Vehicle position detecting apparatus

• US 9,855,950 B2
• Filed: 04/25/2016
• Issued: 01/02/2018
• Est. Priority Date: 05/11/2015
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Tezuka, Shunsuke
• Primary Examiner(s): Butler, Rodney A
• Assistant Examiner(s): WEBER, TAMARA L
• Application Number:
  US15/137,990
• Publication Number:
  US 20160332624A1
• Time in Patent Office: 617 Days
• Field of Search: None
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 2754/50 Relative longitudinal speed
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G08G 1/123 indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, tramstransmission of navigation instructions to vehicles G08G1/0968

Abstract

A vehicle position detecting apparatus includes: a position measurement unit that obtains first position information of a first vehicle; an autonomous sensor that obtains relative position information of a second vehicle; a receiver that receives communication data containing second position information of the second vehicle; an identification unit that performs identification on the second vehicle specified based on the relative position information and the second vehicle from which the communication data is sent; a position error calculator that calculates a position error between a position of the second vehicle specified based on the relative position information and that of the second vehicle specified based on the second position information; and a position corrector that performs, based on the position error, a correction on the position of the second vehicle specified based on the second position information, on a condition that the identified second vehicle is no longer detected by the autonomous sensor.

Claims

1. A vehicle position detecting apparatus, comprising:

a position measurement unit that measures a position of a first vehicle as an own vehicle to obtain first position information as position information of the first vehicle;

an autonomous sensor that detects a relative position, relative to the first vehicle, of a second vehicle to obtain relative position information of the second vehicle, the second vehicle being a vehicle different from the first vehicle;

a receiver that receives communication data obtained by the second vehicle and sent from the second vehicle, the communication data containing a second position information, as a position information of the second vehicle; and

a processor, configured to;

identify the second vehicle specified based on the relative position information and the second vehicle from which the communication data is sent, based on the first position information, the relative position information, and the second position information,

determine, for the second vehicle, a difference, as a position error, between a position of the second vehicle specified based on the relative position information and a position of the second vehicle specified based on the second position information,

correct, based on the position error, the position of the second vehicle specified based on the second position information, on a condition that the second vehicle is no longer detected by the autonomous sensor,

average, on a time axis, the position error sequentially calculated for the second vehicle, and

correct the position of the second vehicle, based on an averaged position error.

2. The vehicle position detecting apparatus according to claim 1, wherein the processor is further configured to adjust the position error, based on one of an elapse of time from and a traveling distance of the second vehicle from a time point at which the second vehicle is no longer detected by the autonomous sensor.

3. The vehicle position detecting apparatus according to claim 2, wherein the processor performs a driving support control on the first vehicle, based on a corrected position of the second vehicle.

4. The vehicle position detecting apparatus according to claim 3, wherein the processor performs the driving support control based on any of control levels that are different depending on a traveling position of the second vehicle.

5. The vehicle position detecting apparatus according to claim 1, wherein the processor is configured to adjust the position error, based on one of an elapse of time from and a traveling distance of the second vehicle from a time point at which the second vehicle is no longer detected by the autonomous sensor.

6. The vehicle position detecting apparatus according to claim 5, wherein the processor performs a driving support control on the first vehicle, based on a corrected position of the second vehicle.

7. The vehicle position detecting apparatus according to claim 6, wherein the processor performs the driving support control based on any of control levels that are different depending on a traveling position of the second vehicle.

8. The vehicle position detecting apparatus according to claim 1, wherein the processor performs a driving support control on the first vehicle, based on a corrected position of the second vehicle.

9. The vehicle position detecting apparatus according to claim 8, wherein the processor performs the driving support control based on any of control levels that are different depending on a traveling position of the second vehicle.

10. The vehicle position detecting apparatus according to claim 1, wherein the processor performs a driving support control on the first vehicle, based on a corrected position of the second vehicle.

11. The vehicle position detecting apparatus according to claim 10, wherein the processor performs the driving support control based on any of control levels that are different depending on a traveling position of the second vehicle.