Drive support apparatus

• US 10,081,369 B2
• Filed: 12/09/2016
• Issued: 09/25/2018
• Est. Priority Date: 12/15/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Ando, Motonori
• Primary Examiner(s): PAIGE, TYLER D
• Application Number:
  US15/373,607
• Publication Number:
  US 20170166220A1
• Time in Patent Office: 655 Days
• Field of Search: 701117
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• 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 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3655 Timing of guidance instructions

Abstract

A drive support apparatus includes a positioner determining a current position of a subject vehicle, a road determiner determining a currently-traveled road of the subject vehicle by map-matching the current position on a link of a road map, a node determiner determining a first intersection node on the currently-traveled road, a priority determiner determining whether the currently-traveled road is a priority road at the first intersection node against an intersecting road, a drive support controller performing a suppressed drive support control when the priority determiner determines that the currently-traveled road is a priority road, and an area setter setting a determination-kept-unchanged (D-K-U) area based on the intersection node. Based on the above, the drive support apparatus can accurately determine whether a current situation is a drive support suppression situation in which the drive support to a driver should not be provided.

Claims

1. A drive support apparatus for use in a subject vehicle and configured to control a drive support control of the subject vehicle, the drive support apparatus comprising:

a controller including

a subject vehicle positioner configured to determine a current position of the subject vehicle by receiving a navigation signal from a navigation satellite;

a road determiner configured to determine a currently-traveled road of the subject vehicle by matching the current position of the subject vehicle to road map information, the road map information representing a road as one or more links with each link having link information and representing an intersection as one or more intersection nodes with each node having node information;

a node determiner configured to determine a first intersection node on the currently-traveled road, the first intersection node representing a first intersection including at least the currently traveled road and an intersecting road;

an area setter configured to determine a closed-shaped determination-kept-unchanged (D-K-U) area around the first intersection node;

a priority determiner configured to determine a priority of the currently-traveled road at the first intersection node before the subject vehicle enters the D-K-U area, the priority determined as either a priority road or a non-priority road; and

a drive support controller configured to control the drive support control of the subject vehicle in the D-K-U area based on the priority of the currently-traveled road, wherein

the currently traveled road is represented as a first road link by the map information and the intersecting road is represented as a second road link by the map information, and wherein

the D-K-U area surrounds the first intersection node and includes a portion of the first road link and the second road link within the D-K-U area, and wherein

when the subject vehicle enters the D-K-U area, the priority determiner maintains the priority of the currently-traveled road determined before the subject vehicle enters the D-K-U area, and wherein

when the priority of the currently-traveled road is determined as the priority road, the drive support controller suppresses the drive support control when the subject vehicle is in the D-K-U area, and wherein

when the priority of the currently-traveled road is determined as the non-priority road, the drive support controller performs the drive support control when the subject vehicle is in the D-K-U area.

2. The drive support apparatus of claim 1, wherein

the link information for the currently-traveled road includes a number of lanes, and wherein

the link information for the intersecting road includes a number of lanes, and wherein

the area setter determines a size of the D-K-U area around the first intersection node based on the number of lanes of the currently-traveled road and the number of lanes of the intersecting road.

3. The drive support apparatus of claim 2, wherein the D-K-U area is a polygon-shaped area having at least 4 sides, and wherein

a length of a side of the polygon-shaped D-K-U area corresponding to the currently-traveled road is based on the number of lanes of the currently-traveled road, and wherein

a length of a side of the polygon-shaped D-K-U area corresponding to the intersecting road is based on the number of lanes of the intersecting road, and wherein

an increase in the number of lanes increases the length of the side.

4. The drive support apparatus of claim 1 further comprising:

an area expander configured to expand the D K-U area when the first intersection is represented by the first intersection node and one or more additional intersection nodes, wherein the expanded D-K-U area surrounds the first intersection node and the one or more additional intersection nodes, and wherein

the priority determiner determines the priority of the currently-traveled road based on the expanded D-K-U area.

5. The drive support apparatus of claim 1 further comprising:

an area expander configured to define an expanded area based on one or more additional intersection nodes when the D-K-U area surrounds the first intersection node and the one or more additional intersection nodes and configured to set a new D-K-U area by combining the expanded area and the D-K-U area set by the area setter, wherein

the priority determiner determines the priority of the currently traveled road based on the new D-K-U area set by the area expander.

6. The drive support apparatus of claim 1, wherein the priority determiner determines the priority of the currently-traveled road by comparing the link information of the currently-traveled road to the link information of the intersecting road.

