CN115707333B - 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
CN115707333B
CN115707333B CN202180004780.5A CN202180004780A CN115707333B CN 115707333 B CN115707333 B CN 115707333B CN 202180004780 A CN202180004780 A CN 202180004780A CN 115707333 B CN115707333 B CN 115707333B
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China
Prior art keywords
upper limit
acceleration
control device
acceleration upper
host vehicle
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CN202180004780.5A
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English (en)
Chinese (zh)
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CN115707333A (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
    • 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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • 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
    • 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
    • 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
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • 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
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2720/106—Longitudinal acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
CN202180004780.5A 2021-05-28 2021-05-28 驾驶控制方法及驾驶控制装置 Active CN115707333B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/020563 WO2022249490A1 (ja) 2021-05-28 2021-05-28 運転制御方法及び運転制御装置

Publications (2)

Publication Number Publication Date
CN115707333A CN115707333A (zh) 2023-02-17
CN115707333B true CN115707333B (zh) 2023-08-22

Family

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Application Number Title Priority Date Filing Date
CN202180004780.5A Active CN115707333B (zh) 2021-05-28 2021-05-28 驾驶控制方法及驾驶控制装置

Country Status (5)

Country Link
US (1) US12012104B2 (https=)
EP (1) EP4349674B1 (https=)
JP (1) JP7211551B1 (https=)
CN (1) CN115707333B (https=)
WO (1) WO2022249490A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11520338B2 (en) * 2020-02-27 2022-12-06 Uatc, Llc Systems and methods for vehicle spatial path sampling
JP7505448B2 (ja) * 2021-06-08 2024-06-25 株式会社アイシン 運転支援装置
JP7613344B2 (ja) * 2021-11-17 2025-01-15 トヨタ自動車株式会社 先行車選定装置、先行車選定方法及び先行車選定用コンピュータプログラム

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1139599A (ja) * 1997-07-16 1999-02-12 Nissan Motor Co Ltd 自動運転車両の自動合流システム
JP2006323686A (ja) * 2005-05-19 2006-11-30 Toyota Motor Corp 運転支援装置
CN101367382A (zh) * 2007-07-31 2009-02-18 日产自动车株式会社 车辆行驶控制装置及车辆行驶控制方法
JP2009137550A (ja) * 2007-12-10 2009-06-25 Toyota Motor Corp 走行制御装置
JP2009262895A (ja) * 2008-04-30 2009-11-12 Nissan Motor Co Ltd 車両用走行制御装置
JP2010076584A (ja) * 2008-09-25 2010-04-08 Hitachi Automotive Systems Ltd 加減速制御装置
JP2015102893A (ja) * 2013-11-21 2015-06-04 日産自動車株式会社 合流支援システム
JP2018118568A (ja) * 2017-01-24 2018-08-02 スズキ株式会社 走行制御装置
JP2019175097A (ja) * 2018-03-28 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の運転支援システム
CN110799399A (zh) * 2017-08-10 2020-02-14 日立汽车系统株式会社 车辆运动控制装置及其方法、和目标轨道生成装置及其方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1142955A (ja) * 1997-07-25 1999-02-16 Toyota Motor Corp 車両走行制御装置
JP2001030797A (ja) 1999-07-26 2001-02-06 Mazda Motor Corp 車両の走行制御装置
US7092815B2 (en) * 2003-12-17 2006-08-15 Vrbia, Inc. Traffic control systems for vehicle spacing to dissipate traffic gridlock
SE1450601A1 (sv) * 2014-05-21 2015-11-22 Scania Cv Ab Förfarande och system för anpassning av ett fordons framförande på en vägbana i samband med kurvkörning
JP2017001485A (ja) * 2015-06-09 2017-01-05 トヨタ自動車株式会社 車両の運転支援装置
EP3650294B1 (en) * 2017-07-03 2022-03-23 Nissan Motor Co., Ltd. Target vehicle speed generation method and target vehicle speed generation device of driving assistance vehicle
DE102018002335A1 (de) * 2018-03-21 2019-09-26 Zf Active Safety Gmbh Steuerungssystem und Steuerungsverfahren zum vorausschauenden Begrenzen einer Fahrzeugbeschleunigung
JP7137332B2 (ja) 2018-03-27 2022-09-14 株式会社Subaru 車両の走行制御装置
US11561548B2 (en) * 2020-09-11 2023-01-24 Uatc, Llc Systems and methods for generating basis paths for autonomous vehicle motion control

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1139599A (ja) * 1997-07-16 1999-02-12 Nissan Motor Co Ltd 自動運転車両の自動合流システム
JP2006323686A (ja) * 2005-05-19 2006-11-30 Toyota Motor Corp 運転支援装置
CN101367382A (zh) * 2007-07-31 2009-02-18 日产自动车株式会社 车辆行驶控制装置及车辆行驶控制方法
JP2009137550A (ja) * 2007-12-10 2009-06-25 Toyota Motor Corp 走行制御装置
JP2009262895A (ja) * 2008-04-30 2009-11-12 Nissan Motor Co Ltd 車両用走行制御装置
JP2010076584A (ja) * 2008-09-25 2010-04-08 Hitachi Automotive Systems Ltd 加減速制御装置
JP2015102893A (ja) * 2013-11-21 2015-06-04 日産自動車株式会社 合流支援システム
JP2018118568A (ja) * 2017-01-24 2018-08-02 スズキ株式会社 走行制御装置
CN110799399A (zh) * 2017-08-10 2020-02-14 日立汽车系统株式会社 车辆运动控制装置及其方法、和目标轨道生成装置及其方法
JP2019175097A (ja) * 2018-03-28 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の運転支援システム

Also Published As

Publication number Publication date
CN115707333A (zh) 2023-02-17
WO2022249490A1 (ja) 2022-12-01
US12012104B2 (en) 2024-06-18
US20230382387A1 (en) 2023-11-30
EP4349674B1 (en) 2025-08-27
JP7211551B1 (ja) 2023-01-24
EP4349674A4 (en) 2024-07-24
JPWO2022249490A1 (https=) 2022-12-01
EP4349674A1 (en) 2024-04-10

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