Movement trajectory predicting device and movement trajectory predicting method

Patent metadata

Field	Value
Publication number	US-9975550-B2
Application number	US-201314892468-A
Country	US
Kind code	B2
Filing date	May 31, 2013
Priority date	May 31, 2013
Publication date	May 22, 2018
Grant date	May 22, 2018

Abstract

An object of the invention is to accurately predict a movement trajectory of an object from a history of positions of the object even in a case where shaking or deflection of a vehicle occurs. In order to achieve the object, in the invention, the position of the object around the vehicle is acquired (S 1 ), a ground speed of the object is acquired (S 3 ), a slope θ of a trajectory prediction vector (relative movement vector) of the object with respect to the vehicle is calculated by using a speed of the vehicle and the ground speed of the object (S 7 ), fitting is performed (classification of the recorded positions of the object in the movement trajectory) with respect to the history of the positions of the object with a straight line having the slope θ of the trajectory prediction vector (S 8 ), and a straight line having the slope θ of the position fitting best in the straight line having the slope θ (straight line having a plurality of positions included in a group classified through the fitting) is predicted as the movement trajectory of the object (S 9 ).

First claim

The invention claimed is:

1. A movement trajectory predicting device predicting a movement trajectory of an object around a vehicle, the device comprising:
an object detection unit configured to acquire a position of the object around the vehicle;
a speed acquisition unit configured to acquire a ground speed of the object, which is the absolute speed of the object with respect to the ground, by calculating the difference between a current value of the detected position of the object and a position of a fixed object on a road, calculating the difference between a previous value of the detected position of the object and the position of the fixed object on the road, calculating a movement vector from the previous value of the detected position of the object to the current value of the detected position of the object by using the calculated difference between the current value of the detected position of the object and the position of the fixed object on the road and the calculated difference between the previous value of the detected position of the object and the position of the fixed object on the road, and dividing an amount of movement of the movement vector by an update time;
a relative movement vector calculation unit configured to calculate a relative movement vector of the object with respect to the vehicle by using speed information on the vehicle and the ground speed of the object acquired by the speed acquisition unit;
a classification unit configured to record positions in the movement trajectory of the object acquired by the object detection unit and to classify the recorded positions into a plurality of groups based on the relative movement vector calculated by the relative movement vector calculation unit; and
a movement trajectory prediction unit configured to predict the movement trajectory of the object based on a plurality of positions of the object included in at least one of the groups classified by the classification unit.

2. The movement trajectory predicting device according to claim 1 ,
wherein the object detection unit detects the object by edge processing with respect to an image captured by a camera, and
wherein the classification unit promotes use of the position as the position of the object as the position has a higher vertical edge intensity in the image regarding the classification of the recorded positions of the object.

3. The movement trajectory predicting device according to claim 1 ,
wherein the classification by the classification unit is not performed in a case where a steering amount of the vehicle is equal to or greater than a predetermined amount.

4. The movement trajectory predicting device according to claim 1 ,
wherein the classification unit performs the classification while increasing a weight for the position among the recorded positions of the object as the position becomes closer in time to the present.

5. The movement trajectory predicting device according to claim 1 ,
wherein the relative movement vector calculation unit does not use the ground speed of the object that has a difference from a previous value of the ground speed equal to or greater than a first threshold and has a difference from a speed obtained from a difference between the positions of the object equal to or greater than a second threshold in calculating the relative movement vector.

6. A movement trajectory predicting method for predicting a movement trajectory of an object around a vehicle, the method comprising:
acquiring a position of the object around the vehicle;
acquiring a ground speed of the object, which is the absolute speed of the object with respect to the ground, by calculating the difference between a current value of the detected position of the object and a position of a fixed object on a road, calculating the difference between a previous value of the detected position of the object and the position of the fixed object on the road, calculating a movement vector from the previous value of the detected position of the object to the current value of the detected position of the object by using the calculated difference between the current value of the detected position of the object and the position of the fixed object on the road and the calculated difference between the previous value of the detected position of the object and the position of the fixed object on the road, and dividing an amount of movement of the movement vector by an update time;
calculating a relative movement vector of the object with respect to the vehicle by using speed information on the vehicle and the ground speed of the object;
recording positions in the movement trajectory of the object acquired in the acquiring the position of the object and classifying the recorded positions into a plurality of groups based on the calculated relative movement vector; and
predicting the movement trajectory of the object based on a plurality of positions of the object included in at least one of the classified groups;
wherein the acquiring the position of the object is excuted by an object detection unit;
wherein the acquiring the ground speed of the object is excuted by a speed acquisition unit;
wherein the calculating the relative movement vector of the object is executed by a relative movement vector calculation unit;
wherein the recording the positions in the movement trajectory of the object is executed by a classification unit; and
wherein predicting the movement trajectory of the object is executed by a movement trajectory prediction unit.

7. The movement trajectory predicting device according to claim 1 ,
wherein the speed acquisition unit is further configured to acquire the ground speed of the object based on reception of a speed detected by the object based on communication with the object.

8. The movement trajectory predicting device according to claim 1 ,
wherein the speed acquisition unit is further configured to acquire the ground speed of the object via road-to-vehicle communication based on reception of the speed of the object detected by roadside infrastructure.

Assignees

• Toyota Motor Co Ltd

Inventors

• Katoh Masayuki

Classifications

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W2540/18

  Steering angle · CPC title

• B60W2050/143

  Alarm means · CPC title

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title