The present application is based on and claims priority to Japanese Patent Application 2007-294423, filed on Nov. 13, 2007, the entire contents of which are incorporated herein by reference.
1. Field of the Invention
The present invention relates to a support apparatus that supports the driving operation of a vehicle on a road and more particularly to an apparatus that can assist in determining driving conditions that surround the vehicle on the road.
2. Description of the Related Art
A conventional apparatus, as described in JP-2003-337029 A, has been proposed that assists vehicle running in order to reduce the likelihood of traffic accidents by allowing a driver to accurately recognize positions of the other vehicles driving around the subject vehicle.
JP-2003-337029 A describes a position detection apparatus that allows a driver to recognize relative positional relation between the subject vehicle and the other vehicles.
The position detection apparatus has a global positioning system (GPS) function that provides route guidance in accordance with a map represented by stored map data. The apparatus generates information about a subject vehicle position from the GPS information and receives information about another vehicle from the vehicle using inter-vehicle communication. The apparatus maintains the relative positional relation between the subject vehicle and the other vehicle based on the information about the subject vehicle position and the other vehicle position. The apparatus matches the positions of the subject vehicle and the other vehicle with a map represented by the read map data and indicates the relative positional relation between the subject vehicle and the other vehicle on the map.
For example, the position detection apparatus having the GPS function as described in JP-2003-337029 A uses a map indicated by map data to represent an actual road shape, but in a deformed or modified form. In other words, the position detection apparatus does not faithfully represent the actual road shape. The actual road environment varies due to expansion, pavement, and repair, or new construction or destruction of surrounding buildings. Specifically, the actual road width is sometimes broadened or narrowed compared to the representation of the road width.
The position detection apparatus according to JP-2003-337029 A provides route guidance based on the stored map data and may not be able to reflect changes in the road environment in realtime.
Further, a vehicle is an object having height, width, and breadth. A conventional GPS apparatus such as the position detection apparatus according to JP-2003-337029 A represents the vehicle in a deformed or modified form such as a point.
Conventionally, therefore, it has been difficult to provide accurate driving support corresponding to an actual road environment.
The present invention has been made in consideration of the foregoing. It is therefore an object of the present invention to provide a driving support apparatus that performs an accurate driving assistance in accordance with actual road environment. It will be appreciated that, as used herein, the term “driving” can refer to various aspects and static or moving operations of the vehicle while the vehicle is underway.
To achieve the above-mentioned and other objects, a driving assistance apparatus mounted on a vehicle provides driving assistance for a driver of the vehicle. The apparatus includes a nearby vehicle dimension acquisition means, a running state information acquisition means, a space formation means, a subject vehicle dimension acquisition means, a passing determination means, and a notification control means.
Specifically, the nearby vehicle dimension acquisition means acquires an exterior dimension of a vehicle running near a subject vehicle hereafter referred to as a nearby vehicle. The running state information acquisition means acquires information indicating a running state of the nearby vehicle hereafter referred to as running state information.
The space formation means forms a virtual solid having the exterior dimension acquired by the nearby vehicle dimension acquisition means. The solid is hereafter referred to as a nearby vehicle solid. The space formation means forms a virtual three-dimensional space as a moving locus of the nearby vehicle solid by following a vehicular swept path for the nearby vehicle included in the running state information acquired by the running state information acquisition means. That is, the driving assistance apparatus virtually forms an actual vehicular swept path for the nearby vehicle.
The subject vehicle dimension acquisition means acquires an exterior dimension of the subject vehicle. The passing determination means forms a virtual solid having the exterior dimension acquired by the subject vehicle dimension acquisition means hereafter referred to as a subject vehicle solid. The passing determination means determines whether or not the subject vehicle solid is able to pass the three-dimensional space formed by the space formation means. The notification control means allows a notification apparatus provided for the subject vehicle to notify a determination result from the passing determination means.
The space formation means forms a three-dimensional space as the actual vehicular swept path for the nearby vehicle. It is possible thereby to autonomously generate road map data matching the actual road environment. In addition, it should be noted that in accordance with various exemplary embodiments, the generated road map data is not limited to a planar two-dimensional representation, but can be a three-dimensional representation having the concept of height.
The exemplary driving assistance apparatus can provide more accurate driving assistance based on the road map data adjusted to the actual road environment.
In various situations, vehicle running may be restricted due to expansion of pavement area, repair of roads, infrastructural construction such as water, electricity, and gas services, construction of various buildings, or the like. Such information about temporary or transitory conditions is not reflected on general road maps such as a printed road map or an electronic road map stored in a GPS storage medium. The driving assistance apparatus generates road map data based on a vehicular swept path actually traveled by a nearby vehicle. The road map data can reflect a narrowed or broadened road width due to the above-mentioned running restrictions. Even when a double lane or one lane each way may be restricted to either lane, the driving assistance apparatus of claim 1 generates road map data for one lane. The driving assistance apparatus can provide more accurate driving assistance.
In particular, the exemplary driving assistance apparatus notifies a driver whether or not the subject vehicle can travel in a three-dimensional space formed by the space formation means, namely a road that has been adjusted to the actual road environment. The driver can recognize safety or lack of safety associated with the vehicle running. When the lane is so narrow as to allow only a small-size car to pass through after the restriction as mentioned above, for example, the driving assistance apparatus generates road map data adjusted to the situation. The driver is notified that a large-size car cannot run the lane. The driver of the large-size car can recognize lack of safety associated with subject vehicle running.
