Vehicle behavior prediction device and vehicle behavior prediction method, and driving assistance device

Patent metadata

Field	Value
Publication number	US-9727820-B2
Application number	US-201214372359-A
Country	US
Kind code	B2
Filing date	Jan 20, 2012
Priority date	Jan 20, 2012
Publication date	Aug 8, 2017
Grant date	Aug 8, 2017

Abstract

In order to provide a vehicle behavior prediction device and a vehicle behavior prediction method, and a driving assistance device that uses said vehicle behavior prediction device, which enables vehicle behavior to be predicted in a highly accurate manner, a vehicle control device is installed in a vehicle. This vehicle control device is provided with a distribution calculation unit and a vehicle behavior prediction unit. The distribution calculation unit determines, on the basis of driving condition information that has been collected, probability distributions for when deceleration behavior occurs and does not occur. The vehicle behavior prediction unit determines the relative positional relationships between the driving speed and acceleration of vehicles ahead with respect to the probability distributions, and, on the basis of the relative positional relationships that have been determined, predicts the behavior of a vehicle that is subject to prediction.

First claim

The invention claimed is:

1. A vehicle behavior prediction device for predicting vehicle behavior based on traveling state information representing a traveling state of a vehicle, wherein
the traveling state information includes at least one value of traveling speed of the vehicle and acceleration of the vehicle,
the vehicle behavior prediction device includes a vehicle behavior prediction unit configured to:
collect the traveling state information,
input a plurality of kinds of probability distributions representing occurrence probability of vehicle behavior with respect to the at least one value obtained based on the collected traveling state information, and
predict vehicle behavior of a prediction-subject vehicle based on whether the at least one value concerning the prediction-subject vehicle belongs to one of the plurality of kinds of probability distributions,

it is determined whether the at least one value belongs to the probability distribution depending upon whether the at least one value is included in one continuous region in which occurrence probability in the probability distribution is greater than zero,
the traveling state information further includes a traveling location in which the at least one value was detected,
the traveling location includes one of traffic elements including an intersection, a curve, and a temporary stop position,
the vehicle behavior prediction unit is further configured to:
input the plurality of kinds of probability distributions as probability distributions obtained for each traveling location, and
predict the vehicle behavior of the prediction-subject vehicle in a case where a traveling location of the prediction-subject vehicle has characteristics that are common with one of traveling locations in which the plurality of probability distributions were detected,

the plurality of kinds of probability distributions includes a probability distribution at occurrence of specific vehicle behavior and a probability distribution at non-occurrence of the specific vehicle behavior,
the vehicle behavior is deceleration behavior of the vehicle, and
the vehicle behavior prediction unit is further configured to:
collect information representing traveling speed and acceleration of the vehicle as the traveling state information,
input a plurality of kinds of probability distributions obtained for each of traveling speed and acceleration of the vehicle,
predict non-occurrence of the vehicle behavior using the probability distribution based on the traveling speed, and
predict occurrence of the vehicle behavior using the probability distribution based on the acceleration.

2. The vehicle behavior prediction device according to claim 1 , wherein when the at least one value belongs to the probability distribution at non-occurrence of the specific vehicle behavior and does not belong to the probability distribution at occurrence of the specific vehicle behavior, the vehicle behavior prediction unit predicts that the prediction-subject vehicle will not exhibit corresponding vehicle behavior.

3. The vehicle behavior prediction device according to claim 1 , wherein when the at least one value does not belong to the probability distribution at non-occurrence of the specific vehicle behavior or belongs to both the probability distribution at non-occurrence of the specific vehicle behavior and the probability distribution at occurrence of the specific vehicle behavior, the vehicle behavior prediction unit determines that it is indeterminable whether the prediction-subject vehicle will exhibit vehicle behavior.

4. The vehicle behavior prediction device according to claim 1 , wherein when the at least one value belongs to the probability distribution at occurrence of the specific vehicle behavior and does not belong to the probability distribution at non-occurrence of the specific vehicle behavior, the vehicle behavior prediction unit predicts that the prediction-subject vehicle will exhibit corresponding vehicle behavior.

5. The vehicle behavior prediction device according to claim 1 , wherein when the at least one value does not belong to the probability distribution at occurrence of the specific vehicle behavior or belongs to both the probability distribution at occurrence of the specific vehicle behavior and the probability distribution at non-occurrence of the specific vehicle behavior, the vehicle behavior prediction unit determines that it is indeterminable whether the prediction-subject vehicle will exhibit corresponding vehicle behavior.

6. A vehicle behavior prediction device for predicting vehicle behavior based on traveling state information representing a traveling state of a vehicle, wherein
the traveling state information includes at least one value of traveling speed of the vehicle and acceleration of the vehicle,
the vehicle behavior prediction device includes a vehicle behavior prediction unit configured to:
collect the traveling state information,
input a plurality of kinds of probability distributions representing occurrence probability of vehicle behavior with respect to the at least one value obtained based on the collected traveling state information, and
predict vehicle behavior of a prediction-subject vehicle based on whether the at least one value concerning the prediction-subject vehicle belongs to one of the plurality of kinds of probability distributions,

it is determined whether the at least one value belongs to the probability distribution depending upon whether the at least one value is included in one continuous region in which occurrence probability in the probability distribution is greater than zero,
the traveling state information further includes a traveling location in which the at least one value was detected,
the traveling location includes one of traffic elements including an intersection, a curve, and a temporary stop position,
the vehicle behavior prediction unit is further configured to:
input the plurality of kinds of probability distributions as probability distributions obtained for each traveling location, and
predict the vehicle behavior of the prediction-subject vehicle in a case where a traveling location of the prediction-subject vehicle has characteristics that are common with one of traveling locations in which the plurality of probability distributions were detected,

the vehicle behavior prediction device further comprises a distribution calculating unit configured to obtain a plurality of kinds of probability distributions representing occurrence probability of vehicle behavior with respect to the at least one value that is input to the vehicle behavior prediction unit,
the distribution calculating unit further includes a reliability zone defining unit configured to define a predetermined zone from a center of the probability distribution representing an average value of the vehicle behavior as a reliability zone concerning occurrence probability of the vehicle behavior, and
the vehicle behavior prediction unit is further configured to predict vehicle behavior of the prediction-subject vehicle using the probability distribution in the reliability zone.

7. A vehicle behavior prediction device for predicting vehicle behavior based on traveling state information representing a traveling state of a vehicle, wherein
the traveling state information includes at least one value of traveling speed of the vehicle and acceleration of the vehicle,
the vehicle behavior prediction device includes a vehicle behavior prediction unit configured to:
collect the traveling state information,
input a plurality of kinds of probability distributions representing occurrence probability of vehicle behavior with respect to the at least one value obtained based on the collected traveling state i

Assignees

• Ono Sayaka
• Toyota Motor Co Ltd

Inventors

• Ono Sayaka

Classifications

• G08G1/096716

  where the received information does not generate an automatic action on the vehicle control · CPC title

• G08G1/096725

  where the received information generates an automatic action on the vehicle control · CPC title

• B60W2554/4041

  Position · CPC title

• B60W2556/50

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

• G08G1/096741

  where the source of the transmitted information selects which information to transmit to each vehicle · CPC title