudo-locus generator for generating the pseudo-travel locus of a subject vehicle and a communication controller for controlling a transmitter to transmit the pseudo-travel locus of the subject vehicle. The pseudo-travel locus is generated from a travel locus of a lead vehicle and a current position of the subject vehicle. Therefore, a portion of the travel locus of the subject vehicle is similar to an actual travel locus of the subject vehicle. Thus, when the pseudo-travel locus is transmitted as a travel locus of the subject vehicle, nearby vehicles may perform a driving support control based on the pseudo-travel locus of the subject vehicle. As a result, the actual travel locus of the subject vehicle is not disclosed.

Claims

1. An in-vehicle apparatus to perform a locus-based travel support control of a subject vehicle based on an actual travel locus of the subject vehicle, the in-vehicle apparatus comprising:

a communication unit that includes

a transmitter that transmits a travel locus of the subject vehicle to a plurality of nearby vehicles, and

a receiver that receives a travel locus of a nearby vehicle from among the plurality of nearby vehicles; and

an operation unit having a Central Processing Unit (CPU), the CPU in the operation unit executing Read-Only Memory-stored programs to configure the operation unit as

a position obtainer that obtains a current position of the subject vehicle,

a lead vehicle recognizer that recognizes one of the plurality of nearby vehicles as a lead vehicle,

a first pseudo-locus generator that generates a pseudo-travel locus of the subject vehicle based on (i) a travel locus of the lead vehicle that is received by the receiver of the subject vehicle, and (ii) the current position of the subject vehicle in order to maintain privacy for a driver of the subject vehicle,

a communication controller that transmits, through the transmitter, the pseudo-travel locus of the subject vehicle as the travel locus of the subject vehicle in order to maintain the privacy for the driver of the subject vehicle, and

a bearing angle determiner that determines a bearing angle of the subject vehicle, wherein

the operation unit, when configured as the first pseudo-locus generator, generates the pseudo-travel locus of the subject vehicle based on (i) travel locus points of the lead vehicle that are behind the subject vehicle, which are defined based on the current position of the subject vehicle and the bearing angle of the subject vehicle, and (ii) the current position of the subject vehicle, and

the pseudo-travel locus of the subject vehicle includes the travel locus of the lead vehicle that are behind the current position of the subject vehicle.

9. The in-vehicle apparatus of claim 1, wherein the pseudo-travel locus of the subject vehicle generated by the first pseudo-locus generator includes only the travel locus of the lead vehicle that are behind the subject vehicle and the current position of the subject vehicle.

10. The in-vehicle apparatus of claim 1, wherein the pseudo-travel locus of the subject vehicle generated by the first pseudo-locus generator is generated without using the entire actual travel locus of the subject-vehicle.

17. The in-vehicle apparatus of claim 1, wherein the actual travel locus of the subject vehicle and the pseudo-travel locus of the subject vehicle are in the same coordinate system.

2. An in-vehicle apparatus to perform a locus-based travel support control of a subject vehicle based on an actual travel locus of the subject vehicle, the in-vehicle apparatus comprising:

a communication unit that includes

a transmitter that transmits a travel locus of the subject vehicle to a plurality of nearby vehicles, and

a receiver that receives a travel locus of a nearby vehicle from among the plurality of nearby vehicles; and

an operation unit having a Central Processing Unit (CPU), the CPU in the operation unit executing Read-Only Memory-stored programs to configure the operation unit as

a position obtainer that obtains a current position of the subject vehicle,

a lead vehicle recognizer that recognizes one of the plurality of nearby vehicles as a lead vehicle,

a first pseudo-locus generator that generates a pseudo-travel locus of the subject vehicle based on (i) a travel locus of the lead vehicle that is received by the receiver of the subject vehicle, and (ii) the current position of the subject vehicle,

a communication controller that transmits, through the transmitter, the pseudo-travel locus of the subject vehicle as the travel locus of the subject vehicle,

a bearing angle determiner that determines a bearing angle of the subject vehicle, and

a second pseudo-locus generator that generates the pseudo-travel locus of the subject vehicle from the actual travel locus of the subject vehicle, wherein

the operation unit, when configured as the first pseudo-locus generator, generates the pseudo-travel locus of the subject vehicle based on (i) travel locus points of the lead vehicle that are behind the subject vehicle, which are defined based on the current position of the subject vehicle and the bearing angle of the subject vehicle, and (ii) the current position of the subject vehicle in order to maintain privacy for a driver of the subject vehicle,

the communication controller has (i) a pseudo-locus mode in which the pseudo-travel locus of the subject vehicle is transmitted in order to maintain the privacy for the driver of the subject vehicle and (ii) an actual locus mode in which the actual travel locus of the subject vehicle is transmitted,

the communication controller transmits the actual travel locus of the subject vehicle for a predetermined amount of travel time of the subject vehicle, if the communication controller operates in the actual locus mode,

the second pseudo-locus generator generates the pseudo-travel locus of the subject vehicle from the actual travel locus of the subject vehicle for an amount of time that is less than the predetermined amount of travel time of the subject vehicle, if the travel locus of the lead vehicle does not include travel locus points of the lead vehicle that are behind the subject vehicle, and

the communication controller transmits the pseudo-travel locus of the subject vehicle if the pseudo-travel locus of the subject vehicle is generated by either of the first or second pseudo-locus generator while the communication controller operates in the pseudo-locus mode to maintain the privacy for the driver of the subject vehicle.