The exemplary driving assistance apparatus can further include a position detection means for detecting a current position of the subject vehicle. The passing determination means determines whether or not the subject vehicle solid positioned at a current position of the subject vehicle detected by the position detection means is contained in the three-dimensional space formed by the space formation means. The passing determination means determines whether the subject vehicle solid is able or unable to pass through the three-dimensional space depending on whether the subject vehicle solid is able or unable to be contained in the three-dimensional space.
The driver can determine whether or not the subject vehicle is running on a road adjusted to the updated actual road environment. The driver can recognize safety or unsafety concerning updated running of the subject vehicle.
The exemplary driving assistance apparatus can further include a subject vehicle behavior detection means for detecting behavior of the subject vehicle. The passing determination means adjusts behavior of the subject vehicle solid to behavior of the subject vehicle detected by the subject vehicle behavior detection means and determines whether or not the subject vehicle solid is contained in the three-dimensional space formed by the space formation means.
The subject vehicle behavior detection means may detect behavior of the subject vehicle in realtime, at a relatively shorter timing or in accordance with a specified detection cycle such as several tens of seconds to minutes.
The exemplary driving assistance apparatus adjusts behavior of the subject vehicle solid to actual behavior of the subject vehicle, making it possible to provide more accurate driving assistance adjusted to the actual behavior of the subject vehicle. In the event of turning around, for example, the driver may feel assured when notified that the front or rear end of the subject vehicle or the subject vehicle solid happens to get out of the road as a three-dimensional space.
A nearby vehicle may be larger than or smaller than the subject vehicle or may be more than one in number. Therefore, the exemplary driving assistance apparatus further includes the ability to detect and acquire information regarding multiple nearby vehicles. The nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of the nearby vehicles. The running state information acquisition means acquires running state information about each of a plurality of the nearby vehicles. The space formation means forms a virtual three-dimensional space as a moving locus for each of a plurality of the nearby vehicle solids. The passing determination means uses a three-dimensional space, hereafter referred to as a maximum allowable three-dimensional space, belonging to the three-dimensional space formed by the space formation means and represents a moving locus for a largest nearby vehicle solid. The passing determination means determines whether or not the subject vehicle solid can be contained in the maximum allowable three-dimensional space.
It should further be noted that there may be multiple nearby vehicles with different sizes. When the largest nearby vehicle can travel a road or a space, the other nearby vehicles can also travel the road. It is sufficient to use the three-dimensional space as a moving locus for the largest nearby vehicle as a nearby vehicle solid.
The passing determination means uses a maximum allowable three-dimensional space formed by the space formation means to highly accurately determine safety or lack of safety associated with the subject vehicle running. For example, a narrow three-dimensional space is generated and may be incorrectly determined to be unsafe even though the actual road is wide enough for safe running. For the purpose of alerting the driver, it may be advantageous to use the three-dimensional space as a moving locus for the smallest one of nearby vehicles.
The exemplary driving assistance apparatus can obtain information about multiple nearby vehicles. The nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of the nearby vehicles. The running state information acquisition means acquires running state information about each of a plurality of the nearby vehicles. The space formation means forms a virtual three-dimensional space as a moving locus for each of a plurality of the nearby vehicle solids. The passing determination means uses a three-dimensional space, hereafter referred to as a frequent three-dimensional space, that belongs to the three-dimensional space formed by the space formation means and is most frequently formed. The passing determination means determines whether or not the subject vehicle solid is contained in the frequent three-dimensional space.
The exemplary driving assistance apparatus generates a three-dimensional space as road map data based on the most general vehicular swept path that is available to be used for the most general type of nearby vehicles as nearby vehicle solids. The exemplary driving assistance apparatus does not use a three-dimensional space as road map data based on the vehicular swept path for a vehicle that runs along the extreme edge of the road or in the center. Accordingly, the exemplary driving assistance apparatus can provide more accurate driving assistance.
It may be advantageous to use the most general vehicular swept path and the largest nearby vehicle solid.
The exemplary driving assistance apparatus thereby can further include a storage means for storing information representing the three-dimensional space formed by the space formation means. The passing determination means reads information representing the three-dimensional space stored in the storage means from the storage means.
Using the storage means for storing information representing three-dimensional spaces, the driving assistance apparatus can maintain an increasing amount of information representing three-dimensional spaces as road map data even while the vehicle is not running. A wider range of road map data can be covered and stored.
The exemplary driving assistance apparatus can provide accurate driving assistance at any locations by reading the stored information representing three-dimensional spaces as road map data.
In the exemplary driving assistance apparatus, the notification control means allows the notification apparatus to notify such a determination result from the passing determination means that the subject vehicle solid is unable to pass through the three-dimensional space formed by the space formation means.
According to the exemplary driving assistance apparatus, the driver can more unfailingly recognize that the subject vehicle solid cannot run the three-dimensional space formed by the space formation means, namely the road adjusted to the actual road environment as an area ensured to be capable of running. In other words, the driver can more unfailingly recognize that safe running of the subject vehicle is not ensured. The driver can effectively take such action as deceleration for avoiding an accident. The driving assistance apparatus can more effectively reduce the possibility of an accident.
