Vehicle exterior environment recognition device
View Patent ↗A vehicle exterior environment recognition device includes a traffic light identifying module that identifies one or more traffic lights located ahead of a vehicle, and traffic light colors of the traffic lights, and a control input identifying module that identifies, when multiple traffic lights exist, traffic lights to be used as control inputs based on whether the multiple traffic lights are located on both the left and right sides of a traveling path of the vehicle, and whether the multiple traffic lights are same in color.
1. A vehicle external environment recognition device, comprising:
a traffic light identifying module that identifies one or more traffic lights located ahead of a vehicle and a respective traffic light color of the one or more traffic lights;
a control input identifying module that determines, when multiple traffic lights are identified, whether or not to select one of the identified traffic lights as a control input based on a location of the one of the identified traffic lights with respect to the traveling path of the vehicle, respective locations of one or more other identified traffic lights with respect to the traveling path of the vehicle, and the respective traffic light colors of the identified traffic lights;
a traveling path predicting module that predicts the traveling path based on a current traveling condition of the vehicle; and
a traveling path restricting module that restricts the predicted traveling path in the width direction of the vehicle, according to at least one or more parameters selected from the group consisting of a traveling speed of the vehicle, an indicating state of a blinker, an angular speed of the vehicle, and a steering angle,
wherein the control input identifying module identifies a traffic light that exists ahead of the vehicle based on the restricted traveling path and that is to be used as the control input, and
wherein, when the traveling speed of the vehicle is a predetermined value or greater, and when the angular speed of the vehicle or an absolute value of the steering angle is a predetermined value or greater, the traveling path restricting module restricts the traveling path on both the left and right sides in the width direction.
2. The vehicle external environment recognition device of claim 1 , wherein, when the multiple traffic lights are located on both the left and right sides of the traveling path of the vehicle, and when all the multiple traffic lights are same in color, the control input identifying module uses all the multiple traffic lights as the control input.
3. The vehicle external environment recognition device of claim 1 , wherein, when the multiple traffic lights are located on both the left and right sides of the traveling path of the vehicle, and when the multiple traffic lights are not same in color, the control input identifying module uses a traffic light of which a traveling path lateral position that is defined as a relative position in a direction perpendicular to the traveling path is nearest to the traveling path, and one or more other traffic lights which have a same color as the traffic light, as the control inputs.
4. The vehicle exterior environment recognition device of claim 1 , wherein the traveling path restricting module restricts the traveling path on both the left and right sides in the width direction, when the traveling speed of the vehicle is a predetermined value or less.
5. The vehicle external environment recognition device of claim 1 , wherein the traveling path restricting module restricts the traveling path to either one of left and right side for which the blinker is not operated, when the other blinker is in operation.
6. The vehicle external environment recognition device of claim 5 , wherein the traveling path restricting module waits for progress of a predetermined extension time after the operation of the blinker is finished, and then cancels the restriction of the traveling path.
7. A vehicle external environment recognition device, comprising:
an integrated circuit including a central processing unit (CPU); and
a memory which stores a program is stored,
wherein the program, when executed by the CPU, causes the integrated circuit to:
identify one or more traffic lights located ahead of a vehicle and a respective traffic light color of the one or more traffic lights;
determine, when multiple traffic lights are identified, whether or not to select one of the identified traffic lights as a control input based on a location of the one of the identified traffic lights with respect to the traveling path of the vehicle, respective locations of one or more other identified traffic lights with respect to the traveling path of the vehicle, and the respective traffic light colors of the identified traffic lights;
predict the traveling path based on a current traveling condition of the vehicle;
restrict the predicted traveling path in the width direction of the vehicle, according to at least one or more parameters selected from the group consisting of a traveling speed of the vehicle, an indicating state of a blinker, an angular speed of the vehicle, and a steering angle;
identify a traffic light that exists ahead of the vehicle based on the restricted traveling path and that is to be used as the control input; and
restrict the traveling path on both the left and right sides in the width direction, when the traveling speed of the vehicle is a predetermined value or greater, and when the angular speed of the vehicle or an absolute value of the steering angle is a predetermined value or greater.
8. The vehicle external environment recognition device of claim 7 , wherein the program, when executed by the CPU, further causes the integrated circuit to:
utilize all the multiple traffic lights as the control input, when the multiple traffic lights are located on both the left and right sides of the traveling path of the vehicle, and when all the multiple traffic lights are same in color.
9. The vehicle external environment recognition device of claim 7 , wherein the program, when executed by the CPU, further causes the integrated circuit to:
utilize a traffic light of which a traveling path lateral position that is defined as a relative position in a direction perpendicular to the traveling path is nearest to the traveling path, and one or more other traffic lights which have a same color as the traffic light, as the control inputs, when the multiple traffic lights are located on both the left and right sides of the traveling path of the vehicle, and when the multiple traffic lights are not same in color.
10. The vehicle exterior environment recognition device of claim 7 , wherein the program, when executed by the CPU, further causes the integrated circuit to:
restrict the traveling path on both the left and right sides in the width direction, when the traveling speed of the vehicle is a predetermined value or less.
11. The vehicle external environment recognition device of claim 7 , wherein the program, when executed by the CPU, further causes the integrated circuit to:
restrict the traveling path to either one of left and right side for which the blinker is not operated, when the other blinker is in operation.
12. The vehicle external environment recognition device of claim 11 , wherein the program, when executed by the CPU, further causes the integrated circuit to:
wait for progress of a predetermined extension time after the operation of the blinker is finished, and then cancels the restriction of the traveling path.