CN103140409A - 驾驶支援设备以及驾驶支援方法 - Google Patents

驾驶支援设备以及驾驶支援方法 Download PDF

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Publication number
CN103140409A
CN103140409A CN2011800474500A CN201180047450A CN103140409A CN 103140409 A CN103140409 A CN 103140409A CN 2011800474500 A CN2011800474500 A CN 2011800474500A CN 201180047450 A CN201180047450 A CN 201180047450A CN 103140409 A CN103140409 A CN 103140409A
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road
lane
vehicle
travel
width
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CN2011800474500A
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Chinese (zh)
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秋山知范
五十岚信之
吉浜勇树
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Toyota Motor Corp
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Toyota Motor Corp
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0085—Setting or resetting initial positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN2011800474500A 2010-10-01 2011-09-27 驾驶支援设备以及驾驶支援方法 Pending CN103140409A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2010224158A JP2012079118A (ja) 2010-10-01 2010-10-01 走行支援装置及び方法
JP2010-224158 2010-10-01
PCT/IB2011/002238 WO2012042339A1 (en) 2010-10-01 2011-09-27 Driving support apparatus and driving support method

Publications (1)

Publication Number Publication Date
CN103140409A true CN103140409A (zh) 2013-06-05

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Country Status (5)

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US (1) US20130184976A1 (enExample)
JP (1) JP2012079118A (enExample)
CN (1) CN103140409A (enExample)
DE (1) DE112011103292T5 (enExample)
WO (1) WO2012042339A1 (enExample)

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CN104648403A (zh) * 2013-11-22 2015-05-27 现代自动车株式会社 用于探测窄路的方法、装置和系统
CN104742909A (zh) * 2013-12-25 2015-07-01 株式会社电装 路线估计器
CN106660553A (zh) * 2014-09-05 2017-05-10 三菱电机株式会社 自动行驶管理系统、服务器及自动行驶管理方法
CN106945668A (zh) * 2016-10-27 2017-07-14 蔚来汽车有限公司 车辆行驶窄道辅助系统
CN108622092A (zh) * 2017-03-21 2018-10-09 三菱自动车工业株式会社 驾驶支持系统
CN109515430A (zh) * 2017-09-15 2019-03-26 本田技研工业株式会社 行驶控制系统以及车辆的控制方法
CN109816981A (zh) * 2019-02-20 2019-05-28 百度在线网络技术（北京）有限公司 一种自动驾驶方法、装置及存储介质
CN110053618A (zh) * 2018-01-17 2019-07-26 丰田自动车株式会社 车辆行驶辅助系统
CN110217225A (zh) * 2018-03-02 2019-09-10 本田技研工业株式会社 车辆控制装置、车辆控制方法及存储介质
CN110356402A (zh) * 2018-04-04 2019-10-22 本田技研工业株式会社 车辆控制装置、车辆控制方法及存储介质
CN110678915A (zh) * 2017-05-25 2020-01-10 本田技研工业株式会社 车辆控制装置
CN111587199A (zh) * 2018-01-19 2020-08-25 日立汽车系统株式会社 驾驶辅助装置、驾驶辅助方法及驾驶辅助系统
CN113443051A (zh) * 2020-03-10 2021-09-28 本田技研工业株式会社 跨骑型车辆以及控制装置
CN113487901A (zh) * 2021-07-30 2021-10-08 重庆长安汽车股份有限公司 基于摄像头感知的车道宽度校验方法及系统
CN113924397A (zh) * 2019-06-19 2022-01-11 日立建机株式会社 作业机械
WO2023179028A1 (zh) * 2022-03-24 2023-09-28 商汤集团有限公司 一种图像处理方法、装置、设备及存储介质
CN117321652A (zh) * 2021-06-17 2023-12-29 日立安斯泰莫株式会社 运算装置、车道形成方法
WO2025218165A1 (zh) * 2024-04-19 2025-10-23 魔门塔(苏州)科技有限公司 车辆行驶窄道的确定方法、装置、存储介质以及车辆

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JP5988308B2 (ja) * 2013-12-27 2016-09-07 富士重工業株式会社 車両のレーンキープ制御装置
JP6402673B2 (ja) * 2015-04-02 2018-10-10 トヨタ自動車株式会社 運転支援装置
US9618938B2 (en) * 2015-07-31 2017-04-11 Ford Global Technologies, Llc Field-based torque steering control
US9862315B2 (en) * 2015-08-12 2018-01-09 Lytx, Inc. Driver coaching from vehicle to vehicle and vehicle to infrastructure communications
KR101755870B1 (ko) * 2015-10-28 2017-07-19 현대자동차주식회사 차선의 오인식 정보를 보정하는 방법
JP6531726B2 (ja) * 2016-07-07 2019-06-19 株式会社デンソー 走行支援装置
CN107784864A (zh) * 2016-08-26 2018-03-09 奥迪股份公司 车辆辅助驾驶方法及系统
CN109891349B (zh) * 2016-10-25 2022-03-11 本田技研工业株式会社 车辆控制装置
JP2019156180A (ja) * 2018-03-13 2019-09-19 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
DE102018210692B4 (de) * 2018-06-29 2020-07-02 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Bestimmen von Stützpunkten zum Schätzen eines Verlaufs einer Randbebauung einer Fahrbahn, computerlesbares Medium, System, und Fahrzeug
JP7192600B2 (ja) * 2019-03-20 2022-12-20 株式会社デンソー 警報装置
JP7441405B2 (ja) * 2020-02-13 2024-03-01 マツダ株式会社 走行経路生成システム及び車両運転支援システム
JP7484783B2 (ja) * 2021-03-24 2024-05-16 トヨタ自動車株式会社 車線境界検出装置、車線境界検出方法及び車線境界検出用コンピュータプログラム

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DE102007027495A1 (de) * 2007-06-14 2008-12-18 Daimler Ag Verfahren zur Unterstützung des Fahrers eines Kraftfahrzeuges bei der Querführung des Kraftfahrzeugs
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WO2010041640A1 (ja) * 2008-10-10 2010-04-15 日立オートモティブシステムズ株式会社 走行支援装置
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Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104648403A (zh) * 2013-11-22 2015-05-27 现代自动车株式会社 用于探测窄路的方法、装置和系统
USRE47834E1 (en) 2013-11-22 2020-02-04 Hyundai Motor Company Method, apparatus and system for detecting narrow road
CN104648403B (zh) * 2013-11-22 2019-12-31 现代自动车株式会社 用于探测窄路的方法、装置和系统
CN104742909A (zh) * 2013-12-25 2015-07-01 株式会社电装 路线估计器
CN106660553A (zh) * 2014-09-05 2017-05-10 三菱电机株式会社 自动行驶管理系统、服务器及自动行驶管理方法
CN106660553B (zh) * 2014-09-05 2018-12-04 三菱电机株式会社 自动行驶管理系统、服务器及自动行驶管理方法
CN106945668B (zh) * 2016-10-27 2019-08-16 蔚来汽车有限公司 车辆行驶窄道辅助系统
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