In the exemplary driving assistance apparatus, the notification apparatus represents a display apparatus. The notification control means displays a determination.
By viewing the display apparatus, the driver can visually recognize a determination result or, more specifically, a determination result of the passing determination means. The driver can more unfailingly recognize safety or lack of safety associated with the running of the subject vehicle.
The exemplary driving assistance apparatus can be mounted on a vehicle and provides driving assistance for the vehicle. The exemplary driving assistance apparatus includes a nearby vehicle dimension acquisition means, a running state information acquisition means, a space formation means, a subject vehicle dimension acquisition means, and a passing determination means. The driving assistance apparatus can provide driving assistance for the subject vehicle based on a determination result from the passing determination means.
The exemplary driving assistance apparatus can provide more accurate driving assistance based on the road map data adjusted to the actual road environment and includes a position detection means for detecting a current position of the subject vehicle. The passing determination means determines whether or not the subject vehicle solid positioned at a current position of the subject vehicle detected by the position detection means is contained in the three-dimensional space formed by the space formation means. The passing determination means determines whether the subject vehicle solid is able or unable to pass through the three-dimensional space depending on whether or not the subject vehicle solid can be contained in the three-dimensional space.
The driver can determine whether or not the subject vehicle can run the road adjusted to the updated actual road environment. That is, the driver can recognize safety or lack of safety associated with updated information associated with the running of the subject vehicle.
The exemplary driving assistance apparatus includes a subject vehicle behavior detection means for detecting behavior of the subject vehicle. The passing determination means adjusts behavior of the subject vehicle solid to behavior of the subject vehicle detected by the subject vehicle behavior detection means and determines whether or not the subject vehicle solid is contained in the three-dimensional space formed by the space formation means.
The driving assistance apparatus adjusts behavior of the subject vehicle solid to actual behavior of the subject vehicle, making it possible to provide more accurate driving assistance adjusted to the actual behavior of the subject vehicle.
The driving assistance apparatus of claim 12 according to the driving assistance apparatus of claim 10 or 11 includes multiple nearby vehicles. The nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of the nearby vehicles. The running state information acquisition means acquires running state information about each of a plurality of the nearby vehicles. The space formation means forms a virtual three-dimensional space as a moving locus for each of a plurality of the nearby vehicle solids. The passing determination means uses a three-dimensional space, hereafter referred to as a maximum allowable three-dimensional space belonging to the three-dimensional space formed by the space formation means and represents a moving locus for a largest nearby vehicle solid. The passing determination means determines whether or not the subject vehicle solid can be contained in the maximum allowable three-dimensional space.
The passing determination means uses a maximum allowable three-dimensional space formed by the space formation means to more accurately determine safety or lack of safety associated with the subject vehicle running. For example, a narrow three-dimensional space is generated and may be incorrectly determined to be unsafe even though the actual road is wide enough for safe running. The driving assistance apparatus can address the incorrect determination. For the purpose of alerting the driver it may be advantageous to use the three-dimensional space based on the smallest one of nearby vehicles as a moving locus.
The exemplary driving assistance apparatus can acquire information regarding multiple nearby vehicles. The nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of the nearby vehicles. The running state information acquisition means acquires running state information about each of a plurality of the nearby vehicles. The space formation means forms a virtual three-dimensional space as a moving locus for each of a plurality of the nearby vehicle solids. The passing determination means uses a three-dimensional space, hereafter referred to as a frequent three-dimensional space, based on the three-dimensional space most frequently formed by the space formation means.
The driving assistance apparatus generates a three-dimensional space as road map data based on the most general vehicular swept path used for the most general type of nearby vehicles as nearby vehicle solids. Accordingly, the driving assistance apparatus can provide more accurate driving assistance.
It may be advantageous to use the most general vehicular swept path and the largest nearby vehicle solid. The exemplary driving assistance apparatus therefore includes a storage means for storing information representing the three-dimensional space formed by the space formation means. The passing determination means reads information representing the three-dimensional space stored in the storage means from the storage means.
The driving assistance apparatus can maintain an increasing amount of information representing three-dimensional spaces as road map data even while the vehicle is not running. The road map data can be increasingly stored. A wider range of road map data can be covered.
The driving assistance apparatus can provide accurate driving assistance at any locations by reading the stored information representing three-dimensional spaces as road map data.
The exemplary driving assistance apparatus includes a control support means for supporting a specified control object in the subject vehicle when the passing determination means that the subject vehicle solid is unable to pass through the three-dimensional space formed by the space formation means.
The subject vehicle solid may not be ensured to be capable of running in the three-dimensional space formed by the space formation means based on the road being adjusted to the actual road environment. In such case, the control support means provides control support for a specified control object in the subject vehicle and it is thereby possible to more reliably avoid an accident.
Specifically, the control support means may be constructed. In the exemplary driving assistance apparatus, the control object is a braking device provided for the subject vehicle. The control support means supports braking control using the braking device.
More specifically, the control support means may support braking control so that the braking device operates to apply the brake or decelerate the vehicle. It is possible to effectively reduce the likelihood of an accident.
