Vehicle operation support apparatus

A vehicle operation support apparatus comprising:

• an input section including:
• a vehicle detection section configured to detect a vehicle present on a road where a host vehicle is present;
• and
• a lane detection section configured to detect a lane of the road;
• and
• a control unit connected to the input section and configured to receive information obtained by the input section, the control unit including:
• a vehicle operation plan determination section configured to determine a vehicle operation plan including a future time series of a selected planned target vehicle and a future time series of a selected planned target lane position over a first predetermined period of time;
• the vehicle operation plan determination section including:
• a vehicle group behavior prediction operation part configured to predict a future time series of a position set of a vehicle group over the first predetermined period according to a value of the vehicle operation plan, wherein the vehicle group includes the host vehicle and at least one neighboring detected vehicle;
• a predicted-behavior evaluation operation part configured to calculate a predetermined evaluation function of the predicted future time series of the position set of the vehicle group;
• and
• a vehicle operation plan generation operation part configured to select one vehicle operation plan with reference to calculated values of the predetermined evaluation function,
• the vehicle group behavior prediction operation part including:
• a vehicle speed control logic operation part configured to provide a normative value of a time series of a control input to the host vehicle over a second predetermined period of time in accordance with the value of the vehicle operation plan;
• a host vehicle behavior prediction operation part configured to predict a time series of a position of the host vehicle over the first predetermined period in accordance with the normative value of the time series of the control input and the value of the vehicle operation plan;
• and
• a detected neighboring vehicle behavior prediction operation part configured to predict a future time series of a position of the at least one neighboring detected vehicle over the first predetermined period,
• wherein the vehicle operation support apparatus further comprises a display section configured to present a recommended vehicle operation of the host vehicle in accordance with the vehicle operation plan,
• wherein the recommended vehicle operation includes a recommended longitudinal acceleration of the host vehicle and a recommended lane selection of the host vehicle.

A vehicle operation support method comprising:

• an input operation including:
• a vehicle detection operation of detecting a vehicle present on a road where a host vehicle is present;
• and
• a lane detection operation of detecting a lane of the road;
• and
• a control operation including:
• a vehicle operation plan determination operation of determining a vehicle operation plan including a future time series of a selected planned target vehicle and a future time series of a selected planned target lane position over a first predetermined period of time;
• the vehicle operation plan determination operation including:
• a vehicle group behavior prediction operation of predicting a future time series of a position set of a vehicle group over the first predetermined period according to a value of the vehicle operation plan, wherein the vehicle group includes the host vehicle and at least one neighboring detected vehicle;
• a predicted-behavior evaluation operation of calculating a predetermined evaluation function of the predicted future time series of the position set of the vehicle group;
• and
• a vehicle operation plan generation operation of selecting one vehicle operation plan with reference to calculated values of the predetermined evaluation function,
• the vehicle group behavior prediction operation including:
• a vehicle speed control logic operation of providing a normative value of a time series of a control input to the host vehicle over a second predetermined period of time in accordance with the value of the vehicle operation plan;
• a host vehicle behavior prediction operation of predicting a time series of a position of the host vehicle over the first predetermined period in accordance with the normative value of the time series of the control input and the value of the vehicle operation plan;
• and
• a detected neighboring vehicle behavior prediction operation of predicting a future time series of a position of the at least one neighboring detected vehicle over the first predetermined period, wherein the vehicle operation support method further comprises an output operation of regulating the control input in accordance with a control input command, wherein the control operation includes:
• a target vehicle determination operation of selecting a current target vehicle in accordance with the vehicle operation plan;
• and
• a control input determination operation of setting the control input command to a normative value of the control input in accordance with the selection of the current target vehicle,
• wherein the control input includes a longitudinal acceleration of the host vehicle, wherein the control input determination operation is configured to set a longitudinal acceleration command to a normative value of the longitudinal acceleration in accordance with the selection of the current target vehicle, and wherein the output operation is configured to regulate the longitudinal acceleration by adjusting a wheel torque of the host vehicle in accordance with the longitudinal acceleration command.

A vehicle operation support method comprising:

• an input operation including:
• a vehicle detection operation of detecting a vehicle present on a road where a host vehicle is present;
• and
• a lane detection operation of detecting a lane of the road;
• and
• a control operation including:
• a vehicle operation plan determination operation of determining a vehicle operation plan including a future time series of a selected planned target vehicle and a future time series of a selected planned target lane position over a first predetermined period of time;
• the vehicle operation plan determination operation including:
• a vehicle group behavior prediction operation of predicting a future time series of a position set of a vehicle group over the first predetermined period according to a value of the vehicle operation plan, wherein the vehicle group includes the host vehicle and at least one neighboring detected vehicle;
• a predicted-behavior evaluation operation of calculating a predetermined evaluation function of the predicted future time series of the position set of the vehicle group;
• and
• a vehicle operation plan generation operation of selecting one vehicle operation plan with reference to calculated values of the predetermined evaluation function,
• the vehicle group behavior prediction operation including:
• a vehicle speed control logic operation of providing a normative value of a time series of a control input to the host vehicle over a second predetermined period of time in accordance with the value of the vehicle operation plan;
• a host vehicle behavior prediction operation of predicting a time series of a position of the host vehicle over the first predetermined period in accordance with the normative value of the time series of the control input and the value of the vehicle operation plan;
• and
• a detected neighboring vehicle behavior prediction operation of predicting a future time series of a position of the at least one neighboring detected vehicle over the first predetermined period,
• wherein the vehicle operation support method further comprises a display operation of presenting a recommended vehicle operation of the host vehicle in accordance with the vehicle operation plan,
• wherein the recommended vehicle operation includes a recommended longitudinal acceleration of the host vehicle and a recommended lane selection of the host vehicle.