On-vehicle road configuration identifying device

• US 8,594,919 B2
• Filed: 04/13/2007
• Issued: 11/26/2013
• Est. Priority Date: 05/15/2006
• Status: Active Grant

• Current Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Original Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Inventors: Munakata, Kohsuke
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): MOYER, DALE S
• Application Number:
  US11/735,298
• Publication Number:
  US 20070265777A1
• Time in Patent Office: 2,419 Days
• Field of Search: 342/70, 382/103, 701/213, 701300-309, 701/515
• US Class Current: 701/300
• 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 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 7/41 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Abstract

A road configuration identifying device properly identifies the road configuration around a user'"'"'s vehicle. A reliability level indicating whether the traveling paths of other vehicles in an area behind the user'"'"'s vehicle which are detected by a radar positioning system, which are obtained by tracking other vehicles using an other vehicle tracking section, and the traveling path of the user'"'"'s vehicle are traveling paths along the same road configuration is calculated by using the velocity v, acceleration dv, angular velocity dθ, and the operation state of a direction indicator or the like of each vehicle. Then, the road configuration indicated by traveling paths having a high reliability level is predicted as the road configuration in the area behind the user'"'"'s vehicle. A warning device evaluates the possibility of other vehicles colliding with the user'"'"'s vehicle based on the road configuration of the area behind the user'"'"'s vehicle predicted by the road configuration predicting section and the behavior of other vehicles tracked by the other vehicle tracking section, and warns of the possibility of collision if such another vehicle is present.

Claims

1. An on-vehicle road configuration identifying device mounted on a user'"'"'s vehicle, which identifies the road configuration near said user'"'"'s vehicle, said device comprising:

a traveling path detecting section that is configured to detect the traveling path of at least one subject vehicle, where said at least one subject vehicle includes at least one vehicle near the user'"'"'s vehicle;

a certainty level calculating section that is configured to calculate for each subject vehicle a level of certainty that the subject vehicle is traveling along a road; and

a road configuration predicting section that is configured to predict as a road configuration near the user'"'"'s vehicle the road configuration for at least one of said subject vehicles having a certainty level calculated by said certainty level calculating section that is higher than a certainty level calculated by said certainty level calculating section for at least one other of said subject vehicles.

2. The on-vehicle road configuration identifying device according to claim 1,

wherein said traveling path detecting section is configured to detect the traveling path of a vehicle other than the user'"'"'s vehicle as a subject vehicle based on the position of said other vehicle relative to the user'"'"'s vehicle, which is detected by using radar.

3. The on-vehicle road configuration identifying device according to claim 1, comprising:

a behavior detecting section that is configured to detect the traveling behavior of each subject vehicle,

wherein said certainty level calculating section is configured to calculate the certainty that a subject vehicle is traveling along a road based on at least the behavior of said subject vehicle detected by said behavior detecting section.

4. The on-vehicle road configuration identifying device according to claim 3,

wherein said certainty level calculating section is configured to calculate the certainty that a subject vehicle is traveling along a road such that said certainty of the subject vehicle is made larger as a velocity change of said subject vehicle is smaller.

5. The on-vehicle road configuration identifying device according to claim 3,

wherein said certainty level calculating section is configured to calculate the certainty that a subject vehicle is traveling along a road such that said certainty of the subject vehicle is made larger as a forward direction change of said subject vehicle is smaller.

6. The on-vehicle road configuration identifying device according to claim 3,

wherein, in the case where the traveling velocity of a subject vehicle is within a predetermined range, said certainty level calculating section is configured to calculate the certainty that said subject vehicle is traveling along a road such that said certainty of said subject vehicle is made larger than in other cases.

7. The on-vehicle road configuration identifying device according to claim 1, comprising:

a direction indicator state detecting section that is configured to detect whether a direction indicator of a subject vehicle is operated,

wherein, in the case where said direction indicator state detecting section detects that the direction indicator of a subject vehicle is operated, said certainty level calculating section is configured to calculate the certainty that the subject vehicle is traveling along a road such that said certainty of the subject vehicle is made smaller than in other cases.

