Vehicle state estimation system, vehicle state estimation method, and operation support system

• US 9,902,402 B2
• Filed: 02/24/2012
• Issued: 02/27/2018
• Est. Priority Date: 02/24/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Hiroki, Daisuke
• Primary Examiner(s): Berona, Kimberly S
• Assistant Examiner(s): Hutchinson, Alan D
• Application Number:
  US14/378,168
• Publication Number:
  US 20150005983A1
• Time in Patent Office: 2,195 Days
• CPC Class Codes: B60W 2050/0045 using databus protocols
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 40/12 related to parameters of the vehicle itself , e.g. tyre models
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: G06N 5/00 Computing arrangements using knowledge-based models
• CPC Class Codes: G06N 5/02 Knowledge representation; Symbolic representation

Abstract

According to the present invention, a state estimation control device installed in a vehicle manages a rule set, which is a set of defined rules that are defined by rough set theory, which uses various vehicle data as conditional attributes and the state of the vehicle as the determining attribute. The state estimation control device acquires vehicle data of the vehicle that is the estimation objective, and estimates the state of the vehicle by referencing the rule set based on the acquired vehicle data.

Claims

1. A driving support system that supports operation of a vehicle driver in accordance with a vehicle state estimated based on a plurality of portions of first vehicle data, the driving support system comprising:

a recommended action database in which recommended action information to be recommended in accordance with a vehicle state is recorded; and

a driving support section that extracts recommended action information that corresponds to a vehicle state estimated by a vehicle state estimation system from the recommended action database, and the driving support section performs driving support based on the extracted recommended action information, wherein

the vehicle state estimation system is configured to estimate a state of a vehicle based on the plurality of portions of first vehicle data, the vehicle state estimation system includes;

a management section that manages a rule set that is a set of definition rules defined by rough set theory, in which the portions of first vehicle data are condition attributes and the state of the vehicle is a decision attribute; and

a state estimation section that acquires second vehicle data of the vehicle, which is a target of estimation, and estimates a vehicle state of the vehicle through reference to the rule set based on the acquired second vehicle data,

the vehicle state estimation system is configured to estimate a vehicle state through cooperation between an on board ECU that includes the management section and the state estimation section and is used in the vehicle and a center that has a rule set group defined based on third vehicle data acquired based on a plurality of kinds of vehicle operations,

the on board ECU makes an inquiry based on the second vehicle data of the vehicle that is the target of estimation to the center when a definition rule capable of estimating a vehicle state is not present or when a plurality of definition rules capable of estimating a vehicle state are present,

the center selects a definition rule corresponding to the second vehicle data of the inquiry from the rule set group possessed by the center, and delivers the selected definition rule to the on board ECU,

when undefined vehicle data other than condition attributes about specific decision attributes defined by the definition rules is included in the second vehicle data of the vehicle that is the target of estimation, the management section performs contraction processing that is processing to contract condition attributes corresponding to the specific decision attributes to a subset, and uses a data management unit in which undefined vehicle data has been added to the contracted condition attributes,

when a condition attribute is not included in an upper approximation set of the definition rule, although the condition attribute is included in a lower approximation set defined in the definition rule in the second vehicle data acquired from the vehicle that is the target of estimation, the condition attribute of the lower approximation set is contracted, using the data management unit in which a condition attribute showing vehicle data undefined in the upper approximation set is added to the contracted lower approximation set, and the definition rule that corresponds to a pattern of a new condition attribute is defined based on the data management unit, and

the driving support section includes at least one of a steering vibration controller, a traveling speed reducing controller, a vehicle behavior stabilizing controller, a display controller, and a voice controller.

2. The driving support system according to claim 1, wherein

when a condition attribute corresponding to the second vehicle data of the vehicle that is the target of estimation is not present in the rule set managed by the management section of the on board ECU, the on board ECU performs, as the inquiry, processing to transmit the second vehicle data to the center, and

the center selects, from the rule set possessed by the center, the definition rule in which the second vehicle data received from the on board ECU is defined as a condition attribute, and performs processing to deliver the selected definition rule to the on board ECU.

