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Running plan creating apparatus

a running plan and creating apparatus technology, applied in the direction of vehicle position/course/altitude control, process and machine control, instruments, etc., can solve the problems of not always high safety on the running track, failure to calculate the respective risk of the other vehicles, etc., to reduce potential risks, reduce potential risks, and degree of risk

Inactive Publication Date: 2009-02-05
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0006]In view of circumstances mentioned above, it is an object of the present invention to provide a running plan creating apparatus which can create a safer running plan in consideration of the degree of risk of each of the other vehicles thereabout.
[0014]Preferably, the running plan creating apparatus further comprises threshold selecting means for selecting a higher threshold as the degree of urgency is higher, while the running plan creating means creates such a running plan as to reduce the integrated value of the degree of risk when the integrated value exceeds the threshold. This can create such a running plan as to give a higher priority to the running condition as the degree of urgency is higher.

Problems solved by technology

The above-mentioned conventional apparatus provides the areas occupied by the obstacles and blind spot areas formed by the obstacles with only a fixed degree of risk corresponding to the reliability of detection, but does not take account of respective kinetic energies, unstableness in running, blind spot areas, and the like of the other vehicles thereabout, thus failing to calculate the respective degrees of risk of the other vehicles.
Therefore, thus created risk-minimized running track does not always yield high safety.

Method used

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Examples

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first embodiment

[0028]FIG. 1 is a block diagram showing the structure of the running plan creating apparatus in accordance with the first embodiment. As shown in FIG. 1, the running plan creating apparatus 1 comprises a running plan creating ECU (Electric Control Unit) 10 constructed by utilizing hardware such as a CPU (central processing unit), a memory, and the like and software, while being mounted to a vehicle (hereinafter also referred to as own vehicle) to be controlled which is under automatic driving control.

[0029]Connected to the running plan creating ECU 10 are an own vehicle sensor 20, a perimeter sensor 30, a navigation unit 40, and a communication unit 50 which are mounted to the own vehicle.

[0030]The own vehicle sensor 20 is a sensor for detecting the own vehicle state quantity, e.g., a vehicle speed sensor 22, acceleration sensor, yaw rate sensor, or steering angle sensor. The value detected by the own vehicle sensor 20 is used for computing an estimated value of state quantity of th...

second embodiment

[0058]The running plan creating apparatus in accordance with the second embodiment will now be explained. The same constituents as those of the above-mentioned embodiment will be referred to with the same numerals or letters while omitting their overlapping descriptions.

[0059]The running plan creating apparatus 101 in accordance with this embodiment differs from the running plan creating apparatus 1 in accordance with the first embodiment in the structure of its running plan creating ECU 110 as shown in FIG. 6. The running plan creating ECU 110 has a data storage part 111, a characteristic learning part 112, an action predicting part 113, an unsafety degree computing part 114, an unsafety degree distribution setting part 115, a running plan creating part 116, and a safety evaluating part 117.

[0060]For a predetermined period in the past, the data storage part 111 stores the data detected by the own vehicle sensor 20 and perimeter sensor 30. The data storage part 111 in this embodimen...

third embodiment

[0078]The running plan creating apparatus in accordance with the third embodiment will now be explained. The same constituents as those of the above-mentioned embodiments will be referred to with the same numerals or letters while omitting their overlapping descriptions.

[0079]The running plan creating apparatus 201 in accordance with this embodiment differs from the running plan creating apparatus 1 in accordance with the first embodiment in the structure of its running plan creating ECU 210 as shown in FIG. 9. The running plan creating ECU 210 has a data storage part 211, an action predicting part 213, a running condition setting part 218, a running plan creating part 216, a safety evaluating part 217, a dead spot determination value distribution setting part 215, a dead spot determination value integrating part 219, a running condition urgency determining part 220, a threshold selecting part 221, and an integrated value comparing part 222.

[0080]For a predetermined period in the pa...

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PUM

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Abstract

A running plan creating apparatus for creating a running plan including position information of a vehicle at each time comprises road information acquiring means for acquiring road information concerning a running path for the vehicle to run, action predicting means for predicting positions and speeds of other vehicles running about the vehicle at each time by utilizing the road information, characteristic information acquiring means for acquiring characteristic information in each of the other vehicles, risk degree estimating means for estimating respective degrees of risk of the other vehicles by utilizing the characteristic information, risk degree distribution setting means for setting a risk degree distribution at each time on the running path by utilizing the road information and the positions and degrees of risk of the other vehicles, and running plan creating means for creating the running plan of the vehicle by utilizing the risk degree distribution.

Description

BACKGROUND OF THE INVENTION[0001]1. Field of the Invention[0002]The present invention relates to a running plan creating apparatus which creates a safer running plan of a running vehicle by estimating the degree of risk of another vehicle thereabout.[0003]2. Related Background Art[0004]Concerning the own vehicle and obstacles on a road, an apparatus has been known which predicts positions from the present to T seconds thereafter, computes respective degrees of risk at the positions on the road, creates the risk-minimized running track where the sum of degrees of risk along the running path is minimized as the running path of the own vehicle, and presents it to the driver (e.g., Japanese Patent Application Laid-Open No. 2006-154967). This apparatus sets areas occupied by the obstacles and blind spot areas formed by the obstacles as locations with a degree of risk.SUMMARY OF THE INVENTION[0005]The above-mentioned conventional apparatus provides the areas occupied by the obstacles and ...

Claims

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Application Information

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IPC IPC(8): G05D1/00G05D3/00
CPCB60W30/095G06V20/56
Inventor TAGUCHI, KOJI
Owner TOYOTA JIDOSHA KK
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