8. The on-vehicle road configuration identifying device according to claim 1,

wherein said traveling path detecting section comprises an other vehicle position detecting section that is configured to detect the positions of vehicles other than the user'"'"'s vehicle near the user'"'"'s vehicle relative to the user'"'"'s vehicle;

an other vehicle tracking section that is configured to track vehicles other than the user'"'"'s vehicle near the user'"'"'s vehicle based on the relative positions of said other vehicles detected by the other vehicle position detecting section; and

an other vehicle traveling path detecting section that is configured to detect the traveling paths of said vehicles other than the user'"'"'s vehicle based on a history of the relative positions of said other vehicles tracked by the other vehicle tracking section, and

wherein said certainty level calculating section is configured to calculate the certainty that a subject vehicle is traveling along a road such that said certainty of the subject vehicle is made larger as the frequency that the other vehicle tracking section succeeded in tracking the vehicle increases.

9. The on-vehicle road configuration identifying device according to claim 1, comprising:

position calculating means for calculating the position of a subject vehicle; and

intersection detecting means for detecting whether or not an intersection is present near a subject vehicle based on the position of said subject vehicle calculated by said position calculating means and map data,

wherein, in the case where said intersection detecting means detects that an intersection is present near a subject vehicle, said certainty level calculating section calculates the certainty that said subject vehicle is traveling along a road such that said certainty of the subject vehicle is made smaller than in other cases.

10. The on-vehicle road configuration identifying device according to claim 1, comprising:

a warning device to provide a warning of a potential collision between the user'"'"'s vehicle and another vehicle near the user'"'"'s vehicle, based on the predicted road configuration near the user'"'"'s vehicle.

11. An on-vehicle road configuration identifying device mounted on a user'"'"'s vehicle, which identifies the road configuration near said user'"'"'s vehicle, said device comprising:

a traveling path detecting section that is configured to detect the traveling path of at least one subject vehicle, where said at least one subject vehicle includes at least one vehicle near said user'"'"'s vehicle;

a certainty level calculating section that is configured to calculate for each subject vehicle a level of certainty that the subject vehicle is traveling along a road; and

a road configuration predicting section that is configured to predict as a road configuration near the user'"'"'s vehicle the road configuration for at least one of said subject vehicles having a certainty level calculated by said certainty level calculating section that is higher than a certainty level calculated by said certainty level calculating section for at least one other of said subject vehicles;

wherein said at least one subject vehicle includes the user'"'"'s vehicle in addition to said at least one vehicle near the user'"'"'s vehicle.

12. The on-vehicle road configuration identifying device according to claim 11,

wherein said traveling path detecting section comprises:

an other vehicle traveling path detecting section that is configured to detect the traveling paths of vehicles other than the user'"'"'s vehicle as subject vehicles based on the positions of said other vehicles near the user'"'"'s vehicle relative to the user'"'"'s vehicle, which are detected by radar; and

a user'"'"'s vehicle traveling path detecting section that is configured to detect the traveling path of the user'"'"'s vehicle as a subject vehicle from the position of the user'"'"'s vehicle detected by one of a satellite positioning system and a sensor that detects the traveling state of the user'"'"'s vehicle.

13. The on-vehicle road configuration identifying device according to claim 11,

wherein said at least one vehicle near a user'"'"'s vehicle is a vehicle located behind the user'"'"'s vehicle, and

wherein said road configuration predicting section predicts the road configuration behind the user'"'"'s vehicle.

14. The on-vehicle road configuration identifying device according to claim 11, comprising:

a behavior detecting section that is configured to detect the traveling behavior of each subject vehicle,

wherein said certainty level calculating section is configured to calculate the certainty that a subject vehicle is traveling along a road based on at least the behavior of the subject vehicle detected by said behavior detecting section.