In the exemplary driving assistance apparatus in accordance with an alternative embodiment, the control object is an accelerator provided for the subject vehicle. The control support means supports throttle angle control using the accelerator.
More specifically, the control support means may support throttle angle control so that a throttle angle decreases or a throttle valve closes to decelerate the vehicle. It is possible to effectively reduce the likelihood of an accident.
In the exemplary driving assistance apparatus in accordance with another alternative embodiment, the control object is a steering unit provided for the subject vehicle. The control support means supports steering control using the steering unit.
More specifically, the control support means may support steering control so that the vehicle can easily turn to a direction for avoiding a possible accident. It is thereby possible to effectively reduce the likelihood of an accident.
The exemplary driving assistance apparatus includes a nearby vehicle behavior detection means for detecting behavior of the nearby vehicle. The space formation means adjusts behavior of the nearby vehicle solid to behavior of the nearby vehicle detected by nearby vehicle behavior detection means and forms a virtual three-dimensional space as a moving locus of the nearby vehicle solid. The nearby vehicle solid forms the moving locus by following a vehicular swept path acquired by the running state information acquisition means.
The driving assistance apparatus can generate a three-dimensional space as road map data adjusted to actual behavior of the nearby vehicle. When the vehicle goes uphill or downhill, the driving assistance apparatus can generate road map data reflecting the uphill or downhill based on the vehicle behavior. Accordingly, the driving assistance apparatus can provide more accurate driving assistance.
In the exemplary driving assistance apparatus, the space formation means forms a new three-dimensional space by adding a specified extra space to a formed three-dimensional space.
In many cases, ordinary roads are wide enough for vehicles to run with sufficient allowances. Accordingly, the exemplary driving assistance apparatus can form a new three-dimensional space by adding a specified extra space to an already formed three-dimensional space so as to approximate to the actual road environment more realistically. However, using the three-dimensional space too strictly as a movement locus of the nearby vehicle solid can give rise to issues. When the space associated with the subject vehicle is larger than the nearby vehicle even by a small amount, the subject vehicle may be determined to be incapable of passing through the three-dimensional space. But since it is likely that there is some space available, such a determination is impractical. In accordance with the exemplary driving assistance apparatus, it may be advantageous to form a new three-dimensional space by excluding a specified area or a space from an already formed three-dimensional space making it possible to maintain safety of the subject vehicle running at a high level.
The exemplary driving assistance apparatus can acquire information regarding multiple nearby vehicles. The nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of the nearby vehicles. The running state information acquisition means acquires running state information about each of a plurality of the nearby vehicles. The space formation means forms a virtual three-dimensional space as a moving locus for each of a plurality of the nearby vehicle solids. The passing determination means uses a three-dimensional space, hereafter referred to as a maximum allowable three-dimensional space, that belongs to the three-dimensional space formed by the space formation means and represents a moving locus for a largest nearby vehicle solid. The passing determination means determines whether or not the subject vehicle solid is able to pass through the maximum allowable three-dimensional space.
The passing determination means uses a maximum allowable three-dimensional space formed by the space formation means to more highly accurately determine safety or lack of safety associated with the subject vehicle running. For example, a narrow three-dimensional space is generated and may be incorrectly determined to be unsafe even though the actual road is wide enough for safe running. For the purpose of alerting the driver, it may be advantageous to use the three-dimensional space as a moving locus for the smallest one of nearby vehicles.
The exemplary driving assistance apparatus can acquire information regarding multiple nearby vehicles. The nearby vehicle dimension acquisition means acquires an exterior dimension of each of a plurality of the nearby vehicles. The running state information acquisition means acquires running state information about each of a plurality of the nearby vehicles. The space formation means forms a virtual three-dimensional space as a moving locus for each of a plurality of the nearby vehicle solids. The passing determination means uses a three-dimensional space, hereafter referred to as a frequent three-dimensional space based on the three-dimensional space most frequently formed by the space formation means. The passing determination means determines whether or not the subject vehicle solid is able to pass through the frequent three-dimensional space.
The driving assistance apparatus generates a three-dimensional space as road map data based on the most general vehicular swept path used for the most general type of nearby vehicles as nearby vehicle solids. Accordingly, the driving assistance apparatus can provide more accurate driving assistance.
It may be advantageous to use the most general vehicular swept path and the largest nearby vehicle solid. Accordingly, in the exemplary driving assistance apparatus in accordance with alternative exemplary embodiments, the nearby vehicle dimension acquisition means acquires an overall length, an overall width, and an overall height of the nearby vehicle as exterior dimensions of the nearby vehicle. The subject vehicle dimension acquisition means acquires an overall length, an overall width, and an overall height of the subject vehicle as exterior dimensions of the subject vehicle.
Since the driving assistance apparatus acquires the maximum dimension of the nearby vehicle, it is possible to prevent a three-dimensional space as road map data from being formed to be too narrow. For example, the subject vehicle may be recognized to be small even though the subject vehicle is actually larger and could run off of a road space causing an unsafe situation. An incorrect determination may be made that assumes the subject vehicle will not run off the space. The exemplary driving assistance apparatus can prevent such an error by acquiring the maximum dimension of the subject vehicle. The safety of the subject vehicle can accordingly be maintained at a high level.
