Vehicle behavior prediction apparatus and vehicle behavior prediction method

• US 9,052,997 B2
• Filed: 06/26/2013
• Issued: 06/09/2015
• Est. Priority Date: 07/27/2012
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ono, Sayaka
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): BRUSHABER, FREDERICK M
• Application Number:
  US13/927,643
• Publication Number:
  US 20140032090A1
• Time in Patent Office: 713 Days
• Field of Search: 701/119
• US Class Current: 1/1
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G07C 5/00 Registering or indicating the working of vehicles
• CPC Class Codes: G07C 5/0841 Registering performance data recording measured values G01D; information storage G11B
• 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 1/163 involving continuous checking

Abstract

A vehicle behavior prediction apparatus includes: a storage device that stores a plurality of pieces of behavior characteristic information associating a vehicle behavior with a characteristic of time series variation in travel condition information, the plurality of pieces of the behavior characteristic information being divided into a plurality of patterns corresponding to the different traffic conditions in a preceding location preceding a predetermined location; a selection unit that selects, as corresponding behavior characteristic information, the behavior characteristic information having a pattern corresponding to a current traffic condition from among the stored behavior characteristic information on the basis of the travel condition information obtained upon arrival of the vehicle in the preceding location; and a prediction unit that predicts the vehicle behavior in the predetermined location by comparing the corresponding behavior characteristic information with the time series variation in the currently obtained travel condition information.

Claims

1. A vehicle behavior prediction apparatus comprising:

a storage device that stores a plurality of pieces of behavior characteristic information that is information associating a vehicle behavior of a vehicle with a characteristic of time series variation in travel condition information, the plurality of pieces of the behavior characteristic information being divided into a plurality of patterns corresponding to different traffic conditions in a preceding location preceding a predetermined location;

acquisition circuitry configured to obtain travel condition information of the vehicle;

selection circuitry configured to select, as corresponding behavior characteristic information, behavior characteristic information having a pattern that corresponds to a current traffic condition from among the plurality of pieces of the behavior characteristic information stored in the storage device on the basis of the travel condition information obtained by the acquisition circuitry upon arrival of the vehicle in the preceding location; and

prediction circuitry configured to;

predict vehicle behavior of the vehicle in the predetermined location by comparing the corresponding behavior characteristic information selected by the selection circuitry with the time series variation in the travel condition information of the vehicle currently obtained by the acquisition circuitry, and

output a prediction result based upon the predicted vehicle behavior of the vehicle to driving assist control circuitry configured to perform driving assist based upon the prediction result,

wherein the prediction circuitry is configured to predict, as the vehicle behavior, one of occurrence of deceleration behavior and occurrence of acceleration behavior by the vehicle in the predetermined location.

2. The vehicle behavior prediction apparatus according to claim 1, wherein:

the traffic condition includes at least one of a travel speed and an acceleration of the vehicle in the preceding location;

a plurality of average values of the at least one of the travel speed and the acceleration are associated respectively with the plurality of pieces of the behavior characteristic information stored in the storage device;

the selection circuitry is configured to calculate the average value of the at least one of the travel speed and the acceleration on the basis of the travel condition information obtained by the acquisition circuitry upon arrival of the vehicle in the preceding location; and

the selection circuitry is configured to select the corresponding behavior characteristic information by determining the average value of the at least one of the travel speed and the acceleration, from among the plurality of average values of the at least one of the travel speed and the acceleration associated respectively with the plurality of pieces of the behavior characteristic information, to which the calculated average value of the at least one of the travel speed and the acceleration corresponds.

3. The vehicle behavior prediction apparatus according to claim 2, wherein:

the traffic condition includes a road surface gradient in the preceding location;

a plurality of road surface gradients are associated respectively with the plurality of pieces of the behavior characteristic information stored in the storage device;

the selection circuitry is configured to obtain the road surface gradient on the basis of the travel condition information obtained by the acquisition circuitry upon arrival of the vehicle in the preceding location;

the selection circuitry is configured to determine whether or not the road surface gradient is a gradient that affects the acceleration;

when determining that the road surface gradient is a gradient that affects the acceleration, the selection circuitry is configured to select the corresponding behavior characteristic information by determining the road surface gradient, from among the plurality of road surface gradients associated respectively with the plurality of pieces of the behavior characteristic information, to which the road surface gradient corresponds; and

when determining that the road surface gradient is not a gradient that affects the acceleration, the selection circuitry is configured to calculate the average value of the at least one of the travel speed and the acceleration on the basis of the travel condition information obtained by the acquisition circuitry upon arrival of the vehicle in the preceding location, and select the corresponding behavior characteristic information by determining the average value of the at least one of the travel speed and the acceleration, from among the plurality of average values of the at least one of the travel speed and the acceleration associated respectively with the plurality of pieces of the behavior characteristic information, to which the calculated average value of the at least one of the travel speed and the acceleration corresponds.

4. The vehicle behavior prediction apparatus according to claim 2, wherein the selection circuitry is configured to determine at least one selection location in which a difference in the average value of the at least one of the travel speed and the acceleration appears among the plurality of behavior characteristic information, and calculate the average value of the at least one of the travel speed and the acceleration of the vehicle in the at least one selection location on the basis of the travel condition information obtained by the acquisition circuitry upon arrival of the vehicle in the selection location.

5. The vehicle behavior prediction apparatus according to claim 4, wherein, when a plurality of selection locations are determined, the selection circuitry is configured to calculate the average value of the at least one of the travel speed and the acceleration of the vehicle on the basis of the selection location positioned furthest from the predetermined location.

