Vehicle operation support apparatus

• US 20060095193A1
• Filed: 10/12/2005
• Published: 05/04/2006
• Est. Priority Date: 10/29/2004
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nishira, Hikaru, Kawabe, Taketoshi
• Granted Patent: US 7,610,121 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/081 using distance control
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G08G 1/163 involving continuous checking

Abstract

A vehicle operation support apparatus includes a vehicle operation plan determination section to determine a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time. The vehicle operation plan determination section includes an operation part to predict a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle, an operation part configured to perform an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state, and an operation part configured to generate the vehicle operation plan by optimization based on the evaluation operation.

Claims

1. A vehicle operation support apparatus comprising:

an input section including;

a vehicle detection section configured to detect a vehicle present on a road where a host vehicle is present; and

a lane detection section configured to detect a lane of the road; and

a control unit connected for signal communication to the input section, the control unit including;

a vehicle operation plan determination section to determine a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time;

the vehicle operation plan determination section including;

a vehicle group behavior prediction operation part to predict a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle;

a predicted-behavior evaluation operation part configured to perform an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state; and

a vehicle operation plan generation operation part configured to generate the vehicle operation plan by optimization based on the evaluation operation,

the vehicle group behavior prediction operation part including;

a vehicle speed control logic operation part configured to provide a normative value of a time series of a control input to the host vehicle over a control horizon of time in accordance with the candidate value of the vehicle operation plan;

a host vehicle behavior prediction operation part configured to predict a time series of a state of the host vehicle over the prediction horizon in accordance with the normative value of the time series control input and the candidate value of the vehicle operation plan; and

a detected-vehicle behavior prediction operation part configured to predict a future time series of a state of each detected vehicle over the prediction horizon.

2. The vehicle operation support apparatus as claimed in claim 1, further comprising an output section configured to regulate the control input in accordance with a control input command and connected for signal communication to the control unit, wherein the control unit includes:

a target vehicle determination section configured to select a current target vehicle in accordance with the vehicle operation plan; and

a control input determination section configured to set the control input command to a normative value of the control input in accordance with the selection of the current target vehicle.

3. The vehicle operation support apparatus as claimed in claim 2, wherein the input section includes:

a host vehicle speed measurement section configured to measure a vehicle speed of the host vehicle; and

a desired vehicle speed setting section configured to set a desired vehicle speed of the host vehicle, and

wherein the control input determination section is configured to set the control input command so as to provide a desired inter-vehicle distance between the host vehicle and the current target vehicle when the current target vehicle is present, and to set the control input command so as to adjust the vehicle speed to the desired vehicle speed during the current target vehicle being absent.

4. The vehicle operation support apparatus as claimed in claim 2, wherein the target vehicle determination section is configured to determine the current target vehicle to be identical to a current selection of the planned target vehicle in accordance with the vehicle operation plan.

5. The vehicle operation support apparatus as claimed in claim 2, wherein the control input includes a longitudinal acceleration of the host vehicle, wherein the control input determination section is configured to set a longitudinal acceleration command to a normative value of the longitudinal acceleration in accordance with the selection of the current target vehicle, and wherein the output section is configured to regulate the longitudinal acceleration by adjusting a wheel torque of the host vehicle in accordance with the longitudinal acceleration command.

6. The vehicle operation support apparatus as claimed in claim 2, wherein the detected-vehicle behavior prediction operation part is configured to predict a future time series of a longitudinal position and a lateral position of each detected vehicle over the prediction horizon, wherein the input section includes a lane-change intention detection section configured to detect a driver'"'"'s intention of lane change, and wherein the target vehicle determination section is configured to set the current target vehicle to one of an immediately previous target vehicle and a vehicle predicted to cut in on the host vehicle, when the driver'"'"'s intention of lane change is absent.

7. The vehicle operation support apparatus as claimed in claim 6, wherein the predicted-behavior evaluation operation part is configured to more highly evaluate a predicted value of the time series vehicle group state including a lane change in accordance with the driver'"'"'s intention than a predicted value of the time series vehicle group state including no lane change in accordance with the driver'"'"'s intention, when the driver'"'"'s intention of lane change is present.

