Driving support device, driving support method, and driving support program

• US 9,405,727 B2
• Filed: 02/23/2011
• Issued: 08/02/2016
• Est. Priority Date: 02/23/2011
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nagata, Shinichi
• Primary Examiner(s): Jen, Ian
• Application Number:
  US13/879,951
• Publication Number:
  US 20130226445A1
• Time in Patent Office: 1,987 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• 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 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/20 Lateral distance
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A trajectory feature point generating unit of a driving support device determines a target speed of a host vehicle when the host vehicle passes the vicinity of an obstacle, on the basis of the maximum possible lateral distance of the host vehicle from the obstacle when the host vehicle passes the vicinity of the obstacle and a map in which a lateral distance and a speed when the host vehicle passes the vicinity of the obstacle are associated with each other. Therefore, for example, the trajectory feature point generating unit can determine the target speed of the host vehicle when the host vehicle passes the vicinity of the obstacle, in the range of the maximum possible distance from the obstacle, such that the speed is equal to or less than a value corresponding to a predetermined distance. As a result, it is possible to determine a state of the host vehicle which is consistent with reality.

Claims

1. A driving support device comprising:

a target determining unit that determines a target speed of a host vehicle when the host vehicle passes the vicinity of an obstacle, on the basis of a maximum possible lateral distance of the host vehicle from the obstacle when the host vehicle passes the vicinity of the obstacle and including a map associating the maximum possible lateral distance of the host vehicle from the obstacle and a speed of the host vehicle at the time when the host vehicle passes the vicinity of the obstacle.

2. The driving support device according to claim 1,

wherein the target determining unit determines a target distance between the host vehicle and the obstacle when the host vehicle passes the vicinity of the obstacle, in the range of the maximum possible lateral distance of the host vehicle from the obstacle when the host vehicle passes the vicinity of the obstacle.

3. The driving support device according to claim 1,

wherein the target determining unit determines the distance between the host vehicle and the obstacle when the host vehicle passes the vicinity of the obstacle, which is estimated on the basis of the current traveling state of the host vehicle, to be the target distance, and

the target determining unit determines a speed equal to or less than the speed corresponding to the determined target distance to be the target speed in the map.

4. The driving support device according to claim 1,

wherein the target determining unit determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and are evaluated to be attained from the current traveling state of the host vehicle by a minimum change in the traveling state, to be the target distance and the target speed.

5. The driving support device according to claim 1,

wherein, when the host vehicle is accelerated, the target determining unit determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by steering only, to be the target distance and the target speed,

when the host vehicle is steered such that the distance from the obstacle is reduced, the target determining unit determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by braking only, to be the target distance and the target speed, and

when the host vehicle is steered such that the distance from the obstacle increases, the target determining unit determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by steering only, to be the target distance and the target speed.

6. The driving support device according to claim 1,

wherein the target determining unit determines the target distance between the host vehicle and the obstacle and the target speed of the host vehicle when the host vehicle passes through a reference line which is set in the vicinity of the obstacle, and

the reference line is set so as to pass through a point that is closer to the current position of the host vehicle as the distance from the obstacle increases.

16. The driving support program according to claim 1,

wherein the target determining step determines the distance between the host vehicle and the obstacle when the host vehicle passes the vicinity of the obstacle, which is estimated on the basis of the current traveling state of the host vehicle, to be the target distance, and

the target determining step determines a speed equal to or less than the speed corresponding to the determined target distance to be the target speed in the map.

17. The driving support program according to claim 1,

wherein the target determining step determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and are evaluated to be attained from the current traveling state of the host vehicle by a minimum change in the traveling state, to be the target distance and the target speed.

18. The driving support program according to claim 1,

wherein, when the host vehicle is accelerated, the target determining step determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by steering only, to be the target distance and the target speed,

when the host vehicle is steered such that the distance from the obstacle is reduced, the target determining step determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by braking only, to be the target distance and the target speed, and

when the host vehicle is steered such that the distance from the obstacle increases, the target determining step determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by steering only, to be the target distance and the target speed.