15. The on-vehicle road configuration identifying device according to claim 14,

wherein said certainty level calculating section is configured to calculate the certainty that each subject vehicle is traveling along a road such that said certainty of the subject vehicle is made larger when a velocity change of the subject vehicle is smaller.

16. The on-vehicle road configuration identifying device according to claim 14,

wherein said certainty level calculating section is configured to calculate the certainty that each subject vehicle is traveling along a road such that said certainty of the subject vehicle is made larger when a forward direction change of the subject vehicle is smaller.

17. The on-vehicle road configuration identifying device according to claim 14,

wherein, in the case where the traveling velocity of a subject vehicle is within a predetermined range, said certainty level calculating section is configured to calculate the certainty that the subject vehicle is traveling along a road such that said certainty of the subject vehicle is made larger than in other cases.

18. The on-vehicle road configuration identifying device according to claim 11, comprising:

a direction indicator state detecting section that is configured to detect the operating state of a direction indicator of a subject vehicle,

wherein, in the case where said direction indicator state detecting section detects that the direction indicator of a subject vehicle is operated, said certainty level calculating section is configured to calculate the certainty that the subject vehicle is traveling along a road such that said certainty of the subject vehicle is made smaller than in other cases.

19. The on-vehicle road configuration identifying device according to claim 11,

wherein said traveling path detecting section comprises an other vehicle traveling path detecting section that is configured to detect the traveling paths of vehicles other than the user'"'"'s vehicle near the user'"'"'s vehicle as subject vehicles and a user'"'"'s vehicle traveling path detecting section that is configured to detect the traveling path of the user'"'"'s vehicle as a subject vehicle,

wherein said other vehicle traveling path detecting section comprises an other vehicle position detecting section that is configured to detect the positions of vehicles other than the user'"'"'s vehicle near the user'"'"'s vehicle relative to the user'"'"'s vehicle;

an other vehicle tracking section that is configured to track vehicles other than the user'"'"'s vehicle near the user'"'"'s vehicle based on the relative positions of the other vehicles detected by the other vehicle position detecting section; and

an other vehicle traveling path detecting section that is configured to detect the traveling paths of vehicles other than the user'"'"'s vehicle as subject vehicles based on a history of the relative positions of the other vehicles tracked by the other vehicle tracking section, and

wherein, concerning a subject vehicle other than the user'"'"'s vehicle, said certainty level calculating section is configured to calculate the certainty that the subject vehicle is traveling along a road such that said certainty of the subject vehicle is made larger as the frequency that the other vehicle tracking section succeeded in tracking the subject vehicle increases.

20. The on-vehicle road configuration identifying device according to claim 11, comprising:

position calculating means for calculating the position of a subject vehicle; and

intersection detecting means for detecting whether or not an intersection is present near a subject vehicle based on the position of the subject vehicle calculated by said position calculating means and map data,

wherein, in the case where said intersection detecting means detects that an intersection is present near a subject vehicle, said certainty level calculating section calculates the certainty that the subject vehicle is traveling along a road such that said certainty of the subject vehicle is made smaller than in other cases.

21. A road configuration identifying method for identifying the road configuration near a user'"'"'s vehicle, said method comprising:

detecting the traveling path of at least one subject vehicle, where said at least one subject vehicle includes at least one vehicle near the user'"'"'s vehicle;

calculating a certainty level for each subject vehicle that the subject vehicle is traveling along a road based on the state of the subject vehicle; and

predicting using a processor, as the road configuration near the user'"'"'s vehicle, a road configuration associated with at least one of said subject vehicles having a calculated certainty level that is higher than a certainty level calculated for at least one other of said subject vehicles.

22. The on-vehicle road configuration identifying method according to claim 21,

wherein said at least one subject vehicle includes the user'"'"'s vehicle in addition to the at least one vehicle near the user'"'"'s vehicle.

23. The on-vehicle road configuration identifying method according to claim 21, comprising:

providing a warning of a potential collision between the user'"'"'s vehicle and a vehicle near the user'"'"'s vehicle, based on the predicted road configuration near the user'"'"'s vehicle.