CN107207008B - 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
CN107207008B
CN107207008B CN201680006609.7A CN201680006609A CN107207008B CN 107207008 B CN107207008 B CN 107207008B CN 201680006609 A CN201680006609 A CN 201680006609A CN 107207008 B CN107207008 B CN 107207008B
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CN
China
Prior art keywords
vehicle
estimated
mentioned
travel path
estimated travel
Prior art date
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CN201680006609.7A
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English (en)
Chinese (zh)
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CN107207008A (zh
Inventor
胡桃沢仁
时政光宏
胜仓丰晴
绪方义久
名波刚
西田乔士
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
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Denso Corp
Toyota Motor Corp
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Publication of CN107207008A publication Critical patent/CN107207008A/zh
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Classifications

    • 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
    • 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
    • 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
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0016—Identification of obstacles; Selection of a target vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
    • 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
    • B60W2552/30—Road curve radius

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN201680006609.7A 2015-01-21 2016-01-20 车辆控制装置以及车辆控制方法 Active CN107207008B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015-009776 2015-01-21
JP2015009776A JP6363519B2 (ja) 2015-01-21 2015-01-21 車両制御装置
PCT/JP2016/051572 WO2016117602A1 (ja) 2015-01-21 2016-01-20 車両制御装置及び車両制御方法

Publications (2)

Publication Number Publication Date
CN107207008A CN107207008A (zh) 2017-09-26
CN107207008B true CN107207008B (zh) 2019-10-22

Family

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Family Applications (1)

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CN201680006609.7A Active CN107207008B (zh) 2015-01-21 2016-01-20 车辆控制装置以及车辆控制方法

Country Status (5)

Country Link
US (1) US10392015B2 (https=)
JP (1) JP6363519B2 (https=)
CN (1) CN107207008B (https=)
DE (1) DE112016000427B4 (https=)
WO (1) WO2016117602A1 (https=)

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Publication number Priority date Publication date Assignee Title
DE102015225241A1 (de) * 2015-12-15 2017-06-22 Volkswagen Aktiengesellschaft Verfahren und System zur automatischen Steuerung eines Folgefahrzeugs mit einem Vorderfahrzeug
JP6428671B2 (ja) 2016-02-17 2018-11-28 株式会社デンソー 推定装置
JP6592423B2 (ja) * 2016-11-25 2019-10-16 株式会社デンソー 車両制御装置
US10814913B2 (en) 2017-04-12 2020-10-27 Toyota Jidosha Kabushiki Kaisha Lane change assist apparatus for vehicle
CN110663072B (zh) * 2017-05-22 2022-03-29 三菱电机株式会社 位置估计装置、位置估计方法以及计算机能读取的存储介质
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
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
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
JP6897349B2 (ja) * 2017-06-09 2021-06-30 トヨタ自動車株式会社 運転支援装置
JP7139593B2 (ja) * 2017-11-08 2022-09-21 いすゞ自動車株式会社 走行制御装置、車両、および走行制御方法
JP7158183B2 (ja) * 2018-06-11 2022-10-21 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
JP6988717B2 (ja) * 2018-07-02 2022-01-05 株式会社デンソー 衝突判定装置
US20230031419A1 (en) * 2020-01-27 2023-02-02 Mitsubishi Electric Corporation Preceding vehicle determination system and preceding vehicle determination method
CN115151958B (zh) * 2020-02-28 2025-01-03 三菱电机株式会社 管理用服务器、巡回车辆控制装置及跟随车辆控制装置
US11520342B2 (en) * 2020-03-12 2022-12-06 Pony Ai Inc. System and method for determining realistic trajectories
JP7726769B2 (ja) * 2021-12-13 2025-08-20 株式会社ブリヂストン タイヤ評価方法及びタイヤ評価装置
EP4478304A1 (en) * 2023-06-13 2024-12-18 Zenseact AB Model-based road estimation

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DE10018558A1 (de) * 2000-04-14 2001-10-18 Bosch Gmbh Robert Verfahren zur Regelung der Geschwindigkeit eines Fahrzeugs
JP2004220341A (ja) * 2003-01-15 2004-08-05 Fujitsu Ten Ltd 先行車両推定方法
CN101111418A (zh) * 2005-03-23 2008-01-23 丰田自动车株式会社 车辆用行驶控制装置
CN102044170A (zh) * 2009-10-22 2011-05-04 富士重工业株式会社 车辆的驾驶辅助控制装置
CN102874255A (zh) * 2011-07-14 2013-01-16 现代摩比斯株式会社 应用变曲率的智能型定速巡航系统及其方法

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DE19637245C2 (de) * 1996-09-13 2000-02-24 Bosch Gmbh Robert Verfahren und Vorrichtung zur Regelung der Geschwindigkeit eines Fahrzeugs
DE19749086C1 (de) * 1997-11-06 1999-08-12 Daimler Chrysler Ag Vorrichtung zur Ermittlung fahrspurverlaufsindikativer Daten
JP3997837B2 (ja) * 2002-05-27 2007-10-24 株式会社デンソー 車載レーダ装置、プログラム
WO2005020182A1 (ja) * 2003-08-20 2005-03-03 Hitachi, Ltd. 先行車選択装置及び先行車選択方法
JP4407315B2 (ja) * 2004-03-02 2010-02-03 トヨタ自動車株式会社 ターゲット推定装置
DE102008005316A1 (de) 2008-01-21 2009-07-23 Robert Bosch Gmbh Fahrerassistenzsystem mit Schätzmodul für Kursversatz
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DE102009055787A1 (de) * 2009-11-25 2011-05-26 GM Global Technology Operations LLC, ( n. d. Ges. d. Staates Delaware ), Detroit Verfahren zur Distanzregelung eines Fahrzeugs und Fahrzeug mit einer Vorrichtung zur Distanzregelung
JP5716680B2 (ja) * 2012-01-10 2015-05-13 株式会社デンソー 先行車両選択装置および車間制御装置
JP5505453B2 (ja) * 2012-04-26 2014-05-28 株式会社デンソー 車両用挙動制御装置

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Publication number Priority date Publication date Assignee Title
DE10018558A1 (de) * 2000-04-14 2001-10-18 Bosch Gmbh Robert Verfahren zur Regelung der Geschwindigkeit eines Fahrzeugs
JP2004220341A (ja) * 2003-01-15 2004-08-05 Fujitsu Ten Ltd 先行車両推定方法
CN101111418A (zh) * 2005-03-23 2008-01-23 丰田自动车株式会社 车辆用行驶控制装置
CN102044170A (zh) * 2009-10-22 2011-05-04 富士重工业株式会社 车辆的驾驶辅助控制装置
CN102874255A (zh) * 2011-07-14 2013-01-16 现代摩比斯株式会社 应用变曲率的智能型定速巡航系统及其方法

Also Published As

Publication number Publication date
WO2016117602A1 (ja) 2016-07-28
US20180015923A1 (en) 2018-01-18
CN107207008A (zh) 2017-09-26
JP6363519B2 (ja) 2018-07-25
DE112016000427T5 (de) 2017-10-12
DE112016000427B4 (de) 2021-10-28
JP2016132414A (ja) 2016-07-25
US10392015B2 (en) 2019-08-27

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