CN103052865A - Driving support device, driving support method, and computer program - Google Patents
Driving support device, driving support method, and computer program Download PDFInfo
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- CN103052865A CN103052865A CN201180037939XA CN201180037939A CN103052865A CN 103052865 A CN103052865 A CN 103052865A CN 201180037939X A CN201180037939X A CN 201180037939XA CN 201180037939 A CN201180037939 A CN 201180037939A CN 103052865 A CN103052865 A CN 103052865A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
A tolerance for lateral acceleration generated in a vehicle (lateral acceleration tolerance) is set at which the vehicle can safely perform a U-turn without applying a load to vehicle occupants while the vehicle performs the U-turn. Based on the set lateral acceleration tolerance and a width curvature radius, a ''maximum U-turn speed of the vehicle for the road'' is set. If the vehicle performs turning that may be a U-turn while traveling in a one-way zone and a turning speed at such time is equal to or less than the ''maximum U-turn speed of the vehicle for the road'', it is determined that the vehicle performed a U-turn. The vehicle is thus recognized as in a wrong-way travel situation due to performing the U-turn, and a warning of the vehicle traveling in the wrong direction is made.
Description
Technical field
The present invention relates to driving support device, drive the computer program of support method and support unit driving.
Background technology
Such as highway, rapid transit, car lane (motorway), some roads that can run at high speed such as common toll road and national highway, and have the wide ordinary road of narrow lane and divide by travel direction, and have and be configured to only to allow vehicle along zone that predetermined direction travels.Yet, when travel direction was not clearly indicated, the situation that so-called wrong way travels may occur, vehicle has been made a mistake travel direction in this case, and along with determined travel direction is opposite in running region direction running.Below example explained vehicle may be finally along the opposite way round potential cause behind of travelling.
Such as, as shown in Figure 6, when vehicle 101 when the one way access with a plurality of tracks travels, think that driver's possible errors right-hand lane is reverse track.In the case, in order to travel in this reverse track, vehicle 101 may be carried out u turn.But as the result at this right lane only, vehicle is final along the direction running opposite with being the determined travel direction of this road, thereby travels along the opposite way round.
In order to find to stop rapidly travelling of wrong way under the situation that vehicle travels with wrong way, it is important accurately detecting the vehicle of having carried out u turn at side portion of vehicle.By this accurate detection, but alerting driver, and can carry out vehicle control and travel along the opposite way round with stop vehicle.For this reason, Japanese Patent Application Publication No.JP-A-2008-96141(Fig. 3, the 6th page and the 7th page) following technology has been described: when detecting Ackermann steer angle, the turning radius-of-curvature when execution is turned is compared with the width radius-of-curvature that calculates based on having a lot of social connections.If the turning radius-of-curvature is less than the width radius-of-curvature, then this technology determination vehicle has been carried out u turn.
But in some cases, the technology described in the JP-A-2008-96141 can not judge accurately that vehicle carried out u turn.Such as, if vehicle is carried out zig zag in order to avoid the obstacle on the relatively wide road of having a lot of social connections, the radius-of-curvature of then turning is less than the width radius-of-curvature.So it may not consider that vehicles failed carries out the fact of u turn and judge that mistakenly vehicle carried out u turn.Under these circumstances, the wrong way alarm of travelling may be disturbed driver's driver behavior and cause confusion to current vehicle heading.
Summary of the invention
Design the present invention to be solving the problem in the correlation technique, and the purpose of this invention is to provide and can judge accurately that vehicle carried out the driving support device of u turn, driven and support method and computer program.
To achieve these goals, be characterised in that according to the driving support device of first aspect present invention, comprise: the acquiring unit of having a lot of social connections, the described acquiring unit of having a lot of social connections obtain the having a lot of social connections of road of Vehicle Driving Cycle; The maximal rate setup unit, described maximal rate setup unit is based on the described maximum u turn speed of vehicle of having a lot of social connections to set described road of being obtained by the described acquiring unit of having a lot of social connections; Vehicle behavior acquiring unit, the behavior that described vehicle behavior acquiring unit obtains described vehicle; And u turn identifying unit, described u turn identifying unit is based on the behavior of the described described vehicle of having a lot of social connections and being obtained by described vehicle behavior acquiring unit that is obtained by the described acquiring unit of having a lot of social connections, and satisfies described vehicle and can judge whether described vehicle has carried out u turn at described road in the turning that described road is carried out the condition of u turn by judging that whether described vehicle has been carried out with the speed that is less than or equal to described maximum u turn speed.
