Vehicle driving assistance apparatus and vehicle driving assistance method

• US 9,956,961 B2
• Filed: 05/11/2015
• Issued: 05/01/2018
• Est. Priority Date: 06/05/2014
• Status: Active Grant

• Current Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Original Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Inventors: Ishikawa, Shota
• Primary Examiner(s): Olszewski, John
• Assistant Examiner(s): Worden, Thomas E
• Application Number:
  US14/708,868
• Publication Number:
  US 20150353088A1
• Time in Patent Office: 1,086 Days
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/55 using telemetry
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B60W 60/0059 Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

An in-vehicle system includes a vehicle position detection unit and a vehicle position calculation unit that detect a vehicle position, a road condition prediction unit that predicts a road condition at a position in front of the detected vehicle position, an automatic driving continuation determination unit that determines whether or not the vehicle automatic driving can be continued at the position in front of the vehicle based on the road condition predicted by the road condition prediction unit, and an automatic driving cancellation warning unit that warns of cancellation of the vehicle automatic driving when the automatic driving continuation determination unit determines that it is difficult to continue the vehicle automatic driving.

Claims

1. A vehicle driving assistance apparatus comprising:

a vehicle position detector configured to detect a vehicle position of a vehicle;

a road condition predictor configured to predict a road condition at a position in front of the vehicle position detected by the vehicle position detector;

an automatic driving continuation determiner configured to determine whether or not vehicle automatic driving can be continued at the position in front of the vehicle based on the road condition predicted by the road condition predictor;

an automatic driving cancellation warner configured to warn of vehicle automatic driving cancellation when the automatic driving continuation determiner determines that the vehicle automatic driving cannot be continued at the position in front of the vehicle; and

an automatic driving canceller configured to automatically cancel the vehicle automatic driving before the position in front of the vehicle at a first distance larger than a first predetermined fixed value, when it is determined that the vehicle automatic driving cannot be continued at the position in front of the vehicle, after warning of the cancellation by the automatic driving cancellation warner;

wherein the automatic driving cancellation warner warns of the cancellation when a second distance to the position in front of the vehicle, when it is determined that the vehicle automatic driving cannot be continued at the position in front of the vehicle, becomes equal to or less than a second predetermined fixed value, the second predetermined fixed value being larger than the first predetermined fixed value; and

wherein, when the automatic driving continuation determiner determines that the position in front of the vehicle corresponds to a tunnel exit and the vehicle automatic driving cannot be continued at the tunnel exit due to a weather-induced road condition change, the automatic driving cancellation warner warns of the cancellation with an indication that the automatic driving will be canceled before the tunnel exit.

2. The vehicle driving assistance apparatus according to claim 1, wherein the road condition predictor predicts the road condition based on information obtained from an external device.

3. The vehicle driving assistance apparatus according to claim 2, wherein the information which is used to predict the road condition obtained from the external device comprises weather information in an area around the vehicle.

4. The vehicle driving assistance apparatus according to claim 3,

wherein the automatic driving continuation determiner determines the vehicle automatic driving cannot be continued at the position in front of the vehicle when the obtained weather information indicates at least one of a snow-covered condition and an icy road.

5. The vehicle driving assistance apparatus according to claim 3, further comprising:

a map display configured to display a map image around the vehicle position detected by the vehicle position detector with the position in front of the vehicle, when it is determined that the vehicle automatic driving cannot be continued at the position in front of the vehicle.

6. The vehicle driving assistance apparatus according to claim 2,

wherein the information which is obtained from the external device and used to predict the road condition comprises road traffic information including a congesting area, a jamming area, a construction area, or an accident occurrence area of streets.

7. The vehicle driving assistance apparatus of claim 1, wherein to automatically cancel the vehicle automatic driving, the automatic driving canceller returns the vehicle to a manual driving mode at the first distance.

8. The vehicle driving assistance apparatus of claim 1, wherein to automatically cancel the vehicle automatic driving, the automatic driving canceller returns control of the vehicle to a driver of the vehicle at the first distance.

9. The vehicle driving assistance apparatus according to claim 1, wherein the first predetermined fixed value is nonzero.

