CN110191826B - 防碰撞装置 - Google Patents

防碰撞装置 Download PDF

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Publication number
CN110191826B
CN110191826B CN201880006837.3A CN201880006837A CN110191826B CN 110191826 B CN110191826 B CN 110191826B CN 201880006837 A CN201880006837 A CN 201880006837A CN 110191826 B CN110191826 B CN 110191826B
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China
Prior art keywords
host vehicle
collision
time
collision avoidance
moving body
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CN201880006837.3A
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English (en)
Chinese (zh)
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CN110191826A (zh
Inventor
伊东洋介
神谷庆
小栗崇治
马场崇弘
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Denso Corp
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Denso Corp
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Publication of CN110191826B publication Critical patent/CN110191826B/zh
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    • 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
    • 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
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18159—Traversing an intersection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—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
    • 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
    • B60W2554/806—Relative heading

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201880006837.3A 2017-01-16 2018-01-10 防碰撞装置 Active CN110191826B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2017005112A JP6593354B2 (ja) 2017-01-16 2017-01-16 衝突回避装置
JP2017-005112 2017-01-16
PCT/JP2018/000307 WO2018131595A1 (ja) 2017-01-16 2018-01-10 衝突回避装置

Publications (2)

Publication Number Publication Date
CN110191826A CN110191826A (zh) 2019-08-30
CN110191826B true CN110191826B (zh) 2022-05-10

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880006837.3A Active CN110191826B (zh) 2017-01-16 2018-01-10 防碰撞装置

Country Status (4)

Country Link
US (1) US11891034B2 (enExample)
JP (1) JP6593354B2 (enExample)
CN (1) CN110191826B (enExample)
WO (1) WO2018131595A1 (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110582439B (zh) * 2017-03-02 2022-07-22 松下知识产权经营株式会社 驾驶辅助方法以及利用了该驾驶辅助方法的驾驶辅助装置、驾驶辅助系统
JP2020095635A (ja) * 2018-12-14 2020-06-18 パナソニックＩｐマネジメント株式会社 車両制御装置、車両制御方法、車両制御プログラム、非一時的記録媒体、および車両
JP7476495B2 (ja) 2019-08-20 2024-05-01 オムロン株式会社 自律走行車両の衝突回避装置、衝突回避方法、衝突回避プログラム
CN110647146B (zh) * 2019-09-09 2023-01-31 深圳一清创新科技有限公司 无人车控制方法、装置、计算机设备和存储介质
US20230035414A1 (en) * 2019-12-18 2023-02-02 Volvo Truck Corporation A method for providing a positive decision signal for a vehicle
CN120092276A (zh) * 2022-10-21 2025-06-03 软银集团股份有限公司 信息处理装置、车辆以及程序

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010102641A (ja) * 2008-10-27 2010-05-06 Mitsubishi Electric Corp 車両用衝突回避装置
JP2011126406A (ja) * 2009-12-17 2011-06-30 Mitsubishi Motors Corp 運転支援装置
JP2012196997A (ja) * 2011-03-18 2012-10-18 Fuji Heavy Ind Ltd 車両用運転支援装置
JP2015170233A (ja) * 2014-03-10 2015-09-28 日立オートモティブシステムズ株式会社 複数の移動体との衝突回避システム
CN105246755A (zh) * 2013-05-31 2016-01-13 日立汽车系统株式会社 车辆控制装置

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JPH11328598A (ja) * 1998-05-18 1999-11-30 Toyota Motor Corp 交差点警報システム
JP4451566B2 (ja) * 1998-10-30 2010-04-14 バーネットエックス インコーポレーティッド 保証されたシステム可用性を有する安全な通信のためのアジル・ネットワーク・プロトコル
JP4824511B2 (ja) * 2006-09-11 2011-11-30 本田技研工業株式会社 車両の走行安全装置
DE102009057836B4 (de) * 2009-12-10 2013-02-21 Continental Teves Ag & Co. Ohg Notbremsassistenzsystem zur Unterstützung eines Fahrers eines Fahrzeugs beim Anfahren
JP5796547B2 (ja) * 2012-06-13 2015-10-21 株式会社アドヴィックス 車両の走行支援装置
JP5870908B2 (ja) * 2012-12-11 2016-03-01 株式会社デンソー 車両の衝突判定装置
DE112013006126A5 (de) * 2012-12-20 2015-09-10 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zum automatisierten Bremsen und Lenken eines Fahrzeugs
JP6174516B2 (ja) * 2014-04-24 2017-08-02 本田技研工業株式会社 衝突回避支援装置、衝突回避支援方法、及びプログラム
US9308914B1 (en) * 2015-01-23 2016-04-12 Denso International America, Inc. Advanced driver assistance system for vehicle
US9688255B2 (en) * 2015-06-23 2017-06-27 Aai Corporation Using an accelerometer to detect tire skid
JP6493087B2 (ja) * 2015-08-24 2019-04-03 株式会社デンソー 車載カメラ装置
JP6304220B2 (ja) * 2015-12-08 2018-04-04 トヨタ自動車株式会社 運転支援装置
JP2017139359A (ja) * 2016-02-04 2017-08-10 住友電装株式会社 ブラケット取付治具及びブラケット付金属布の製造方法
JP6569659B2 (ja) * 2016-12-22 2019-09-04 トヨタ自動車株式会社 衝突回避支援装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010102641A (ja) * 2008-10-27 2010-05-06 Mitsubishi Electric Corp 車両用衝突回避装置
JP2011126406A (ja) * 2009-12-17 2011-06-30 Mitsubishi Motors Corp 運転支援装置
JP2012196997A (ja) * 2011-03-18 2012-10-18 Fuji Heavy Ind Ltd 車両用運転支援装置
CN105246755A (zh) * 2013-05-31 2016-01-13 日立汽车系统株式会社 车辆控制装置
JP2015170233A (ja) * 2014-03-10 2015-09-28 日立オートモティブシステムズ株式会社 複数の移動体との衝突回避システム

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Publication number Publication date
US20190329745A1 (en) 2019-10-31
JP2018114774A (ja) 2018-07-26
CN110191826A (zh) 2019-08-30
JP6593354B2 (ja) 2019-10-23
US11891034B2 (en) 2024-02-06
WO2018131595A1 (ja) 2018-07-19

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