Vehicle drive assist system
View Patent ↗A control unit sets a current total risk function for each of white lines, guardrails, side walls, and three-dimensional objects existing around a vehicle, estimates a temporal change in the position of each object, and calculates a minimum of the total risk function at the vehicle position for each time. An objective function is generated for the time, and a turning control amount that minimizes the objective function at the time is calculated as a turning control amount of the vehicle. Risk functions provided when the vehicle moves by the turning control amount are set for respective routes. A final avoidance route is selected from the risk functions of the routes, and steering and braking are controlled.
1. A vehicle drive assist system comprising:
ambient-environment recognizing means for recognizing an ambient environment of a vehicle;
risk setting means for setting a current risk for an object in the recognized ambient environment;
risk-change predicting means for predicting a temporal change in risk by predicting a temporal change in a position of the object;
minimum calculating means for calculating a minimum of the risk at a position of the vehicle at each time on the basis of the predicted temporal change in the risk;
turning-control-amount calculating means for calculating a turning control amount of the vehicle on the basis of at least the minimum; and
avoidance-route determining means for determining a final avoidance route by generating an avoidance route of the vehicle on the basis of the turning control amount,
wherein the minimum calculating means calculates the minimum of the risk by partial differentiation in a width direction of the vehicle.
2. The vehicle drive assist system according to claim 1 , further comprising at least one of:
steering control means for controlling steering on the basis of the turning control amount of the vehicle in the final avoidance route; and
brake control means for controlling braking on the basis of the risk in the final avoidance route.
3. The vehicle drive assist system according to claim 1 , wherein the turning-control-amount calculating means forms an objective function at each time on the basis of a deviation between a lateral position of the vehicle and the minimum and the turning control amount at the time, and calculates, as the turning control amount of the vehicle, a turning control amount that minimizes the objective function at the time.
4. The vehicle drive assist system according to claim 1 , wherein, when the object is a white line, the risk setting means sets the risk so as to increase from about the center of a driving lane toward the white line.
5. The vehicle drive assist system according to claim 1 , wherein, when the object is a three-dimensional object, the risk setting means sets the risk in a probability distribution.
6. The vehicle drive assist system according to claim 1 , further comprising: risk correcting means for correcting the current risk set by the risk setting means in accordance with at least one of a relative speed and a relative acceleration between the object and the vehicle.
7. The vehicle drive assist system according to claim 6 , wherein the risk correcting means corrects the current risk set by the risk setting means in accordance with the relative speed between the object and the vehicle so that the current risk increases as the relative speed increases in a direction in which the object approaches the vehicle.
8. The vehicle drive assist system according to claim 6 , wherein the risk correcting means corrects the current risk set by the risk setting means in accordance with the relative acceleration between the object and the vehicle so that the current risk increases as the relative acceleration increases in a direction in which the object approaches the vehicle.