7. The drive support apparatus of claim 1, wherein the drive support control includes a visual alert that another vehicle on a road other than the currently-traveled road has a right of way at the first intersection.

8. The drive support apparatus of claim 1, wherein the drive support control includes an audio alert that another vehicle on a road other than the currently-traveled road has a right of way at the first intersection.

9. The drive support apparatus of claim 1, wherein the D-K-U area is a polygon-shaped area.

10. The drive support apparatus of claim 1, wherein the D-K-U area is a circular-shaped area.

11. A drive support apparatus disposed in a subject vehicle, comprising:

a Global Navigation Satellite System (GNSS) receiver configured to receive a navigation signal transmitted from navigation satellites;

a communication device configured to communicate with one of another vehicle or a roadside device; and

a controller configured to communicate with the GNSS receiver and the communication device, the controller including

a subject vehicle positioner configured to determine a current position of the based on the navigation signal;

a road determiner configured to determine a currently-traveled road of the subject vehicle by matching the current position of the subject vehicle to road map information, the road map information representing a road as one or more links with each link having link information and representing an intersection as one or more intersection nodes with each node having node information;

a node determiner configured to determine a first intersection node on the currently-traveled road, the first intersection node representing a first intersection including at least the currently traveled road and an intersecting road;

an area setter configured to determine a closed-shaped determination-kept-unchanged (D-K-U) area around the first intersection node;

a priority determiner configured to determine a priority of the currently-traveled road at the first intersection node before the subject vehicle enters the D-K-U area, the priority determined as either a priority road or a non-priority road; and

a drive support controller configured to control the drive support control of the subject vehicle in the D-K-U area based on the priority of the currently-traveled road, wherein

the currently-traveled road is represented as a first road link by the map information and the intersecting road is represented as a second road link by the map information, and wherein

the D-K-U area surrounds the first intersection node and includes a portion of the first road link and the second road link within the D-K-U area, and wherein

when the subject vehicle enters the D-K-U area, the priority determiner maintains the priority of the currently-traveled road determined before the subject vehicle enters the D-K-U area, and wherein

when the priority of the currently-traveled road is determined as the priority road, the drive support controller suppresses the drive support control when the subject vehicle is in the D-K-U area, and wherein

when the priority of the currently-traveled road is determined as the non-priority road, the drive support controller performs the drive support control when the subject vehicle is in the D-K-U area.

12. A drive support system, comprising:

a sensor configured to detect parameters of a subject vehicle;

a travel road determiner configured to provide road map information;

a drive support apparatus configured to receive the detected parameters from the sensor and the road map information from the travel road determiner, the drive support apparatus including;

a Global Navigation Satellite System (GNSS) receiver configured to receive a navigation signal transmitted from navigation satellites;

a communication device configured to communicate with one of another vehicle or a roadside device; and

a controller configured to communicate with the GNSS receiver and the communication device, the controller including

a subject vehicle positioner configured to determine a current position of the based on the navigation signal;

a road determiner configured to determine a currently-traveled road of the subject vehicle by matching the current position of the subject vehicle to the road map information, the road map information representing a road as one or more links with each link having link information and representing an intersection as one or more intersection nodes with each node having node information;

a node determiner configured to determine a first intersection node on the currently-traveled road, the first intersection node representing a first intersection including at least the currently traveled road and an intersecting road;

an area setter configured to determine a closed-shaped determination-kept-unchanged (D-K-U) area around the first intersection node;

a priority determiner configured to determine a priority of the currently-traveled road at the first intersection node before the subject vehicle enters the D-K-U area, the priority determined as either a priority road or a non-priority road; and

a drive support controller configured to control the drive support control of the subject vehicle in the D-K-U area based on the priority of the currently-traveled road, wherein

the currently-traveled road is represented as a first road link by the map information and the intersecting road is represented as a second road link by the map information, and wherein

the D-K-U area surrounds the first intersection node and includes a portion of the first road link and the second road link within the D-K-U area, and wherein

when the subject vehicle enters the D-K-U area, the priority determiner maintains the priority of the currently-traveled road determined before the subject vehicle enters the D-K-U area, and wherein

when the priority of the currently-traveled road is determined as the priority road, the drive support controller suppresses the drive support control when the subject vehicle is in the D-K-U area, and wherein

when the priority of the currently-traveled road is determined as the non-priority road, the drive support controller performs the drive support control when the subject vehicle is in the D-K-U area.