Lane change estimation device, lane change estimation method, and storage medium

A lane and estimation technology, applied in the field of lane change estimation devices

Active Publication Date: 2018-09-14
HONDA MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in the above-mentioned technique, it is sometimes impossible to accurately derive the possibility of lane changes by surrounding vehicles.

Method used

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  • Lane change estimation device, lane change estimation method, and storage medium
  • Lane change estimation device, lane change estimation method, and storage medium
  • Lane change estimation device, lane change estimation method, and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Deformed example 1

[0102] In Modification 1, the second index value derivation map 154 ​​used for deriving the second index value is switched to the conditional second index value derivation map 155 according to the lighting state of the direction indicator of the third vehicle m3.

[0103] Figure 9 It is a flowchart showing the flow of processing executed by the first control unit 120 of the modified example. The processing of steps S200~S216 and Figure 5 The processing of steps S100 to S116 is the same, and therefore description thereof will be omitted.

[0104] After the process of step S216, the first control unit 120 determines whether the direction indicator of the third vehicle m3 is lit to indicate the intention to change lanes to the first lane L1 based on the recognition result of the outside world recognition unit 121 (step S218).

[0105] When the direction indicator of the third vehicle m3 lights up to indicate the intention to change lanes to the first lane L1, the estimation u...

Deformed example 2

[0110] The estimation unit 126 may further add the travel history of the third vehicle m3 to estimate the possibility of the third vehicle m3 changing lanes from the second lane L2 to the first lane L1. Figure 11 It is a figure which shows an example of the travel history of the 3rd vehicle m3. right with Figure 4 The description of the same content is omitted. In the illustrated example, the third vehicle m3 accelerates and travels (passes) so as to exist in front of the own vehicle M from behind the own vehicle M. When the third vehicle m3 is accelerating and the third vehicle m3 overtakes the host vehicle M, the estimation unit 126 compares the third vehicle m3 to the lane when the third vehicle m3 does not accelerate but the third vehicle m3 overtakes the host vehicle M. The possibility of change is estimated to be high.

[0111] As described above, when the third vehicle m3 overtakes the own vehicle M, when the third vehicle m3 passes the own vehicle M as indicated b...

Deformed example 3

[0114] When there is a merging road (or when the lane adjacent to the lane on which the own vehicle M travels disappears), the virtual vehicle setting unit 123A sets a virtual second vehicle vm2 corresponding to the second vehicle m2. The first index value derivation unit 124 regards the virtual second vehicle vm2 as the second vehicle m2 to derive the first index value.

[0115] A vehicle system 1A according to Modification 2 includes an automatic driving control unit 100A instead of the automatic driving control unit 100 . Figure 12 It is a diagram showing the functional configuration of an automatic driving control unit 100A according to Modification 2. The automatic driving control unit 100A includes, for example, a first control unit 120A. The first control unit 120A includes a virtual vehicle setting unit 123A in addition to the functional configuration of the first control unit 120 .

[0116] Figure 13 It is a figure which shows an example of the scene where a merg...

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Abstract

The invention provides a lane change estimation device, a lane change estimation method, and a storage medium. The lane change estimation device includes a detection unit that detects a surrounding situation of an own-vehicle, a first index value deriving unit that derives a first index value according to a traveling-direction-related relationship between each of a plurality of pairs of vehicles,each pair including two vehicles among the own-vehicle, a first vehicle traveling in front of the own-vehicle in a first lane in which the own-vehicle travels, a second vehicle traveling in front of the own-vehicle in a second lane adjacent to the first lane, and a third vehicle traveling behind the second vehicle in the second lane on the basis of the surrounding situation of the own-vehicle, andan estimation unit that estimates a probability of lane change of the third vehicle on the basis of the first index value derived by the first index value deriving unit and a lateral position of thethird vehicle.

Description

technical field [0001] The present invention relates to a lane change estimation device, a lane change estimation method and a storage medium. Background technique [0002] Conventionally, the following technologies have been disclosed: using the first distance between the own vehicle and the preceding vehicle traveling in the same lane as the own vehicle and driving in front of the own vehicle, and the distance between the surrounding vehicles traveling on the adjacent lane of the own lane and the surrounding vehicles. Based on the second distance of the vehicle traveling behind and the relative speed of the vehicle and the surrounding vehicles, the probability value of the surrounding vehicle cutting in front of the vehicle is calculated (for example, Japanese Patent Application Laid-Open No. 2003-288691). [0003] However, in the above-mentioned technique, it may not be possible to accurately derive the possibility of a lane change by a surrounding vehicle. Contents of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34G01S19/45
CPCG01C21/3415G01C21/3492G01S19/45G08G1/167B60W30/16B60W2720/10B60W30/18163B60W2554/803B60W2554/804B60W2554/4041B60W2554/801B60W30/0956B60W2710/18B60W2420/52B60W2420/42B60W2710/20B60W2554/80B60W60/00274B60W2554/802
Inventor 水谷了
Owner HONDA MOTOR CO LTD
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