Driving assistance apparatus

• US 9,830,822 B2
• Filed: 11/08/2016
• Issued: 11/28/2017
• Est. Priority Date: 11/11/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Ando, Motonori, Funabashi, Junichiro
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US15/346,583
• Publication Number:
  US 20170132930A1
• Time in Patent Office: 385 Days
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G08G 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/0967 Systems involving transmission of highway information, e.g. weather, speed limits transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/163 involving continuous checking

Abstract

A driving assistance apparatus in a subject vehicle includes a driving assistance section. A subject-vehicle estimated trajectory is estimated as a subsequent traveling trajectory from a current position and a traveling orientation of the subject vehicle. A neighboring-vehicle estimated trajectory is estimated as a subsequent traveling trajectory of a neighboring vehicle by acquiring trajectory estimation information. A determination area is designated to include a crossing point included in the subject-vehicle estimated trajectory and the neighboring-vehicle estimated trajectory. It is determined whether the determination area includes an intersection node in road map information. A first driving assistance level is used when the determination area does not include the intersection node; the first driving assistance level is smaller in driving assistance than a second driving assistance level used when the determination area includes the intersection node.

Claims

1. A driving assistance apparatus to a vehicle, the driving assistance apparatus including a driving assistance section to perform control over assisting a driver in driving the vehicle, the driving assistance apparatus comprising:

a subject vehicle position determination section that successively acquires a position determined by receiving a navigation signal transmitted from a navigation satellite included in a satellite navigation system and successively determines a current position of the vehicle, the vehicle being referred to as a subject vehicle;

a subject vehicle estimation section that estimates a subject-vehicle estimated trajectory as a subsequent traveling trajectory of the subject vehicle from a current position of the subject vehicle determined by the subject vehicle position determination section and a traveling orientation of the subject vehicle;

a neighboring vehicle estimation section that estimates a neighboring-vehicle estimated trajectory as a subsequent traveling trajectory of a neighboring vehicle around the subject vehicle by acquiring trajectory estimation information to estimate a neighboring-vehicle estimated trajectory as a subsequent traveling trajectory of the neighboring vehicle via an inter-vehicle communication unit included in the subject vehicle, the trajectory estimation information including a traveling orientation of the neighboring vehicle and a current position of the neighboring vehicle determined based on the navigation signal;

an area designation section that designates a determination area so as to include a crossing point that is included in the subject-vehicle estimated trajectory and the neighboring-vehicle estimated trajectory; and

a determination section that determines whether the determination area designated by the area designation section includes an intersection node in road map information that represents an intersection of roads as the intersection node,

wherein

the driving assistance section uses a first driving assistance level when the determination area does not include the intersection node, the first driving assistance level being smaller in driving assistance than a second driving assistance level used when the determination area includes the intersection node.

2. The driving assistance apparatus according to claim 1,

wherein

the subject vehicle estimation section

assumes a current position of the subject vehicle determined by the subject vehicle position determination section to be a basing point and

identifies the subject-vehicle estimated trajectory with a straight line extending from the basing point along a traveling orientation of the subject vehicle.

3. The driving assistance apparatus according to claim 1, further comprising

an acquisition section that successively acquires a vehicle speed and a yaw rate of the subject vehicle,

wherein

the subject vehicle estimation section

calculates a turning radius of the subject vehicle based on a vehicle speed and a yaw rate of the subject vehicle acquired by the acquisition section,

identifies, as a basing point, a current position of the subject vehicle determined by the subject vehicle position determination section, and

identifies, as the subject-vehicle estimated trajectory, an arc of the turning radius of the subject vehicle, the arc being in contact with a front-back direction line of the subject vehicle at the basing point.

4. The driving assistance apparatus according to claim 1 comprising

a track information acquisition section that receives travel track information from the neighboring vehicle via the inter-vehicle communication unit, the travel track information being used to determine a determined travel track of the neighboring vehicle,

wherein

the subject vehicle estimation section includes:

a subject vehicle track determination section that determines, as a determined travel track to determine the subject-vehicle estimated trajectory, a specified travel track of the neighboring vehicle specified based on the travel track information, the specified travel track satisfying a condition of a distance from a current position of the subject vehicle and a condition of an angle difference from a traveling orientation of the subject vehicle; and

a subject-vehicle estimated trajectory determination section that determines the subject-vehicle estimated trajectory based on part of the determined travel track determined by the subject vehicle track determination section, the part of the determined travel track extending in a traveling orientation of the subject vehicle from a start point that depends on a current position of the subject vehicle determined by the subject vehicle position determination section.