Be noted that " satisfying the turning that described vehicle can be carried out at described road the condition of u turn " refers to satisfy the turning of definite conditions such as turn direction, turning radius-of-curvature, angle of turn or surrounding road condition.
In the driving support device according to second aspect present invention, the speed limit that described maximal rate setup unit produces described vehicle when described road is carried out u turn in the described vehicle transverse acceleration is less than or equal to the predetermined acceleration place is set as described maximum u turn speed.
Driving support device according to third aspect present invention also comprises: Alarm Unit, if the road of described Vehicle Driving Cycle is the single file zone, and described u turn identifying unit judges that described vehicle carried out u turn at described road, and then described Alarm Unit warns described vehicle to travel along the opposite way round.
Driving support method according to fourth aspect present invention is characterised in that, comprises the steps: the obtaining step of having a lot of social connections, and it obtains the having a lot of social connections of road of Vehicle Driving Cycle; Based on the maximum u turn speed of vehicle of having a lot of social connections to set road of in the described obtaining step of having a lot of social connections, obtaining; Vehicle behavior obtaining step, it obtains the behavior of described vehicle; And the behavior of the vehicle that obtains based on having a lot of social connections of obtaining at the described obtaining step of having a lot of social connections with at described vehicle behavior obtaining step, satisfy described vehicle and can judge whether described vehicle has carried out u turn at described road in the turning that described road is carried out the condition of u turn by judging that whether described vehicle has been carried out with the speed that is less than or equal to described maximum u turn speed.
A kind of computer program according to fifth aspect present invention is characterised in that, carries out following function in computing machine: have a lot of social connections and obtain function, it obtains the having a lot of social connections of road of Vehicle Driving Cycle; Based on obtaining the maximum u turn speed of vehicle of having a lot of social connections to set road that function is obtained by described having a lot of social connections; Function is obtained in the vehicle behavior, and it obtains the behavior of described vehicle; And based on by the described behavior of having a lot of social connections having a lot of social connections of obtaining that function obtains and being obtained the vehicle that function obtains by described vehicle behavior, satisfy the turning that described vehicle can be carried out at described road the condition of u turn by judging that whether described vehicle has been carried out with the speed that is less than or equal to described maximum u turn speed, judge whether described vehicle has carried out u turn at described road.
According to the driving support device of the configuration like this described in first aspect, the maximum u turn speed of the vehicle of described road is set, and judges based on the maximum u turn speed of this setting whether described vehicle has carried out u turn.Therefore, judge that accurately it is possible that described vehicle has been carried out u turn.Thereby can be accurately and identify rapidly the situation that the wrong way of vehicle travels.Therefore, can be by controlling to stop travelling along the opposite way round such as alerting driver or execution vehicle.
According to the driving support device described in second aspect, judge accurately that by considering security and the load that in the u turn process, applies to automotive occupant it is possible that described vehicle has been carried out u turn.
According to the driving support device described in the third aspect, if judge when described vehicle travels and carried out u turn, then make the alarm that vehicle travels along the opposite way round in the single file zone.Therefore, if vehicle is in the situation that wrong way travels owing to carrying out u turn, then can stops rapidly such wrong way and travel.
According to the driving support method described in fourth aspect, the maximum u turn speed of the vehicle of described road is set, and judges based on the maximum u turn speed of this setting whether described vehicle has carried out u turn.Therefore, judge that accurately whether described vehicle has carried out u turn is possible.Thereby can be accurately and identify rapidly the situation that the wrong way of vehicle travels.Therefore, can by such as alerting driver or the control of execution vehicle, stop travelling along the opposite way round.
