System for distinguishing a vehicle traveling ahead based on an adjustable probability distribution

• US 5,510,990 A
• Filed: 12/07/1993
• Issued: 04/23/1996
• Est. Priority Date: 12/08/1992
• Status: Expired due to Term

• Current Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Original Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Inventors: Hashimoto, Mitsufumi, Kurahashi, Akira, Hibino, Katsuhiko
• Primary Examiner(s): PARK, COLLIN
• Application Number:
  US08/162,276
• Time in Patent Office: 868 Days
• Field of Search: 364/424.05, 364/426.01, 364/426.04, 364/460, 364/461, 364/424.1, 364/431.03, 364/431.04, 180/167, 180/169, 180/170, 180/271, 356/1, 356/3, 356/4, 356/5, 342/70, 342/72, 340/435, 340/436, 340/437
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2710/0605 Throttle position
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence

Abstract

An anticollision radar system for a vehicle is provided. This system includes a distance sensor for measuring distance to an object present in a given forward detectable range, and determines a curvature of a road on which the system vehicle is moving, determines the probability that the object present in a given forward detectable range of the distance sensor is identified as a preceding vehicle traveling on the same lane as the system vehicle in a preselected relation to the distance to the object measured by the distance sensor and the curvature of the road determined, determines a target speed based on the probability determined, and modifies the speed of the system vehicle to the target speed determined.

Claims

1. A system for detecting a preceding vehicle present ahead of a system vehicle equipped with the system, the system comprising:

distance determining means for deriving distance data representing a distance between the system vehicle and an object detected ahead of the system vehicle if the detected object is within a preselected detection range;

curve determining means for determining curve data based on factors including a degree of a curve in a road on which the system vehicle is traveling;

probability distribution defining means for defining a probability distribution based on factors including a degree of a curve in the road and a distance between the detected object and the system vehicle, the probability distribution indicating a higher probability when the detected object is located at a central portion of a lane on which the system vehicle is traveling than when the detected object is located away from the central portion of the lane in a lateral direction;

probability determining means for determining a probability that the detected object is a preceding vehicle based on factors including the distance data derived by the distance determining means, the curve data determined by the curve determining means, and the probability distribution defined by the probability distribution defining means; and

change rate of speed determining means for determining a target change rate of speed of the system vehicle based on factors including a preselected relationship between the target change rate of speed and the probability determined by the probability determining means.

2. A system as set forth in claim 1, wherein the distance determining means radiates one of a laser beam and electromagnetic wave in a forward direction to measure the distance to the object detected ahead.

3. A system as set forth in claim 1, wherein the curve determining means determines a radius of curvature of the curve in the road based on a steered angle and a vehicle speed of the system vehicle.

4. A system as set forth in claim 1, wherein the probability distribution defining means includes means for defining parameters of the probability distribution used to determine if the detected object is the preceding vehicle moving in the same lane as the system vehicle, and means for correcting the probability distribution based on factors including the curve data derived by the curve determining means, the probability determining means including means for determining the probability that the detected object is the preceding vehicle moving in the same lane as the system vehicle based on factors including the corrected probability distribution.

5. A system as set forth in claim 1, wherein the preselected detection range of the distance determining means has a center line substantially coinciding with an extended longitudinal center line of the system vehicle, and wherein the preselected detection range extends ahead of the system vehicle, the probability distribution defining means includes means for defining the probability distribution having a central zone extending across a center line corresponding to the center line of the detection range of the distance determining means and side zones located adjacent to the central zone and means for shifting the center line of the probability distribution based on factors including the curve data determined by the curve determining means, the central zone indicating a higher probability than the side zones, the probability determining means including means for determining the probability that the detected object is a preceding vehicle based on a ratio of the shifted probability distribution falling within lateral detection limits of the detection range of the distance determining means defined at a location of the distance to the detected object away from the system vehicle in a lateral direction perpendicular to the central line of the detection range.

