Other lane monitoring device

Patent metadata

Field	Value
Publication number	US-2020031341-A1
Application number	US-201716337031-A
Country	US
Kind code	A1
Filing date	Sep 27, 2017
Priority date	Sep 29, 2016
Publication date	Jan 30, 2020
Grant date	—

Abstract

An other lane monitoring device of the present disclosure includes an other vehicle acquisition section, a path acquisition section, a lane estimation section, and a position estimation section. The other vehicle acquisition section is configured to acquire other vehicle position information that indicates the current position of an other vehicle near the own vehicle. The path acquisition section is configured to acquire an own vehicle travel path that indicates a path along which the own vehicle has traveled. The lane estimation section is configured to use the own vehicle travel path as a basis for estimating an other lane area that is a lane where the other lane is present, the other lane being different from an own lane where the own vehicle is present. The position estimation section is configured to estimate a future position of the other vehicle indicated by the other vehicle position information, assuming that the other vehicle moves along the own vehicle travel path or in the other lane area.

First claim

1 . An other lane monitoring device installed in an own vehicle, comprising:
an another vehicle acquisition section configured to acquire other vehicle position information that includes a current position of an other vehicle near the own vehicle; a path acquisition section configured to acquire an own vehicle travel path that indicates a path along which the own vehicle has traveled; a lane estimation section configured to estimate an other lane area where an other lane is present, the other lane being different from an own lane where the own vehicle is present; and a position estimation section configured to estimate a future position of the other vehicle indicated by the other vehicle position information, assuming that the other vehicle moves along the own vehicle travel path or in the other lane area.

2 . The other lane monitoring device according to claim 1 , wherein
the position estimation section is configured to iterate estimation of a future position of the other vehicle; and the other lane monitoring device further comprises an identify recognition section configured to compare a future position of the other vehicle previously obtained by the position estimation section, with a current position of the other vehicle currently obtained by the other vehicle acquisition section, and, if these positions are close to each other, recognize these other vehicles as representing the same object.

3 . The other lane monitoring device according to claim 3 , wherein
the identity recognition section is configured to perform filtering based on the current position of the other vehicle to exclude other vehicles located in an area other than a preset lane.

4 . The other lane monitoring device according to claim 1 , wherein
the other vehicle acquisition section is configured to acquire a current mobile vector of the other vehicle as the other vehicle position information, in addition to the current position of the second vehicle; and the position estimation section is configured to estimate a provisional position of the other vehicle, based on the current position and the mobile vector of the other vehicle, to correct the provisional position in terms of the own vehicle travel path or in terms of the other lane area, and to estimate the corrected position as a future position of the other vehicle.

5 . The other lane monitoring device according to claim 4 , wherein
the own vehicle travel path and the other lane area respectively includes a plurality of nodes representing points on the own vehicle travel path and on the other lane area, and links as line segments connecting between the nodes; and the position estimation section is configured to select a link nearest from the provisional position, to correct the provisional position in terms of the selected link, and to estimate the corrected position as a future position of the other vehicle.

6 . The other lane monitoring device according to claim 4 , wherein
the position estimation section is configured to calculate a sum of an average and errors of distances from the provisional position to individual selected links, and to use a correction vector indicated by the sum to correct the provisional position in terms of the selected link.

7 . The other lane monitoring device according to claim 1 , wherein
the position estimation section is configured to use a Kalman filter that takes account of errors of the other vehicle position information, when estimating a future position of the other vehicle.

8 . The other lane monitoring device according to claim 1 , wherein
the other lane monitoring device further comprises a path generation section configured to iterate update of the current position of the own vehicle, and to generate an own vehicle travel path that includes errors due to use of error variances, when updating the current position of the own vehicle; and the path acquisition section is configured to acquire an own vehicle travel path generated by the path generation section

Assignees

• Denso Corp

Inventors

• Kitamura Takayuki
• Shimizu Naotsugu
• Suzuki Koichiro

Classifications

• B60W40/10

  related to vehicle motion · CPC title

• G08G1/16

  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 title

• B60W30/0956 Primary

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W2520/06

  Direction of travel · CPC title

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title