According to the computer program described in aspect the 5th, the maximum u turn speed of the vehicle of described road is set, and judges based on the maximum u turn speed of this setting whether described vehicle has carried out u turn.Therefore, judge that accurately it is possible that described vehicle has been carried out u turn.Thereby can be accurately and identify rapidly the situation that the wrong way of described vehicle travels.Therefore, can by such as alerting driver or the control of execution vehicle, stop travelling along the opposite way round.
Description of drawings
Fig. 1 is the block diagram that illustrates according to the navigator of embodiment.
Fig. 2 is the synoptic diagram that the configuration of navigation ECU is shown.
Fig. 3 is the travel process flow diagram of alarming processing program of the wrong way according to embodiment.
Fig. 4 is the process flow diagram of the sub-handling procedure of u turn Check processing.
Fig. 5 is illustrated in to turn the transverse acceleration of vehicle in the process that radius-of-curvature turns.
Fig. 6 illustrates by vehicle to carry out the travel example of situation of the caused wrong way of u turn.
Embodiment
Below with reference to the accompanying drawings the specific embodiment according to the driving support device of realizing in navigator of the present invention is described in detail.At first utilize Fig. 1 to explain configured in one piece according to the navigator 1 of present embodiment.Fig. 1 is the block diagram that illustrates according to the navigator 1 of present embodiment.
As shown in fig. 1, the navigator 1 according to present embodiment is disposed by following element: current location detecting unit 11, the current location of its detection vehicle; Data storage cell 12, it stores various types of data; Navigation electronic control unit (Electronic Control Unit, ECU) 13, it is based on the various types of computings of information and executing of input; Operating portion 14, it receives the operation from the user; Liquid crystal display 15, it shows map for the user and to the guide route of destination; Loudspeaker 16, the voice that its output is relevant with route guiding guide; DVD driver 17, it reads the DVD as stored program storage medium; And communication module 18, it is carried out and communicating by letter such as information centers such as traffic information centers.
The below will sequentially explain each configuration element of navigator 1.
Current location detecting unit 11 comprises: GPS21, vehicle speed sensor 22, rotation direction sensor 23, gyro sensor 24, G power sensor (G-force sensor) 25 and altitude gauge (not shown), and current location detecting unit 11 can detect current vehicle location, travel direction and Vehicle Speed etc.Especially, vehicle speed sensor 22 is for detection of the speed of vehicle and the sensor of operating range.Vehicle speed detection device 22 produces pulse and navigation ECU13 output pulse signal in response to the rotation of wheel.The step-by-step counting of navigation ECU13 to generating is with the rotating speed that calculates wheel and the distance of travelling.Be noted that navigator 1 need not arrange all above-mentioned five types sensors, and navigator 1 can only arrange in this sensor of five types one or more.
Particularly, map datum comprises: connection data 32, and its shape (connection) with road is relevant; Node data 33, it is relevant with node; The POI data, its be with such as the relevant information of the point such as facility; The crossroad data, it is relevant with various crossroads; For the search data of searching route; Be used for searching the search data of geo point; And the picture data, it is used for drawing in liquid crystal display 15 image of map, road and transport information etc.Particularly, the information relevant with linking-up road type (such as highway, rapid transit, car lane, common toll road, sidewalk (service road) and ordinary road), with have a lot of social connections relevant information and whether be set up relevant information etc. with the single file zone and be used as connection data 32 and store.
Be noted that based on the more new data that is provided by storage medium (such as DVD or storage card etc.) or from the more new data of the distribution such as map distribution center and upgrade map information database 31.