6. A system as set forth in claim 1, wherein the distance determining means includes a plurality of distance determining sensors, the probability determining means determining the probability based on each distance data derived by the distance determining sensors and selecting the highest probability from among the probabilities provided for every distance determining sensor, the change rate of speed determining means determining the target change rate of speed of the system vehicle based on the highest probability.

7. A system for controlling the speed of a system vehicle equipped with the system to a desired speed according to an object present ahead of the system vehicle, the system comprising:

distance determining means for determining a distance to an object present in a given forward detectable range;

curvature determining means for determining a curvature of a road on which the system vehicle is moving;

preceding vehicle probability distribution defining means for defining a probability distribution which represents a higher probability parameter when the object in the given forward detectable range is located at a central portion of a lane on which the system vehicle is traveling than when the object is located in a lateral direction from the central portion of the lane;

preceding vehicle probability determining means for determining a probability that the object is a preceding vehicle traveling ahead of the system vehicle based on factors including the distance determined by the distance determining means, the curvature determined by the curve determining means, and the probability distribution defined by the probability distribution defining means;

target speed determining means for determining a target speed based on factors including the probability determined by the preceding vehicle probability determining means; and

speed control means for controlling the speed of the system vehicle based on factors including the target speed determined by the target speed determining means.

8. A system as set forth in claim 7, wherein the preceding vehicle probability determining means determines the probability that the object is the preceding vehicle traveling ahead of the system vehicle when a variation in the distance to the object determined by the distance determining means is smaller than a preselected threshold value.

9. A system as set forth in claim 7, wherein the preceding vehicle probability determining means determines the probability that the object is the preceding vehicle traveling ahead of the system vehicle when a variation in the distance to the object determined by the distance determining means is smaller than a first threshold value and a variation in relative speed between the object and the system vehicle is smaller than a second threshold value.

10. A system as set forth in claim 7, wherein the preceding vehicle probability distribution defining means includes means for defining parameters of the probability distribution used for determining whether the object is a preceding vehicle moving in the same lane as the system vehicle, and means for correcting the probability distribution based on factors including the curvature determined by the curvature determining means, the preceding vehicle probability determining means including means for determining the probability that the object present ahead is the preceding vehicle moving in the same lane as the system vehicle based on factors including the corrected probability distribution.

11. A system as set forth in claim 10, wherein the probability distribution is shifted to an extent corresponding to an interval between a center line of a curvature of the road and the center line of forward detectable range at the location of the distance of the object away from the system vehicle.

12. A system as set forth in claim 10, wherein the preceding vehicle probability determining means includes means for determining the probability that the object is the preceding vehicle traveling ahead of the system vehicle by averaging random variables in the shifted probability distribution within detection limits of the forward detectable range of the distance determining means defined at the location of the distance to the object away from the system vehicle in the lateral direction perpendicular to the central line of the forward detectable range.

13. A system as set forth in claim 7, wherein the forward detectable range of the distance determining means has a center line substantially coinciding with an extended longitudinal center line of the system vehicle, and wherein the preselected detection range extends ahead of the system vehicle, the preceding vehicle probability distribution defining means including means for defining the probability distribution having a central zone extending across a center line corresponding to the center line of the forward detectable range of the distance determining means and side zones located adjacent to the central zone and means for shifting the center line of the probability distribution based on factors including the curvature determined by the curvature determining means, the central zone representing a higher probability parameter than the side zones, the preceding vehicle probability determining means including means for determining the probability that the object is a preceding vehicle based on factors including a ratio of the shifted probability distribution falling within lateral detection limits of the forward detectable range of the distance determining means defined at a location of the distance to the object away from the system vehicle in a lateral direction perpendicular to the central line of the forward detectable range.

14. A system as set forth in claim 7 further comprising object identifying means for determining that there is no object in said forward detectable range of said distance determining means when a variation in said distance to the object determined by said distance determining means is greater than a preselected value, said speed control means controlling said speed of the system vehicle at a predetermined rate based on a target speed selected manually by a vehicle operator.

