Preceding-vehicle identifying apparatus and following-distance control apparatus

• US 9,015,100 B2
• Filed: 11/14/2012
• Issued: 04/21/2015
• Est. Priority Date: 01/10/2012
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kurumisawa, Jin, Namikiri, Tatsuya
• Primary Examiner(s): Chaki, Kakali
• Assistant Examiner(s): SITIRICHE, LUIS A
• Application Number:
  US13/676,402
• Publication Number:
  US 20130179379A1
• Time in Patent Office: 888 Days
• Field of Search: None
• US Class Current: 706/46
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G06N 5/02 Knowledge representation; Symbolic representation
• CPC Class Codes: G06N 7/01 Probabilistic graphical models, e.g. probabilistic networks

Abstract

The preceding vehicle identifying apparatus calculates an integrated probability of existence of a curved road ahead of an own vehicle based on at least two of the curvature of the curved road, the track of a vehicle running ahead of the own vehicle and the own vehicle'"'"' having entered the curved road. The preceding vehicle identifying apparatus further calculates an own-vehicle lane probability which is a probability that the vehicle is running in the same lane as an own-vehicle lane in which the own vehicle is running based on the distance between a predicted running line of the own vehicle and the track of the vehicle running ahead of the own vehicle, and compensates the calculated own-vehicle lane probability based on the integrated probability.

Claims

1. A preceding-vehicle identifying apparatus for identifying, as a preceding vehicle, a vehicle running ahead of an own vehicle based on an own-vehicle lane probability which is a probability that the vehicle is running in the same lane as an own-vehicle lane in which the own vehicle is running, the apparatus comprising:

a controller;

a detection signal acquiring section of the controller that receives at least two of a first detection signal indicative of a curvature of a curved road ahead of the own vehicle, a second detection signal indicative of a track of a vehicle running ahead of the own vehicle and a third detection signal indicative of the own vehicle having entered the curved road, the first to third detection signals being outputted from first to third detecting sections, respectively, which are mounted on the own vehicle;

a first calculating section of the controller that calculates at least two of a first probability of existence of the curved road ahead of the own vehicle based on the first detection signal, a second probability of existence of the curved road ahead of the own vehicle based on the second detection signal and a third probability of existence of the curved road ahead of the own vehicle based on the third detection signal, and calculates an integrated probability of existence of the curved road ahead of the own vehicle based on integration of the at least two of the first to third probabilities; and

a second calculating section of the controller that calculates the own-vehicle lane probability based on a distance between a predicted running line of the own vehicle along which the own vehicle is predicted to run and the track of the vehicle running ahead of the own vehicle, and performs an own-vehicle lane probability compensation process for compensating the calculated own-vehicle lane probability based on the integrated probability.

2. The preceding-vehicle identifying apparatus according to claim 1, wherein the second calculating section is configured to perform the own-vehicle lane probability compensation process when it is determined that the own vehicle is following the vehicle running ahead of the own vehicle.

3. The preceding vehicle identifying apparatus according to claim 1, wherein the first calculating section calculates the integrated probability based on the at least two of the first to third probabilities which are weighted by first to third weights, respectively, the third weight being larger than the second weight, the second weight being larger than the first weight.

4. The preceding-vehicle identifying apparatus according to claim 1, wherein the first and second detecting sections commonly include a scanning sensor for detecting a road condition ahead of the own vehicle and a track of a vehicle running ahead of the own vehicle.

5. The preceding-vehicle identifying apparatus according to claim 1, wherein the third detecting section includes a yaw rate sensor for detecting a yaw rate of the own vehicle.

6. A following-distance control apparatus mounted on a vehicle for controlling a following distance between the own vehicle and a preceding vehicle running in the same lane as the own vehicle within a predetermined range when the own vehicle follows the preceding vehicle, comprising:

the preceding-vehicle identifying apparatus recited in claim 1; and

a controller for controlling a following distance between the own vehicle and a vehicle identified as the preceding vehicle by the preceding-vehicle identifying apparatus by controlling a running speed of the own vehicle in accordance with the following distance.

7. The preceding-vehicle identifying apparatus according to claim 1, wherein one of the at least two of the first to third detection signals is the second detection signal.

8. The preceding-vehicle identifying apparatus according to claim 7, wherein one of the at least two of the first to third probabilities is the second probability.

9. The preceding-vehicle identifying apparatus according to claim 1, wherein one of the at least two of the first to third probabilities is the second probability.

10. The preceding-vehicle identifying apparatus according to claim 1, wherein the track of the vehicle running ahead of the own vehicle is calculated using positions of the vehicle running ahead of the own vehicle at different times within a predetermined period of time.

11. The preceding-vehicle identifying apparatus according to claim 10, wherein the positions of the vehicle running ahead of the own vehicle at different times are stored in a storage section of the controller.

12. The preceding-vehicle identifying apparatus according to claim 11, wherein one of the at least two of the first to third detection signals is the second detection signal.

13. The preceding-vehicle identifying apparatus according to claim 12, wherein one of the at least two of the first to third probabilities is the second probability.

14. The preceding-vehicle identifying apparatus according to claim 11, wherein one of the at least two of the first to third probabilities is the second probability.

15. The preceding-vehicle identifying apparatus according to claim 10, wherein one of the at least two of the first to third detection signals is the second detection signal.

16. The preceding-vehicle identifying apparatus according to claim 15, wherein one of the at least two of the first to third probabilities is the second probability.

17. The preceding-vehicle identifying apparatus according to claim 10, wherein one of the at least two of the first to third probabilities is the second probability.