Navigation ECU13 carries out the electronic control unit of whole control to navigator 1, and comprises as shown in Figure 2: guide route setup unit 41, if selected the destination, and the guide route that then should guide route setup unit 41 to set from origin to destination; The acquiring unit 42 of having a lot of social connections, this acquiring unit 42 of having a lot of social connections obtain the having a lot of social connections of road of Vehicle Driving Cycle; Maximal rate setup unit 43, this maximal rate setup unit 43 is based on the maximum u turn speed of vehicle of having a lot of social connections and setting road of obtaining; Vehicle behavior (behavior) acquiring unit 44, it obtains the behavior of vehicle; U turn identifying unit 45, this u turn identifying unit 45 is based on having a lot of social connections of obtaining and vehicle behavior, carried out with the speed that is less than or equal to maximum u turn speed at vehicle and satisfied vehicle and can judge under road is carried out the situation of turning of condition of u turn that vehicle carried out u turn at road; And Alarm Unit 46, if being single file zone and u turn identifying unit 45 judgement vehicles, the road of Vehicle Driving Cycle carried out u turn at road, then this Alarm Unit 46 travels to vehicle warning wrong way.Navigation ECU13 also comprises: CPU51, and it is as computing equipment and opertaing device; RAM52, when CPU51 carried out various types of computing, this RAM52 was as working storage, and when finding route, this RAM52 also stores route data and similar data; ROM53, its storage control program and the wrong way alarming processing program (see figure 3) of travelling; And internal storage device, such as flash memory 54 etc., the program that its storage is read from ROM53.
Such as when the departure place was operated operating unit 14 as travel starting point input and the moment the when destination inputted as the terminal point that travels etc., and operating unit 14 comprises a plurality of operating switch (not shown)s such as various types of keys and button.Navigation ECU13 controls performed various types of corresponding operatings based on the switching signal that the operation of various operating switchs (such as pressing etc.) is exported.Be noted that operating unit 14 also can be configured to be arranged on the touch pad on the front surface of liquid crystal display 15.
Loudspeaker 16 is used for guiding along the transport information guide and the voice that guide route guidance to travel based on the indication output that comes auto-navigation ECU13.If judge and carried out u turn when vehicle travels in the single file zone, then the situation that wrong way travels has appearred in supposition, and loudspeaker 16 is for the outputting alarm sound that travels along the opposite way round.
The driver of DVD driver 17 for reading the data that are stored on the recording mediums such as DVD or CD.Based on the data that read map information database 31 is carried out renewal etc.
Next, will explain in the navigator 1 with above configuration the wrong way of the carrying out alarming processing program of travelling based on Fig. 3.Fig. 3 is the travel process flow diagram of alarming processing program of the wrong way according to present embodiment.Here, the wrong way alarming processing program of travelling is the program of carrying out after vehicle electrical power is switched on, and judges when vehicle travels in the single file zone whether carried out u turn, and sends the alarm of travelling for wrong way based on this result of determination.Program shown in the process flow diagram below being noted that in Fig. 3 and Fig. 4 is stored in the similar storeies such as RAM52 set among the navigation ECU13 or ROM53, and is carried out by CPU51.
In wrong way travelled the alarming processing program, at first CPU51 carried out the fault verification processing in step (hereinafter being abbreviated as " S ") 1.In this fault verification was processed, whether normally CPU51 judged the operation such as the various assemblies such as GPS21, vehicle speed sensor 22, rotation direction sensor 23, gyro sensor 24 and G power sensor 25.
If be judged to be malfunction (S2: be) in the processing of S1, then the wrong way alarming processing program of travelling stops.If but were judged to be non-malfunction (S2: no), then CPU51 would proceed to S3.
At S3, CPU51 carries out the matching status determination processing.In this matching status determination processing, CPU51 utilizes map match to process to judge whether the current location of vehicle is correctly specified in the connection in the map (being complementary with being connected on the map).Be noted that except GPS21, can also use the current location of G power sensor 25 designated vehicle on connecting.Especially, for the road of in vertical direction overlapping construction, by the road that comes designated vehicle travelling with the acceleration that produces in the G power sensor 25 detection vehicles.
If be judged to be matching status (S4: be) in the processing of S3, then CPU51 proceeds to S5.If but were judged to be non-matching state (S4: no), then the wrong way alarming processing program of travelling would stop.
At S5, CPU51 obtains the information (such as road type and restricted information) relevant with the running region that travels of vehicle in the road from map information database 31.More specifically, the connection by the designated vehicle current driving and the connection data 32 of obtaining this connection from map information database 31 are carried out this processing.