3. The driving support system according to claim 1, wherein, when the second vehicle data of the vehicle that is the target of estimation includes both the lower approximation set that is a basic set showing a reliability of the specific decision attribute and condition attributes not defined in the upper approximation set that are a basic set of possible condition attributes corresponding to the lower approximation set in the definition rule including the lower approximation set, the on board ECU delivers the lower approximation set about the definition rule and condition attributes undefined in the upper approximation set to the center.

4. The driving support system according to claim 3, wherein,

when the definition rule that includes condition attributes included by the lower approximation set received from the on board ECU and the undefined condition attributes is present in the rule set possessed by the center, the center performs processing to transmit the definition rule to the on board ECU, and

when the definition rule that includes condition attributes included by the lower approximation set received from the on board ECU and the undefined condition attributes is not present in the rule set possessed by the center, the center performs processing to newly define a rule in which the undefined condition attributes are added to the upper approximation set that is a subset included as being possible in the definition rule possessed by the center.

5. The driving support system according to claim 1, wherein, when the second vehicle data of the vehicle that is the target of estimation includes both the lower approximation set that is a basic set showing a reliability of the specific decision attribute and condition attributes undefined in the definition rule including the lower approximation set, and when a plurality of definition rules each of which includes the lower approximation set are present in the rule set managed by the management section of the on board ECU, the on board ECU delivers the plurality of lower approximation sets about the definition rules and the undefined condition attributes to the center.

6. The driving support system according to claim 5, wherein,

when a single definition rule that includes condition attributes included by any one of a plurality of lower approximation sets received from the on board ECU and the undefined condition attributes is present in the rule set possessed by the center, the center performs processing to deliver the single definition rule to the on board ECU, and

when a single definition rule that includes condition attributes included by any one of a plurality of lower approximation sets received from the on board ECU and the undefined condition attributes is not present in the rule set possessed by the center, the center performs processing to newly define a rule in which the undefined condition attributes are added to the upper approximation set that is a subset included as being possible in the definition rule possessed by the center.

7. The driving support system according to claim 1, wherein

the center manages the rule set possessed by the center independently of at least one factor among a type of the vehicle that serves as a source of vehicle data acquisition, a time of day when the third vehicle data is acquired, and a traveling environment, and

when the inquiry is received from the on board ECU, the center identifies at least one factor among the type of the vehicle in which the on board ECU is used, the time of day when the third vehicle data is acquired, and the traveling environment prior to selection of the rule set, and selects a rule set to be delivered to the on board ECU from common or similar rule sets concerning the identified factor.

8. The driving support system according to claim 1, wherein

a plurality of pieces of time-series data showing changes in a physical quantity of the vehicle are included in the first vehicle data, and

the state estimation section prescribes an evaluation item that discretely evaluates the physical quantity of the time-series data as the condition attribute, and uses a combination of evaluation items to which the plurality of pieces of time-series data for a specific period belong as the condition attribute concerning the vehicle that is the target of estimation.

9. The driving support system according to claim 1, wherein the state estimation section performs at least one of:

a. processing to collect the first vehicle data each time a predetermined data collection period elapses and to estimate the vehicle state based on the collected first vehicle data, and

b. processing to successively calculate a difference of a plurality of portions of the first vehicle data for consecutive specific periods and to estimate the vehicle state on the condition that the calculated difference value exceeds or falls to or below a predetermined difference threshold value.

10. A driving support method for supporting operation of a vehicle driver in accordance with a vehicle state estimated based on a plurality of portions of first vehicle data, comprising:

recording recommended action information to be recommended in accordance with a vehicle state in a recommended action database;

extracting recommended action information that corresponds to a vehicle state estimated by a vehicle state estimation method from the recommended action database; and

performing driving support based on the extracted recommended action information, wherein

the vehicle state estimation method includes estimating a state of a vehicle based on the plurality of portions of first vehicle data and comprises;

managing, via a controller, a rule set that is a set of definition rules defined by rough set theory in which the portions of first vehicle data are used as condition attributes and the vehicle state is used as a decision attribute;

acquiring second vehicle data of a vehicle that is a target of estimation and then estimating a vehicle state through reference to the rule set based on the acquired second vehicle data;

