Vehicle driving assistance system

• US 9,718,469 B2
• Filed: 10/03/2011
• Issued: 08/01/2017
• Est. Priority Date: 10/03/2011
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Matsubara, Toshiyuki, Akiyama, Tomonori, Igarashi, Shinji
• Primary Examiner(s): Mawari, Redhwan k
• Assistant Examiner(s): Sood, Anshul
• Application Number:
  US14/348,665
• Publication Number:
  US 20140244151A1
• Time in Patent Office: 2,129 Days
• Field of Search: 701301
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2710/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2710/202 Steering torque
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• 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

Abstract

An object of the invention is to provide, in a vehicle driving assistance system that provides assistance to avoid a collision between a host vehicle and a three-dimensional object causing an obstruction, a technique for avoiding assistance in which the host vehicle is guided to a region where the presence of a three-dimensional object is unclear. To achieve this object, according to the invention, a grid map, by which an avoidance region in which a three-dimensional object exists, an unclear region in which the existence of a three-dimensional object is unclear, and a safe region in which no three-dimensional objects exist can be distinguished, is created. When the avoidance region exists on the advancement path of the host vehicle, a route that can avoid the avoidance region and passes through the unclear region for a distance not exceeding a threshold is specified, whereupon a steering angle is controlled to cause the host vehicle to travel along the specified route.

Claims

1. A vehicle driving assistance system comprising:

a recognizing unit configured to recognize a three-dimensional object existing on a periphery of a host vehicle and generate information relating to relative positions of the three-dimensional object and the host vehicle;

a setting unit configured to set, on the basis of the information generated by the recognizing unit, a grid map indicating relative positions of a current position of the host vehicle, an avoidance region, which is recognized as a region in which the three-dimensional object exists, a safe region, which is recognized as a region in which no three-dimensional objects exist, and an unclear region, which is a region the recognizing unit cannot perceive; and

an assisting unit configured to

determine that implementation of a driving assist is required, when an advancement path of the host vehicle passes through the avoidance region on the grid map set by the setting unit,

specify an avoidance line, which is a route on which the avoidance region can be avoided, on the basis of a distance by which the route passes through the unclear region or the number of times the route passes through a cell of the unclear region, and

execute the driving assist by modifying a movement amount of the host vehicle such that the host vehicle travels along the specified avoidance line, wherein the assisting unit is configured to exclude, from avoidance line selection choices, a route that passes through the unclear region for a distance exceeding a threshold, wherein, responsive to detecting a second three-dimensional object, when none of the avoidance line selection choices avoids the second three-dimensional object, the assisting unit is configured to select, from the avoidance line selection choices, a route for the host vehicle to travel to reach the second three-dimensional object, the selected route being the longest length of the avoidance line selection choices, a length of each of the avoidance line selection choices being determined when the avoidance line selection choices are determined.

2. The vehicle driving assistance system according to claim 1, wherein the setting unit is configured to set a movement cost that takes a larger value in the avoidance region than in the unclear region and takes a larger value in the unclear region than in the safe region for each cell of the grid map, and

the assisting unit is configured to calculate total movement costs of cells on respective routes along which the host vehicle is predicted to travel when a steering angle of the host vehicle is varied in increments of a predetermined amount, and select a route having the smallest total movement cost as the avoidance line.

3. The vehicle driving assistance system according to claim 2, wherein the assisting unit is configured to exclude a route that passes through the cells of the unclear region a number of times exceeding a threshold, from avoidance line selection choices.

4. The vehicle driving assistance system according to claim 2, wherein, when the presence of the three-dimensional object is unclear or missed by the recognizing unit between the host vehicle and a limit position of a recognition range of the recognizing unit, the setting unit is configured to set cells between the limit position and the host vehicle as the unclear region.

5. The vehicle driving assistance system according to claim 2, wherein, when the three-dimensional object is recognized between the host vehicle and a limit position of a recognition range of the recognizing unit, the setting unit is configured to set cells between the three-dimensional object and the host vehicle as the safe region.

6. The vehicle driving assistance system according to claim 5, wherein the setting unit is configured to set cells between the three-dimensional object and the limit position as the unclear region.

7. The vehicle driving assistance system according to claim 2, wherein the predetermined amount is a minimum amount by which the steering angle can be modified by the assisting unit.