Next, at S6, CPU51 judges based on the information of obtaining at S5 whether the zone of Vehicle Driving Cycle is the single file zone.More specifically, CPU51 carries out this judgement based on the connection data 32 of the current connection of travelling of vehicle.Be noted that, the single file zone is to be configured to only allow vehicle along the zone that predetermined direction travels, and is arranged on some roads neutralizations that such as highway, rapid transit, car lane, common toll road and national highway etc. can run at high speed and has in the wide ordinary road of narrow lane.
Be single file zone (S6: be) if judge the zone that vehicle travels, then CPU51 proceeds to S7.If but the zone of judging Vehicle Driving Cycle is not single file zone (S6: no), then the wrong way alarming processing program of travelling stops.
At S7, CPU51 carries out the u turn Check processing (Fig. 4) of describing later.Being noted that the u turn Check processing will detect when vehicle is carried out u turn as vehicle has carried out u turn.In addition, as described later, in the u turn Check processing, when detecting vehicle and carried out u turn, be stored in u turn mark among the RAM52 be opened (on).
Next, at S8, CPU51 reads the u turn mark that is stored among the RAM52, and judges that this u turn marks whether to be opened, and namely whether vehicle has carried out u turn.Being noted that this u turn mark is set under original state closes (off).
If judging this u turn mark is opened, be that vehicle has been carried out u turn (S8: be), then the performed u turn of CPU51 supposition proceeds to S9 so that vehicle is in situation (vehicle is along the situation of the direction running opposite with the travel direction that sets for road) and the CPU51 that wrong way travels.If but judged that the u turn mark closes, namely vehicles failed would be carried out u turn (S8: no), supposes that then vehicle is not in situation that wrong way travels and the wrong way alarming processing program of travelling and stops, and does not send alarm.
At S9, CPU51 carries out the alarming processing that the warning vehicle travels along the opposite way round.More specifically, display message on liquid crystal display 15 " warning: vehicle travels along the opposite way round ", and by from the identical content of the voice output of loudspeaker 16.
Next, will be described in based on Fig. 4 the processing of the u turn Check processing of S7.Fig. 4 is the process flow diagram of the sub-handling procedure of u turn Check processing.
At first, at S11, CPU51 obtains the detected value that is detected by gyro sensor 24.Be noted that this detected value that obtains is used for judging that whether vehicle has been carried out may be the turning (in the back described S16) of u turn.
Next, at S12, CPU51 obtains current car speed based on the testing result of vehicle speed sensor 22.
Then at S13, CPU51 sets the tolerance limit (below be called " transverse acceleration tolerance limit ") of the transverse acceleration that produces in the vehicle, and vehicle can be carried out u turn and can be to the automotive occupant imposed load when vehicle is carried out u turn safely in this tolerance limit.
Here, transverse acceleration is the acceleration that is produced in vehicle by centrifugal force when Ackermann steer angle.Transverse acceleration is along with the increase of car speed in the turning process and reducing of turning radius-of-curvature and increase.If transverse acceleration variable is too much, then may to the automotive occupant imposed load, perhaps cause slip.Therefore, can be to the automotive occupant imposed load when vehicle is carried out u turn for u turn is carried out on vehicle safety ground, the transverse acceleration that produces in the vehicle must be less than or equal to predetermined value.This predetermined value is set to the transverse acceleration tolerance limit.
Be noted that the transverse acceleration tolerance limit is set as 0.8G (9.81kg.m/sec in the present embodiment
2).The transverse acceleration tolerance limit also can be dependent on the transverse acceleration that produces in the quantity of auto model, weather, automotive occupant and age and the in the past u turn process and sets.
Next, at S14, CPU51 obtains the width radius-of-curvature.Be noted that this width radius-of-curvature on the road of vehicle current driving, can carry out the maximum turning radius-of-curvature of u turn, and equal to have a lot of social connections half.More specifically, the width of the road of vehicle current driving obtains from map information database 31, and obtains this width radius-of-curvature by half the length of calculating having a lot of social connections of obtaining.