In the exemplary driving assistance apparatus, the nearby vehicle dimension acquisition means acquires a wheel base length, a tread length, and a gravity center height of the nearby vehicle as exterior dimensions of the nearby vehicle. The subject vehicle dimension acquisition means acquires a wheel base length, a tread length, and a gravity center height of the subject vehicle as exterior dimensions of the subject vehicle.
The driving assistance apparatus uses values of the wheel base length, tread length, and gravity center height for detecting vehicle behavior. The use of such data reduces the need for newly storing an exterior dimension of the vehicle.
In the exemplary driving assistance apparatus, the vehicle is provided with a storage apparatus for storing information representing an exterior dimension of the vehicle and is further provided with a communication apparatus for transmitting and receiving information between vehicles. The nearby vehicle dimension acquisition means uses the communication apparatus to acquire information stored in the storage apparatus of the nearby vehicle and represents an exterior dimension of the nearby vehicle. The subject vehicle dimension acquisition means acquires information representing an exterior dimension of the subject vehicle from the storage apparatus of the subject vehicle.
In particular, the driving assistance apparatus uses the communication apparatus to acquire information representing the exterior dimension of the nearby vehicle from the storage apparatus of the nearby vehicle. The driving assistance apparatus can autonomously and generate road map data in realtime that is adjusted to the actual road environment.
In the exemplary driving assistance apparatus, the vehicle is provided with a detection apparatus for detecting a running state of the vehicle and is provided with a communication apparatus for transmitting and receiving information between vehicles. The running state information acquisition means uses the communication apparatus to acquire information representing a running state of the nearby vehicle detected by the detection apparatus of the nearby vehicle.
In particular, the driving assistance apparatus uses the communication apparatus to acquire information representing a running state of the nearby vehicle detected by the detection apparatus of the nearby vehicle. The driving assistance apparatus can autonomously generate road map data in realtime that is adjusted to the actual road environment.
In the exemplary driving assistance apparatus, the space formation means forms a virtual rectangular solid as the nearby vehicle solid, the rectangular solid having the exterior dimension acquired by the nearby vehicle dimension acquisition means. The passing determination means forms a virtual rectangular solid as the subject vehicle solid, the rectangular solid having the exterior dimension acquired by the subject vehicle dimension acquisition means.
The driving assistance apparatus recognizes the nearby vehicle solid and the subject vehicle solid as rectangular solids simplifying various arithmetic processes compared to the use of complicated solids, reducing process loads on the driving assistance apparatus.
In the exemplary driving assistance apparatus in accordance with alternative embodiments, the nearby vehicle precedes the subject vehicle on a running route for the subject vehicle.
The driving assistance apparatus advantageously ensures safety or lack of safety associated with a route to be traveled by the subject vehicle. The exemplary driving assistance apparatus includes a storage means for storing information representing the three-dimensional space formed by the space formation means. The passing determination means reads the three-dimensional space stored in the storage means from the storage means.
The driving assistance apparatus can maintain an increasing amount of information representing three-dimensional spaces as road map data even while the vehicle is not running. The road map data can be increasingly stored. A wider range of road map data can be covered.
The driving assistance apparatus can provide accurate driving assistance at any locations by reading the stored information representing three-dimensional spaces as road map data.
Other objects, features and characteristics of the present invention will be appreciated and become apparent to those of ordinary skill in the art and all of which form a part of the present application. In the drawings:
Present embodiments will be described in further detail with reference to the accompanying drawings.
In addition to the ECU 10, the onboard network system 1 includes a drive controller 20, a control system controller 30, a steering controller 40, a suspension controller 50, a body controller 60, a display controller 70, and a local area network (LAN), such as a Controller Area Network (CAN), bus 100. The drive controller 20 controls a drive system including an engine. The control system controller 30 controls various control systems. The steering controller 40 controls a steering system including a steering wheel. The suspension controller 50 controls a suspension system. The body controller 60 controls a body system including a door when opened or closed. The display controller 70 controls a vehicle-mounted display such as a liquid crystal display (not shown) for displaying images. The LAN bus 100 connects the controllers so as to be able to communicate with each other.
The onboard network system 1 includes a Global Positioning System (GPS) 11, a yaw rate sensor 12, a G sensor 13, an air pressure sensor 14, a wheel speed sensor 15, and an inter-vehicle communication device 16. The GPS 11 detects a vehicle position based on a satellite signal. The yaw rate sensor 12 detects a yaw rate that shows a change in the vehicle orientation. The G sensor 13 detects a vehicle acceleration. The air pressure sensor 14 detects an atmospheric pressure. The wheel speed sensor 15 detects a wheel revolution speed or a vehicle speed. The inter-vehicle communication device 16 detects wirelessly communicates with the nearby vehicle 80.
The ECU 10 includes a subject vehicle behavior detection section 21, an inter-vehicle communication transmission control section 22, an inter-vehicle communication reception control section 23, a nearby vehicle behavior detection section 24, a running space modeling section 25, a storage section 26, a driving assistance information processing section 27, an onboard network control section 28, and an onboard network controller 29.
