Vehicle Travel Control Method and Vehicle Travel Control Device

• US 20190033876A1
• Filed: 01/04/2017
• Published: 01/31/2019
• Est. Priority Date: 01/29/2016
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: AOKI, Motonobu, FUJITA, Susumu, MISHINA, Yohei
• Granted Patent: US 10,705,530 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2552/50 Barriers
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 60/0017 of other traffic participants
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G08G 1/0112 : from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A travel control for a vehicle includes specifying a pedestrian crosswalk through which a subject vehicle is expected to pass as a first pedestrian crosswalk, estimating a position on the first pedestrian crosswalk through which the subject vehicle passes as a crossing position in the length direction of the first pedestrian crosswalk, specifying another pedestrian crosswalk located within a predetermined distance from the crossing position and located close to the first pedestrian crosswalk as a second pedestrian crosswalk, setting an area including the first pedestrian crosswalk and the second pedestrian crosswalk as a detection area of a detector detecting an object around the subject vehicle, detecting a moving object in the detection area using the detector, and controlling travel of the subject vehicle on the basis of a detection result of the detector.

Claims

1. A travel control method for a vehicle, comprising:

specifying a pedestrian crosswalk through which a subject vehicle is expected to pass as a first pedestrian crosswalk;

estimating a position on the first pedestrian crosswalk through which the subject vehicle passes as a crossing position in a length direction of the first pedestrian crosswalk;

determining whether or not another pedestrian crosswalk located within a predetermined first distance from the crossing position and located close to the first pedestrian crosswalk is specified;

when the second pedestrian crosswalk is specified, setting an area combining the first pedestrian crosswalk and the second pedestrian crosswalk as an interpolation area;

setting an area including the first pedestrian crosswalk, the second pedestrian crosswalk, and the interpolation area as a detection area of a detector detecting an object around the subject vehicle; and

controlling travel of the subject vehicle on a basis of a detection result of the detector.

2. The travel control method for a vehicle according to claim 1, comprising

detecting a moving object in the detection area using the detector;

and

controlling the travel of the subject vehicle on the basis of the detection result of the detector.

5. The travel control method for a vehicle according to claim 2, comprising

calculating the first distance on a basis of a moving speed of the moving object.

6. The travel control method for a vehicle according to claim 2, comprising

determining a partial area of the second pedestrian crosswalk as a target area;

setting an area including the target area as the detection area; and

calculating a second distance on a basis of a moving speed of the moving object,

the target area being a specific area located within the second distance from the crossing position, the specific area being included in an area of the second pedestrian crosswalk.

7. The travel control method for a vehicle according to claim 2, comprising:

determining a partial area of the second pedestrian crosswalk as a target area;

setting an area including the target area as the detection area; and

when a determination is made that the moving object cannot cross the second pedestrian crosswalk due to a surrounding vehicle passing through the second pedestrian crosswalk, calculating a distance from the crossing position to a position on the second pedestrian crosswalk through which the surrounding vehicle passes as a second distance,

the target area being a specific area located within the second distance from the crossing position, the specific area being included in an area of the second pedestrian crosswalk.

8. The travel control method for a vehicle according to claim 2, comprising:

determining whether or not the moving object can cross the second pedestrian crosswalk on a basis of a signal indication of a traffic signal for pedestrians at the second pedestrian crosswalk; and

when a determination is made that the moving object cannot cross the second pedestrian crosswalk, excluding the second pedestrian crosswalk from the detection area.

9. The travel control method for a vehicle according to claim 1, comprising:

determining a partial area of the second pedestrian crosswalk as a target area; and

setting an area including the target area as the detection area,

the target area being a specific area located within a predetermined second distance from the crossing position, the specific area being included in an area of the second pedestrian crosswalk.

10. The travel control method for a vehicle according to claim 1, comprising:

determining a partial area of the second pedestrian crosswalk as a target area;

setting an area including the target area as the detection area; and

when an obstacle exists on the second pedestrian crosswalk, calculating a distance from the crossing position to a position of the obstacle as a second distance,

the target area being a specific area located within the second distance from the crossing position, the specific area being included in an area of the second pedestrian crosswalk.

11. The travel control method for a vehicle according to claim 1, comprising

estimating a signal indication of a traffic signal for pedestrians at the second pedestrian crosswalk from a signal indication of a traffic signal for vehicles located before the second pedestrian crosswalk on a basis of a correspondence relationship between the signal indication of the traffic signal for pedestrians at the second pedestrian crosswalk and the signal indication of the traffic signal for vehicles located before the second pedestrian crosswalk.

3. A travel control method for a vehicle, comprising:

specifying a pedestrian crosswalk through which a subject vehicle is expected to pass as a first pedestrian crosswalk;

estimating a position on the first pedestrian crosswalk through which the subject vehicle passes as a crossing position in a length direction of the first pedestrian crosswalk, the crossing position being a point of intersection between a planned travel route of the subject vehicle and a moving route of a moving object in the first pedestrian crosswalk;

specifying another pedestrian crosswalk located within a predetermined first distance from the crossing position and located close to the first pedestrian crosswalk as a second pedestrian crosswalk;

setting an area including the first pedestrian crosswalk and the second pedestrian crosswalk as a detection area of a detector detecting an object around the subject vehicle;

detecting the moving object in the detection area using the detector; and

controlling travel of the subject vehicle on a basis of a detection result of the detector.

4. The travel control method for a vehicle according to claim 3, comprising

specifying a pedestrian crosswalk to which a distance from the crossing position along the moving route of the moving object is the first distance or less as the second pedestrian crosswalk.

12. A travel control apparatus for a vehicle, comprising:

a detector that detects an object around a subject vehicle; and

a controller that controls travel of the subject vehicle on a basis of a detection result of the detector, wherein

the controller;

specifies a pedestrian crosswalk through which a subject vehicle is expected to pass as a first pedestrian crosswalk;

estimates a position on the first pedestrian crosswalk through which the subject vehicle passes as a crossing position in a length direction of the first pedestrian crosswalk;

determines whether or not another pedestrian crosswalk located within a predetermined first distance from the crossing position and located close to the first pedestrian crosswalk is specified as a second pedestrian crosswalk;

when the second pedestrian crosswalk is specified, sets an area combining the first pedestrian crosswalk and the second pedestrian crosswalk as an interpolation area;

and

sets an area including the first pedestrian crosswalk, the second pedestrian crosswalk, and the interpolation area as a detection area of the detector.

13. A travel control apparatus for a vehicle, comprising:

a detector that detects an object around a subject vehicle; and

a controller that controls travel of the subject vehicle on a basis of a detection result of the detector, wherein

the controller;

specifies a pedestrian crosswalk through which the subject vehicle is expected to pass as a first pedestrian crosswalk;

estimates a position on the first pedestrian crosswalk through which the subject vehicle passes as a crossing position in a length direction of the first pedestrian crosswalk, the crossing position being a point of intersection between a planned travel route of the subject vehicle and a moving route of a moving object in the first pedestrian crosswalk;

specifies another pedestrian crosswalk located within a predetermined distance from the crossing position and located close to the first pedestrian crosswalk as a second pedestrian crosswalk;

sets an area including the first pedestrian crosswalk and the second pedestrian crosswalk as a detection area of the detector; and

detecting the moving object in the detection area.