Next, at S15, CPU51 sets " the maximum u turn speed of the vehicle of road " based on the transverse acceleration tolerance limit of obtaining at S13 with in the width radius-of-curvature that S14 obtains.Here, " the maximum u turn speed of the vehicle of road " can carry out safely u turn for vehicle vehicle when the road of vehicle current driving carries out u turn can be to the speed limit of automotive occupant imposed load.More specifically, if the transverse acceleration that vehicle produces in vehicle so that the width radius-of-curvature obtained at S14 is turned as speed limit and equal the transverse acceleration tolerance limit obtained at the S13 place.
The below will be described in detail in S15's the setting of " the maximum u turn speed of the vehicle of road " and process.
In the following formula (1) the transverse acceleration k that produces in vehicle in the turning process has been shown, wherein k is the transverse acceleration that produces in vehicle in the turning process, and V is the car speed in the turning process, and R is that turning radius-of-curvature and g are acceleration of gravity.
k＝V
2/(R×g)（1）
Fig. 5 illustrates the transverse acceleration k that produces in the vehicle with respect to the variation of car speed V in the turning process when the turning radius of curvature R is respectively 4 meters, 5.5 meters and 10 meters.
As shown in Figure 5, the transverse acceleration that produces in the turning process is along with the increase of car speed in the turning process and reducing of turning radius-of-curvature and increase.If the transverse acceleration tolerance limit is 0.8G, then " the maximum turning speed Vmax of the vehicle of road " is as shown in following formula (2):
At S15, calculate and set " the maximum u turn speed of the vehicle of road " based on formula (2).Such as, be on 4 meters the road in the turning radius-of-curvature, " the maximum u turn speed of the vehicle of road " be the 20.2km/h(km/hour).Be that " the maximum u turn speed of the vehicle of road " is 23.7km/h on 5.5 meters the road in the turning radius-of-curvature.Be that " the maximum u turn speed of the vehicle of road " is 31.9km/h on 10 meters the road in the turning radius-of-curvature.
Next, at S16, whether CPU51 judgement vehicle has been carried out to satisfy and can have been carried out the turning of the condition of u turn.Here, the turning of satisfying the condition can carry out u turn is: turn direction or turning radius-of-curvature satisfy the turning of certain condition, such as along right and the turning to carry out less than the turning radius-of-curvature of width radius-of-curvature.The detected value that is noted that the gyro sensor 24 that turn direction and the utilization of turning radius-of-curvature are obtained at S1 calculates.What further specify is, in judgement, generation or except turn direction and turning radius-of-curvature, can also use angle of turn and surrounding road condition etc.
If judge that it may be the turning (S16: be) of u turn that vehicle has been carried out, then CPU51 proceeds to S17.If but judge that it may be the turning (S16: no) of u turn that vehicle is not carried out, and then CPU51 judges vehicles failed execution u turn, the sub-handling procedure of thereafter CPU51 termination u turn Check processing also proceeds to S8.
At S17, CPU51 judges whether the current car speed (being turn inside diameter speed) that obtains at S12 is less than or equal to " the maximum u turn speed of the vehicle of road " set at S15.
Be less than or equal to " the maximum u turn speed of the vehicle of road " (S17: be) if judge turn inside diameter speed, then CPU51 judgement vehicle has been carried out u turn and has been proceeded to S18.If but judged turn inside diameter velocity ratio " the maximum u turn speed of the vehicle of road " fast (S17: no), then vehicle might be carried out rotation or take a sudden turn to avoid obstacle.So CPU51 judges vehicles failed and carries out u turn that CPU51 stops the sub-handling procedure of u turn Check processing and proceeds to S8 thereafter.
In other words, satisfy vehicle and can judge whether vehicle has carried out u turn at road in the turning that road is carried out the condition of u turn by judging that whether vehicle has been carried out with the speed that is less than or equal to maximum u turn speed.Carried out with the speed that is less than or equal to maximum u turn speed and satisfy the turning that vehicle can be carried out at road the condition of u turn if determine subsequently vehicle, then CPU51 judges that vehicle carried out u turn at road.
At S18, CPU51 reads the u turn mark and the u turn mark is opened from RAM52.CPU51 proceeds to S8 subsequently.Afterwards, CPU51 carries out the alarming processing (S9) that the warning vehicle travels along the opposite way round.