causing an on board ECU used in the vehicle to perform managing the rule set and estimating the vehicle state;

in estimating the vehicle state, estimating the vehicle state by cooperation between a center that has a rule set group defined based on third vehicle data acquired based on a plurality of kinds of vehicle operations and the on board ECU, wherein, when a definition rule capable of estimating a vehicle state is not present in the on board ECU or when a plurality of definition rules capable of estimating a vehicle state is present in the on board ECU, the on board ECU is caused to make an inquiry based on the second vehicle data of the vehicle that is the target of estimation to the center; and

selecting a rule set corresponding to the second vehicle data of the inquiry from the rule set group possessed by the center and then delivering a selected rule set from the center to the on board ECU,

managing the rule set further includes, when undefined vehicle data other than a condition attribute about a specific decision attribute defined in the definition rule is included in the second vehicle data of the vehicle that is the target of estimation, contracting the condition attribute that corresponds to the specific decision attribute to a subset and then using a data management unit in which undefined vehicle data has been added to a contracted condition attribute,

when a condition attribute is not included in an upper approximation set of the definition rule, although the condition attribute is included in a lower approximation set defined in the definition rule in the second vehicle data acquired from the vehicle that is the target of estimation, contracting the condition attribute of the lower approximation set, using the data management unit in which a condition attribute showing vehicle data undefined in the upper approximation set is added to the contracted lower approximation set, and defining the definition rule that corresponds to a pattern of a new condition attribute based on the data management unit, and

performing driving support includes providing driving support using at least one of a steering vibration controller, a traveling speed reducing controller, a vehicle behavior stabilizing controller, a display controller, and a voice controller.

11. A driving support system that supports operation of a vehicle driver in accordance with a vehicle state estimated based on a plurality of portions of first vehicle data, the driving support system comprising:

a recommended action database in which recommended action information to be recommended in accordance with a vehicle state is recorded; and

a driving support section that extracts recommended action information that corresponds to a vehicle state estimated by a vehicle state estimation system from the recommended action database, and the driving support section performs driving support based on the extracted recommended action information, wherein

the vehicle state estimation system is configured to estimate a state of a vehicle based on the plurality of portions of first vehicle data, the vehicle state estimation system comprising;

a management section that manages a rule set that is a set of definition rules defined by rough set theory, in which the portions of first vehicle data are condition attributes and the state of the vehicle is a decision attribute; and

a state estimation section that acquires second vehicle data of the vehicle, which is a target of estimation, and estimates a vehicle state of the vehicle through reference to the rule set based on the acquired second vehicle data,

the vehicle state estimation system is configured to estimate a vehicle state through cooperation between a portable terminal that includes the management section and the state estimation section and is used in the vehicle and a center that has a rule set group defined based on third vehicle data acquired based on a plurality of kinds of vehicle operations,

the portable terminal makes an inquiry based on the second vehicle data of the vehicle that is the target of estimation to the center when a definition rule capable of estimating a vehicle state is not present or when a plurality of definition rules capable of estimating a vehicle state are present,

the center selects a definition rule corresponding to the second vehicle data of the inquiry from the rule set group possessed by the center, and delivers the selected definition rule to the portable terminal,

when undefined vehicle data other than condition attributes about specific decision attributes defined by the definition rules is included in the second vehicle data of the vehicle that is the target of estimation, the management section performs contraction processing that is processing to contract condition attributes corresponding to the specific decision attributes to a subset, and uses a data management unit in which undefined vehicle data has been added to the contracted condition attributes,

when a condition attribute is not included in an upper approximation set of the definition rule, although the condition attribute is included in a lower approximation set defined in the definition rule in the second vehicle data acquired from the vehicle that is the target of estimation, the condition attribute of the lower approximation set is contracted, using the data management unit in which a condition attribute showing vehicle data undefined in the upper approximation set is added to the contracted lower approximation set, the definition rule that corresponds to a pattern of a new condition attribute is defined based on the data management unit, and

the driving support section includes at least one of a steering vibration controller, a traveling speed reducing controller, a vehicle behavior stabilizing controller, a display controller, and a voice controller.