10. A vehicle driving assistance method comprising:

predicting, by a road condition predictor, a road condition at a position in front of a vehicle position detected by a vehicle position detector, in relation to a vehicle;

determining, by an automatic driving continuation determiner, whether or not vehicle automatic driving can be continued at the position in front based on the road condition predicted by the road condition predictor;

warning, by an automatic driving cancellation warner, cancellation of the vehicle automatic driving when the automatic driving continuation determiner determines that the vehicle automatic driving cannot be continued at the position in front of the vehicle, and

cancelling, automatically by an automatic driving canceller, the vehicle automatic driving at a point before the position in front of the vehicle at a first distance larger than a first predetermined fixed value, when it is determined that the vehicle automatic driving cannot be continued at the position in front of the vehicle, after warning of the cancellation by the automatic driving cancellation warner;

wherein the automatic driving cancellation warner warns of the cancellation when second distance to the position in front of the vehicle, when it is determined that the vehicle automatic driving cannot be continued at the position in front of the vehicle, becomes equal to or less than a second predetermined fixed value, the second predetermined fixed value being larger than the first predetermined fixed value; and

wherein, when the automatic driving continuation determiner determines that the position in front of the vehicle corresponds to a tunnel exit and the vehicle automatic driving cannot be continued at the tunnel exit due to a weather-induced road condition change, the automatic driving cancellation warner warns of the cancellation with an indication that the automatic driving will be canceled before the tunnel exit.

11. The vehicle driving assistance method of claim 10, further comprising:

obtaining information used to predict the road condition from an external device,

wherein the road condition predictor predicts the road condition based on the information obtained from the external device.

12. The vehicle driving assistance method of claim 11,

wherein the information which is used to predict the road condition comprises weather information in an area around the vehicle.

13. The vehicle driving assistance method of claim 12,

wherein the automatic driving continuation determiner determines that the vehicle automatic driving cannot be continued at the position in front of the vehicle when the obtained weather information indicates at least one of a snow-covered condition and an icy road.

14. The vehicle driving assistance method of claim 12, further comprising:

displaying, by a map display, a map image around the vehicle position detected by the vehicle position detector with the position in front of the vehicle, when it is determined that the vehicle automatic driving cannot be continued at the position in front of the vehicle.

15. The vehicle driving assistance method of claim 10, wherein cancelling the vehicle automatic driving comprises returning, automatically by the automatic driving canceller, the vehicle to a manual driving mode at the first distance.

16. The vehicle driving assistance apparatus of claim 10, wherein cancelling the vehicle automatic driving comprises returning, automatically by the automatic driving canceller, control of the vehicle to a driver of the vehicle at the first distance.

17. A vehicle driving assistance apparatus comprising:

a vehicle position detector configured to detect a vehicle position of a vehicle;

a road condition predictor configured to predict a weather-induced road condition change at a position of a tunnel exit in front of the vehicle position detected by the vehicle position detector;

an automatic driving continuation determiner configured to determine whether or not vehicle automatic driving can be continued at the position of the tunnel exit in front of the vehicle based on the weather-induced road condition change predicted by the road condition predictor;

an automatic driving cancellation warner configured to issue a warning indicating the tunnel exit and that the vehicle automatic driving will be canceled when the automatic driving continuation determiner determines that the vehicle automatic driving cannot be continued at the position of the tunnel exit in front of the vehicle and when a distance from the vehicle position to the position of the tunnel exit becomes equal to or less than a fixed predetermined warning distance; and

an automatic driving canceller configured to automatically cancel the vehicle automatic driving at another distance larger than a fixed predetermined cancelling distance before the position of the tunnel exit, when it is determined that the vehicle automatic driving cannot be continued at the position of the tunnel exit, after issuing the warning by the automatic driving cancellation warner.

18. The vehicle driving assistance apparatus of claim 17, wherein the warning comprises an audio warning or a display of the tunnel exit.

19. The vehicle driving assistance apparatus of claim 17, wherein the warning comprises a voice prompting the tunnel exit and a cancellation of the automatic driving before the tunnel exit.