15. A system as set forth in claim 7 further comprising object identifying means for identifying the object in the forward detectable range of the distance determining means as an object other than a vehicle when a variation in the distance to the object determined by the distance determining means is less than a first preselected value and a variation in relative speed between the object and the system vehicle is greater than a second preselected value, wherein the speed control means includes means for decreasing the speed of the system vehicle at a constant rate when the object in the forward detectable range is identified as the object other than the preceding vehicle and the distance to the object is less than a third preselected value and means for decreasing the speed of the system vehicle at a smaller rate than the constant rate when the object in the forward detectable range is identified as an object other than the preceding vehicle and the distance to the object is greater than the third preselected value.

16. A system as set forth in claim 7, wherein the curvature determining means determines the curvature of the road on which the system vehicle is moving in a given relation to a steered angle and vehicle speed of the system vehicle.

17. A system as set forth in claim 7, wherein the distance determining means includes a plurality of distance sensors, the preceding vehicle probability determining means determining the probability based on each distance to the object determined by the distance sensors and selecting the highest probability from among the probabilities provided for every distance sensor, the target speed determining means determining the target speed of the system vehicle based on the highest probability.

18. A system for controlling the speed of a system vehicle equipped with the system to a desired speed according to an object present ahead of the system vehicle, the system comprising:

distance determining means for determining a distance to an object present in a given forward detectable range;

curvature determining means for determining a curvature of a road on which the system vehicle is moving;

preceding vehicle probability distribution defining means for defining a probability distribution which represents a higher probability parameter when the object in the given forward detectable range is located at a central portion of a lane on which the system vehicle is traveling than when the object is located in a lateral direction from the central portion of the lane;

preceding vehicle probability determining means for determining a probability that the object is a preceding vehicle traveling ahead of the system vehicle based on factors including the distance determined by the distance determining means, the curvature determined by the curve determining means, and the probability distribution defined by the probability distribution defining means;

target speed determining means for determining a target speed based on factors including the probability determined by the preceding vehicle probability determining means; and

speed control means for controlling the speed of the system vehicle based on factors including the target speed determined by the target speed determining means,

wherein the target speed determining means includes means for determining a basic change rate of speed for the system vehicle based on factors including a preselected relationship with a difference between the distance to the object and a target distance to the object and a relative speed between the system vehicle and the object, and means for correcting the basic change rate of speed using at least a correction value that is defined based on factors including the probability determined by the preceding vehicle probability determining means and the relative speed to determine the target speed.

19. A system for controlling the speed of a system vehicle equipped with the system to a desired speed according to an object present ahead of the system vehicle, the system comprising:

distance determining means for determining a distance to an object present in a given forward detectable range;

curvature determining means for determining a curvature of a road on which the system vehicle is moving;

preceding vehicle probability distribution defining means for defining a probability distribution which represents a higher probability parameter when the object in the given forward detectable range is located at a central portion of a lane on which the system vehicle is traveling than when the object is located in a lateral direction from the central portion of the lane;

preceding vehicle probability determining means for determining a probability that the object is a preceding vehicle traveling ahead of the system vehicle based on factors including the distance determined by the distance determining means, the curvature determined by the curve determining means, and the probability distribution defined by the probability distribution defining means;

target speed determining means for determining a target speed based on factors including the probability determined by the preceding vehicle probability determining means; and

speed control means for controlling the speed of the system vehicle based on factors including the target speed determined by the target speed determining means,

wherein the target speed determining means includes means for determining a basic change rate of speed for the system vehicle based on a preselected relationship with a difference between the distance to the object and a target distance to the object and a relative speed between the system vehicle and the object, and means for correcting the basic change rate of speed using at least a first correction value defined based on factors including the probability determined by the preceding vehicle probability determining means and the relative speed and a second correction value defined based on factors including the distance to the object to determine the target speed.

