Vehicle driving control system

• US 9,607,519 B2
• Filed: 02/01/2013
• Issued: 03/28/2017
• Est. Priority Date: 06/22/2011
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Sasaki, Makiko
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Lewandroski, Sara
• Application Number:
  US14/373,509
• Publication Number:
  US 20140365104A1
• Time in Patent Office: 1,516 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driving control system has a position/speed information detecting section for detecting the position and speed of a host vehicle, a communication unit for acquiring the position and speed information of another vehicle, a proximity position estimating section that estimates a proximity position at which the host vehicle and the other vehicle approach each other and a proximity position changing unit that, when the host vehicle and the other vehicle are travelling on the same lane at the same time, changes the proximity position to a changed proximity position outside of a waiting time generation area. A travelling plan generation section generates a travelling plan while the other one of the host-vehicle and the other vehicle enters the waiting time generation area. A communication unit transmits the travelling plan to the other vehicle, and a travel driving unit executes the driving of the host vehicle according to the travelling plan.

Claims

1. A driving control system comprising:

a host-vehicle position detecting means configured to detect a position of a host-vehicle;

a host-vehicle speed detecting means configured to detect a speed of the host-vehicle;

an acquisition means configured to acquire position information and speed information about another vehicle travelling towards the host-vehicle;

a proximity position estimation means configured to estimate a proximity position at which the host-vehicle and the other vehicle approach each other based on the position and the speed of the host-vehicle and the position and the speed of the other vehicle;

a proximity position changing means configured to change a proximity position to a first changed proximity position outside of a predetermined area, when the estimated proximity position is located in the predetermined area and the host-vehicle and the other vehicle travel on a same lane at a same time;

a travelling plan generating means configured to generate a travelling plan that when the proximity position changing means has changed to the first changed proximity position, while both the host-vehicle and the other vehicle approach the first changed proximity position, after one of the host-vehicle and the other vehicle has passed through the predetermined area, and the other one of the host-vehicle and the other vehicle enters the predetermined area;

a transmission means configured to transmit the travelling plan to the other vehicle; and

a travel driving means configured to execute driving of the host-vehicle according to the travelling plan, wherein the proximity position changing means is further configured to;

set a predetermined position threshold between the host-vehicle and the other vehicle in the predetermined area;

change the proximity position to the first changed proximity position when determined that the estimated proximity position is closer to the host-vehicle compared to the position threshold so as for the proximity position to come closer to the host-vehicle outside of the predetermined area; and

change the proximity position to the first changed proximity position when determined that the estimated proximity position is closer to the other vehicle compared to the position threshold so as for the proximity position to come closer to the other vehicle outside of the predetermined area; and

wherein the travelling plan generating means is further configured to;

generate the travelling plan that, when the proximity position has been changed to the first changed proximity position closer to the host-vehicle by the proximity position changing means, the host-vehicle is caused to decelerate and the other vehicle is caused to accelerate; and

generate the travelling plan that, when the proximity position has been changed to the first changed proximity position closer to the other vehicle by the proximity position changing means, the host-vehicle is caused to accelerate and the other vehicle is caused to decelerate.

2. The driving control system as claimed in claim 1, wherein the proximity position changing means is further configured to set the position threshold substantially at a center of the predetermined area.

3. A driving control system comprising:

a host-vehicle position detecting means configured to detect a position of a host-vehicle;

a host-vehicle speed detecting means configured to detect a speed of the host-vehicle;

an acquisition means configured to acquire position information and speed information about another vehicle travelling towards the host-vehicle;

a proximity position estimation means configured to estimate a proximity position at which the host-vehicle and the other vehicle approach each other based on the position and the speed of the host-vehicle and the position and the speed of the other vehicle;

a proximity position changing means configured to change a proximity position to a first changed proximity position outside of a predetermined area, when the estimated proximity position is located in the predetermined area and the host-vehicle and the other vehicle travel on a same lane at a same time;

a travelling plan generating means configured to generate a travelling plan when the proximity position changing means has changed to the first changed proximity position, while both the host-vehicle and the other vehicle approach the first changed proximity position, after one of the host-vehicle and the other vehicle has passed through the predetermined area, and the other one of the host-vehicle and the other vehicle enters the predetermined area;

a transmission means configured to transmit the travelling plan to the other vehicle; and

a following vehicle confirming means configured to confirm a presence of a following vehicle traveling rearward of the host-vehicle, wherein the proximity position changing means is further configured to;

set a predetermined position threshold between the host-vehicle and the other vehicle in the predetermined area;

change the proximity position to a first changed proximity position when determined that the estimated proximity position is closer to the host-vehicle compared to the position threshold so as for the proximity position to come closer to the host-vehicle outside of the predetermined area; and

change the proximity position to the first changed position when determined that the estimated proximity position is closer to the other vehicle compared to the position threshold so as for the proximity position to come closer to the other vehicle outside of the predetermined area, wherein the following vehicle confirming means is configured to detect more than one following vehicle and the presence and a number of following vehicles; and

when the following vehicle confirming means detects one following vehicle and the proximity position changing means changes the proximity position to the first changed proximity position close to the other vehicle, the travelling plan generating means is configured to generate the travelling plan according to which, while the host-vehicle, the other vehicle, and following vehicle are all approaching the first changed proximity position, the host-vehicle is caused to accelerate whereas the other vehicle and the following vehicle are caused to decelerate so that, after the host-vehicle has passed through the predetermined area, and the other vehicle is caused to accelerate to pass through the predetermined area while maintaining the following vehicle decelerating, the following vehicle is then caused to enter the predetermined area.

