Surroundings monitoring apparatus for an automotive vehicle

• US 6,226,571 B1
• Filed: 11/04/1998
• Issued: 05/01/2001
• Est. Priority Date: 06/03/1998
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Kai, Koichi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US09/185,009
• Time in Patent Office: 909 Days
• Field of Search: 701/1, 701/95, 701/96, 701/70, 701/300, 701/301, 342/454, 342/455, 180/167, 180/168, 180/169, 180/179, 340/901, 340/903, 340/435, 340/436
• US Class Current: 701/1
• 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: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• 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 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target

Abstract

A surroundings monitoring apparatus for an automotive vehicle, which may readily predict a road geography such as a road radius only by lane information of a vehicle and a relative position, includes a radar head 1 for detecting objects that are present around the subject vehicle and for outputting the positional information of the objects in a predetermined detection coordinate system, a vehicle identifying device (step S3) for classifying the vehicles travelling along the road and objects other than the vehicles out of the objects and a road geography prediction device (step S4) for predicting the road geography based upon the position of the travelling vehicles and the lane information in accordance with an output of the radar head and an output of the vehicle identifying device (step S3).

Claims

1. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:

monitoring means for detecting objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and for outputting positional information of the traveling vehicle in a predetermined detection coordinate system;

vehicle identifying means for classifying the travelling vehicle and objects other than the travelling vehicle; and

road geography predicting means for predicting a road curvature value on the basis of a position of the travelling vehicle, in accordance with an output of said monitoring means and an output of said vehicle identifying means, and lane information of said travelling vehicle.

2. The surroundings monitoring apparatus according to claim 1, wherein if a plurality of vehicles travelling on the road are present around the subject vehicle, said road geography predicting means predicts the road curvature value for each travelling vehicle, and excludes values that are largely different among the predicted values.

3. The surroundings monitoring apparatus according to claim 1, wherein said monitoring means includes a subject vehicle movement detecting means for detecting a movement of the subject vehicle, said road geography predicting means predicts another road curvature value, along which the subject vehicle travels, in accordance with the movement of the subject vehicle, and the prediction value of the road curvature along which the subject vehicle travels is compared with the prediction value of the road curvature based upon the lane information and the position of the travelling vehicle.

4. The surroundings monitoring apparatus according to claim 3, wherein said road geography predicting means judges that the travelling vehicle changes its lanes when the prediction value of the road curvature along which the subject vehicle travels is different from the prediction value of the road curvature based upon the lane information and the position of the travelling vehicle for a predetermined period of time and by a constant amount.

5. The surroundings monitoring apparatus according to claim 1, wherein said lane information is determined based on a previous road curvature value predicted by said road geography predicting means in a previous iteration.

6. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:

monitoring means for detecting objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and for outputting positional information of the traveling vehicle in a predetermined detection coordinate system;

vehicle identifying means for classifying the travelling vehicle and objects other than the travelling vehicle; and

road geography predicting means for predicting a road geography value on the basis of a position of the travelling vehicle, in accordance with an output of said monitoring means and an output of said vehicle identifying means, and lane information of said travelling vehicle; and

wherein said monitoring means includes a subject vehicle movement detecting means for detecting a movement of the subject vehicle, said road geography predicting means predicts another road geography value, along which the subject vehicle travels, in accordance with the movement of the subject vehicle, and the prediction value of the road geography along which the subject vehicle travels is compared with the prediction value of the road geography based upon the lane information and the position of the travelling vehicle.

7. The surroundings monitoring apparatus according to claim 6, wherein said road geography predicting means judges that the travelling vehicle changes its lanes when the prediction value of the road geography along which the subject vehicle travels is different from the prediction value of the road geography based upon the lane information and the position of the travelling vehicle for a predetermined period of time and b) a constant amount.

8. The surroundings monitoring apparatus according to claim 6, wherein if a plurality of vehicles travelling on the road are present around the subject vehicle, said road geography predicting means predicts the road geography value for each travelling vehicle, and excludes values that are largely different among the predicted values.

9. The surroundings monitoring apparatus according to claim 6, wherein said lane information is determined based on a previous road geography value predicted by said road geography predicting means in a previous iteration.

10. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:

a monitor which detects objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and which outputs positional information of the traveling vehicle in a predetermined detection coordinate system;

a vehicle identifier which classifies the travelling vehicle and objects other than the travelling vehicle; and

a road geography predictor which predicts a road geography value on the basis of a position of the travelling vehicle, in accordance with an output of said monitor and an output of said vehicle identifier, and lane information of said travelling vehicle; and

wherein said monitor includes a subject vehicle movement detector which detects a movement of the subject vehicle, said road geography predictor predicts another road geography value, along which the subject vehicle travels, in accordance with the movement of the subject vehicle, and the prediction value of the road geography along which the subject vehicle travels is compared with the prediction value of the road geography based upon the lane information and the position of the travelling vehicle.

11. The surroundings monitoring apparatus according to claim 10, wherein said road geography predictor judges that the travelling vehicle changes its lanes when the prediction value of the road geography along which the subject vehicle travels is different from the prediction value of the road geography based upon the lane information and the position of the travelling vehicle for a predetermined period of time and by a constant amount.

12. The surroundings monitoring apparatus according to claim 10, wherein if a plurality of vehicles travelling on the road are present around the subject vehicle, said road geography predictor predicts the road geography value for each travelling vehicle, and excludes values that are largely different among the predicted values.

13. The surroundings monitoring apparatus according to claim 10, wherein said lane information is determined based on a previous road geography value predicted by said road geography predictor in a previous iteration.

14. A surroundings monitoring apparatus for a subject automotive vehicle, comprising:

a monitor which detects objects, including a vehicle traveling on a road on which the subject vehicle is traveling, that are present around the subject vehicle and which outputs positional information of the traveling vehicle in a predetermined detection coordinate system;

a vehicle identifier which classifies the travelling vehicle and objects other than the travelling vehicle; and

a road geography predictor which predicts a radius of curvature, R, of the road on the basis of a position of the travelling vehicle, in accordance with an output of said monitor and an output of said vehicle identifier, and lane information of said travelling vehicle.

15. The surroundings monitoring apparatus for a subject automotive vehicle according to claim 14, wherein said road geography predictor which predicts said radius of curvature, R, is based on the following equation (1):

16. The surroundings monitoring apparatus according to claim 14, wherein said lane information is determined based on a previous radius of the road curvature predicted by said road geography predictor in a previous iteration.