20. A system as set forth in claim 19, wherein the first correction value is so defined as to decrease the target speed as the probability determined by the preceding vehicle probability determining means is decreased and the relative speed is increased in a direction where the object moves away from the system vehicle, the second correction value being so defined as to decrease the target speed when the distance to the object is increased.

21. A system as set forth in claim 19, wherein the speed control means reduces the speed of the system vehicle to the target speed determined by said target speed determining means by closing a throttle valve when a difference between the target speed and an actual vehicle speed is greater than a first predetermined value in a direction of deceleration.

22. A system as set forth in claim 21, wherein the speed control means reduces the speed of the system vehicle to the target speed determined by said target speed determining means by changing gear to a higher ratio in addition to the closing the throttle valve when the difference between the target speed and the actual vehicle speed is greater than a second predetermined value greater than the first predetermined value in the direction of deceleration.

23. A system as set forth in claim 22, wherein the speed control means changes gear from the higher ratio to an initial ratio when the difference between the target speed and the actual vehicle speed becomes less than a third predetermined value smaller than the first predetermined value in the direction of deceleration.

24. A system as set forth in claim 23, wherein the speed control means opens the throttle valve when the difference between the target speed and the actual vehicle speed becomes less than a fourth predetermined value smaller than the third predetermined value in the direction of deceleration.

25. A system for detecting a probability of a preceding vehicle ahead of a system vehicle equipped with the system, the system comprising:

distance determining means for determining a distance between the system vehicle and an object detected ahead of the system vehicle and located within a preselected detection range;

curve determining means for determining a degree of a curve in a road on which the system vehicle is traveling;

probability distribution defining means for defining a probability distribution which indicates a higher probability when the object is present at a central portion of a lane in which the system vehicle is traveling than when the object is away from the central portion of the lane in a lateral direction; and

probability determining means for determining a probability that the object is a preceding vehicle based on factors including the distance derived by the distance determining means, the degree of the curve determined by the curve determining means, and the probability distribution defined by the probability distribution defining means, the probability determining means providing a signal based on the determined probability.

26. A system as set forth in claim 25, wherein the probability distribution defining means includes means for defining parameters of the probability distribution used for determining whether the object located within the detection range of the distance determining means is a preceding vehicle moving in the same lane as the system vehicle, and means for correcting the probability distribution based on the degree of the curve derived by the curve determining means, the probability determining means including means for determining the probability that the object present ahead is the preceding vehicle moving in the same lane as the system vehicle based on factors including the corrected probability distribution.

27. A system as set forth in claim 26, wherein the probability distribution defining means includes means for shifting a center line of the probability distribution by an interval between a center line of the curve and an extended longitudinal center line of the system vehicle on a line extending perpendicular to the extended longitudinal center line of the system vehicle at a location where the object is present within the preselected detection range.

28. A system as set forth in claim 25, wherein the probability distribution defining means includes means for defining probability parameters which are decreased according to an increase in the degree of the curve.

29. A system as set forth in claim 27, wherein the probability distribution defining means includes means for defining probability parameters relative to an increase in the distance to the object.

30. A system as set forth in claim 25, wherein the preselected detection range of the distance determining means has a center line substantially coinciding with an extended longitudinal center line of the system vehicle and extending ahead of the system vehicle, the probability distribution defining means including means for defining the probability distribution having a central zone extending across a center line corresponding to the center line of the detection range of the distance determining means and side zones being located adjacent the central zone where the central zone indicates a higher probability than the side zones, and means for shifting the center line of the probability distribution based on factors including the degree of the curve determined by the curve determining means, and the probability determining means including means for determining the probability that the object detected in the preselected detection range of the distance determining means is the preceding vehicle based on a ratio of the shifted probability distribution falling within lateral detection limits of the detection range of the distance determining means defined at a location of the distance to the object away from the system vehicle in a lateral direction perpendicular to the central line of the detection range.