3. The in-vehicle apparatus of claim 2, further comprising:

a mode switching unit connected to the operation unit, the mode switching unit configured to select one of the pseudo-locus mode or the actual locus mode, wherein

the communication controller transmits (i) the pseudo-travel locus of the subject vehicle if the communication controller operates in the pseudo-locus mode, and (ii) the actual travel locus of the subject vehicle if the communication controller operates in the actual locus mode.

11. The in-vehicle apparatus of claim 2, wherein the actual travel locus of the subject vehicle includes a plurality of locations of the subject vehicle and the pseudo-travel locus of the subject vehicle generated by the second pseudo-locus generator includes only one of the plurality of locations and the current position of the subject vehicle.

12. The in-vehicle apparatus of claim 11, wherein the one of the plurality of locations is a location nearest the current position of the subject vehicle.

4. An in-vehicle apparatus to perform a locus-based travel support control of a subject vehicle based on an actual travel locus of the subject vehicle, the in-vehicle apparatus comprising:

a communication unit that includes

a transmitter that transmits a travel locus of the subject vehicle to a plurality of nearby vehicles, and

a receiver that receives a travel locus of a nearby vehicle from among the plurality of nearby vehicles; and

an operation unit having a Central Processing Unit (CPU), the CPU in the operation unit executing Read-Only Memory-stored programs to configure the operation unit as

a position obtainer that obtains a current position of the subject vehicle,

a lead vehicle recognizer that recognizes one of the plurality of nearby vehicles as a lead vehicle,

a first pseudo-locus generator that generates a pseudo-travel locus of the subject vehicle based on (i) a travel locus of the lead vehicle that is received by the receiver of the subject vehicle, and (ii) the current position of the subject vehicle in order to maintain privacy for a driver of the subject vehicle, and

a communication controller transmits, through the transmitter, the pseudo-travel locus of the subject vehicle as the travel locus of the subject vehicle to maintain the privacy for the driver of the vehicle, wherein

the operation unit, when configured as the communication controller has (i) a pseudo-locus mode in which the pseudo-travel locus of the subject vehicle is transmitted and (ii) an actual locus mode in which an actual travel locus of the subject vehicle is transmitted,

the operation unit, when configured as the communication controller operates in the pseudo-locus mode, from a turning ON of an ignition switch, for a predetermined amount of travel time or a predetermined travel distance, and is automatically switched to the actual locus mode after an elapse of the predetermined amount of travel time or a passing of the predetermined travel distance, and

the operation unit, when configured as the communication controller transmits (i) the pseudo-travel locus of the subject vehicle when the communication controller operates in the pseudo-locus mode, and (ii) the actual travel locus of the subject vehicle when the communication controller operates in the actual locus mode.

5. A method for performing a locus-based travel support control of a subject vehicle based on an actual travel locus of the subject vehicle, the method comprising:

receiving a travel locus of a nearby vehicle from among a plurality of nearby vehicles at a receiver; and

configuring an operation unit, by a Central Processing Unit (CPU) located in the operation unit to

obtain a current position of the subject vehicle,

recognize one of the plurality of nearby vehicles as a lead vehicle,

generate a pseudo-travel locus of the subject vehicle based on (i) a travel locus of the lead vehicle that is received by the subject vehicle, and (ii) the current position of the subject vehicle in order to maintain privacy for a driver of the vehicle,

transmit the pseudo-travel locus of the subject vehicle as the travel locus of the subject vehicle in order to maintain the privacy for the driver of the subject vehicle, and

determining a bearing angle of the subject vehicle, wherein

the pseudo-travel locus of the subject vehicle is generated based on (i) travel locus points of the lead vehicle that are behind the subject vehicle, which are defined based on the current position of the subject vehicle and the bearing angle of the subject vehicle, and (ii) the current position of the subject vehicle, and

the pseudo-travel locus of the subject vehicle includes the travel locus of the lead vehicle that exists behind the current position of the subject vehicle.

13. The in-vehicle apparatus of claim 5, wherein the pseudo-travel locus of the subject vehicle includes only the travel locus of the lead vehicle that is behind the subject vehicle and the current position of the subject vehicle.

14. The in-vehicle apparatus of claim 5, wherein the pseudo-travel locus of the subject vehicle is generated without using the entire actual travel locus of the subject-vehicle.

