# US 7,610,121 B2 · Vehicle operation support apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 7,610,121 B2 - Document ID: US7610121B2 - Status: Granted - Kind: B2 - Application number: 11/247,378 - Filed: 2005-10-12 - Published: 2006-05-04 - Granted: 2009-10-27 - Earliest claimed: 2004-10-29 - Assignees: Nissan Motor Co., Ltd. - Inventors: Hikaru Nishira; Taketoshi Kawabe - Web page: https://patentgrep.com/patent/US7610121B2 ## CPC - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - G08G 1/163: {involving continuous checking} - B60T 2201/08: Lane monitoring; Lane Keeping Systems - B60T 2201/081: using distance control - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A vehicle operation support apparatus includes a vehicle operation plan determination section to determine a vehicle operation plan including a future time series of a selection of a planned target vehicle and a future time series of a selection of a planned target lane position over a prediction horizon of time. The vehicle operation plan determination section includes an operation part to predict a future time series of a state of a vehicle group over the prediction horizon in accordance with a candidate value of the vehicle operation plan, the vehicle group including the host vehicle and each detected vehicle, an operation part configured to perform an evaluation operation of providing a quantitative measure in accordance with the predicted value of the time series vehicle group state, and an operation part configured to generate the vehicle operation plan by optimization based on the evaluation operation. ## Claims ### Claim 1 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 an output section configured to regulate the control input in accordance with a control input command and connected to the control unit for receiving the control input command, wherein the control unit includes: a target vehicle determination section configured to select a current target vehicle in accordance with the vehicle operation plan; and a control input determination section configured to set 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 section 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 section is configured to regulate the longitudinal acceleration by adjusting a wheel torque of the host vehicle in accordance with the longitudinal acceleration command. ### Claim 2 (depends on 1) The vehicle operation support apparatus as claimed in claim 1, wherein the input section includes: a host vehicle speed measurement section configured to measure a vehicle speed of the host vehicle; and a desired vehicle speed setting section configured to set a desired vehicle speed of the host vehicle, and wherein the control input determination section is configured to set the control input command so as to provide a desired inter-vehicle distance between the host vehicle and the current target vehicle when the current target vehicle is present, and to set the control input command so as to adjust the vehicle speed to the desired vehicle speed when the current target vehicle is absent. ### Claim 3 (depends on 1) The vehicle operation support apparatus as claimed in claim 1, wherein the target vehicle determination section is configured to determine the current target vehicle to be identical to a current selected planned target vehicle in accordance with the vehicle operation plan. ### Claim 4 (depends on 1) The vehicle operation support apparatus as claimed in claim 1, wherein the input section includes: a host vehicle speed measurement section configured to measure a vehicle speed of the host vehicle; and a desired vehicle speed setting section configured to set a desired vehicle speed of the host vehicle, and wherein the vehicle speed control logic operation part is configured to set the normative value of the control input so as to control an inter-vehicle distance between the host vehicle and the planned target vehicle when the planned target vehicle is present, and to set the normative value of the control input so as to adjust the vehicle speed to the desired vehicle speed when the planned target vehicle is absent. ### Claim 5 (depends on 1) The vehicle operation support apparatus as claimed in claim 1, wherein the position of the host vehicle includes a longitudinal position and a lateral position of the host vehicle, and wherein the position of each neighboring detected vehicle includes a longitudinal position of the neighboring detected vehicle. ### Claim 6 (depends on 1) The vehicle operation support apparatus as claimed in claim 1, wherein the detected neighboring vehicle behavior prediction operation part is configured to predict a future time series of a longitudinal position and a lateral position of each neighboring detected vehicle over the first predetermined period, and wherein the vehicle operation plan determination section is configured to determine the planned target vehicle by checking a vehicle predicted to move in front of or move into a path preceding the host vehicle. ### Claim 7 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. ### Claim 8 (depends on 7) The vehicle operation support apparatus as claimed in claim 7, further comprising a warning section configured to generate a warning signal when the vehicle operation plan includes a change in one of the selected planned target vehicle and the selected planned target lane position within the first predetermined period. ### Claim 9 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. ### Claim 10 (depends on 9) The vehicle operation support method as claimed in claim 9, wherein the input operation includes: a host vehicle speed measurement operation of measuring a vehicle speed of the host vehicle; and a desired vehicle speed setting operation of setting a desired vehicle speed of the host vehicle, and wherein the control input determination operation is configured to set the control input command so as to provide a desired inter-vehicle distance between the host vehicle and the current target vehicle when the current target vehicle is present, and to set the control input command so as to adjust the vehicle speed to the desired vehicle speed when the current target vehicle is absent. ### Claim 11 (depends on 9) The vehicle operation support method as claimed in claim 9, wherein the target vehicle determination operation is configured to determine the current target vehicle to be identical to a current selected planned target vehicle in accordance with the vehicle operation plan. ### Claim 12 (depends on 9) The vehicle operation support method as claimed in claim 9, wherein the input operation includes: a host vehicle speed measurement operation of measuring a vehicle speed of the host vehicle; and a desired vehicle speed setting operation of setting a desired vehicle speed of the host vehicle, and wherein the vehicle speed control logic operation is configured to set the normative value of the control input so as to control an inter-vehicle distance between the host vehicle and the planned target vehicle when the planned target vehicle is present, and to set the normative value of the control input so as to adjust the vehicle speed to the desired vehicle speed when the planned target vehicle is absent. ### Claim 13 (depends on 9) The vehicle operation support method as claimed in claim 9, wherein the position of the host vehicle includes a longitudinal position and a lateral position of the host vehicle, and wherein the position of each neighboring detected vehicle includes a longitudinal position of the neighboring detected vehicle. ### Claim 14 (depends on 9) The vehicle operation support method as claimed in claim 9, wherein the detected neighboring vehicle behavior prediction operation is configured to predict a future time series of a longitudinal position and a lateral position of each neighboring detected vehicle over the first predetermined period, and wherein the vehicle operation plan determination operation is configured to determine the planned target vehicle by checking a vehicle predicted to move in front of or move into a path preceding the host vehicle. ### Claim 15 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. ### Claim 16 (depends on 15) The vehicle operation support method as claimed in claim 15, further comprising a warning operation of generating a warning signal when the vehicle operation plan includes a change in one of the selected planned target vehicle and the selected planned target lane position within the first predetermined period.