8. The vehicle operation support apparatus as claimed in claim 1, wherein the input section includes:

a host vehicle speed measurement section configured to measure a vehicle speed of the host vehicle; and

a desired vehicle speed setting section configured to set a desired vehicle speed of the host vehicle, and

wherein the vehicle speed control logic operation part is 8 configured to set the normative value of the control input so as to control an inter-vehicle distance between the host vehicle and the planned target vehicle during the planned target vehicle being present, and to set the normative value of the control input so as to adjust the vehicle speed to the desired vehicle speed during the planned target vehicle being absent.

9. The vehicle operation support apparatus as claimed in claim 1, wherein the state of the host vehicle includes a longitudinal position and a lateral position of the host vehicle, and wherein the state of each detected vehicle includes its longitudinal position.

10. The vehicle operation support apparatus as claimed in claim 1, wherein the detected-vehicle behavior prediction operation part is configured to predict a future time series of a longitudinal position and a lateral position of each detected vehicle over the prediction horizon, and wherein the vehicle operation plan determination section is configured to determine the planned target vehicle by checking a vehicle predicted to cut in on the host vehicle.

11. The vehicle operation support apparatus as claimed in claim 1, further comprising a display section configured to present a recommended vehicle operation of the host vehicle in accordance with the vehicle operation plan.

12. The vehicle operation support apparatus as claimed in claim 11, wherein the recommended vehicle operation includes a recommended longitudinal acceleration of the host vehicle and a recommended lane selection of the host vehicle.

13. The vehicle operation support apparatus as claimed in claim 1, further comprising a warning section configured to generate a warning signal when the vehicle operation plan includes a change in one of the selection of the planned target vehicle and the selection of the planned target lane position within the prediction horizon.

16. The vehicle operation support method as claimed in claim 1, further comprising an output operation of regulating the control input in accordance with a control input command, wherein the control operation includes:

a target vehicle determination operation of selecting a current target vehicle in accordance with the vehicle operation plan; and

a control input determination operation of setting the control input command to a normative value of the control input in accordance with the selection of the current target vehicle.

17. The vehicle operation support method as claimed in claim 16, wherein the input operation includes:

a host vehicle speed measurement operation of measuring a vehicle speed of the host vehicle; and

a desired vehicle speed setting operation of setting a desired vehicle speed of the host vehicle, and

wherein the control input determination operation is configured to set the control input command so as to provide a desired inter-vehicle distance between the host vehicle and the current target vehicle when the current target vehicle is present, and to set the control input command so as to adjust the vehicle speed to the desired vehicle speed during the current target vehicle being absent.

18. The vehicle operation support method as claimed in claim 16, wherein the target vehicle determination operation is configured to determine the current target vehicle to be identical to a current selection of the planned target vehicle in accordance with the vehicle operation plan.

19. The vehicle operation support method as-claimed in claim 16, wherein the control input includes a longitudinal acceleration of the host vehicle, wherein the control input determination operation is configured to set a longitudinal acceleration command to a normative value of the longitudinal acceleration in accordance with the selection of the current target vehicle, and wherein the output operation is configured to regulate the longitudinal acceleration by adjusting a wheel torque of the host vehicle in accordance with the longitudinal acceleration command.

20. The vehicle operation support method as claimed in claim 16, wherein the detected-vehicle behavior prediction operation is configured to predict a future time series of a longitudinal position and a lateral position of each detected vehicle over the prediction horizon, wherein the input operation includes a lane-change intention detection operation of detecting a driver'"'"'s intention of lane change, and wherein the target vehicle determination operation is configured to set the current target vehicle to one of an immediately previous target vehicle and a vehicle predicted to cut in on the host vehicle, when the driver'"'"'s intention of lane change is absent.