As top described in detail, in the navigator 1 according to present embodiment, set the tolerance limit (transverse acceleration tolerance limit) of the transverse acceleration that produces in the vehicle, vehicle can be carried out u turn and can be to automotive occupant imposed load (S13) when vehicle is carried out u turn safely in this tolerance limit.Transverse acceleration tolerance limit and width radius-of-curvature based on this setting set " the maximum u turn speed of the vehicle of road " (S14).If having carried out when vehicle travels in the single file zone may be the turning of u turn, and the turning speed of this moment is less than or equal to " the maximum u turn speed of the vehicle of road ", judges that then vehicle carried out u turn.So vehicle is identified as being in the situation that wrong way travels owing to carrying out u turn, and makes the alarm (S9) that vehicle travels along the opposite way round.Therefore, can judge accurately that vehicle carried out u turn.In addition, if vehicle is in the situation that wrong way travels owing to having carried out u turn, then can stops rapidly such wrong way and travel.
In addition, the transverse acceleration that to set maximum u turn speed be vehicle produces in vehicle when road is carried out u turn is less than or equal to the speed limit of predetermined acceleration.Therefore, can judge that accurately vehicle carried out u turn by considering security and the load that in the u turn process, automotive occupant is applied.
Be noted that to the invention is not restricted to above-described embodiment, and far and away, can in the scope that does not break away from spirit of the present invention, carry out various improvement and modification.
Such as, speed limit when the transverse acceleration that produces in vehicle when in the present embodiment, " the maximum u turn speed of the vehicle of road " turns with the width radius-of-curvature execution of obtaining at S14 for vehicle is less than or equal to the transverse acceleration tolerance limit of obtaining at S13.But also can adopt the minimum turning radius-of-curvature of vehicle to substitute the width radius-of-curvature.Also can detect the actual turning radius-of-curvature of turn inside diameter, and adopt this turning radius-of-curvature that detects to substitute the width radius-of-curvature.
The transverse acceleration tolerance limit is made as 0.8G (9.81kg.m/sec in the present embodiment
2), but also can adopt other values.Also can be dependent on the transverse acceleration that produces in the quantity of auto model, weather, automotive occupant and age and the in the past u turn process and change this transverse acceleration tolerance limit.
Claims (5)
1. driving support device is characterized in that comprising:
The acquiring unit of having a lot of social connections, the described acquiring unit of having a lot of social connections obtain the having a lot of social connections of road of Vehicle Driving Cycle;
The maximal rate setup unit, described maximal rate setup unit is set described vehicle for the maximum u turn speed of described road based on having a lot of social connections of being obtained by the described acquiring unit of having a lot of social connections;
Vehicle behavior acquiring unit, the behavior that described vehicle behavior acquiring unit obtains described vehicle; And
The u turn identifying unit, the behavior of the described vehicle that described u turn identifying unit obtains based on having a lot of social connections of being obtained by the described acquiring unit of having a lot of social connections with by described vehicle behavior acquiring unit is satisfied described vehicle and can be judged whether described vehicle has carried out u turn at described road in the turning that described road is carried out the condition of u turn by judging that whether described vehicle has been carried out with the speed that is less than or equal to described maximum u turn speed.
2. driving support device as described in claim 1, wherein,
The speed limit that described maximal rate setup unit produces described vehicle when described road is carried out u turn in the described vehicle transverse acceleration is less than or equal to the predetermined acceleration place is set as described maximum u turn speed.
3. driving support device as claimed in claim 1 or 2 also comprises:
Alarm Unit, if the road of described Vehicle Driving Cycle is single file zone, and described u turn identifying unit judges that described vehicle carried out u turn at described road, then described Alarm Unit warns described vehicle to travel along the opposite way round.
