CN103917432B - 车辆的行驶轨迹控制装置 - Google Patents

车辆的行驶轨迹控制装置 Download PDF

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Publication number
CN103917432B
CN103917432B CN201180074737.2A CN201180074737A CN103917432B CN 103917432 B CN103917432 B CN 103917432B CN 201180074737 A CN201180074737 A CN 201180074737A CN 103917432 B CN103917432 B CN 103917432B
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China
Prior art keywords
vehicle
target
steering angle
driving lane
control device
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CN201180074737.2A
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English (en)
Chinese (zh)
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CN103917432A (zh
Inventor
光本尚训
小城隆博
国弘洋司
高岛亨
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Toyota Motor Corp
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Toyota Motor Corp
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Classifications

    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • 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
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/101—Side slip angle of tyre
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN201180074737.2A 2011-11-08 2011-11-08 车辆的行驶轨迹控制装置 Active CN103917432B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/075766 WO2013069099A1 (ja) 2011-11-08 2011-11-08 車両の走行軌跡制御装置

Publications (2)

Publication Number Publication Date
CN103917432A CN103917432A (zh) 2014-07-09
CN103917432B true CN103917432B (zh) 2016-06-15

Family

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Family Applications (1)

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CN201180074737.2A Active CN103917432B (zh) 2011-11-08 2011-11-08 车辆的行驶轨迹控制装置

Country Status (6)

Country Link
US (1) US9168953B2 (enExample)
JP (1) JP5747998B2 (enExample)
CN (1) CN103917432B (enExample)
DE (1) DE112011105821B4 (enExample)
IN (1) IN2014DN03198A (enExample)
WO (1) WO2013069099A1 (enExample)