The subject vehicle behavior detection section 21 detects information about the subject vehicle 2 such as a current position, attitude, traveling direction or orientation, speed, acceleration, and vehicular swept path based on values detected by the GPS 11, the yaw rate sensor 12, the G sensor 13, the air pressure sensor 14, and the wheel speed sensor 15. The information to be detected is hereafter referred to generally as the behavior of the subject vehicle 2. The subject vehicle behavior detection section 21 reads shape information as dimensions about the subject vehicle 2 from memory (not shown) that stores the shape information.
A detection result from the subject vehicle behavior detection section 21 is supplied to the inter-vehicle communication transmission control section 22 and the running space modeling section 25 to be described later.
The inter-vehicle communication transmission control section 22 controls the inter-vehicle communication device 16. Using the inter-vehicle communication device 16, the inter-vehicle communication transmission control section 22 transmits or broadcasts a detection result from the subject vehicle behavior detection section 21 to the nearby vehicle 80.
The inter-vehicle communication reception control section 23 controls the inter-vehicle communication device 16. Using the inter-vehicle communication device 16, the inter-vehicle communication reception control section 23 receives a detection result from the subject vehicle behavior detection section in the nearby vehicle 80. The detection result indicates behavior information and shape information about the nearby vehicle 80. The information received by the inter-vehicle communication reception control section 23 from the nearby vehicle 80 is supplied to the nearby vehicle behavior detection section 24.
The nearby vehicle behavior detection section 24 receives the information indicating the behavior of the nearby vehicle 80 and the shape information about the same from the nearby vehicle 80 via the inter-vehicle communication device 16 and the inter-vehicle communication reception control section 23. The nearby vehicle behavior detection section 24 detects the behavior and the dimension of the nearby vehicle 80 based on the received information. A detection result from the nearby vehicle behavior detection section 24 is supplied to the running space modeling section 25 to be described.
The running space modeling section 25 recognizes the subject vehicle 2 as a rectangular solid having dimensions indicated by the shape information about the subject vehicle 2. This rectangular solid is hereafter referred to as an subject-vehicle rectangular solid. The running space modeling section 25 virtually forms the subject-vehicle rectangular solid. The running space modeling section 25 recognizes the nearby vehicle 80 as a rectangular solid having dimensions indicated by the shape information about the nearby vehicle 80 hereafter referred to as a nearby-vehicle rectangular solid. The running space modeling section 25 virtually forms the nearby-vehicle rectangular solid.
Based on the detection result from the subject vehicle behavior detection section 21, the running space modeling section 25 generates information about a three-dimensional space representing a vehicular swept path for the subject vehicle 2 as a subject-vehicle rectangular solid. Based on the detection result from the nearby vehicle behavior detection section 24, the running space modeling section 25 generates information about a three-dimensional space representing a vehicular swept path for the nearby vehicle 80 as a nearby-vehicle rectangular solid. The three-dimensional space acts as the vehicular swept path for the subject-vehicle rectangular solid or the nearby-vehicle rectangular solid. The three-dimensional space is generated by moving a geometric center such as a gravity center of the subject-vehicle rectangular solid or the nearby-vehicle rectangular solid so as to coincide with the vehicular swept path of the subject vehicle 2 or the nearby vehicle 80.
Vehicle running is ensured in the three-dimensional spaces representing the vehicular swept paths for the subject vehicle 2 as an subject-vehicle rectangular solid and the nearby vehicle 80 as a nearby-vehicle rectangular solid. The three-dimensional spaces are used as road map data according to the present embodiment.
Information about the three-dimensional spaces generated by the running space modeling section 25 is stored as a three-dimensional map as road map data in the storage section 26. Depending on cases, the running space modeling section 25 supplies the three-dimensional space information directly to the driving assistance information processing section 27.
Detection results from the subject vehicle behavior detection section 21 and the nearby vehicle behavior detection section 24 are supplied to the driving assistance information processing section 27 via the running space modeling section 25.
The driving assistance information processing section 27 acquires a three-dimensional space map as road map data that is stored in the storage section 26 and is applicable within a specified range from the subject vehicle 2. In the present example, the specified range is defined as a circle with radius 100 m around the subject vehicle 2. The value 100 m is an example and may be specified variously in consideration for a distance long enough to control an intended vehicle. For example, the distance may be determined by multiplying the speed of the subject vehicle 2 by ten seconds.
Based on the behavior and dimensions of the subject vehicle 2 as a subject-vehicle rectangular solid, the driving assistance information processing section 27 determines whether or not the subject vehicle 2 is capable of running on a road as a three-dimensional space represented by the read road map data and is located on that road.
Based on the detection result, the driving assistance information processing section 27 determines which direction is safe or dangerous for the subject vehicle 2 as an subject-vehicle rectangular solid to run or whether or not the subject vehicle 2 needs to decelerate. In other words, the driving assistance information processing section 27 performs a determination process for ensuring safe running of the subject vehicle 2.
Based on the determination result, the driving assistance information processing section 27 transmits a target control value for ensuring safe running of the subject vehicle 2 to the LAN bus 100 via the onboard network control section 28 and the onboard network controller 29. Based on the target control value from the ECU 10, the drive controller 20, the control system controller 30, the steering controller 40, the suspension controller 50, the body controller 60, and the display controller 70 provide specified controls.
The onboard network controller 29 transmits or receives data from the LAN bus 100. The onboard network control section 28 controls or negotiates with the onboard network controller 29.