18. The in-vehicle apparatus of claim 5, wherein the actual travel locus of the subject vehicle and the pseudo-travel locus of the subject vehicle are in the same coordinate system.

6. A method for performing a locus-based travel support control of a subject vehicle based on an actual travel locus of the subject vehicle, the method comprising:

receiving a travel locus of a nearby vehicle from among a plurality of nearby vehicles at a receiver; and

configuring an operation unit, by a Central Processing Unit (CPU) located in the operation unit to

obtain a current position of the subject vehicle,

recognize one of the plurality of nearby vehicles as a lead vehicle,

generate a pseudo-travel locus of the subject vehicle based on (i) a travel locus of the lead vehicle that is received by the subject vehicle, and (ii) the current position of the subject vehicle in order to maintain privacy for a driver of the subject vehicle,

transmit the pseudo-travel locus of the subject vehicle as the travel locus of the subject vehicle in order to maintain the privacy for the driver of the subject vehicle,

determine a bearing angle of the subject vehicle,

generate the pseudo-travel locus of the subject vehicle from the actual travel locus of the subject vehicle from (i) a pseudo-locus mode in which the pseudo-travel locus of the subject vehicle is transmitted or (ii) an actual locus mode in which the actual travel locus of the subject vehicle is transmitted,

transmit the actual travel locus of the subject vehicle for a predetermined amount of travel time of the subject vehicle, if the pseudo-travel locus of the subject vehicle is generated while operating in the actual locus mode,

generate the pseudo-travel locus of the subject vehicle from the actual travel locus of the subject vehicle for an amount of time that is less than the predetermined amount of travel time of the subject vehicle, if the travel locus of the lead vehicle does not include travel locus points of the lead vehicle that are behind the subject vehicle, and

control the transmitter to transmit the pseudo-travel locus of the subject vehicle if the pseudo-travel locus of the subject vehicle is generated by either of the first or second pseudo-locus generator and while the pseudo-travel locus of the subject vehicle is generated while operating in the pseudo-locus mode to maintain the privacy for the driver of the subject vehicle, wherein

the pseudo-travel locus of the subject vehicle is generated based on (i) travel locus points of the lead vehicle that are behind the subject vehicle, which are defined based on the current position of the subject vehicle and the bearing angle of the subject vehicle, and (ii) the current position of the subject vehicle.

7. The method of claim 6, further comprising:

configuring a mode switching unit to selecting one of the pseudo-locus mode or the actual locus mode; and

configuring the operation unit to transmitting (i) the pseudo-travel locus of the subject vehicle if the pseudo-travel locus of the subject vehicle is generated while operating in the pseudo-locus mode, or (ii) the actual travel locus of the subject vehicle if the pseudo-travel locus of the subject vehicle is generated while operating in the actual locus mode.

15. The in-vehicle apparatus of claim 6, wherein the actual travel locus of the subject vehicle includes a plurality of positions of the subject vehicle and if the travel locus of the lead vehicle does not include travel locus points of the lead vehicle that are behind the subject vehicle, the pseudo-locus of the subject vehicle includes only one of the plurality of locations of the subject vehicle and the current position of the vehicle.

16. The in-vehicle apparatus of claim 15, wherein the one of the plurality of locations is a location nearest the current position of the subject vehicle.

8. A method for performing a locus-based travel support control of a subject vehicle based on an actual travel locus of the subject vehicle, the method comprising:

receiving a travel locus of a nearby vehicle from among a plurality of nearby vehicles at a receiver; and

configuring an operation unit, by Central Processing Unit (CPU) located in the operation unit to

obtain a current position of the subject vehicle,

recognize one of the plurality of nearby vehicles as a lead vehicle,

generate a pseudo-travel locus of the subject vehicle based on (i) a travel locus of the lead vehicle that is received by the subject vehicle, and (ii) the current position of the subject vehicle in order to maintain privacy for a driver of the subject vehicle,

transmit the pseudo-travel locus of the subject vehicle as the travel locus of the subject vehicle in order to maintain the privacy for the driver of the subject vehicle,

generate the pseudo-travel locus of the subject vehicle from the actual travel locus of the subject vehicle from (i) a pseudo-locus mode in which the pseudo-travel locus of the subject vehicle is transmitted or (ii) an actual locus mode in which the actual travel locus of the subject vehicle is transmitted,

operate in the pseudo-locus mode, from a turning ON of an ignition switch, for a predetermined amount of travel time or a predetermined travel distance, and automatically switching to the actual locus mode after an elapse of the predetermined amount of travel time or a passing of the predetermined travel distance, and

transmit (i) the pseudo-travel locus of the subject vehicle when generating the pseudo-travel locus of the subject vehicle in the pseudo-locus mode to maintain the privacy for the driver of the subject vehicle, or (ii) the actual travel locus of the subject vehicle when generating the pseudo-travel locus of the subject vehicle in the actual locus mode.