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KR101635831B1 (ko) * 2014-11-27 2016-07-05 연세대학교 산학협력단 차량 위치 인식 장치 및 방법
DE102014226764A1 (de) * 2014-12-22 2016-06-23 Robert Bosch Gmbh Verfahren und Vorrichtung zum Führen eines Fahrzeugs auf einer Fahrspur
JP6470039B2 (ja) * 2014-12-26 2019-02-13 日立オートモティブシステムズ株式会社 車両制御システム
DE102015203270A1 (de) * 2015-02-24 2016-08-25 Robert Bosch Gmbh Verfahren und Vorrichtung zum Anpassen einer Fahrzeuggeschwindigkeit für ein Fahrzeug
CN104773202B (zh) * 2015-03-04 2017-12-12 郑州机械研究所 汽车、单轮组/双轮组无轨列车及其循迹转向控制方法
EP3109844B1 (en) 2015-06-23 2023-11-22 Volvo Car Corporation Object detecting arrangement
WO2017010344A1 (ja) * 2015-07-15 2017-01-19 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム
WO2017163366A1 (ja) * 2016-03-24 2017-09-28 日産自動車株式会社 走路推定方法及び走路推定装置
JP6519545B2 (ja) * 2016-07-21 2019-05-29 トヨタ自動車株式会社 車両用運転支援装置
JP6583183B2 (ja) * 2016-08-04 2019-10-02 トヨタ自動車株式会社 車両制御装置
DE102016216157A1 (de) * 2016-08-29 2018-03-01 Audi Ag Verfahren zum Betrieb eines Kraftfahrzeugs
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JP6569647B2 (ja) * 2016-11-11 2019-09-04 トヨタ自動車株式会社 車両の車線逸脱防止装置
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WO2018149501A1 (en) * 2017-02-17 2018-08-23 Thyssenkrupp Presta Ag Vehicle lateral motion control
CN112738858B (zh) 2017-03-24 2022-05-31 华为技术有限公司 切换的方法和设备
JP6642522B2 (ja) * 2017-06-06 2020-02-05 トヨタ自動車株式会社 車線変更支援装置
FR3066985B1 (fr) * 2017-06-06 2020-10-30 Renault Sas Dispositif d'assistance a la conduite d'un vehicule automobile dans une voie de circulation
SE541795C2 (en) * 2017-09-22 2019-12-17 Sentient Ip Ab Method and system for controlling vehicle lane holding
US20190241180A1 (en) * 2018-02-07 2019-08-08 Baidu Usa Llc Lane self-localization system using multiple cameras for autonomous driving vehicles
CN110276985B (zh) * 2018-03-16 2020-12-15 华为技术有限公司 自动驾驶安全评估方法、装置和系统
CN108820043B (zh) * 2018-06-12 2021-06-01 上海工程技术大学 一种基于双侧轮速的汽车转向自动提醒方法及装置
JP7147546B2 (ja) * 2018-12-25 2022-10-05 トヨタ自動車株式会社 車両のスリップ角推定装置
KR102034316B1 (ko) * 2019-01-29 2019-11-08 주식회사 만도 차량 위치 보정 시스템 및 방법, 그리고 카메라
CN110262509B (zh) * 2019-07-10 2022-06-28 百度在线网络技术（北京）有限公司 车辆自动驾驶方法和装置
CN111645756B (zh) * 2020-05-29 2021-10-08 摩登汽车有限公司 转向控制方法
JP7235015B2 (ja) 2020-07-17 2023-03-08 トヨタ自動車株式会社 自動操舵システム
JP7719596B2 (ja) * 2020-10-05 2025-08-06 株式会社Subaru 車両の車線逸脱抑制制御装置
JP7620266B2 (ja) 2022-03-03 2025-01-23 トヨタ自動車株式会社 車両制御システム
CN115092134B (zh) * 2022-06-29 2024-08-16 长春一汽富晟集团有限公司 一种车辆车道居中保持系统及方法
JP2024030217A (ja) 2022-08-24 2024-03-07 トヨタ自動車株式会社 車線逸脱防止装置
JP2024032082A (ja) 2022-08-29 2024-03-12 トヨタ自動車株式会社 車線逸脱防止装置
JP7718366B2 (ja) 2022-09-26 2025-08-05 トヨタ自動車株式会社 運転支援システム
JP7740190B2 (ja) 2022-10-06 2025-09-17 トヨタ自動車株式会社 車両制御装置
JP7787498B2 (ja) 2022-10-19 2025-12-17 トヨタ自動車株式会社 車両の制御装置
CN115599875A (zh) * 2022-10-24 2023-01-13 西北工业大学（Cn） 一种轨迹异常检测方法、系统及产品
JP2024082331A (ja) 2022-12-08 2024-06-20 トヨタ自動車株式会社 車両制御装置
JP2024101711A (ja) * 2023-01-18 2024-07-30 トヨタ自動車株式会社 運転支援装置および該運転支援装置を備えた運転支援システム
JP2024104067A (ja) 2023-01-23 2024-08-02 トヨタ自動車株式会社 車両制御装置
JP2024148245A (ja) 2023-04-05 2024-10-18 トヨタ自動車株式会社 車両運転支援装置、車両運転支援方法及び車両運転支援プログラム
JP2024153273A (ja) 2023-04-17 2024-10-29 トヨタ自動車株式会社 車両制御装置、車両制御方法、及び車両制御プログラム
JP2025033405A (ja) 2023-08-29 2025-03-13 トヨタ自動車株式会社 車両制御装置

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CN1778107A (zh) * 2003-04-02 2006-05-24 松下电器产业株式会社 数据再生装置、视频显示装置、使用它们的软件更新系统及软件更新方法
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Also Published As

Publication number Publication date
JPWO2013069099A1 (ja) 2015-04-02
CN103917432A (zh) 2014-07-09
JP5747998B2 (ja) 2015-07-15
US20140257640A1 (en) 2014-09-11
IN2014DN03198A (enExample) 2015-05-22
WO2013069099A1 (ja) 2013-05-16
US9168953B2 (en) 2015-10-27
DE112011105821B4 (de) 2018-12-13
DE112011105821T5 (de) 2014-08-21

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