The overall length L ranges from the front end such as a front bumper to the rear end such as a rear bumper of the vehicle. The overall width signifies a full width of the vehicle such as a distance between left and right side-view mirrors.
The overall height ranges from a contact area or a land surface of a vehicle tire to a vehicle top equivalent to the highest position. As shown in
The following describes processes performed, for example, by the ECU 10.
At S110, the running space modeling section 25 acquires a geometric center P (Xc,Yc) and a behavior such as a vehicular swept path of the subject vehicle 2 based on the detection result from subject vehicle behavior detection section 21. As mentioned above, the subject vehicle 2 is recognized as a rectangular solid or an subject-vehicle rectangular solid having the length or the overall length L, the width or the overall width W, and the height or the overall height H. The geometric center P(Xc,Yc) corresponds to the center or the gravity center of the subject-vehicle rectangular solid.
At S120, the running space modeling section 25 calculates coordinates for four corners of the subject vehicle 2 as an subject-vehicle rectangular solid. The running space modeling section 25 calculates coordinates on an X-Y plane. As shown in
As shown in the upper portion of
The following equations (1) through (5) can be used to calculate coordinates P1 through P4. Equation 1 (EQ 1) can be used to calculate the coordinate P1 (X1,Y1) as follows.
Equation 2 (EQ 2) can be used to calculate the coordinate P2 (X2,Y2) as follows.
Equation 3 (EQ 3) can be used to calculate the coordinate P3 (X3,Y3) as follows.
Equation 4 (EQ 4) can be used to calculate the coordinate P4 (X4,Y4) as follows.
Equation 5 (EQ 5) can be used to express α and A in equations (1) through (4) as follows.
Now referring back to
The above described process will be described in more detail with reference to
In
In
When the truck turns to the right, though not shown, the vehicle running width B is formed by the loci for P2 and P3 out of the four corners of the truck. The running space modeling section 25 uses the coordinate information stored in the storage section 26 as needed when generating three-dimensional space information. The driving assistance information processing section 27 uses the coordinate information stored in the storage section 26 as needed when recognizing the vehicle behavior. When the vehicle is determined to go straight at S130 in
At S220, the driving assistance information processing section 27 assumes the geometric center P of the subject vehicle 2 to be the coordinate center and generates a map or road map in the three-dimensional space within a specified range around the center R Specifically, the driving assistance information processing section 27 reads the map or road map in the three-dimensional space from the storage section 26. The driving assistance information processing section 27 maps the nearby vehicle 80 existing in the specified range onto the generated map.
Now referring again to
Specifically, the driving assistance information processing section 27 uses, for example, the relative positional relation and the relative speed relation between the subject vehicle 2 and the nearby vehicle 80 to determine a possibility of collision between the subject vehicle 2 and the nearby vehicle 80. The driving assistance information processing section 27 determines whether a subject-vehicle rectangular solid representing the subject vehicle 2, is able to pass through or can be positioned within a three-dimensional space representing a road.
At S240, the driving assistance information processing section 27 calculates a targeted control value for improving the safety when the safety is determined to be low as the determination result at S230. Specifically, the driving assistance information processing section 27 generates targeted control values for accelerating or decelerating the vehicle or stabilizing the behavior of the vehicle.
At S250, the driving assistance information processing section 27 transmits the targeted control values calculated at S240 to the LAN bus 100. The process then terminates. In such a manner, the drive controller 20, the control system controller 30, the steering controller 40, the suspension controller 50, the body controller 60, and the display controller 70 in the subject vehicle 2 provide specified controls as needed based on the targeted control values.
The drive controller 20 or the control system controller 30 decelerates the subject vehicle 2 by decreasing the engine revolution, driving the brake, or closing the throttle as needed when the driving assistance information processing section 27 determines a degraded safety level and issues a proper instruction. The steering controller 40 provides control so that the subject vehicle 2 can easily avoid an obstacle as needed when the driving assistance information processing section 27 determines a degraded safety level and issues a proper instruction. The display controller 70 displays an indication of the lack of safety on a display (not shown) provided for the subject vehicle 2 as needed when the driving assistance information processing section 27 determines a degraded safety level and issues a proper instruction. Even when the driving assistance information processing section 27 ensures the safety, the display controller 70 may display the driving assistance information on the display.
In
The road map can be rendered from not only the vehicular swept path for the nearby vehicle 80 but also the vehicular swept path for the subject vehicle 2. It can be determined whether the subject vehicle 2 can pass through or is positioned within the vehicular swept path for the nearby vehicle 80. The vehicular swept path for the nearby vehicle 80 has a boundary as a virtual wall the subject vehicle 2 is requested to avoid crossing over. The area indicating the vehicular swept path for the nearby vehicle 80 is ensured as a road capable of running. On the other hand, an area outside the vehicular swept path is not ensured to be capable of running.
The description about the X-Y plane example in
In
In
The ECU 10 provides a specified control for ensuring running safety. The example uses a vehicle posture stabilizing control as shown and described, for example, in box (A) in
When the subject vehicle 2 further travels the opposite lane, the ECU 10 determines a risk of collision with the nearby vehicle 80, such as vehicle U, running in the opposite lane at S230. The ECU 10 generates a targeted control value for avoiding the collision and transmits the value to the LAN bus 100 at 240 and S250. For example, the ECU 10 provides control for improving the capability of turning to the left in order to return to the running lane. That is, the ECU 10 controls the steering unit of the subject vehicle 2. Consequently, the subject vehicle 2 easily turns to the left and returns to the running lane for avoiding an accident.