5. The driving assistance apparatus according to claim 1,

wherein:

the trajectory estimation information received by the inter-vehicle communication unit includes a current position of the neighboring vehicle and a traveling orientation of the neighboring vehicle; and

the neighboring vehicle estimation section

identifies, as a basing point, a current position of the neighboring vehicle acquired via the inter-vehicle communication unit and

identifies, as the neighboring-vehicle estimated trajectory, a straight line extending from the basing point in the traveling orientation of the neighboring vehicle.

6. The driving assistance apparatus according to claim 1,

wherein:

the trajectory estimation information received by the inter-vehicle communication unit includes a current position, a vehicle speed, and a yaw rate of the neighboring vehicle; and

the neighboring vehicle estimation section

calculates a turning radius of the neighboring vehicle based on a vehicle speed and a yaw rate of the neighboring vehicle acquired via the inter-vehicle communication unit,

identifies, as a basing point, a current position of the neighboring vehicle acquired via the inter-vehicle communication unit, and

identifies, as the neighboring-vehicle estimated trajectory, an arc of the turning radius of the neighboring vehicle, the arc being in contact with a front-back direction line of the neighboring vehicle at the basing point.

7. The driving assistance apparatus according to claim 1, further comprising:

a trajectory estimation information acquisition section that acquires, as the trajectory estimation information, travel track information from the neighboring vehicle via the inter-vehicle communication unit, the travel track information being used to determine a determined travel track of the neighboring vehicle including a each of a first neighboring vehicle and a second neighboring vehicle,

wherein

the neighboring vehicle estimation section includes;

a neighboring vehicle track determination section that determines, as a determined travel track to determine a neighboring-vehicle estimated trajectory of the second neighboring vehicle, a specified travel track of the first neighboring vehicle specified based on the travel track information assumed to be transmitted from the first neighboring vehicle, the specified travel track of the first neighboring vehicle satisfying a condition of a distance from a current position of the second neighboring vehicle and a condition of an angle difference from a traveling orientation of the second neighboring vehicle; and

a neighboring-vehicle estimated trajectory determination section that determines the neighboring-vehicle estimated trajectory of the second neighboring vehicle based on part of the determined travel track determined by the neighboring vehicle track determination section to determine the neighboring-vehicle estimated trajectory of the second neighboring vehicle, the part of the determined travel track extending in a traveling orientation of the second neighboring vehicle from a start point that depends on a current position of the second neighboring vehicle.

8. The driving assistance apparatus according to claim 1,

wherein

the area designation section

acquires a traveled road width-related value related to a road width of a road traveled by the subject vehicle, and

increases the determination area in a direction from the subject vehicle to the center of a width direction of a road traveled by the subject vehicle depending on a road width determined based on the traveled road width-related value.

9. The driving assistance apparatus according to claim 8,

wherein

the area designation section acquires a specified number of lanes of a road traveled by the subject vehicle as the traveled road width-related value.

10. The driving assistance apparatus according to claim 8,

wherein:

the determination section determines whether the determination area includes the intersection node corresponding to a nearest intersection of roads on a road traveled by the subject vehicle; and

the area designation section

acquires an intersecting road width-related value as a value related to a road width of an intersecting road intersecting at a nearest intersection of roads on a road traveled by the subject vehicle and

increases the determination area in accordance with a road width settled based on the intersecting road width-related value in a direction along the subject-vehicle estimated trajectory, the direction being settled depending on whether the neighboring vehicle exists at a right side or a left side of the subject-vehicle estimated trajectory viewed from the subject vehicle.

11. The driving assistance apparatus according to claim 1,

wherein

the determination section determines whether the determination area includes the intersection node corresponding to a nearest intersection of roads on a road traveled by the subject vehicle.