Positional data utilizing inter-vehicle communication method and traveling control apparatus

• US 6,801,138 B2
• Filed: 07/22/2002
• Issued: 10/05/2004
• Est. Priority Date: 01/12/1999
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Koike, Shin
• Primary Examiner(s): Swarthout, Brent A.
• Application Number:
  US10/198,934
• Publication Number:
  US 20030006889A1
• Time in Patent Office: 806 Days
• Field of Search: 340/961, 340/905, 340/928, 340/902, 340/903, 340/435, 201/117, 201/24, 201/301, 455/517, 180/167, 180/168, 180/169, 235/384
• US Class Current: 340/902
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: G01S 11/04 using angle measurements
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2205/002 for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G01S 5/04 Position of source determined by a plurality of spaced direction-finders
• CPC Class Codes: G08G 1/163 involving continuous checking

Abstract

Predicted future positions are calculated (S11) and arranged into packets (S12) to be transmitted using a communication pattern (for example, a PN series) based on a time and a position of each packet (S13). Another vehicle calculates its predicted position (S21) and generates a communication pattern based on a result of calculation (S22) so that the generated communication pattern is utilized for reception (S23). Consequently, data associated with a future position of its own can be selected for enabling reception. An existence probability is calculated, and the state of another vehicle can be accurately understood from the communication of the calculated existence probability, thereby effectively reducing chance of collision.

Claims

1. A vehicle crash avoidance control apparatus comprising:

an existence probability data generating section for calculating an existence probability in current and future space-time of a first vehicle from positional data associated with a position of the first vehicle and position error data to create existence probability data;

an inter-vehicle communication section for transmitting said positional data and said existence probability data of the first vehicle and receiving positional data associated with a position of a second vehicle and said existence probability data;

a collision probability calculating section for calculating the probability of the first vehicle colliding with the second vehicle and for calculating a spatiotemporal position at which a potential collision will occur based on said positional data and the existence probability data of the first and second vehicles; and

an avoidance direction sending section for directing the first vehicle to avert a collision in accordance with said crash probability and said spatiotemporal position at which the collision will occur,

the collision probability being calculated based on a product of the existence probability of the first vehicle and the existence probability of the second vehicle.

2. A vehicle crash avoidance control apparatus as set forth in claim 1, wherein said positional data includes positional data transmitted from a GPS.

3. A vehicle crash avoidance control apparatus as set forth in claim 1, wherein said positional data includes vehicular motion data, said vehicular motion data including at least one of a turning speed, a steering angle, a vehicle speed, an acceleration, a driving torque estimate, a road surface friction coefficient estimate, a road surface cant, a slope estimate, and an estimated weight of a vehicle.

4. A vehicle crash avoidance control apparatus as set forth in claim 1, wherein said avoidance direction sending section directs the first vehicle to avert the collision additionally in accordance with the velocity of the first vehicle relative to the second vehicle at said spatiotemporal position at which a collision will occur.

5. A vehicle crash avoidance control apparatus as set forth in claim 1, wherein the existence probability data comprises distribution data of regions having different probabilities.

6. A vehicle crash avoidance control apparatus comprising;

an inter-vehicle communication section for receiving an electric wave from another vehicle and transmitting an electric wave from the first vehicle to a second vehicle;

an existence probability data generating section for calculating an existence probability in current and future traveling space-time of the first vehicle and the second vehicle from relative position data in current and future space-time of the first and second vehicles calculated based on said received electric wave from the second vehicle, and generating existence probability data;

a collision probability calculating section for calculating a collision probability and a spatiotemporal position at which a collision will occur for the first and second vehicles based on said existence probability data of the vehicles; and

an avoidance direction sending section for directing the first vehicle to avert a collision in accordance with said crash probability and said spatiotemporal position at which a collision will occur,

the collision probability being calculated based on a product of the existence probability of the first vehicle and the existence probability of the second vehicle.

7. A vehicle crash avoidance control apparatus as set forth in claim 6, wherein said avoidance direction sending section directs the first vehicle to avert a collision additionally in accordance with the velocity of the first vehicle relative to the second vehicle at a spatiotemporal position at which a collision will occur.

8. A vehicle crash avoidance control apparatus as set forth in claim 6, wherein the existence probability data comprises distribution data of regions having different probabilities.