Host-vehicle risk acquisition device and method

• US 9,020,749 B2
• Filed: 06/25/2013
• Issued: 04/28/2015
• Est. Priority Date: 07/12/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Aso, Kazuaki, Kindo, Toshiki, Harada, Masahiro
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): ALSOMIRI, MAJDI A
• Application Number:
  US13/926,395
• Publication Number:
  US 20130289868A1
• Time in Patent Office: 672 Days
• Field of Search: 701/3, 701/36, 701/41, 701/45, 701/70, 701/96, 701/117, 701/213, 701/301, 701/300, 340/70, 340/435, 340/436, 340/438, 340/903, 340/904, 340/961, 342/70, 342/71, 342/107, 342/174, 342/455, 280/735
• US Class Current: 701/301
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A host-vehicle risk acquisition device includes a host-vehicle path acquisition portion that acquires a path of a host-vehicle, and an obstacle path acquisition portion that acquires a plurality of paths of an obstacle existing around the host-vehicle. A collision risk acquisition portion acquires an actual collision risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle is in a travel state based on the path of the host-vehicle and the plurality of paths of the obstacle. An offset risk acquisition portion acquires an offset risk, which is a collision risk between the host-vehicle and the obstacle in an offset travel state, which is offset from the travel state of the host-vehicle.

Claims

1. A host-vehicle risk acquisition method comprising:

detecting a travel state of a host-vehicle;

calculating using a processor an offset travel state of the host-vehicle which is offset from the host-vehicle travel state;

calculating using the processor a host-vehicle offset possible path based on the host-vehicle offset travel state, the host-vehicle offset possible path being an offset trajectory that the host-vehicle is able to travel;

calculating using the processor a plurality of possible paths of an obstacle existing around the host vehicle, the possible paths being paths in which the obstacle is capable of moving until a predetermined moving time elapses;

calculating using the processor an offset risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle travels on the host-vehicle offset possible path, and

displaying the host-vehicle offset possible path.

2. The host-vehicle risk acquisition method according to claim 1, wherein the travel state of the host-vehicle includes at least one of a position and speed of the host-vehicle.

3. The host-vehicle risk acquisition method according to claim 2, further comprising:

calculating using the processor a host-vehicle possible path based on the detected host-vehicle travel state, the host-vehicle possible path being a trajectory that the host-vehicle is able to travel;

calculating using the processor an actual collision risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle travels on the host-vehicle possible path;

storing the calculating offset risk; and

comparing the actual collision risk calculated in a current cycle with the offset risk stored in a previous cycle to evaluate the travel state of the host-vehicle.

4. The host-vehicle risk acquisition method according to claim 1, further comprising:

calculating using the processor a host-vehicle possible path based on the detected host-vehicle travel state, the host-vehicle possible path being a trajectory that the host-vehicle is able to travel;

calculating using the processor an actual collision risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle travels on the host-vehicle possible path;

storing the calculating offset risk; and

comparing the actual collision risk calculated in a current cycle with the offset risk stored in a previous cycle to evaluate the travel state of the host-vehicle.

5. The host-vehicle risk acquisition method according to claim 1, further comprising:

calculating additional host-vehicle offset possible path using the processor based on the host-vehicle offset travel state, the additional host-vehicle offset possible path being an offset trajectory that the host-vehicle is able to travel;

calculating using the processor an additional offset risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle travels on the additional host-vehicle offset possible path, and

displaying the host-vehicle offset possible path and the host-vehicle offset possible path in an order of having less offset risk.

6. The host-vehicle risk acquisition method according to claim 5, wherein each of the offset risk and the additional offset risk is determined by calculating a number of possible collision between (i) each of the host-vehicle offset possible path and the additional host-vehicle offset possible path, and (ii) each of the plurality of possible paths of the obstacle.

7. A host-vehicle risk acquisition method comprising:

detecting a travel state of a host-vehicle;

calculating using a processor an offset travel state of the host-vehicle which is offset from the host-vehicle travel state;

calculating using the processor a host-vehicle offset possible path based on the host-vehicle offset travel state, the host-vehicle offset possible path being an offset trajectory that the host-vehicle is able to travel;

calculating using the processor a plurality of possible paths of an obstacle existing around the host-vehicle, the possible paths being paths in which the obstacle is capable of moving until a predetermined moving time elapses;

calculating using the processor an offset risk, which is a collision risk between the host-vehicle and the obstacle when the host-vehicle travels on the host-vehicle offset possible path, and

calculating and outputting, using the processor, host-vehicle preferable travel state information based on the offset risk.