Automated driving assist system

Patent metadata

Field	Value
Publication number	US-11084489-B2
Application number	US-201916402009-A
Country	US
Kind code	B2
Filing date	May 2, 2019
Priority date	Jun 21, 2018
Publication date	Aug 10, 2021
Grant date	Aug 10, 2021

Abstract

An automated driving assist system includes a vehicle controller that includes an entry-permission determiner. The entry-permission determiner searches for first and second traffic lights successively installed on a target traveling course. When the first and second traffic lights are successively installed, the entry-permission determiner determines whether the first traffic light is installed at an intersection. When the first and second traffic lights are successively installed and the first traffic light is installed at the intersection, the entry-permission determiner detects respective lighting statuses of signals indicated by the first and second traffic lights. When the first traffic light indicates a signal permitting vehicles to advance and the second traffic light indicates a signal prohibiting the vehicles from advancing, the entry-permission determiner acquires an available stop distance. The entry-permission determiner permits the own vehicle to enter the intersection based on the available stop distance and a traveling condition of a preceding vehicle.

First claim

The invention claimed is:

1. An automated driving assist system comprising:
at least one processor programed to perform as:
a first acquirer configured to acquire traveling environment information indicating a traveling environment in front of an own vehicle;

an estimator configured to estimate a current position of the own vehicle;
a setter configured to set a target traveling course on a basis of the current position of the own vehicle estimated by the estimator and a destination determined, the target traveling course being retrieved from road map information; and
a vehicle controller configured to cause the own vehicle to travel along the target traveling course, the vehicle controller performing as an entry-permission determiner configured to determine whether to permit an entry of the own vehicle into an intersection positioned on the target traveling course in front of the own vehicle, the vehicle controller performing as:
a finding section configured to search, on a basis of either one of the road map information and the traveling environment information acquired by the first acquirer, for presence of a first traffic light and a second traffic light that are successively installed on the target traveling course in front of the own vehicle, and to find, in a case where determining that the first traffic light and the second traffic light that are successively installed are present, whether the first traffic light is installed at the intersection in front of the own vehicle, the first traffic light being closer to the own vehicle than the second traffic light is, the second traffic light being farther from the own vehicle than the first traffic light is;
a first detector configured to detect, in a case where the finding section determines that the first traffic light and the second traffic light that are successively installed are present and that the first traffic light is installed at the intersection in front of the own vehicle, respective lighting statuses of a signal indicated by the first traffic light and a signal indicated by the second traffic light, the respective lighting statuses of the signal indicated by the first traffic light and the signal indicated by the second traffic light being detected on a basis of the traveling environment information acquired by the first acquirer;
a second acquirer configured to acquire, in a case where the first detector detects that the first traffic light indicates a signal permitting vehicles to advance and that the second traffic light indicates a signal prohibiting the vehicles from advancing, an available stop distance available for stopping the own vehicle therein, the available stop distance being determined on a basis of either one of the road map information and the traveling environment information acquired by the first acquirer, the available stop distance extending from a farther stop line positioned on a road surface on which the second traffic light is installed to the intersection in front of the own vehicle; and
a determiner configured to determine, on a basis of the available stop distance acquired by the second acquirer and a traveling condition of a preceding vehicle traveling ahead of the own vehicle, whether to permit the entry of the own vehicle into the intersection in front of the own vehicle,
wherein the determiner
acquires the traveling condition of the preceding vehicle on a basis of the traveling environment information acquired by the first acquirer, the traveling condition of the preceding vehicle covering from a region in front of the own vehicle to the farther stop line,
calculates a length of a vehicle queue on a basis of the acquired traveling condition of the preceding vehicle, and
determines, in a case where a difference value between the available stop distance acquired by the second acquirer and the calculated length of the vehicle queue is greater than a space necessary for stopping the own vehicle, to permit the entry of the own vehicle into the intersection in front of the own vehicle.

2. The automated driving assist system according to claim 1 , wherein the vehicle controller executes an adaptive cruise control in a case where the determiner determines to permit the entry of the own vehicle into the intersection in front of the own vehicle, the adaptive cruise control causing the own vehicle to travel following the preceding vehicle traveling immediately ahead of the own vehicle, the preceding vehicle being recognized on a basis of the traveling environment information acquired by the first acquirer.

3. An automated driving assist system comprising:
at least one processor programed to perform as:
a first acquirer configured to acquire traveling environment information indicating a traveling environment in front of an own vehicle;
an estimator configured to estimate a current position of the own vehicle;
a setter configured to set a target traveling course on a basis of the current position of the own vehicle estimated by the estimator and a destination determined, the target traveling course being retrieved from road map information; and
a vehicle controller configured to cause the own vehicle to travel along the target traveling course, the vehicle controller performing as an entry-permission determiner configured to determine whether to permit an entry of the own vehicle into an intersection positioned on the target traveling course in front of the own vehicle, the vehicle controller performing as:
a finding section configured to search, on a basis of either one of the road map information and the traveling environment information acquired by the first acquirer, for presence of a first traffic light and a second traffic light that are successively installed on the target traveling course in front of the own vehicle, and to find, in a case where determining that the first traffic light and the second traffic light that are successively installed are present, whether the first traffic light is installed at the intersection in front of the own vehicle, the first traffic light being closer to the own vehicle than the second traffic light is, the second traffic light being farther from the own vehicle than the first traffic light is;
a first detector configured to detect, in a case where the finding section determines that the first traffic light and the second traffic light that are successively installed are present and that the first traffic light is installed at the intersection in front of the own vehicle, respective lighting statuses of a signal indicated by the first traffic light and a signal indicated by the second traffic light, the respective lighting statuses of the signal indicated by the first traffic light and the signal indicated by the second traffic light being detected on a basis of the traveling environment information acquired by the first acquirer;
a second acquirer configured to acquire, in a case where the first detector detects that the first traffic light indicates a signal permitting vehicles to advance and that the second traffic light indicates a signal prohibiting the vehicles from advancing, an available stop distance available for stopping the own vehicle therein, the available stop distance being determined on a basis of either one of the road map information and the traveling environment information acquired by the first acquirer, the available stop distance extending from a farther stop line positioned on a road surface on which the second traffic light is installed to the intersection in front of the own vehicle; and
a determiner configured to determine, on a basis of the available stop distance acquired by the second acquirer and a traveling condition of a preceding vehicle traveling ahead of the own vehicle, whether to permit the entry of the own vehicle into the intersection in front of the own vehicle,

wherein the det

Assignees

• Subaru Corp

Inventors

• Ogino Shuu
• Kanai SOGO
• Kozono Kazuya
• Taguchi Noriaki
• Fujimori Shimpei

Classifications

• B60T7/12

  for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• B60W30/143

  Speed control (B60W30/16 takes precedence) · CPC title