6. The vehicle behavior prediction apparatus according to claim 1, wherein:

the behavior characteristic information includes behavior characteristic information relating to a travel speed and behavior characteristic information relating to an acceleration;

the selection circuitry is configured to determine whether or not an element affecting the acceleration exists in the preceding location;

when determining that the element affecting the acceleration exists in the preceding location, the selection circuitry is configured to select the behavior characteristic information relating to the acceleration as the corresponding behavior characteristic information; and

when determining that the element affecting the acceleration does not exist in the preceding location, the selection circuitry is configured to select the behavior characteristic information relating to the travel speed as the corresponding behavior characteristic information.

7. The vehicle behavior prediction apparatus according to claim 6, wherein the selection circuitry is configured to determine whether or not the element affecting the acceleration exists on the basis of a road surface gradient in the preceding location.

8. The vehicle behavior prediction apparatus according to claim 1, wherein the behavior characteristic information is information on the basis of a probability distribution indicating probabilities of occurrence of the vehicle behavior in the vehicle.

9. The vehicle behavior prediction apparatus according to claim 8, wherein the prediction circuitry is configured to predict the vehicle behavior on the basis of whether or not the probability distribution includes time series variation in the travel condition.

10. A vehicle behavior prediction method comprising:

storing a plurality of pieces of behavior characteristic information that is information associating a vehicle behavior of a vehicle with a characteristic of time series variation in travel condition information, in a storage device, the plurality of pieces of the behavior characteristic information being divided into a plurality of patterns corresponding to different traffic conditions in a preceding location preceding a predetermined location;

obtaining travel condition information of the vehicle;

selecting, as corresponding behavior characteristic information, behavior characteristic information having a pattern that corresponds to a current traffic condition from among the plurality of pieces of the behavior characteristic information stored in the storage device on the basis of the travel condition information obtained upon arrival of the vehicle in the preceding location;

predicting vehicle behavior of the vehicle in the predetermined location by comparing the selected corresponding behavior characteristic information with the time series variation in the currently obtained travel condition information of the vehicle; and

outputting a prediction result based upon the predicted vehicle behavior of the vehicle to a driving assist control unit configured to perform driving assist based upon the prediction result,

wherein predicting the vehicle behavior of the vehicle includes predicting, as the vehicle behavior, one of occurrence of deceleration behavior and occurrence of acceleration behavior by the vehicle in the predetermined location.

11. A vehicle behavior prediction apparatus comprising:

a storage device that stores a plurality of pieces of behavior characteristic information that is information associating a vehicle behavior of a vehicle with a characteristic of time series variation in travel condition information, the plurality of pieces of the behavior characteristic information being divided into a plurality of patterns corresponding to different traffic conditions in a preceding location preceding a predetermined location;

acquisition circuitry configured to obtain travel condition information of the vehicle;

selection circuitry configured to select, as corresponding behavior characteristic information, behavior characteristic information having a pattern that corresponds to a current traffic condition from among the plurality of pieces of the behavior characteristic information stored in the storage device on the basis of the travel condition information obtained by the acquisition circuitry upon arrival of the vehicle in the preceding location; and

prediction circuitry configured to;

predict vehicle behavior of the vehicle in the predetermined location by comparing the corresponding behavior characteristic information selected by the selection circuitry with the time series variation in the travel condition information of the vehicle currently obtained by the acquisition circuitry, and

output a prediction result based upon the predicted vehicle behavior of the vehicle to driving assist control circuitry configured to perform driving assist based upon the prediction result, wherein;

the behavior characteristic information is created for each travel location; and

the prediction circuitry is configured to identify the travel location of the vehicle and compare the corresponding behavior characteristic information created in a location corresponding to the identified travel location with the time series variation in the travel condition information.

12. The vehicle behavior prediction apparatus according to claim 11, wherein:

the behavior characteristic information is created for each travel environment; and

when the corresponding behavior characteristic information created in the location corresponding to the identified travel location is not stored in the storage device, the prediction circuitry is configured to compare the corresponding behavior characteristic information created in a similar travel environment to the travel environment of the vehicle with the time series variation in the travel condition information.

13. A vehicle behavior prediction method comprising:

storing a plurality of pieces of behavior characteristic information that is information associating a vehicle behavior of a vehicle with a characteristic of time series variation in travel condition information, in a storage device, the plurality of pieces of the behavior characteristic information being divided into a plurality of patterns corresponding to different traffic conditions in a preceding location preceding a predetermined location;

obtaining travel condition information of the vehicle;

selecting, as corresponding behavior characteristic information, behavior characteristic information having a pattern that corresponds to a current traffic condition from among the plurality of pieces of the behavior characteristic information stored in the storage device on the basis of the travel condition information obtained upon arrival of the vehicle in the preceding location;

predicting vehicle behavior of the vehicle in the predetermined location by comparing the selected corresponding behavior characteristic information with the time series variation in the currently obtained travel condition information of the vehicle; and

outputting a prediction result based upon the predicted vehicle behavior of the vehicle to a driving assist control unit configured to perform driving assist based upon the prediction result, wherein;

the behavior characteristic information is created for each travel location; and

the predicting the vehicle behavior of the vehicle includes identifying the travel location of the vehicle and comparing the corresponding behavior characteristic information created in a location corresponding to the identified travel location with the time series variation in the travel condition information.