4. A driving control system comprising:

a host-vehicle position detecting means configured to detect a position of a host-vehicle;

a host-vehicle speed detecting means configured to detect a speed of the host-vehicle;

an acquisition means configured to acquire position information and speed information about another vehicle travelling towards the host-vehicle;

a proximity position estimation means configured to estimate a proximity position at which the host-vehicle and the other vehicle approach each other based on the position and the speed of the host-vehicle and the position and the speed of the other vehicle;

a proximity position changing means configured to change a proximity position to a first changed proximity position outside of a predetermined area, when the estimated proximity position is located in the predetermined area and the host-vehicle and the other vehicle travel on a same lane at a same time;

a travelling plan generating means configured to generate a travelling plan when the proximity position changing means has changed to the first changed proximity position, while both the host-vehicle and the other vehicle approach the first changed proximity position, after one of the host-vehicle and the other vehicle has passed through the predetermined area, and the other one of the host-vehicle and the other vehicle enters the predetermined area;

a transmission means configured to transmit the travelling plan to the other vehicle; and

a following vehicle confirming means configured to confirm a presence of a following vehicle traveling rearward of the host-vehicle, wherein the proximity position changing means is further configured to;

set a predetermined position threshold between the host-vehicle and the other vehicle in the predetermined area;

change the proximity position to a first changed proximity position when determined that the estimated proximity position is closer to the host-vehicle compared to the position threshold so as for the proximity position to come closer to the host-vehicle outside of the predetermined area; and

change the proximity position to the first changed position when determined that the estimated proximity position is closer to the other vehicle compared to the position threshold so as for the proximity position to come closer to the other vehicle outside of the predetermined area, wherein the following vehicle confirming means is configured to detect more than one following vehicle and the presence and a number of following vehicles;

when the following vehicle confirming means detects two or more following vehicles and the proximity position changing means changes the proximity position to the first changed proximity position close to the other vehicle, the travelling plan generating means is configured to change the first changed proximity position to a second changed proximity position which will be closer to the other vehicle as the number of the following vehicles increases; and

the travelling plan generating means further generates a travelling plan according to which, while the host-vehicle, the other vehicle, and the following vehicles are all approaching the second changed proximity position, the host-vehicle and the following vehicles are caused to accelerate whereas the other vehicle is caused to decelerate so that, after the host-vehicle and the following vehicles have passed through the predetermined area, the other vehicle is caused to enter the predetermined area.

5. A driving control system comprising:

a host-vehicle position detecting means configured to detect a position of a host-vehicle;

a host-vehicle speed detecting means configured to detect a speed of the host-vehicle;

an acquisition means configured to acquire position information and speed information about another vehicle travelling towards the host-vehicle;

a proximity position estimation means configured to estimate a proximity position at which the host-vehicle and the other vehicle approach each other based on the position and the speed of the host-vehicle and the position and the speed of the other vehicle;

a proximity position changing means configured to change a proximity position to a first changed proximity position outside of a predetermined area, when the estimated proximity position is located in the predetermined area and the host-vehicle and the other vehicle travel on a same lane at a same time;

a travelling plan generating means configured to generate a travelling plan when the proximity position changing means has changed to the first changed proximity position, while both the host-vehicle and the other vehicle approach the first changed proximity position, after one of the host-vehicle and the other vehicle has passed through the predetermined area, and the other one of the host-vehicle and the other vehicle enters the predetermined area;

a transmission means configured to transmit the travelling plan to the other vehicle; and

a following vehicle confirming means configured to confirm a presence of a following vehicle traveling rearward of the host-vehicle, wherein the proximity position changing means is further configured to;

set a predetermined position threshold between the host-vehicle and the other vehicle in the predetermined area;

change the proximity position to a first changed proximity position when determined that the estimated proximity position is closer to the host-vehicle compared to the position threshold so as for the proximity position to come closer to the host-vehicle outside of the predetermined area; and

change the proximity position to the first changed position when determined that the estimated proximity position is closer to the other vehicle compared to the position threshold so as for the proximity position to come closer to the other vehicle outside of the predetermined area, wherein the following vehicle confirming means is configured to detect more than one following vehicle and the presence and a number of following vehicles; and

when the following vehicle confirming means detects one or more following vehicles and the proximity position changing means changes the proximity position to the first changed proximity position close to the host-vehicle, the travelling plan generating means further generates a travelling plan according to which, while the host-vehicle, the other vehicle, and the following vehicle are all approaching the first changed proximity position, the host-vehicle and the following vehicle are caused to decelerate whereas the other vehicle is caused to accelerate so that, after the other vehicle has passed through the predetermined area, the host-vehicle and the following vehicle are caused to enter the predetermined area.