CN113597392B - 车辆控制装置 - Google Patents

车辆控制装置 Download PDF

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Publication number
CN113597392B
CN113597392B CN202080006833.2A CN202080006833A CN113597392B CN 113597392 B CN113597392 B CN 113597392B CN 202080006833 A CN202080006833 A CN 202080006833A CN 113597392 B CN113597392 B CN 113597392B
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CN
China
Prior art keywords
vehicle
distance
path
control device
route
Prior art date
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Application number
CN202080006833.2A
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English (en)
Chinese (zh)
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CN113597392A (zh
Inventor
田代直之
清宫大司
松田聪
今井正人
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.)
Hitachi Astemo Ltd
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Hitachi Astemo Ltd
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Publication date
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Publication of CN113597392A publication Critical patent/CN113597392A/zh
Application granted granted Critical
Publication of CN113597392B publication Critical patent/CN113597392B/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
    • 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
    • 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
    • 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
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
    • 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
    • B60W2540/18—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
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN202080006833.2A 2019-03-15 2020-02-05 车辆控制装置 Active CN113597392B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019048026A JP7212556B2 (ja) 2019-03-15 2019-03-15 車両制御装置
JP2019-048026 2019-03-15
PCT/JP2020/004242 WO2020189061A1 (ja) 2019-03-15 2020-02-05 車両制御装置

Publications (2)

Publication Number Publication Date
CN113597392A CN113597392A (zh) 2021-11-02
CN113597392B true CN113597392B (zh) 2024-07-12

Family

ID=72430163

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080006833.2A Active CN113597392B (zh) 2019-03-15 2020-02-05 车辆控制装置

Country Status (5)

Country Link
US (1) US11975709B2 (enExample)
JP (1) JP7212556B2 (enExample)
CN (1) CN113597392B (enExample)
DE (1) DE112020000283B4 (enExample)
WO (1) WO2020189061A1 (enExample)

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* Cited by examiner, † Cited by third party
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JP7668629B2 (ja) * 2020-10-14 2025-04-25 株式会社小松製作所 無人車両の制御システム、無人車両、及び無人車両の制御方法
CN112389465B (zh) * 2020-11-17 2022-03-18 湖南三一智能控制设备有限公司 工程车辆的控制方法、控制系统和工程车辆
JP7422691B2 (ja) * 2021-01-21 2024-01-26 ダイムラー トラック エージー 運転支援装置
CN113978479B (zh) * 2021-11-26 2025-04-01 上海安亭地平线智能交通技术有限公司 控制车辆自动驾驶的方法和装置
JP7611131B2 (ja) * 2021-12-27 2025-01-09 本田技研工業株式会社 制御装置、及び移動体
CN114879600B (zh) * 2022-04-19 2025-11-28 南通旭志精工科技有限公司 一种基于物联大数据的数控加工中心用的恒稳控制系统
JP7783157B2 (ja) * 2022-10-26 2025-12-09 本田技研工業株式会社 制御装置、制御方法、及び制御プログラム
JP2024145757A (ja) * 2023-03-31 2024-10-15 株式会社アイシン 駐車支援システム
CN117111089B (zh) * 2023-10-24 2024-02-02 青岛慧拓智能机器有限公司 矿卡卸载点可用状态识别方法、系统、设备和存储介质
CN117962876B (zh) * 2024-04-02 2024-06-21 北京易控智驾科技有限公司 车辆的停靠控制方法、装置和无人车

Citations (2)

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WO2012084502A1 (de) * 2010-12-22 2012-06-28 Robert Bosch Gmbh Verfahren zum einparken oder manövrieren eines kraftfahrzeugs mit niedriger geschwindigkeit und vorrichtung zur durchführung desselben
WO2016020356A1 (de) * 2014-08-05 2016-02-11 Valeo Schalter Und Sensoren Gmbh Bereitstellen von fahrhinweisen während eines parkmanövers

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JP3866223B2 (ja) * 2003-05-29 2007-01-10 トヨタ自動車株式会社 車両用走行支援装置
JP3818654B2 (ja) * 2003-06-26 2006-09-06 トヨタ自動車株式会社 車両用走行支援装置
DE102010043742A1 (de) * 2010-11-11 2012-06-06 Robert Bosch Gmbh Verfahren zur Auswahl einer Parklücke bei mehreren zum Einparken geeigneten Parklücken
WO2013121961A1 (ja) * 2012-02-14 2013-08-22 日産自動車株式会社 走行制御装置及び走行制御方法
JP5983248B2 (ja) * 2012-09-28 2016-08-31 株式会社デンソー 駐車支援装置
JP5958280B2 (ja) * 2012-10-31 2016-07-27 トヨタ自動車株式会社 運転支援装置
JP6511729B2 (ja) 2014-05-09 2019-05-15 日産自動車株式会社 駐車支援装置及び駐車支援方法
JP6067635B2 (ja) * 2014-09-12 2017-01-25 アイシン精機株式会社 駐車支援装置
CN105035075B (zh) * 2015-06-24 2018-08-21 合肥中科自动控制系统有限公司 一种用于自主平行泊车的路径规划方法
JP6623602B2 (ja) * 2015-07-31 2019-12-25 アイシン精機株式会社 駐車支援装置
JP6547495B2 (ja) * 2015-07-31 2019-07-24 アイシン精機株式会社 駐車支援装置
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KR20180037414A (ko) * 2016-10-04 2018-04-12 엘지전자 주식회사 자동주차 보조장치 및 이를 포함하는 차량
KR102005944B1 (ko) * 2016-10-19 2019-08-01 주식회사 만도 주차 보조 시스템 및 그 제어 방법
JP2018135028A (ja) * 2017-02-23 2018-08-30 トヨタ自動車株式会社 駐車支援装置
JP6911434B2 (ja) * 2017-03-23 2021-07-28 株式会社アイシン 車両走行支援装置
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DE102017115810A1 (de) * 2017-07-13 2019-01-17 Valeo Schalter Und Sensoren Gmbh Autonomes Parken eines Fahrzeugs basierend auf einem befahrbaren Bereich
JP6836189B2 (ja) * 2017-08-30 2021-02-24 トヨタ自動車株式会社 操舵支援装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012084502A1 (de) * 2010-12-22 2012-06-28 Robert Bosch Gmbh Verfahren zum einparken oder manövrieren eines kraftfahrzeugs mit niedriger geschwindigkeit und vorrichtung zur durchführung desselben
WO2016020356A1 (de) * 2014-08-05 2016-02-11 Valeo Schalter Und Sensoren Gmbh Bereitstellen von fahrhinweisen während eines parkmanövers

Also Published As

Publication number Publication date
DE112020000283B4 (de) 2025-07-31
DE112020000283T5 (de) 2021-10-14
US20220161785A1 (en) 2022-05-26
US11975709B2 (en) 2024-05-07
JP2020147220A (ja) 2020-09-17
JP7212556B2 (ja) 2023-01-25
CN113597392A (zh) 2021-11-02
WO2020189061A1 (ja) 2020-09-24

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