In
The subject vehicle 2 detects relative positional relation with the vehicle V such as a relative distance and a relative angle and determines a chance of collision as shown for example, in connection with box (b) in
When the distance is shortening, the ECU 10 or the driving assistance information processing section 27 provides control to enable a collision safety mode as shown in connection with box (d) in
In
In
When the preceding vehicle recognizes the existence of the elevated road, the information about the elevated road may be transmitted to the subject vehicle 2 through the inter-vehicle communication. The subject vehicle 2 can use the inter-vehicle communication to receive the information about the elevated road and recognize the existence of the elevated road, enabling more appropriate driving assistance. Inter-vehicle is useful when the subject vehicle 2 does not approach a specified range of the elevated road and cannot recognize the existence of the elevated road. In
In
The subject vehicle 2 recognizes that the height H1 of the perpendicular road is smaller than the height H of the preceding vehicle as trailer. It is unclear whether the preceding vehicle as trailer can cross the perpendicular road in such a way as passing under the road as shown in
Similarly to the example in
As mentioned above, the embodiment uses detection results from the subject vehicle behavior detection section 21 and the nearby vehicle behavior detection section 24 to generate road map data matching the actual road environment or form a three-dimensional space as the vehicular swept path for the subject vehicle 2 or the nearby vehicle 80. The embodiment can provide more accurate driving assistance based on the road map data matching the actual road environment. Specifically, the subject vehicle 2 takes the actual road environment into consideration and notifies a driver whether or not the subject vehicle 2 can travel the vehicular swept path for the nearby vehicle 80 similarly to the nearby vehicle 80. The driver can recognize safety or a lack of safety regarding the running of the vehicle. The embodiment controls and supports the subject vehicle 2 when the subject vehicle 2 runs through an unsafe space or has a risky condition such as collision with the nearby vehicle 80. Specifically, the embodiment controls the braking device, the accelerator, or the steering unit so that the subject vehicle 2 can avoid an accident. The embodiment can reduce the likelihood of an accident.
The embodiment more approximates the actual road environment by using the vehicular swept path for the largest nearby vehicle 80 as a road map. The embodiment provides the following effect when using the vehicular swept path formed by one or more nearby vehicles 80 as a road map. Specifically, there may be a vehicle that happens to stop at the side of the road and generates a vehicular swept path. Such vehicular swept path is not used as a road map. The resulting road map matches the actual road environment.
The embodiment can use the storage section 26 to store a generated three-dimensional map as a road map. The accurate driving assistance matching the actual road environment is available in any locations.
In the embodiment, the ECU 10 can act as a driving assistance apparatus. The nearby vehicle behavior detection section 24 can act as a nearby vehicle dimension acquisition means and a running state information acquisition means. The running space modeling section 25 can act as a space formation means. The driving assistance information processing section 27 can act as a passing determination means, a notification control means, and a control support means. The subject vehicle behavior detection section 21 can act as a position detection means and a subject vehicle behavior detection means. The storage section 26 can act as a storage means.
While the present embodiment has been described, it is to be distinctly understood that the invention is not limited thereto but may be otherwise variously embodied. For example, according to an embodiment, the vehicle can be represented as a rectangular solid. However, it will be appreciated that the vehicle may be alternatively represented as a solid having curved surfaces similar to the original vehicle shape. Further, the vehicle may be represented as a cube having a side dimension that corresponds to a maximum dimension such as the length L or a minimum dimension such as the width W or the height H.
Further, according to an embodiment, the running space modeling section 25 recognizes the vehicle as a rectangular solid and generates a three-dimensional space as road map data, namely a vehicular swept path for the rectangular solid. A new three-dimensional space as road map data may be formed by adding a specified extra space to or excluding a specified space from the generated three-dimensional space.
In an embodiment, sound or light may further be used to notify information about the safety of vehicle running whether it is safe or unsafe. The notification method may be used otherwise when it can be recognized by a human.
In an embodiment, the inter-vehicle communication may be used to exchange a map or road map generated in a vehicle between vehicles so as to share the map among vehicles making it possible to decrease a processing load for generating the map or road map in each vehicle.
The map or road map generated in the vehicle may be transmitted to an external center or a server that stores the generated map. Each of the vehicles may download the map or road map as needed.
In an embodiment, the subject vehicle 2 may be subject to the vehicle posture stabilizing control or may enter the collision safety mode. In such case, the subject vehicle 2 may be determined to deviate from a road the subject vehicle 2 should run. It may be advantageous to avoid using the vehicular swept path for the subject vehicle 2 as road map data. The nearby vehicle 80 may also use the inter-vehicle communication to transmit and receive information about whether the nearby vehicle 80 is subject to the vehicle posture stabilizing control or enters the collision safety mode. Similarly, it is possible to avoid using the vehicular swept path for the nearby vehicle 80 as road map data in such situations as indicated by information from the inter-vehicle communication.
Number | Date | Country | Kind |
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2007-294423 | Nov 2007 | JP | national |