Vehicular peripheral surveillance device

• US 8,571,786 B2
• Filed: 06/02/2009
• Issued: 10/29/2013
• Est. Priority Date: 06/02/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sakugawa, Jun, Iwasaki, Masahiro, Nagata, Shinichi
• Primary Examiner(s): Dager, Jonathan M.
• Application Number:
  US13/375,509
• Publication Number:
  US 20120078498A1
• Time in Patent Office: 1,610 Days
• Field of Search: None
• US Class Current: 701/300
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2540/22 Psychological state; Stress level or workload
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicular peripheral surveillance device includes an obstacle recognition sensor which monitors an obstacle around a host vehicle, a lane recognition sensor and a vehicle state quantity sensor which detect the traveling state of the host vehicle, and a risk computing unit which predicts the movement of the obstacle using information acquired by the obstacle recognition sensor, and computes a risk of the obstacle to the host vehicle on the basis of the predicted movement of the obstacle. The risk computing unit changes the prediction range of the movement of the obstacle on the basis of the traveling state of the host vehicle detected by the lane recognition sensor and the vehicle state quantity sensor. Therefore, the situation of the host vehicle is predicted taking into consideration the movement of the obstacle, thereby realizing computation with high precision while reducing a computation load.

Claims

1. A vehicular peripheral surveillance device comprising:

a monitoring sensor which monitors an obstacle around a host vehicle;

a state detection unit which detects any one of a traveling state of the host vehicle, a state of the traveling environment of the host vehicle, and a state of the driver of the host vehicle; and

a risk computing unit which predicts a movement of the obstacle being monitored by the monitoring sensor using information acquired by the monitoring sensor, and computes a risk of the obstacle to the host vehicle on a basis of the predicted movement of the obstacle,

wherein the risk computing unit changes a prediction range of the movement of the obstacle on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit,

the risk computing unit sets a natural number n, predicts a movement of an n-th obstacle which is around an (n−

1)th obstacle and more distant from the host vehicle than the (n−

1)th obstacle and also predicts a movement of the (n−

1)th obstacle on a basis of the predicted movement of the n-th obstacle, and sequentially predicts movement of (n−

2)th to first obstacles on the basis of movement of (n−

1)th to second obstacles in the same manner, and

the risk computing unit sets priority on a plurality of first obstacles around the host vehicle on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit, and sequentially predicts the movement of the n-th to first obstacles while changing the natural number n in accordance with the priority.

2. The vehicular peripheral surveillance device according to claim 1,

wherein the risk computing unit changes the use range of the information acquired by the monitoring sensor on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit.

3. The vehicular peripheral surveillance device according to claim 1,

wherein, when the monitoring sensor is monitoring a plurality of obstacles, the risk computing unit sets priority on the obstacles on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit, and predicts the movement of the obstacles in accordance with the priority.

4. The vehicular peripheral surveillance device according to claim 1,

wherein the risk computing unit sequentially predicts the movement of the n-th to first obstacles while changing the natural number n on the basis of any one of the traveling state of the host vehicle, the state of the traveling environment of the host vehicle, and the state of the driver of the host vehicle detected by the state detection unit.

5. The vehicular peripheral surveillance device according to claim 1,

wherein the risk computing unit sequentially predicts the movement of the n-th to first obstacles while setting the natural number n to be greater for a first obstacle having high priority.

6. The vehicular peripheral surveillance device according to claim 1, further comprising:

an other-vehicle information receiving unit which enables the reception of information from another vehicle as the obstacle,

wherein the risk computing unit predicts a movement of another vehicle on the basis of information received by the other-vehicle information receiving unit from another vehicle.

7. The vehicular peripheral surveillance device according to claim 1, further comprising:

a road information acquisition unit which acquires information regarding a road on which the host vehicle is traveling,

wherein the risk computing unit changes the prediction range of the movement of the obstacle on the basis of the information regarding the road, on which the host vehicle is traveling, acquired by the road information acquisition unit.

8. The vehicular peripheral surveillance device according to claim 1,

wherein the road information acquisition unit acquires information regarding a road shape around the host vehicle, and

the risk computing unit predicts the movement of the obstacle as another vehicle on the basis of information acquired by the monitoring sensor and the information regarding the road shape around the host vehicle acquired by the road information acquisition unit.

9. The vehicular peripheral surveillance device according to claim 8, further comprising:

a scheduled traveling information acquisition unit which acquires information regarding a road on which another vehicle will travel,

wherein the risk computing unit predicts a movement of another vehicle on the basis of the information regarding the road, on which another vehicle will travel, acquired by the scheduled traveling information acquisition unit.