CN112644494B - 车辆控制装置、车辆控制方法及存储介质 - Google Patents

车辆控制装置、车辆控制方法及存储介质 Download PDF

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Publication number
CN112644494B
CN112644494B CN202010983895.0A CN202010983895A CN112644494B CN 112644494 B CN112644494 B CN 112644494B CN 202010983895 A CN202010983895 A CN 202010983895A CN 112644494 B CN112644494 B CN 112644494B
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China
Prior art keywords
lane change
lane
vehicle
host vehicle
control unit
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CN202010983895.0A
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English (en)
Chinese (zh)
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CN112644494A (zh
Inventor
加藤大智
广泽望
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Priority to CN202310473198.4A priority Critical patent/CN116373869A/zh
Publication of CN112644494A publication Critical patent/CN112644494A/zh
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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2556/00—Input parameters relating to data

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN202010983895.0A 2019-10-11 2020-09-17 车辆控制装置、车辆控制方法及存储介质 Active CN112644494B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310473198.4A CN116373869A (zh) 2019-10-11 2020-09-17 车辆控制装置、车辆控制方法及存储介质

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019187679A JP6907285B2 (ja) 2019-10-11 2019-10-11 車両制御装置、車両制御方法、およびプログラム
JP2019-187679 2019-10-11

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202310473198.4A Division CN116373869A (zh) 2019-10-11 2020-09-17 车辆控制装置、车辆控制方法及存储介质

Publications (2)

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CN112644494A CN112644494A (zh) 2021-04-13
CN112644494B true CN112644494B (zh) 2024-06-11

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CN202010983895.0A Active CN112644494B (zh) 2019-10-11 2020-09-17 车辆控制装置、车辆控制方法及存储介质
CN202310473198.4A Pending CN116373869A (zh) 2019-10-11 2020-09-17 车辆控制装置、车辆控制方法及存储介质

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US (2) US20210107510A1 (enExample)
JP (1) JP6907285B2 (enExample)
CN (2) CN112644494B (enExample)

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US11130493B2 (en) * 2019-12-30 2021-09-28 Automotive Research & Testing Center Trajectory planning method for lane changing, and driver assistance system for implementing the same
JP7200970B2 (ja) * 2020-04-17 2023-01-10 トヨタ自動車株式会社 車両制御装置
JP7494663B2 (ja) * 2020-08-31 2024-06-04 トヨタ自動車株式会社 車載表示制御装置、車載表示装置、表示制御方法及び表示制御プログラム
JP7540375B2 (ja) * 2021-03-22 2024-08-27 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用コンピュータプログラム
US12145584B2 (en) * 2021-05-28 2024-11-19 Nissan Motor Co., Ltd. Driving assistance method and driving assistance device
JP7484830B2 (ja) * 2021-07-01 2024-05-16 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用コンピュータプログラム
JP7484858B2 (ja) * 2021-09-28 2024-05-16 トヨタ自動車株式会社 自動運転キット、車両プラットフォーム、車両インターフェースボックスおよび車両
US12263842B2 (en) * 2021-11-22 2025-04-01 Nissan Motor Co., Ltd. Vehicle travel assistance method and vehicle travel assistance device
EP4438427A4 (en) * 2021-11-22 2025-02-19 Nissan Motor Co., Ltd. DRIVING ASSISTANCE METHOD AND DRIVING ASSISTANCE DEVICE FOR A VEHICLE
JP7348942B2 (ja) * 2021-12-07 2023-09-21 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
CN118786469A (zh) * 2022-03-02 2024-10-15 日产自动车株式会社 驾驶辅助方法及驾驶辅助装置
JP7550811B2 (ja) * 2022-03-30 2024-09-13 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
JP7643392B2 (ja) * 2022-05-17 2025-03-11 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用コンピュータプログラム
US12221108B2 (en) 2022-08-31 2025-02-11 Robert Bosch Gmbh Overtake for an automatic cruise control
JP2024034044A (ja) * 2022-08-31 2024-03-13 トヨタ自動車株式会社 運転支援装置、運転支援方法、及び運転支援プログラム
JP7757940B2 (ja) * 2022-11-25 2025-10-22 トヨタ自動車株式会社 車両制御装置、車両制御方法及びプログラム
JP7770293B2 (ja) * 2022-11-30 2025-11-14 三菱電機株式会社 車両制御装置
CN116588078B (zh) * 2023-07-17 2023-09-15 上海鉴智其迹科技有限公司 车辆控制方法、装置、电子设备及计算机可读存储介质
JP2025134321A (ja) * 2024-03-04 2025-09-17 本田技研工業株式会社 移動体制御装置、移動体制御方法、およびプログラム
CN119611357A (zh) * 2025-01-02 2025-03-14 大卓智能科技有限公司 确定变道风险的方法、装置及存储介质

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JP6493272B2 (ja) * 2016-03-30 2019-04-03 株式会社デンソー 走行支援装置
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JP7260964B2 (ja) * 2018-06-04 2023-04-19 日立Astemo株式会社 車両用制御装置及び制御方法
JP6688338B2 (ja) * 2018-06-15 2020-04-28 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
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Publication number Publication date
US12351206B2 (en) 2025-07-08
CN112644494A (zh) 2021-04-13
CN116373869A (zh) 2023-07-04
JP6907285B2 (ja) 2021-07-21
JP2021062696A (ja) 2021-04-22
US20230159051A1 (en) 2023-05-25
US20210107510A1 (en) 2021-04-15

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