APPARATUS FOR PREDICTING THE MOVEMENT OF A MOBILE BODY

• US 20110313664A1
• Filed: 02/05/2010
• Published: 12/22/2011
• Est. Priority Date: 02/09/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kindo, Toshiki, Sakai, Katsuhiro, Aso, Kazuaki, Harada, Masahiro
• Granted Patent: US 8,676,487 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• 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 40/02 related to ambient conditions

Abstract

A movement region prediction apparatus includes a mobile body detection device that detects a mobile body around a host vehicle; a prediction device that predicts a movement region of the detected mobile body; and a degree-of-normality acquisition device that acquires degree of normality of a situation of movement of the detected mobile body. The prediction device has a plurality of movement prediction models for predicting the movement region of the mobile body, and selects a movement prediction model from the plurality of movement prediction models based on the degree of normality acquired by the degree-of-normality acquisition device, and predicts the movement region of the mobile body using the selected movement prediction model.

Claims

1. A movement region prediction apparatus comprising:

a mobile body detection device that detects a mobile body around a host vehicle;

a prediction device that predicts a movement region of the detected mobile body; and

a degree-of-normality acquisition device that acquires degree of normality of a situation of movement of the detected mobile body, wherein

the prediction device has a plurality of movement prediction models for predicting the movement region of the mobile body, and selects a movement prediction model from the plurality of movement prediction models based on the acquired degree of normality, and predicts the movement region of the mobile body using the selected movement prediction model.

3. The movement region prediction apparatus according to claim 1 or 2, wherein

the degree-of-normality acquisition device acquires the degree of normality based on a history of movement of the mobile body.

4. The movement region prediction apparatus according to claim 1 or 2, wherein

the degree-of-normality acquisition device acquires the degree of normality based on position of the mobile body.

5. The movement region prediction apparatus according to claim 4, wherein

the degree-of-normality acquisition device acquires the degree of normality based on position and speed of the mobile body.

6. The movement region prediction apparatus according to claim 1 or 2, wherein

the degree-of-normality acquisition device acquires the degree of normality based on state of a driver of the mobile body.

7. The movement region prediction apparatus according to claim 1 or 2, wherein

the degree-of-normality acquisition device acquires the degree of normality based on a situation of compliance of the mobile body with a traffic rule.

8. The movement region prediction apparatus according to claim 7, wherein

the situation of compliance with the traffic rule is a combination of degrees of compliance with a plurality of traffic rules that are prioritized.

2. A movement region prediction apparatus comprising:

a mobile body detection device that detects a mobile body around a host vehicle;

a prediction device that predicts a movement region of the detected mobile body; and

a degree-of-normality acquisition device that acquires degree of normality of a situation of movement of the detected mobile body, wherein

the prediction device has a movement prediction model that has a prediction parameter for predicting the movement region of the mobile body, and determines a value of the prediction parameter based on the acquired degree of normality, and predicts the movement region of the mobile body using the movement prediction model whose prediction parameter has the determined value of the prediction parameter.

9. A movement region prediction apparatus comprising:

a mobile body detection device that detects a mobile body around a host vehicle; and

a prediction device that predicts a movement region of the detected mobile body,

wherein the prediction device has a plurality of movement prediction models that have different prediction times for predicting a movement region of a mobile body, and performs prediction using a plurality of movement prediction models to predict the movement region of the mobile body.

10. The movement region prediction apparatus according to claim 9, further comprising

a degree-of-normality acquisition device that acquires degree of normality of a situation of movement of the detected mobile body, wherein

the prediction device selects a movement prediction model from the plurality of movement prediction models based on the acquired degree of normality, and predicts the movement region of the mobile body using the selected movement prediction model.

13. The movement region prediction apparatus according to any one of claims 9 to 12, wherein

a plurality of results of the determination that are parallelly provided by the plurality of movement prediction models are evaluated in an order of increasing lengths of the prediction times of the prediction results.

11. A movement region prediction apparatus comprising:

a mobile body detection device that detects a mobile body around a host vehicle; and

a prediction device that predicts a movement region of the detected mobile body,

wherein the prediction device has a movement prediction model in which a prediction parameter for predicting the movement region of the mobile body is variable, and performs prediction using the movement prediction model whose prediction time is variable, and predicts the movement region of the mobile body.

12. The movement region prediction apparatus according to claim 11, further comprising

a degree-of-normality acquisition device that acquires the degree of normality of a situation of movement of the detected mobile body, wherein

the prediction device determines the prediction time based on the acquired degree of normality, and predicts the movement region of the mobile body using the movement prediction model whose prediction time is equal to the prediction time determined.