System and method for improving vehicle operator driving assistance of automotive vehicle

• US 7,085,633 B2
• Filed: 11/10/2003
• Issued: 08/01/2006
• Est. Priority Date: 11/21/2002
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nishira, Hikaru, Kawabe, Taketoshi
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US10/703,548
• Publication Number:
  US 20040107030A1
• Time in Patent Office: 995 Days
• Field of Search: 701/36, 701/96, 701301-302, 340/435, 340/436, 180167-170, 348/148
• US Class Current: 701/36
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction

Abstract

In system and method for improving operator driving assistance of an automotive vehicle, at an indication of acceleration timing and magnitude and the lane change timing, a lane change necessity is calculated and a lane change trigger signal is produced while the host vehicle is operated on a road that has at least three lanes and, at the calculation of the lane change necessity and at the production of the lane change signal, a new lane change trigger signal is prohibited to indicate until a forward lane change operation is deemed to be completed, in a case where the vehicle is traveling on a multiple number traffic lane road.

Claims

1. A system for improving vehicle operator driving assistance of an automotive vehicle, the system comprising:

a surrounding vehicle sensor that detects other surrounding vehicle conditions;

a host vehicle condition sensor that detects the host vehicle own conditions;

a lane sensor that detects positions and numbers of forward lanes;

a surrounding vehicle motion predictor that predicts future movement of the surrounding vehicle;

an evaluation function calculator that calculates a desirableness of a vehicle operator'"'"'s driving operation;

a recommended operation indicator that indicates acceleration timing and magnitude and a lane change timing with a desirable lane for the host vehicle from outputs of the surrounding vehicle motion predictor and the evaluation function calculator;

wherein the recommended operation indicator calculates a lane change necessity and produces a lane change trigger signal while the host vehicle is operated on a road that has at least three lanes; and

wherein the recommended operation indicator also prohibits to indicate a new lane change trigger signal until a forward lane change operation is deemed to be completed.

2. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 1, wherein the system further comprises:

a trigger signal governing section that generates and deletes time series lane change trigger signals in such a manner that a single traffic lane change trigger signal is allocated to each couple of two mutually adjacent lanes from among the detected lanes; and

a trigger signal restricting section that places a limitation on a value that each lane change trigger signal is enabled to take according to a predicted state of one of the traffic lanes on which the vehicle is to travel predictively calculated by the surrounding vehicle motion predictor.

3. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 2, wherein the system further includes a traffic lane traveling priority order specifying section that specifies a traveling priority order to each of the detected lanes and wherein the trigger signal restricting section imposes on the recommended operation indicator a restriction such that each lane change trigger signal is calculated and outputted to promote the lane change to a higher priority order specified lane of the road when, during the calculation of the lane change necessity by the recommended operation indicator, such an evaluation that a desirableness of the lane change to a left lane with respect to the lane on which the vehicle is traveling is equal to the desirableness of the traffic lane change to a right lane with respect to the lane on which the vehicle is traveling and it is desirable to make the lane change rather than not to make the lane change is outputted.

4. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 3, wherein the trigger signal restricting section imposes another restriction on the recommended control operation indicator, the other restriction being such that a modification of the traffic lane change trigger signal which is not associated with one of the traffic lanes on which the vehicle is traveling or on which the vehicle is predicted to travel.

5. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 1, wherein each lane change trigger signal is defined as a signal which takes only two ways of a value corresponding to the left lane and of another value corresponding to the right lane and wherein the surrounding vehicle motion predictor includes a traffic lane change model that inputs each of the time series lane change trigger signals and outputs a traffic lane variable which takes two ways of values defined as the two values corresponding to the left lane and right lane and an arbitrary continuous value which is intermediate between the two values, the traffic lane variable following a variation of one of the traffic lane change trigger signals which corresponds to the one of the lane change trigger signal.

6. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 5, wherein the trigger signal restricting section imposes a further another restriction on the recommended operation indicator, the further another restriction being such that, when one couple of the lane change trigger signals and the corresponding lane variable is at least present in which a deviation between the values of one of the lane change trigger signals and of the corresponding lane variable is larger than a predetermined value, a modification of the lane change trigger signals is inhibited.

7. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 5, wherein the evaluation function in the evaluation function calculator includes:

a surrounding vehicle evaluation term that evaluates at least one of relative positional relationships between the vehicle and the other surrounding vehicles and relative velocity relationships therebetween; and

a longitudinal motion evaluation term that evaluates a longitudinal motion of the vehicle, and wherein the surrounding vehicle evaluation term includes respective lane evaluation terms that evaluates a relative positional relationship between the host vehicle and each of the other surrounding vehicles present on the respective traffic lanes;

a left connection function which is a function to map the lane variable on a closed interval with zero and a real number value as both ends of the closed interval and to map a value of the lane variable corresponding to the left lane onto zero; and

a right connection function which is a function to map the lane variable on the closed interval with zero and the real number value as both ends of the closed interval and to map a value of the lane variable corresponding to the right lane onto zero and the surrounding vehicle evaluation term is constituted by calculating a product between the left connection function with one of the lane variables which is made correspondent to the left lane as an input variable thereof and the right connection function with one of the traffic lane variables which is made correspondent to the right lane as the input variable thereof for each of the traffic lane evaluation terms and by adding together the term of the product calculated for each traffic lane.

8. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 7, wherein each of the left and right connection functions is a differentiable monotone increasing or decreasing function and a differential coefficient of a domain of definition is not zeroed.

9. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 7, wherein the longitudinal motion term is constituted by a term of evaluating a longitudinal motion of the vehicle when the vehicle is present on each of the detected traffic lanes and by producing a product between the left connection function with the traffic lane variable in which the corresponding traffic lane is made correspondent to the left lane and the right connection function with the lane variable in which the corresponding traffic lane is made correspondent to the right lane and adding each term of the products obtained for each of the detected traffic lanes.

10. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 7, wherein the evaluation function includes a vehicle speed evaluation term that evaluates a speed of the vehicle and the vehicle speed evaluation term is constituted by a term that evaluates the speed of the vehicle when the vehicle is traveling on each traffic lane and by calculating a product between the left connection function with the traffic lane variable in which the corresponding traffic lane is made correspondent to the left lane and the right connection function with the traffic lane variable in which the corresponding traffic lane is made correspondent to the right lane and adding together each term of the product obtained for each of the detected traffic lanes.

11. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 1, wherein the trigger signal governing section, when at least one of the traffic lanes which soon vanishes in front of the present position of the vehicle within a predetermined distance from the present position of the vehicle, immediately deletes the corresponding lane change trigger signal and corresponding traffic lane variable related to the traffic lane which soon vanishes when the vehicle is traveling on another lane than the one of the traffic lanes which soon vanishes.

12. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 2, wherein the trigger signal governing section, when at least one of the traffic lanes which soon vanishes in front of the present position of the vehicle within a predetermined distance from the present position of the vehicle, modifies the evaluation function to calculate the necessity of the lane change and the lane change trigger signal to promote the traffic lane change to one of the traffic lanes adjacent to the one of the traffic lanes when the vehicle is traveling on the one of the traffic lanes which soon vanishes.

13. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 1, wherein each of the time series lane change trigger signals is generated from input variables of the evaluation function which minimize the evaluation function.

14. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 7, wherein the recommended operation indicator determines the necessity of the lane change for each adjacent traffic lane on the basis of the lane evaluation term of the evaluation function.

15. The system for improving vehicle operator driving assistance of an automotive vehicle as claimed in claim 1, wherein each of the time series lane change trigger signals calculated by the recommended operation indicator is transferred to a display mounted in the vehicle.

16. A system for improving vehicle operator driving assistance of an automotive vehicle, the system comprising:

surrounding vehicle detecting means for detecting other surrounding vehicle conditions;

host vehicle state detecting means for detecting the host vehicle own conditions;

lane detecting means for detecting positions and numbers of forward lanes;

surrounding vehicle motion predicting means for predicting future movements of the surrounding vehicles;

evaluation function calculating means for calculating a desirableness of a vehicle operator'"'"'s driving operation;

recommended operation indicating means for indicating acceleration timing and magnitude and a lane change timing with a desirable lane for the host vehicle from outputs of the surrounding vehicle motion predictor and the evaluation function calculator;

wherein the recommended operation indicating means calculates a lane change necessity and produces a lane change trigger signal while the host vehicle is operated on a road that has at least three lanes; and

wherein the recommended operation indicating means also prohibits to indicate a new lane change trigger signal until a forward lane change operation is deemed to be completed.

17. A method for improving vehicle operator driving assistance of an automotive vehicle, the system comprising:

detecting other surrounding vehicle conditions;

detecting the host vehicle own conditions;

detecting positions and numbers of forward lanes;

predicting future movements of the surrounding vehicles;

calculating a desirableness of a vehicle operator'"'"'s driving operation;

indicating acceleration timing and magnitude and a lane change timing with a desirable lane for the host vehicle from outputs at the prediction of the future movements of the surrounding vehicles and at the evaluation function calculation;

wherein, at the indication of the acceleration timing and magnitude and the lane change timing, a lane change necessity is calculated and a lane change trigger signal is produced while the host vehicle is operated on a road that has at least three lanes and wherein, at the calculation of the lane change necessity and at the production of the lane change signal, a new lane change trigger signal is prohibited to indicate until a forward lane change operation is deemed to be completed.