Automated drive assisting device, automated drive assisting method, and program

• US 9,836,051 B2
• Filed: 01/13/2015
• Issued: 12/05/2017
• Est. Priority Date: 01/29/2014
• Status: Active Grant

• Current Assignee: Aisin AW Company Limited (Aisin Corp.)
• Original Assignee: Aisin AW Company Limited (Aisin Corp.)
• Inventors: Ishikawa, Ken, Sato, Yuji, Nakamura, Masaki, Miyajima, Takayuki
• Primary Examiner(s): Smith, Jelani A
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/108,179
• Publication Number:
  US 20160327947A1
• Time in Patent Office: 1,057 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/20 Data confidence level
• 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 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B60W 60/0059 Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
• CPC Class Codes: G01C 21/3629 Guidance using speech or audio output, e.g. text-to-speech text to speech systems per se G10L13/00
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Automated drive assisting devices, methods, and programs acquire position specifying information for specifying a vehicle position during travel, and acquire a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive. The devices, methods, and programs determine whether the automated drive can be continued on the basis of the acquired continuity degree, and determine vehicle control information for controlling a vehicle such that the continuity degree becomes higher on the basis of the acquired position specifying information in the case where it is determined that the automated drive cannot be continued. The devices, methods, and programs output the determined vehicle control information to a vehicle control device that controls the vehicle.

Claims

1. An automated drive assisting device comprising:

a processor programmed to;

acquire a plurality of pieces of position specifying information for specifying a vehicle position during travel from at least one of (i) image recognition processing on images received from a vehicle-mounted camera, (ii) surrounding feature recognition processing based on data from a vehicle-mounted laser scanner, and (iii) a GPS receiver;

determine a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive, the determined continuity degree being an index that indicates how accurately the vehicle position can be specified by using the acquired plurality of pieces of position specifying information;

determine whether the automated drive can be continued on the basis of the continuity degree;

specify position specifying information that lowers the continuity degree on the basis of the acquired plurality of pieces of the position specifying information;

determine vehicle control information for controlling a vehicle on the basis of the specified position specifying information that lowers the continuity degree by;

in the case where the position specifying information that lowers the continuity degree is static position specifying information for specifying the vehicle position on the basis of a static factor such as a lane boundary line or a static feature around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the static factor; and

in the case where the position specifying information that lowers the continuity degree is dynamic position specifying information for specifying the vehicle position on the basis of a dynamic factor such as another vehicle around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the other vehicle;

determine vehicle control information for controlling the vehicle such that the continuity degree becomes higher on the basis of the acquired plurality of pieces of the position specifying information in the case where it is determined that the automated drive cannot be continued; and

output the determined vehicle control information to a vehicle control device that controls the vehicle.

2. The automated drive assisting device according to claim 1, wherein the processor is programmed to:

recognize a boundary line on a road on which the vehicle travels;

acquire a boundary line recognition degree that represents a degree of recognition of the recognized boundary line;

detect a space around the vehicle;

determine whether there is a space that enables a lane change in a side lane beside the vehicle; and

in the case where it is determined that the automated drive cannot be continued and the boundary line recognition degree is equal to or less than a boundary line recognition threshold, determine, as the vehicle control information, a lane change instruction for a lane change to the side lane when it is determined that there is the space that enables the lane change in the side lane beside the vehicle.

3. The automated drive assisting device according to claim 2, wherein the processor is programmed to:

recognize a surrounding feature on a road on which the vehicle travels;

acquire a feature recognition degree that represents a degree of recognition of the surrounding feature; and

in the case where it is determined that the automated drive cannot be continued and the feature recognition degree is equal to or less than a feature recognition threshold, determine, as the vehicle control information, a lane change instruction for a lane change to the side lane when it is determined that there is the space that enables the lane change in the side lane beside the vehicle.

4. The automated drive assisting device according to claim 3, wherein the processor is programmed to:

determine whether there is a space that enables a change in an inter-vehicle distance ahead of or behind the vehicle; and

in the case where it is determined that (i) the automated drive cannot be continued, (ii) the feature recognition degree is equal to or less than the feature recognition threshold, and (iii) there is no space that enables a lane change in a side lane beside the vehicle, determine, as the vehicle control information, an inter-vehicle distance change instruction for a change in the inter-vehicle distance in a space that enables a change in the inter-vehicle distance ahead of and behind the vehicle when it is determined that there is the space that enables the change in the inter-vehicle distance ahead of and behind the vehicle.

5. The automated drive assisting device according to claim 1, wherein the processor is programmed to:

acquire a travel distance;

determine the vehicle control information in the case where it is determined that the automated drive cannot be continued continuously until the vehicle travels over a first travel distance since it is determined that the automated drive cannot be continued.

6. The automated drive assisting device according to claim 5, wherein the processor is programmed to:

announce in advance cancellation of the automated drive to a driver in the case where it is determined that the automated drive cannot be continued until the vehicle travels over a second travel distance since the vehicle control information is output;

output an automated drive cancellation instruction for switching from the automated drive to manual drive by the driver to the vehicle control device in the case where it is determined that the automated drive cannot be continued until the vehicle travels over a third travel distance since cancellation of the automated drive is announced in advance to the driver; and

inform the driver of switching from the automated drive to the manual drive by the driver.

7. An automated drive assisting method comprising:

acquiring a plurality of pieces of position specifying information that is necessary to specify a vehicle position during travel;

determining a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive, the determined continuity degree being an index that indicates how accurately the vehicle position can be specified by using the acquired plurality of pieces of position specifying information;

determining whether the automated drive can be continued on the basis of the continuity degree;

determining vehicle control information for controlling a vehicle on the basis of the specified position specifying information that lowers the continuity degree by;

in the case where the position specifying information that lowers the continuity degree is static position specifying information for specifying the vehicle position on the basis of a static factor such as a lane boundary line or a static feature around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the static factor; and

in the case where the position specifying information that lowers the continuity degree is dynamic position specifying information for specifying the vehicle position on the basis of a dynamic factor such as another vehicle around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the other vehicle;

determining vehicle control information for controlling the vehicle such that the continuity degree becomes higher on the basis of the acquired plurality of pieces of the position specifying information in the case where it is determined that the automated drive cannot be continued; and

outputting the determined vehicle control information to a vehicle control device that controls the vehicle.

8. A computer-readable storage medium storing an automated driving assist program, the program including instructions causing a computer to perform the following functions:

acquiring a plurality of pieces of position specifying information that is necessary to specify a vehicle position during travel;

determining a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive, the determined continuity degree being an index that indicates how accurately the vehicle position can be specified by using the acquired plurality of pieces of position specifying information;

determining whether the automated drive can be continued on the basis of the continuity degree;

determining vehicle control information for controlling a vehicle on the basis of the specified position specifying information that lowers the continuity degree by;

in the case where the position specifying information that lowers the continuity degree is static position specifying information for specifying the vehicle position on the basis of a static factor such as a lane boundary line or a static feature around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the static factor; and

in the case where the position specifying information that lowers the continuity degree is dynamic position specifying information for specifying the vehicle position on the basis of a dynamic factor such as another vehicle around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the other vehicle;

determining vehicle control information for controlling the vehicle such that the continuity degree becomes higher on the basis of the acquired plurality of pieces of the position specifying information in the case where it is determined that the automated drive cannot be continued; and

outputting the determined vehicle control information to a vehicle control device that controls the vehicle.