CN107004366B - 车辆控制装置以及车辆控制方法 - Google Patents

车辆控制装置以及车辆控制方法 Download PDF

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Publication number
CN107004366B
CN107004366B CN201580064523.5A CN201580064523A CN107004366B CN 107004366 B CN107004366 B CN 107004366B CN 201580064523 A CN201580064523 A CN 201580064523A CN 107004366 B CN107004366 B CN 107004366B
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China
Prior art keywords
vehicle
host vehicle
detected
lateral direction
lane
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English (en)
Chinese (zh)
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CN107004366A (zh
Inventor
时政光宏
胜仓丰晴
绪方义久
增井洋平
佐喜真卓
名波刚
西田乔士
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Denso Corp
Toyota Motor Corp
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Denso Corp
Toyota Motor Corp
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    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
    • B60W30/14—Adaptive cruise control
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping 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
    • 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
    • B60W2520/10—Longitudinal 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
    • B60W2540/215—Selection or confirmation of options
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201580064523.5A 2014-11-28 2015-10-23 车辆控制装置以及车辆控制方法 Active CN107004366B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014-242233 2014-11-28
JP2014242233A JP6325425B2 (ja) 2014-11-28 2014-11-28 車両制御装置
PCT/JP2015/079933 WO2016084528A1 (ja) 2014-11-28 2015-10-23 車両制御装置及び車両制御方法

Publications (2)

Publication Number Publication Date
CN107004366A CN107004366A (zh) 2017-08-01
CN107004366B true CN107004366B (zh) 2020-10-30

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US (1) US10407066B2 (enExample)
JP (1) JP6325425B2 (enExample)
CN (1) CN107004366B (enExample)
DE (1) DE112015005370B4 (enExample)
WO (1) WO2016084528A1 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6363516B2 (ja) * 2015-01-21 2018-07-25 株式会社デンソー 車両の走行制御装置
JP6550016B2 (ja) * 2016-06-27 2019-07-24 株式会社デンソー 車両制御装置及び車両制御方法
JP6577926B2 (ja) * 2016-09-26 2019-09-18 本田技研工業株式会社 走行支援装置及び走行支援方法
US10814913B2 (en) 2017-04-12 2020-10-27 Toyota Jidosha Kabushiki Kaisha Lane change assist apparatus for vehicle
JP6627822B2 (ja) 2017-06-06 2020-01-08 トヨタ自動車株式会社 車線変更支援装置
JP6627821B2 (ja) 2017-06-06 2020-01-08 トヨタ自動車株式会社 車線変更支援装置
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
JP2019003234A (ja) * 2017-06-09 2019-01-10 トヨタ自動車株式会社 運転支援装置
JP6897349B2 (ja) * 2017-06-09 2021-06-30 トヨタ自動車株式会社 運転支援装置
JP6805105B2 (ja) * 2017-09-28 2020-12-23 株式会社デンソー 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法
CN110967991B (zh) * 2018-09-30 2023-05-26 百度（美国）有限责任公司 车辆控制参数的确定方法、装置、车载控制器和无人车
CN109849910B (zh) * 2018-12-21 2020-11-03 重庆长安汽车股份有限公司 无人驾驶车辆多目标决策控制方法、装置及计算机可读存储介质
US11119492B2 (en) 2019-02-12 2021-09-14 Sf Motors, Inc. Automatically responding to emergency service vehicles by an autonomous vehicle
CN114167849B (zh) * 2020-08-21 2023-12-08 富联精密电子(天津)有限公司 自走三角警示架及其行进控制方法
JP7752980B2 (ja) * 2021-06-30 2025-10-14 株式会社ブロードリーフ 車両走行制御装置、車両走行制御方法および車両走行制御プログラム
DE102021117921A1 (de) * 2021-07-12 2023-01-12 Valeo Comfort And Driving Assistance Führen eines Fahrzeugs auf der Basis von Blickverfolgungsdaten
JP7567771B2 (ja) * 2021-12-27 2024-10-16 トヨタ自動車株式会社 自動車

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JP3843512B2 (ja) * 1996-12-13 2006-11-08 株式会社デンソー 車速制御方法および車速制御装置
DE19804944C2 (de) 1998-02-07 2000-04-20 Volkswagen Ag Verfahren zur automatischen Abstandsregelung von Kraftfahrzeugen
JP2000235699A (ja) * 1999-02-15 2000-08-29 Denso Corp 車間距離制御装置
JP2000343980A (ja) * 1999-03-29 2000-12-12 Denso Corp 自動走行制御装置及び記録媒体並びに自動走行制御方法
JP2004200341A (ja) * 2002-12-18 2004-07-15 Mitsubishi Electric Corp 半導体素子の生産管理方法
JP4184096B2 (ja) * 2003-01-15 2008-11-19 富士通テン株式会社 先行車両推定方法
DE102004013818A1 (de) * 2004-03-20 2005-10-06 Robert Bosch Gmbh Objektortungssystem für Kraftfahrzeuge
JP2005289292A (ja) * 2004-04-02 2005-10-20 Hitachi Ltd 操舵制御装置
JP4466365B2 (ja) * 2004-12-27 2010-05-26 日産自動車株式会社 車線逸脱防止装置
JP4635721B2 (ja) * 2005-05-30 2011-02-23 日産自動車株式会社 車両のオートクルーズ装置
JP4793094B2 (ja) * 2006-05-17 2011-10-12 株式会社デンソー 走行環境認識装置
JP5375752B2 (ja) * 2009-07-15 2013-12-25 日産自動車株式会社 車両運転支援装置
JP2011065219A (ja) * 2009-09-15 2011-03-31 Toyota Motor Corp 道路曲率推定装置
JP5696444B2 (ja) * 2009-12-24 2015-04-08 日産自動車株式会社 走行制御装置
RU2566175C1 (ru) * 2011-08-31 2015-10-20 Ниссан Мотор Ко., Лтд. Устройство помощи при вождении транспортного средства
JP5994755B2 (ja) * 2013-09-06 2016-09-21 トヨタ自動車株式会社 車両走行制御装置

Also Published As

Publication number Publication date
CN107004366A (zh) 2017-08-01
WO2016084528A1 (ja) 2016-06-02
US10407066B2 (en) 2019-09-10
DE112015005370B4 (de) 2025-10-30
US20170327115A1 (en) 2017-11-16
JP6325425B2 (ja) 2018-05-16
DE112015005370T5 (de) 2017-08-10
JP2016103222A (ja) 2016-06-02

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