Back to results
US 12,589,738 B2Granted
Vehicle-traveling control system and vehicle-traveling control method
AssigneeMitsubishi Electric Corporation
InventorKazuhiro Nishiwaki
Life of this patent
Estimating the term…
Abstract
There is provided a vehicle-traveling control system that can appropriately avoid a collision. A vehicle-traveling control system acquires positional and speed information on an own vehicle, positional and speed information on neighboring vehicles, determines a subject vehicle that travels toward the own vehicle and may collide with the own vehicle, sets a collision assumption position where the own vehicle may collide with the subject vehicle, and continuously generates an imaginary vehicle that reaches the collision assumption position when the subject vehicle reaches there, and issues a command for controlling a distance between the own vehicle and the imaginary vehicle.
Claims9
A vehicle-traveling control system comprising at least one processor configured to implement:
- an acquisitor that acquires positional information and speed information on an own vehicle in a branch lane and that acquires positional information pieces and speed information pieces on neighboring vehicles in a main lane;
- a subject vehicle determiner that determines a subject vehicle that travels toward a travel destination of the own vehicle and has a possibility of colliding with the own vehicle, based on positional information and speed information on the own vehicle and positional information pieces and speed information pieces on the neighboring vehicles;
- an imaginary-vehicle generator configured to, during merging control of the own vehicle from the branch lane to the main lane, generate an imaginary vehicle that travels on the main lane at an imaginary speed, which is set to either a speed of the own vehicle or a speed limit of the branch lane, and set an initial position of the imaginary vehicle in the main lane, prior to the own vehicle reaching a collision assumption position at which the own vehicle and the subject vehicle are predicted to meet as the collision assumption position at a common time point;
- and
- a vehicle controller that issues a command for acceleration or deceleration of the own vehicle to adjust a relative position between the own vehicle and the imaginary vehicle such that a target inter-vehicle distance between the own vehicle and the imaginary vehicle is achieved before the own vehicle reaches the collision assumption position, wherein:
- based on the speed of the subject vehicle being greater than the imaginary speed, the imaginary vehicle is positioned ahead of the subject vehicle, and the own vehicle is controlled to decelerate and merge behind the imaginary vehicle;
- based on the speed of the subject vehicle is less than the imaginary speed, the imaginary vehicle is positioned behind the subject vehicle, and the own vehicle is controlled to accelerate and merge ahead of the imaginary vehicle;
- and
- based on the speed of the subject vehicle being equal to the imaginary speed, the imaginary vehicle is positioned at a same location as the subject vehicle, and the own vehicle is controlled to adjust a position of the own vehicle to achieve the target inter-vehicle distance before merging.
6 more elements
A vehicle-traveling control method comprising:
- acquiring positional information and speed information on an own vehicle and positional information pieces in a branch lane and speed information pieces on neighboring vehicles in a main lane;
- determining a subject vehicle that travels toward a travel destination of the own vehicle and has a possibility of colliding with the own vehicle, based on positional information and speed information on the own vehicle and positional information pieces and speed information pieces on the neighboring vehicles;
- during merging control of the own vehicle from the branch lane to the main lane, generating an imaginary vehicle that travels at an imaginary speed, which is set to either a speed of the own vehicle or a speed limit of the main lane;
- setting an initial position of imaginary vehicle in the main lane, prior to the own vehicle reaching collision assumption position at which the own vehicle and the subject vehicle are predicted to meet as the collision assumption position at a common time point;
- and
- issuing a command for acceleration or deceleration of the own vehicle to adjust a relative position between the own vehicle and the imaginary vehicle such that a target inter-vehicle distance between the own vehicle and the imaginary vehicle is achieved before the own vehicle reaches the collision assumption position, wherein:
- based on the speed of the subject vehicle being greater than the imaginary speed, the imaginary vehicle is positioned ahead of the subject vehicle, and the own vehicle is controlled to decelerate and merge behind the imaginary vehicle;
- based on the speed of the subject vehicle is less than the imaginary speed, the imaginary vehicle is positioned behind the subject vehicle, and the own vehicle is controlled to accelerate and merge ahead of the imaginary vehicle;
- and
- based on the speed of the subject vehicle being equal to the imaginary speed, the imaginary vehicle is positioned at a same location as the subject vehicle, and the own vehicle is controlled to adjust a position of the own vehicle to achieve the target inter-vehicle distance before merging.
7 more elements
Dependencies are inferred from the claim text.