CN113825691B - 车辆的行驶控制方法及行驶控制装置 - Google Patents

车辆的行驶控制方法及行驶控制装置 Download PDF

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Publication number
CN113825691B
CN113825691B CN201980096190.2A CN201980096190A CN113825691B CN 113825691 B CN113825691 B CN 113825691B CN 201980096190 A CN201980096190 A CN 201980096190A CN 113825691 B CN113825691 B CN 113825691B
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China
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vehicle
driving
driver
control
autonomous
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CN201980096190.2A
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Chinese (zh)
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CN113825691A (zh
Inventor
斋藤信弥
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • 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
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
CN201980096190.2A 2019-05-15 2019-05-15 车辆的行驶控制方法及行驶控制装置 Active CN113825691B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/019379 WO2020230301A1 (ja) 2019-05-15 2019-05-15 車両の走行制御方法及び走行制御装置

Publications (2)

Publication Number Publication Date
CN113825691A CN113825691A (zh) 2021-12-21
CN113825691B true CN113825691B (zh) 2023-08-15

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CN201980096190.2A Active CN113825691B (zh) 2019-05-15 2019-05-15 车辆的行驶控制方法及行驶控制装置

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Country Link
US (1) US11654962B2 (https=)
EP (1) EP3971060B1 (https=)
JP (1) JP7156516B2 (https=)
CN (1) CN113825691B (https=)
WO (1) WO2020230301A1 (https=)

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DE102019007861B4 (de) * 2019-11-13 2025-10-02 Mercedes-Benz Group AG Verfahren zur Freigabe einer Fahrstrecke
JP7469167B2 (ja) * 2020-07-07 2024-04-16 本田技研工業株式会社 制御装置及び制御方法並びに車両
US11548535B2 (en) * 2020-10-24 2023-01-10 Ghost Autonomy Inc. Automatic disengagement of an autonomous driving mode
JP7639654B2 (ja) 2021-10-27 2025-03-05 トヨタ自動車株式会社 車両運転支援装置
WO2023149115A1 (ja) * 2022-02-02 2023-08-10 株式会社デンソー 自動運転制御装置及び自動運転制御プログラム
JP7740222B2 (ja) * 2022-02-02 2025-09-17 株式会社デンソー 自動運転制御装置及び自動運転制御プログラム
JP2023151471A (ja) * 2022-03-31 2023-10-16 ダイハツ工業株式会社 車両走行制御装置
JP7570369B2 (ja) * 2022-03-31 2024-10-21 本田技研工業株式会社 制御装置、制御方法、およびプログラム
JP7816545B2 (ja) * 2022-09-21 2026-02-18 日産自動車株式会社 運転支援方法及び運転支援装置
JP7726182B2 (ja) * 2022-10-31 2025-08-20 トヨタ自動車株式会社 車両用減速支援装置
JP7831369B2 (ja) * 2023-03-27 2026-03-17 トヨタ自動車株式会社 車両
JP7832909B2 (ja) * 2023-03-30 2026-03-18 ヤンマーホールディングス株式会社 作業車両の制御方法、作業車両用制御プログラム、作業車両用制御システム及び作業システム
JP7845258B2 (ja) * 2023-04-17 2026-04-14 トヨタ自動車株式会社 車両制御装置、車両制御方法、及び車両制御プログラム
US20250296567A1 (en) * 2024-03-21 2025-09-25 GM Global Technology Operations LLC Guided path plan

Citations (6)

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CN102774419A (zh) * 2011-05-05 2012-11-14 通用汽车环球科技运作有限责任公司 在车道自动对中过程中用于增强的转向优先控制检测的系统和方法
CN104837705A (zh) * 2012-11-30 2015-08-12 谷歌公司 启用和停用自动驾驶
JP2016159781A (ja) * 2015-03-02 2016-09-05 富士重工業株式会社 車両の走行制御装置
JP2016194816A (ja) * 2015-03-31 2016-11-17 アイシン・エィ・ダブリュ株式会社 道路形状検出システム、道路形状検出方法及びコンピュータプログラム
JP2016199163A (ja) * 2015-04-10 2016-12-01 トヨタ自動車株式会社 自動運転装置
JP2017081421A (ja) * 2015-10-28 2017-05-18 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム

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GB9317983D0 (en) * 1993-08-28 1993-10-13 Lucas Ind Plc A driver assistance system for a vehicle
US6370471B1 (en) 1999-04-09 2002-04-09 Robert Bosch Gmbh Automatic following guidance system for motor vehicles
JP2009214680A (ja) 2008-03-10 2009-09-24 Toyota Motor Corp 車線維持支援装置、制御パラメータ変更方法
DE102013224303A1 (de) * 2013-11-27 2015-05-28 Robert Bosch Gmbh Verfahren und Steuergerät zur situationsabhängigen Lenkhilfe bei einem Spurhalteassistenten für ein Fahrzeug
JP6375237B2 (ja) * 2015-01-28 2018-08-15 日立オートモティブシステムズ株式会社 自動運転制御装置
US10363958B2 (en) * 2016-07-26 2019-07-30 Steering Solutions Ip Holding Corporation Electric power steering mode determination and transitioning
US11061399B2 (en) * 2018-01-03 2021-07-13 Samsung Electronics Co., Ltd. System and method for providing information indicative of autonomous availability

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102774419A (zh) * 2011-05-05 2012-11-14 通用汽车环球科技运作有限责任公司 在车道自动对中过程中用于增强的转向优先控制检测的系统和方法
CN104837705A (zh) * 2012-11-30 2015-08-12 谷歌公司 启用和停用自动驾驶
JP2016159781A (ja) * 2015-03-02 2016-09-05 富士重工業株式会社 車両の走行制御装置
JP2016194816A (ja) * 2015-03-31 2016-11-17 アイシン・エィ・ダブリュ株式会社 道路形状検出システム、道路形状検出方法及びコンピュータプログラム
JP2016199163A (ja) * 2015-04-10 2016-12-01 トヨタ自動車株式会社 自動運転装置
JP2017081421A (ja) * 2015-10-28 2017-05-18 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム

Also Published As

Publication number Publication date
WO2020230301A1 (ja) 2020-11-19
CN113825691A (zh) 2021-12-21
EP3971060A4 (en) 2022-05-11
US11654962B2 (en) 2023-05-23
JP7156516B2 (ja) 2022-10-19
US20220212717A1 (en) 2022-07-07
JPWO2020230301A1 (https=) 2020-11-19
EP3971060B1 (en) 2023-11-22
EP3971060A1 (en) 2022-03-23

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