Driving control system for vehicle

• US 5,539,397 A
• Filed: 03/16/1994
• Issued: 07/23/1996
• Est. Priority Date: 03/26/1993
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha
• Sponsoring Entity: Honda Giken Kogyo Kabushiki Kaisha
• Inventors: Kamiya, Hiroyuki, Tsuchiya, Yoshikazu, Tamura, Kazuya, Sekine, Hiroshi, Asanuma, Nobuyoshi
• Primary Examiner(s): Peng, John K.
• Assistant Examiner(s): Pope, Daryl C.
• Time in patent office: 860 Days
• Field of Search: 340/995, 340/437, 340/466, 364/426.04, 364/443, 364/424.01
• US Class Current: 340/901
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle

Abstract

A driving control system for a vehicle includes a map information output device for outputting a map, a vehicle position detecting device for detecting a vehicle position of a subject vehicle on the map, a vehicle speed detecting device for detecting a vehicle speed, a passable area determining device for determining a passable area on the map on the basis of the detected vehicle speed, and a passability/impassability judging device for deciding that the vehicle may pass through a portion of road when a road which is in front of the vehicle position in a traveling direction is included in the passable area on the map. The road which is in front of the vehicle position in the traveling direction is compared with the determined passable area, and when the road is included in the passable area, it is decided that the vehicle may pass through the portion of road. Thus, it is possible to properly judge whether or not the vehicle may pass through the portion of road by a simple calculation not including a complex and poor-accuracy calculation of the radius of curvature of a road.

Claims

1. A driving control system for a vehicle, comprising:

a map information output means for outputting a map;

a vehicle position detecting means for detecting a vehicle position of a subject vehicle on the map;

a vehicle speed detecting means for detecting a vehicle speed;

a passable area determining means for determining a turning radius of the vehicle based on the detected vehicle speed and determining a passable area on the map which is safely passable by the vehicle based on the determined turning radius;

a passability/impassability judging means for deciding that the vehicle is safely passable within dimensions of an oncoming portion of road which is in front of the vehicle position in a traveling direction when the road portion is included in the passable area of the map; and

said map information output means, said vehicle position detecting means, said vehicle speed detecting means, said passable area determining means, and said passability/impassability judging means being operatively interconnected.

2. A driving control system for a vehicle according to claim 1, wherein said passable area determining means calculates as said turning radius a minimum turnable radius that said vehicle can follow at said detected vehicle speed.

3. A driving control system for a vehicle according to claim 2, wherein said passable area determining means calculates said minimum turnable radius with an increased value as the vehicle speed is increased.

4. A driving control system for a vehicle according to claim 2, wherein said passable area determining means defines two circular arcs having said minimum turnable radius so as to contact with each other at the vehicle position on the map, and determines the passable area outside said two circular arcs.

5. A driving control system for a vehicle according to claim 3, wherein said passable area determining means defines two circular arcs having said minimum turnable radius so as to contact with each other at the vehicle position on the map, and determines the passable area outside said two circular arcs.

6. A driving control system for a vehicle according to claim 1, wherein said passable area further based determining means determines said passable area on at least one of an operational condition of the vehicle and a driving environment of the vehicle.

7. A driving control system for a vehicle according to claim 1, further including a temporary vehicle position calculating means operatively connected to said map information output means, said vehicle position detecting means and said vehicle speed detecting means, for calculating a temporary vehicle position at a forward distance from an actual vehicle position on the basis of the detected vehicle speed, said passable area being determined based on said temporary vehicle position.

8. A driving control system for a vehicle according to claim 7, wherein said temporary vehicle position calculating means calculates the temporary vehicle position at a forward distance, which is set longer as the vehicle speed is larger.

9. A driving control system for a vehicle according to claim 1, wherein said passability/impassability judging means grasps said road as a set of position data of the road, and judges whether or not the vehicle is safely passable through the portion of road by whether or not said position data are included in data indicating said passable area.

10. A driving control system for a vehicle according to claim 1, further including a maximum turning radius determining means operatively connected to said map information output means, said vehicle position detecting means and said vehicle speed detecting means, for determining, based on a portion of road which is in front of the vehicle position in a traveling direction, a maximum vehicle-turning radius required for the vehicle to safely pass through said portion of road, when it is decided in the passability/impassability judging means that the road in front of the vehicle position is not included in said passable area and that the vehicle is impassable through said portion of road, and a passable vehicle speed calculating means operatively connected to said maximum turning radius determining means for calculating a passable vehicle speed on the basis of the maximum turning radius.