21. The vehicle operation support method as claimed in claim 20, wherein the predicted-behavior evaluation operation is configured to more highly evaluate a predicted value of the time series vehicle group state including a lane change in accordance with the driver'"'"'s intention than a predicted value of the time series vehicle group state including no lane change in accordance with the driver'"'"'s intention, when the driver'"'"'s intention of lane change is present.

14. A vehicle operation support apparatus comprising:

input means for including;

vehicle detection means for detecting a vehicle present on a road where a host vehicle is present; and

lane detection means for detecting a lane of the road; and

control means for including;

vehicle operation plan determination means for determining a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time;

the vehicle operation plan determination means including;

vehicle group behavior prediction operation means for predicting a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle;

predicted-behavior evaluation operation means for performing an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state; and

vehicle operation plan generation operation means for generating the vehicle operation plan by optimization based on the evaluation operation,

the vehicle group behavior prediction operation means including;

vehicle speed control logic operation means for providing a normative value of a time series of a control input to the host vehicle over a control horizon of time in accordance with the candidate value of the vehicle operation plan;

host vehicle behavior prediction operation means for predicting a time series of a state of the host vehicle over the prediction horizon in accordance with the normative value of the time series control input and the candidate value of the vehicle operation plan; and

detected-vehicle behavior prediction operation means for predicting a future time series of a state of each detected vehicle over the prediction horizon.

15. A vehicle operation support method comprising:

an input operation including;

a vehicle detection operation of detecting a vehicle present on a road where a host vehicle is present; and

a lane detection operation of detecting a lane of the road; and

a control operation including;

a vehicle operation plan determination operation of determining a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time;

the vehicle operation plan determination operation including;

a vehicle group behavior prediction operation of predicting a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle;

a predicted-behavior evaluation operation of performing an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state; and

a vehicle operation plan generation operation of generating the vehicle operation plan by optimization based on the evaluation operation,

the vehicle group behavior prediction operation including;

a vehicle speed control logic operation of providing a normative value of a time series of a control input to the host vehicle over a control horizon of time in accordance with the candidate value of the vehicle operation plan;

a host vehicle behavior prediction operation of predicting a time series of a state of the host vehicle over the prediction horizon in accordance with the normative value of the time series control input and the candidate value of the vehicle operation plan; and

a detected-vehicle behavior prediction operation of predicting a future time series of a state of each detected vehicle over the prediction horizon.

22. The vehicle operation support method as claimed in claim 15, wherein the input operation includes:

a host vehicle speed measurement operation of measuring a vehicle speed of the host vehicle; and

a desired vehicle speed setting operation of setting a desired vehicle speed of the host vehicle, and

wherein the vehicle speed control logic operation is configured to set the normative value of the control input so as to control an inter-vehicle distance between the host vehicle and the planned target vehicle during the planned target vehicle being present, and to set the normative value of the control input so as to adjust the vehicle speed to the desired vehicle speed during the planned target vehicle being absent.

23. The vehicle operation support method as claimed in claim 15, wherein the state of the host vehicle includes a longitudinal position and a lateral position of the host vehicle, and wherein the state of each detected vehicle includes its longitudinal position.

24. The vehicle operation support method as claimed in claim 15, wherein the detected-vehicle behavior prediction operation is configured to predict a future time series of a longitudinal position and a lateral position of each detected vehicle over the prediction horizon, and wherein the vehicle operation plan determination operation is configured to determine the planned target vehicle by checking a vehicle predicted to cut in on the host vehicle.

25. The vehicle operation support method as claimed in claim 15, further comprising a display operation of presenting a recommended vehicle operation of the host vehicle in accordance with the vehicle operation plan.

26. The vehicle operation support method as claimed in claim 25, wherein the recommended vehicle operation includes a recommended longitudinal acceleration of the host vehicle and a recommended lane selection of the host vehicle.

27. The vehicle operation support method as claimed in claim 15, further comprising a warning operation of generating a warning signal when the vehicle operation plan includes a change in one of the selection of the planned target vehicle and the selection of the planned target lane position within the prediction horizon.