CN112236345A - 车辆控制装置 - Google Patents

车辆控制装置 Download PDF

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Publication number
CN112236345A
CN112236345A CN201980037573.2A CN201980037573A CN112236345A CN 112236345 A CN112236345 A CN 112236345A CN 201980037573 A CN201980037573 A CN 201980037573A CN 112236345 A CN112236345 A CN 112236345A
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CN
China
Prior art keywords
vehicle
host vehicle
mode
entry
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201980037573.2A
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English (en)
Chinese (zh)
Inventor
植松巧
时政光宏
黑木理宏
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
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Publication of CN112236345A publication Critical patent/CN112236345A/zh
Pending legal-status Critical Current

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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
    • 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
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W30/08—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
    • 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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental 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
    • 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
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • 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
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4045—Intention, e.g. lane change or imminent movement
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
CN201980037573.2A 2018-06-06 2019-05-27 车辆控制装置 Pending CN112236345A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018108523A JP7151185B2 (ja) 2018-06-06 2018-06-06 車両制御装置
JP2018-108523 2018-06-06
PCT/JP2019/020821 WO2019235278A1 (ja) 2018-06-06 2019-05-27 車両制御装置

Publications (1)

Publication Number Publication Date
CN112236345A true CN112236345A (zh) 2021-01-15

Family

ID=68770236

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980037573.2A Pending CN112236345A (zh) 2018-06-06 2019-05-27 车辆控制装置

Country Status (4)

Country Link
US (1) US11878688B2 (https=)
JP (1) JP7151185B2 (https=)
CN (1) CN112236345A (https=)
WO (1) WO2019235278A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020249993A1 (ja) * 2019-06-14 2020-12-17 日産自動車株式会社 車両の走行制御方法及び走行制御装置
KR20230093834A (ko) * 2021-12-20 2023-06-27 현대자동차주식회사 자율 주행 차량, 그와 정보를 공유하는 관제 시스템 및 그 방법
CN116279491B (zh) * 2023-03-14 2024-02-02 上海知而行科技有限公司 切换自动驾驶和自动跟随的系统及方法
US20250299581A1 (en) * 2024-03-22 2025-09-25 Honda Motor Co., Ltd. Vehicle-to-vehicle communications for blind spot notification

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002225587A (ja) * 2001-01-30 2002-08-14 Nissan Motor Co Ltd 先行車追従走行制御装置
DE102016205188A1 (de) * 2015-03-31 2016-10-06 Honda Motor Co., Ltd. Fahrunterstützungsvorrichtung
CN106080597A (zh) * 2015-04-27 2016-11-09 丰田自动车株式会社 自动驾驶车辆系统
JP2016207022A (ja) * 2015-04-24 2016-12-08 マツダ株式会社 車両の制御装置
JP2017061320A (ja) * 2016-12-08 2017-03-30 みこらった株式会社 自動運転車及び自動運転車用プログラム
JPWO2016042882A1 (ja) * 2014-09-19 2017-04-27 日立オートモティブシステムズ株式会社 車両制御装置及び車両制御方法
JP2017222317A (ja) * 2016-06-17 2017-12-21 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
WO2018021463A1 (ja) * 2016-07-29 2018-02-01 パナソニックＩｐマネジメント株式会社 自動運転車輌の制御装置、及び制御プログラム

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0624271A (ja) 1992-07-03 1994-02-01 Katsushige Kumabe 並進走行中の車両等への対向割込車、或は左折変向等の他の自動車等への警告装置
JP2940345B2 (ja) 1993-04-09 1999-08-25 トヨタ自動車株式会社 車両接近感知警報装置
JP4541609B2 (ja) * 2001-09-06 2010-09-08 富士重工業株式会社 停止線認識装置、及び、その停止線認識装置を用いた車両用運転支援装置
JP3928571B2 (ja) * 2003-03-14 2007-06-13 トヨタ自動車株式会社 車両用運転補助装置
JP5754510B2 (ja) 2011-09-26 2015-07-29 トヨタ自動車株式会社 車両の運転支援システム
JP6498633B2 (ja) 2016-06-14 2019-04-10 本田技研工業株式会社 車両操作支援装置
JP7030573B2 (ja) * 2018-03-15 2022-03-07 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
JP7085371B2 (ja) * 2018-03-15 2022-06-16 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

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002225587A (ja) * 2001-01-30 2002-08-14 Nissan Motor Co Ltd 先行車追従走行制御装置
JPWO2016042882A1 (ja) * 2014-09-19 2017-04-27 日立オートモティブシステムズ株式会社 車両制御装置及び車両制御方法
EP3196445A1 (en) * 2014-09-19 2017-07-26 Hitachi Automotive Systems, Ltd. Vehicle control device and vehicle control method
US20170226947A1 (en) * 2014-09-19 2017-08-10 Hitachi Automotive Systems, Ltd. Vehicle Control Device and Vehicle Control Method
DE102016205188A1 (de) * 2015-03-31 2016-10-06 Honda Motor Co., Ltd. Fahrunterstützungsvorrichtung
JP2016207022A (ja) * 2015-04-24 2016-12-08 マツダ株式会社 車両の制御装置
CN106080597A (zh) * 2015-04-27 2016-11-09 丰田自动车株式会社 自动驾驶车辆系统
JP2017222317A (ja) * 2016-06-17 2017-12-21 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
US20170361841A1 (en) * 2016-06-17 2017-12-21 Subaru Corporation Travel control device for vehicle
WO2018021463A1 (ja) * 2016-07-29 2018-02-01 パナソニックＩｐマネジメント株式会社 自動運転車輌の制御装置、及び制御プログラム
JP2017061320A (ja) * 2016-12-08 2017-03-30 みこらった株式会社 自動運転車及び自動運転車用プログラム

Also Published As

Publication number Publication date
US20210114595A1 (en) 2021-04-22
JP2019209871A (ja) 2019-12-12
JP7151185B2 (ja) 2022-10-12
WO2019235278A1 (ja) 2019-12-12
US11878688B2 (en) 2024-01-23

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