CN114787013A - 驾驶控制方法及驾驶控制装置 - Google Patents

驾驶控制方法及驾驶控制装置 Download PDF

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Publication number
CN114787013A
CN114787013A CN201980102921.XA CN201980102921A CN114787013A CN 114787013 A CN114787013 A CN 114787013A CN 201980102921 A CN201980102921 A CN 201980102921A CN 114787013 A CN114787013 A CN 114787013A
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CN
China
Prior art keywords
vehicle
lane
lane change
processor
driving
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Pending
Application number
CN201980102921.XA
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English (en)
Chinese (zh)
Inventor
早川泰久
武田文纪
草富义也
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of CN114787013A publication Critical patent/CN114787013A/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
    • B60W30/18—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
    • B60W60/001—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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed 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
    • B60W30/18—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
    • 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
    • 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
    • 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
    • B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4026—Cycles
    • 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
    • B60W2554/4042—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN201980102921.XA 2019-12-10 2019-12-10 驾驶控制方法及驾驶控制装置 Pending CN114787013A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/048284 WO2021117132A1 (ja) 2019-12-10 2019-12-10 運転制御方法及び運転制御装置

Publications (1)

Publication Number Publication Date
CN114787013A true CN114787013A (zh) 2022-07-22

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980102921.XA Pending CN114787013A (zh) 2019-12-10 2019-12-10 驾驶控制方法及驾驶控制装置

Country Status (7)

Country Link
US (1) US12447991B2 (https=)
EP (1) EP4074567A4 (https=)
JP (1) JP7287498B2 (https=)
CN (1) CN114787013A (https=)
BR (1) BR112022011400A2 (https=)
MX (1) MX2022007039A (https=)
WO (1) WO2021117132A1 (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6912509B2 (ja) * 2019-03-27 2021-08-04 本田技研工業株式会社 車両制御装置、車両および車両制御方法
DE102020202986A1 (de) * 2020-03-10 2021-09-16 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Betreiben eines Motorrads
WO2021199964A1 (ja) * 2020-03-31 2021-10-07 株式会社デンソー 提示制御装置、提示制御プログラム、自動走行制御システムおよび自動走行制御プログラム
KR20210130302A (ko) * 2020-04-21 2021-11-01 주식회사 만도모빌리티솔루션즈 운전자 보조 시스템
JP7453897B2 (ja) * 2020-11-13 2024-03-21 本田技研工業株式会社 車両用電源装置、及び車両用電源装置の制御方法
JP7476833B2 (ja) * 2021-03-26 2024-05-01 トヨタ自動車株式会社 車両制御装置、車両制御用コンピュータプログラム及び車両制御方法
JP7586025B2 (ja) * 2021-08-04 2024-11-19 トヨタ自動車株式会社 走行制御装置、走行制御方法、および走行制御用コンピュータプログラム
US12319282B2 (en) * 2021-11-22 2025-06-03 Nissan Motor Co., Ltd. Travel assistance method and travel assistance device for vehicle
JP7528960B2 (ja) * 2022-01-11 2024-08-06 トヨタ自動車株式会社 運転支援装置
JP7422798B2 (ja) * 2022-03-25 2024-01-26 本田技研工業株式会社 運転支援装置、車両、運転支援方法、およびプログラム
JP2025018494A (ja) * 2023-07-27 2025-02-06 トヨタ自動車株式会社 車両用表示制御装置
KR20250018791A (ko) * 2023-07-31 2025-02-07 현대자동차주식회사 자율 주행 제어 장치 및 그 방법
US20250316172A1 (en) * 2024-04-04 2025-10-09 Toyota Motor Engineering & Manufacturing North America, Inc. Systems and methods for lane identification using connected vehicles data on horizontal curves
DE102024112978A1 (de) * 2024-05-08 2025-11-13 Bayerische Motoren Werke Aktiengesellschaft Automatisierte fahrzeugspurwechsel

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WO2018012674A1 (en) * 2016-07-11 2018-01-18 Lg Electronics Inc. Driver assistance apparatus and vehicle having the same
DE102017219813A1 (de) * 2017-11-08 2019-05-09 Hitachi Automotive Systems, Ltd. Verfahren und Vorrichtung zum Unterstützen eines Fahrers eines Eigenfahrzeugs
US20190184994A1 (en) * 2017-12-18 2019-06-20 Honda Motor Co., Ltd. Travel control apparatus of self-driving vehicle
WO2019142284A1 (ja) * 2018-01-18 2019-07-25 本田技研工業株式会社 車両制御装置

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JP6094337B2 (ja) * 2013-04-04 2017-03-15 日産自動車株式会社 運転制御装置
JP6470039B2 (ja) * 2014-12-26 2019-02-13 日立オートモティブシステムズ株式会社 車両制御システム
US9475491B1 (en) * 2015-06-08 2016-10-25 Toyota Motor Engineering & Manufacturing North America, Inc. Lane changing for autonomous vehicles
JP6508072B2 (ja) 2016-01-26 2019-05-08 株式会社デンソー 報知制御装置及び報知制御方法
JP2017178217A (ja) * 2016-03-31 2017-10-05 株式会社デンソー 支援装置
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Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
WO2018012674A1 (en) * 2016-07-11 2018-01-18 Lg Electronics Inc. Driver assistance apparatus and vehicle having the same
DE102017219813A1 (de) * 2017-11-08 2019-05-09 Hitachi Automotive Systems, Ltd. Verfahren und Vorrichtung zum Unterstützen eines Fahrers eines Eigenfahrzeugs
US20190184994A1 (en) * 2017-12-18 2019-06-20 Honda Motor Co., Ltd. Travel control apparatus of self-driving vehicle
WO2019142284A1 (ja) * 2018-01-18 2019-07-25 本田技研工業株式会社 車両制御装置

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Publication number Publication date
EP4074567A4 (en) 2023-03-29
EP4074567A1 (en) 2022-10-19
WO2021117132A1 (ja) 2021-06-17
BR112022011400A2 (pt) 2022-08-30
JP7287498B2 (ja) 2023-06-06
MX2022007039A (es) 2022-06-23
JPWO2021117132A1 (https=) 2021-06-17
US12447991B2 (en) 2025-10-21
US20230347926A1 (en) 2023-11-02

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