CN113785342B - 驾驶辅助方法及驾驶辅助装置 - Google Patents

驾驶辅助方法及驾驶辅助装置 Download PDF

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Publication number
CN113785342B
CN113785342B CN201980096112.2A CN201980096112A CN113785342B CN 113785342 B CN113785342 B CN 113785342B CN 201980096112 A CN201980096112 A CN 201980096112A CN 113785342 B CN113785342 B CN 113785342B
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China
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mode
lane
steering wheel
driver
hand
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Chinese (zh)
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CN113785342A (zh
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伊东敦
斋藤信弥
中村昌平
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B60W60/0055—Handover processes from vehicle to occupant only part of driving tasks shifted to occupants
    • 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
    • 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
    • B60W30/18—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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • 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
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • 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
    • B60W60/005—Handover processes
    • B60W60/0057—Estimation of the time available or required for the handover
    • 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
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • 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
    • B60W2556/40—High definition maps
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/12—Lateral speed
    • B60W2720/125—Lateral acceleration
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN201980096112.2A 2019-05-15 2019-05-15 驾驶辅助方法及驾驶辅助装置 Active CN113785342B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/019398 WO2020230308A1 (ja) 2019-05-15 2019-05-15 運転支援方法及び運転支援装置

Publications (2)

Publication Number Publication Date
CN113785342A CN113785342A (zh) 2021-12-10
CN113785342B true CN113785342B (zh) 2024-03-12

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Country Link
US (1) US11492015B2 (https=)
EP (2) EP3971859B1 (https=)
JP (1) JP7124963B2 (https=)
CN (1) CN113785342B (https=)
RU (1) RU2767830C1 (https=)
WO (1) WO2020230308A1 (https=)

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DE102018216364B4 (de) * 2018-09-25 2020-07-09 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Unterstützen eines Spurwechselvorgangs für ein Fahrzeug
US11884291B2 (en) * 2020-08-03 2024-01-30 Waymo Llc Assigning vehicles for transportation services
CN115279642B (zh) * 2020-12-10 2024-08-20 本田技研工业株式会社 车辆控制装置、车辆控制方法及存储介质
EP4052983B1 (en) * 2021-03-04 2023-08-16 Volvo Car Corporation Method for transitioning a drive mode of a vehicle, drive control system for vehice and vehicle
JP7517222B2 (ja) * 2021-03-25 2024-07-17 トヨタ自動車株式会社 自動速度制御装置、自動速度制御方法及び自動速度制御プログラム
JP7203885B2 (ja) * 2021-03-31 2023-01-13 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
CN117241973B (zh) * 2021-09-02 2024-03-19 本田技研工业株式会社 车辆控制装置、车辆控制方法
US12280774B2 (en) * 2021-10-27 2025-04-22 Ford Global Technologies, Llc Methods and systems to control driver assist systems
DE102021132924A1 (de) * 2021-12-14 2023-06-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum betreiben eines fahrzeugs, computerprogramm,steuerungssystem sowie fahrzeug
CN114261403B (zh) * 2022-03-03 2022-06-17 宁波均联智行科技股份有限公司 退出自动驾驶时的方向盘信息预警方法及系统
MX2024010835A (es) * 2022-03-18 2024-09-17 Nissan Motor Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion.
JP7731841B2 (ja) * 2022-03-31 2025-09-01 本田技研工業株式会社 交通安全支援システム
US12275423B2 (en) * 2022-12-08 2025-04-15 GM Global Technology Operations LLC Systems and methods for transiting between automated driving operational modes
DE102023119434A1 (de) * 2023-07-24 2025-01-30 Bayerische Motoren Werke Aktiengesellschaft Assistenzsystem zum Unterstützen eines Fahrers eines Fahrzeugs bei einer Querführung des Fahrzeugs auf einer Straße unter Berücksichtigung einer baulichen Trennung, Fahrzeug sowie Verfahren
US12583461B2 (en) * 2023-09-18 2026-03-24 Ford Global Technologies, Llc Systems and methods for detecting driver behavior
DE102024200245A1 (de) * 2024-01-11 2025-07-17 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Längsführung eines Kraftfahrzeugs
DE102024200663B3 (de) 2024-01-25 2024-11-28 Volkswagen Aktiengesellschaft Verfahren zum Steuern einer Lenkanlage eines Kraftfahrzeugs mittels eines Fahrerassistenzsystems, Fahrerassistenzsystem und Kraftfahrzeug

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CN107735303A (zh) * 2015-04-08 2018-02-23 奥迪股份公司 用于运行机动车的方法以及机动车
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DE102011077592A1 (de) * 2010-12-30 2012-07-19 Hochschule für Technik und Wirtschaft Dresden Verfahren und Anordnung zur Fahrzeugführung, mittels eines Fahrzeugführungssystems
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Also Published As

Publication number Publication date
RU2767830C1 (ru) 2022-03-22
EP3971859B1 (en) 2023-12-13
CN113785342A (zh) 2021-12-10
EP3971859A4 (en) 2022-09-14
EP4336475B1 (en) 2025-02-26
EP4336475A1 (en) 2024-03-13
US20220266869A1 (en) 2022-08-25
EP3971859A1 (en) 2022-03-23
JP7124963B2 (ja) 2022-08-24
JPWO2020230308A1 (https=) 2020-11-19
WO2020230308A1 (ja) 2020-11-19
US11492015B2 (en) 2022-11-08

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