7. A driving support device comprising:

a storage unit that stores a relationship between a distance between a host vehicle and an obstacle and a speed of the host vehicle when the host vehicle passes the vicinity of the obstacle;

a maximum distance calculating unit that calculates a maximum possible lateral distance of the host vehicle from the obstacle when the host vehicle passes the vicinity of the obstacle; and

a target determining unit that determines a target speed of the host vehicle when the host vehicle passes the vicinity of the obstacle, on the basis of the relationship stored in the storage unit and the maximum possible lateral distance calculated by the maximum distance calculating unit.

8. A driving support method comprising:

a target determining step of determining a target speed of a host vehicle when the host vehicle passes the vicinity of an obstacle, on the basis of a maximum possible lateral distance of the host vehicle from the obstacle when the host vehicle passes the vicinity of the obstacle and including a map associating the maximum possible lateral distance of the host vehicle from the obstacle and a speed of the host vehicle at the time when the host vehicle passes the vicinity of the obstacle.

9. The driving support method according to claim 8,

wherein the target determining step determines a target distance between the host vehicle and the obstacle when the host vehicle passes the vicinity of the obstacle, in the range of the maximum possible lateral distance of the host vehicle from the obstacle when the host vehicle passes the vicinity of the obstacle.

10. The driving support method according to claim 8,

wherein the target determining step determines the distance between the host vehicle and the obstacle when the host vehicle passes the vicinity of the obstacle, which is estimated on the basis of the current traveling state of the host vehicle, to be the target distance, and

the target determining step determines a speed equal to or less than the speed corresponding to the determined target distance to be the target speed in the map.

11. The driving support method according to claim 8,

wherein the target determining step determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and are evaluated to be attained from the current traveling state of the host vehicle by a minimum change in the traveling state, to be the target distance and the target speed.

12. The driving support method according to claim 8,

wherein, when the host vehicle is accelerated, the target determining step determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by steering only, to be the target distance and the target speed,

when the host vehicle is steered such that the distance from the obstacle is reduced, the target determining step determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by braking only, to be the target distance and the target speed, and

when the host vehicle is steered such that the distance from the obstacle increases, the target determining step determines the distance between the host vehicle and the obstacle and the speed of the host vehicle, which satisfy the correspondence relationship between the distance between the host vehicle and the obstacle and the speed of the host vehicle when the host vehicle passes the vicinity of the obstacle and can be attained by steering only, to be the target distance and the target speed.

13. The driving support method according to claim 8,

wherein the target determining step determines the target distance between the host vehicle and the obstacle and the target speed of the host vehicle when the host vehicle passes through a reference line which is set in the vicinity of the obstacle, and

the reference line is set so as to pass through a point that is closer to the current position of the host vehicle as the distance from the obstacle increases.

14. A driving support program that allows an electronic computer to perform:

a target determining step of determining a target speed of a host vehicle when the host vehicle passes the vicinity of an obstacle, on the basis of a maximum possible lateral distance of the host vehicle from the obstacle when the host vehicle passes the vicinity of the obstacle and including a map associating the maximum possible lateral distance of the host vehicle from the obstacle and a speed of the host vehicle at the time when the host vehicle passes the vicinity of the obstacle.

15. The driving support program according to claim 14,

wherein the target determining step determines a target distance between the host vehicle and the obstacle when the host vehicle passes the vicinity of the obstacle, in the range of the maximum possible lateral distance of the host vehicle from the obstacle when the host vehicle passes the vicinity of the obstacle.

19. The driving support program according to claim 14,

wherein the target determining step determines the target distance between the host vehicle and the obstacle and the target speed of the host vehicle when the host vehicle passes through a reference line which is set in the vicinity of the obstacle, and

the reference line is set so as to pass through a point that is closer to the current position of the host vehicle as the distance from the obstacle increases.