Preceding vehicle selection apparatus

• US 9,588,222 B2
• Filed: 09/29/2014
• Issued: 03/07/2017
• Est. Priority Date: 09/30/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Sudou, Takuma, Kurumisawa, Jin, Nozawa, Toyohito, Namikiri, Tatsuya
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): SHUDY, ANGELINA M
• Application Number:
  US14/499,831
• Publication Number:
  US 20150094942A1
• Time in Patent Office: 890 Days
• Field of Search: 701/300, 701/94, 701/96, 340/435, 340/436, 340/438, 180167-171
• US Class Current: 1/1
• 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 2552/30 Road curve radius
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• 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 30/18145 Cornering
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

A preceding vehicle selection apparatus estimates a curvature of a road on which an own vehicle is traveling, detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle. Based on the curvature and the relative position, an own vehicle lane probability instantaneous value is determined. This instantaneous value is a probability of the object ahead being present in the same vehicle lane as the own vehicle. By a filter calculation on the instantaneous value, an own vehicle lane probability is determined. Based on the own vehicle lane probability, a preceding vehicle is selected. An inter-vehicle time required for the own vehicle to reach a detection position of the object ahead is calculated. Based on the inter-vehicle time, characteristics of the filter calculation are changed such that an effect of the own vehicle lane instantaneous value increases as the inter-vehicle time decreases.

Claims

1. A preceding vehicle selection apparatus comprising:

curvature estimating means that estimates a curvature of a traveling road on which an own vehicle is traveling;

object position detecting means that detects an object ahead of the own vehicle, and determines a relative position in relation to the own vehicle, for each object ahead;

instantaneous probability calculating means that repeatedly determines an own vehicle lane probability instantaneous value for each object ahead, based on the estimated curvature estimated by the curvature estimating means and the relative position determined by the object position detecting means, the own vehicle lane probability instantaneous value being an instantaneous value of a probability of the object ahead being present in the same vehicle lane as the own vehicle;

filter calculating means that determines an own vehicle lane probability by performing a filter calculation on the own vehicle lane probability instantaneous value calculated by the instantaneous probability calculating means;

preceding vehicle selecting means that selects a preceding vehicle based on the own vehicle lane probability determined by the filter calculating means;

inter-vehicle time calculating means that calculates an inter-vehicle time for each object ahead, the inter-vehicle time indicating a time required for the own vehicle to reach a detected position of the object ahead; and

filter characteristics setting means that changes characteristics of the filter calculation such that an effect of the own vehicle lane instantaneous value increases as the inter-vehicle time decreases, based on the inter-vehicle time determined by the inter-vehicle time calculating means, wherein;

the filter calculating means determines a present value of the own vehicle lane probability in a present processing cycle by performing the filter calculation to calculate, using a weight, a weighted average of (i) the own vehicle lane probability instantaneous value and (ii) a previous value of the own vehicle lane probability determined in a previous processing cycle by the filter calculating means, and changes the weight for calculating the weighted average based on the inter-vehicle time; and

the own vehicle lane probability is determined by

2. The preceding vehicle selection apparatus according to claim 1, wherein:

the filter constant is set to an upper limit value when the inter-vehicle time is less than a predetermined first threshold for a close distance;

the filter constant is set to a lower limit value when the inter-vehicle time is greater than a predetermined second threshold for a long distance; and

the filter constant is set to decrease from the upper limit value to the lower limit value in proportion with an increase in the inter-vehicle time, when the inter-vehicle time is the first threshold or greater and the second threshold or less.

3. The preceding vehicle selection apparatus according to claim 2, wherein

the curvature of the traveling road is estimated by

4. A preceding vehicle selection method comprising:

estimating a curvature of a traveling road on which an own vehicle is traveling;

detecting an object present ahead of the own vehicle, and determining a relative position in relation to the own vehicle, for each object ahead;

repeatedly determining an own vehicle lane probability instantaneous value for each object ahead, based on the estimated curvature and the determined relative position, the own vehicle lane probability instantaneous value being an instantaneous value of a probability of the object ahead being present in the same vehicle lane as the own vehicle;

determining an own vehicle lane probability by performing a filter calculation on the calculated own vehicle lane probability instantaneous value;

selecting a preceding vehicle based on the determined own vehicle lane probability;

calculating an inter-vehicle time for each object ahead, the inter-vehicle time indicating a time required for the own vehicle to reach a detected position of the object ahead; and

changing characteristics of the filter calculation such that an effect of the own vehicle lane instantaneous value increases as the inter-vehicle time decreases, based on the determined inter-vehicle time, wherein

a present value of the own vehicle lane probability in a present processing cycle is determined by performing the filter calculation to calculate, using a weight, a weighted average of (i) the own vehicle lane probability instantaneous value and (ii) a previous value of the own vehicle lane probability that is determined in a previous processing cycle;

the weight for calculating the weighted average is changed based on the inter-vehicle time; and

the own vehicle lane probability is determined by

5. The preceding vehicle selection method according to claim 4, wherein:

the filter constant is set to an upper limit value when the inter-vehicle time is less than a predetermined first threshold for a close distance;

the filter constant is set to a lower limit value when the inter-vehicle time is greater than a predetermined second threshold for a long distance; and

the filter constant is set to decrease from the upper limit value to the lower limit value in proportion with an increase in the inter-vehicle time, when the inter-vehicle time is the first threshold or greater and the second threshold or less.

6. The preceding vehicle selection method according to claim 5, wherein

the curvature of the traveling road is estimated by