4. drive the support method for one kind, it is characterized in that comprising the steps:
Obtain the having a lot of social connections of road of Vehicle Driving Cycle;
Set described vehicle for the maximum u turn speed of described road based on having a lot of social connections of in the obtaining step of having a lot of social connections, obtaining;
Obtain the behavior of described vehicle; And
Based on the behavior of the vehicle of having a lot of social connections and in vehicle behavior obtaining step, obtaining that in the obtaining step of having a lot of social connections, obtains, satisfy described vehicle and can judge whether described vehicle has carried out u turn at described road in the turning that described road is carried out the condition of u turn by judging that whether described vehicle has been carried out with the speed that is less than or equal to described maximum u turn speed.
5. computer program is characterized in that carrying out following function in computing machine:
Obtain the having a lot of social connections of road of Vehicle Driving Cycle;
Based on obtain the maximum u turn speed of vehicle of having a lot of social connections to set road that function obtains by having a lot of social connections;
Obtain the behavior of described vehicle; And
Based on having a lot of social connections of obtaining by having a lot of social connections that function obtains and the behavior of being obtained the vehicle that function obtains by the vehicle behavior, satisfy the turning that described vehicle can be carried out at described road the condition of u turn by judging that whether described vehicle has been carried out with the speed that is less than or equal to described maximum u turn speed, judge whether described vehicle has carried out u turn at described road.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010209515A JP5291683B2 (en) | 2010-09-17 | 2010-09-17 | Driving support device, driving support method, and computer program |
| JP2010-209515 | 2010-09-17 | ||
| PCT/JP2011/070421 WO2012036050A1 (en) | 2010-09-17 | 2011-09-01 | Driving support device, driving support method, and computer program |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103052865A true CN103052865A (en) | 2013-04-17 |
| CN103052865B CN103052865B (en) | 2015-08-12 |
Family
ID=44764202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180037939.XA Expired - Fee Related CN103052865B (en) | 2010-09-17 | 2011-09-01 | Driving support device, driving support method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5291683B2 (en) |
| CN (1) | CN103052865B (en) |
| WO (1) | WO2012036050A1 (en) |
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| CN104554652A (en) * | 2014-07-29 | 2015-04-29 | 苏茂顺 | Method for avoiding ship accidents |
| CN104554651A (en) * | 2014-07-29 | 2015-04-29 | 张冬梅 | Device for setting maximal allowed navigational speed of ship |
| CN108352113A (en) * | 2015-11-09 | 2018-07-31 | 福特全球技术公司 | U turn event flag and vehicle route arrangement |
| CN109318894A (en) * | 2017-07-31 | 2019-02-12 | 奥迪股份公司 | Vehicle drive assist system, vehicle drive assisting method and vehicle |
| CN110606091B (en) * | 2018-06-15 | 2022-10-28 | 德尔福技术有限公司 | Object tracking after an object leaves the road of a host vehicle |
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| KR102098350B1 (en) * | 2014-11-19 | 2020-05-26 | 현대자동차주식회사 | Apparatus for limitting maximum driving velocity in vehicle and method of the same |
| CN105523084B (en) * | 2015-12-07 | 2019-12-27 | 厦门雅迅网络股份有限公司 | Method for detecting vehicle turning angle based on three-axis acceleration sensor |
| DE102017214969A1 (en) | 2017-08-28 | 2019-02-28 | Robert Bosch Gmbh | Method and device for wrong-way warning of a vehicle after an accident and / or a safety-critical driving situation, in particular after an interim standstill of the vehicle |
| JP7256437B2 (en) * | 2018-12-20 | 2023-04-12 | トヨタ自動車株式会社 | Driving support device |
| JP7412598B2 (en) * | 2020-12-10 | 2024-01-12 | 三菱電機株式会社 | Reverse running determination device and reverse running determination method |
| EP4307274A1 (en) * | 2022-07-11 | 2024-01-17 | Volkswagen Ag | Method for detecting driving against a statutory direction of travel |
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| CN110606091B (en) * | 2018-06-15 | 2022-10-28 | 德尔福技术有限公司 | Object tracking after an object leaves the road of a host vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103052865B (en) | 2015-08-12 |
| WO2012036050A1 (en) | 2012-03-22 |
| JP2012064121A (en) | 2012-03-29 |
| JP5291683B2 (en) | 2013-09-18 |
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