11. A driving control system according to claim 7, wherein said temporary vehicle position is intermediate said actual vehicle position and said passable area.

12. A driving control system for a vehicle according to claim 1, wherein said passable area determining means determines a total passable area on the map.

13. A driving control system for a vehicle, comprising:

a map information output means for outputting a map;

a vehicle position detecting means for detecting a vehicle position of a subject vehicle on the map;

a vehicle speed detecting means for detecting a vehicle speed;

a turning radius determining means for determining a turning radius of the vehicle based on said detected vehicle speed;

a maximum turning radius determining means for determining, on the basis of a portion of road which is in front of the vehicle position in a traveling direction on the map, a maximum vehicle-turning radius required for the vehicle to safely pass through said road portion;

a passable vehicle speed calculating means for calculating a passable vehicle speed at which the vehicle is safely passable within dimensions of said road portion based on the determined maximum turning radius and the determined turning radius; and

said map information output means, said vehicle position detecting means, said vehicle speed detecting means, said turning radius determining means, said maximum turning radius determining means, and said passable vehicle speed calculating means being operatively interconnected.

14. A driving control system for a vehicle according to claim 13, wherein said map information output means determines a plurality of node points on said portion of road, and said maximum turning radius determining means sets a vehicle-turning radius required for the vehicle to pass through all the node points to the maximum turning radius.

15. A driving control system for a vehicle according to claim 13, further including a comparing means for comparing the detected vehicle speed with said calculated passable vehicle speed;

and means for providing at least one of an alarm and a vehicle speed adjustment when the vehicle speed exceeds said passable vehicle speed; and

said vehicle speed detecting means, said comparing means and said providing means being operatively interconnected with each other and with said map information output means, said vehicle position detecting means, said maximum turning radius determining means, and said passable vehicle speed calculating means.

16. A driving control system for a vehicle according to claim 14, further including a comparing means for comparing the detected vehicle speed with said calculated passable vehicle speed;

and means for providing at least one of an alarm and a vehicle speed adjustment when the vehicle speed exceeds said passable vehicle speed; and

said vehicle speed detecting means, said comparing means, and said providing means being operatively interconnected with each other and with said map information output means, said vehicle position detecting means, said maximum turning radius determining means, and said passable vehicle speed calculating means.

17. A driving control system for a vehicle according to claim 13, wherein said turning radius determining means determines as said turning radius a minimum turning radius that said vehicle can follow at said detected vehicle speed.

18. A driving control system for a vehicle, comprising:

a map information output means for outputting a map;

a vehicle position detecting means for detecting a vehicle position of a subject vehicle on the map;

a vehicle speed detecting means for detecting a vehicle speed;

a turning radius determining means for determining a turning radius of the vehicle based on said detected vehicle speed;

a judging-section determining means for establishing a first section having a predetermined range and a second section having a range narrower than said predetermined range on a road in front of the vehicle position in a traveling direction;

a judgment-execution determining means for judging whether or not the vehicle is safely passable through a road in the first section on the basis of the detected vehicle speed and a curved condition of the road on the map, and for determining, based on said judgment, whether or not a judgment of a passability or impassability of the vehicle through a road in the second section should be conducted;

a passability/impassability judging means for judging whether or not the vehicle is safely passable within dimensions of the road in the second section based on the detected vehicle speed, the determined turning radius and the curved condition of the road on the map, when it is decided by the judgment-execution determining means that the judgment of the passability or impassability of the vehicle through the road in the second section should be conducted;

means for providing at least one of an alarm and a vehicle speed adjustment based on said judgment of whether or not the vehicle is passable through the road in the second section; and

said information output means, said vehicle position detecting means, said vehicle speed detecting means, said turning radius determining means, said judging-section determining means, said judgment-execution determining means, said passability/impassability judging means, and said providing means being operatively interconnected.

19. A driving control system for a vehicle according to claim 18, wherein said second section includes an alarming section and a speed-reducing section having a range narrower than said alarming section, and said passability/impassability judging means includes an alarming-execution determining means for determining that an alarm should be actuated on the basis of the judgment of whether or not the vehicle may pass through a road in said alarming section, and a vehicle speed adjusting execution determining means for determining that an adjustment of the vehicle speed should be conducted on the basis of whether or not the vehicle may pass through a road in said speed-reducing section.

20. A driving control system for a vehicle according to claim 18, wherein said turning radius determining means determines as said turning radius a minimum turning radius that said vehicle can follow at said detected vehicle speed.