DE112011105821B4 - Fahrzeugfahrspursteuervorrichtung - Google Patents

Fahrzeugfahrspursteuervorrichtung Download PDF

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Publication number
DE112011105821B4
DE112011105821B4 DE112011105821.7T DE112011105821T DE112011105821B4 DE 112011105821 B4 DE112011105821 B4 DE 112011105821B4 DE 112011105821 T DE112011105821 T DE 112011105821T DE 112011105821 B4 DE112011105821 B4 DE 112011105821B4
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Germany
Prior art keywords
vehicle
lane
steered
target
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE112011105821.7T
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German (de)
English (en)
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DE112011105821T5 (de
Inventor
c/o TOYOTA JIDOSHA KABUSHIKI K Mitsumoto Hisanori
c/o TOYOTA JIDOSHA KABUSHIKI K Kojo Takahiro
c/o TOYOTA JIDOSHA KABUSHIKI KAISH Kunihiro Yoji
c/o TOYOTA JIDOSHA KABUSHIKI KAISH Takashima Toru
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.)
Toyota Motor Corp
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Toyota Motor Corp
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Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of DE112011105821T5 publication Critical patent/DE112011105821T5/de
Application granted granted Critical
Publication of DE112011105821B4 publication Critical patent/DE112011105821B4/de
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    • 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
    • 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
    • B60W30/10—Path 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
    • B60W30/10—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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/101—Side slip angle of tyre
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • 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
    • B60W2710/207—Steering angle of wheels

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
DE112011105821.7T 2011-11-08 2011-11-08 Fahrzeugfahrspursteuervorrichtung Active DE112011105821B4 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/075766 WO2013069099A1 (ja) 2011-11-08 2011-11-08 車両の走行軌跡制御装置

Publications (2)

Publication Number Publication Date
DE112011105821T5 DE112011105821T5 (de) 2014-08-21
DE112011105821B4 true DE112011105821B4 (de) 2018-12-13

Family

ID=48288686

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112011105821.7T Active DE112011105821B4 (de) 2011-11-08 2011-11-08 Fahrzeugfahrspursteuervorrichtung

Country Status (6)

Country Link
US (1) US9168953B2 (https=)
JP (1) JP5747998B2 (https=)
CN (1) CN103917432B (https=)
DE (1) DE112011105821B4 (https=)
IN (1) IN2014DN03198A (https=)
WO (1) WO2013069099A1 (https=)

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CN104442814B (zh) * 2014-10-31 2016-07-06 重庆长安汽车股份有限公司 基于偏差预测算法的车道保持及自动对中系统和方法
KR101635831B1 (ko) * 2014-11-27 2016-07-05 연세대학교 산학협력단 차량 위치 인식 장치 및 방법
DE102014226764A1 (de) * 2014-12-22 2016-06-23 Robert Bosch Gmbh Verfahren und Vorrichtung zum Führen eines Fahrzeugs auf einer Fahrspur
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
DE102015203270B4 (de) * 2015-02-24 2026-02-05 Robert Bosch Gmbh Verfahren und Vorrichtung zum Anpassen einer Fahrzeuggeschwindigkeit für ein Fahrzeug
CN104773202B (zh) * 2015-03-04 2017-12-12 郑州机械研究所 汽车、单轮组/双轮组无轨列车及其循迹转向控制方法
EP3109844B1 (en) * 2015-06-23 2023-11-22 Volvo Car Corporation Object detecting arrangement
WO2017010344A1 (ja) * 2015-07-15 2017-01-19 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
WO2017163366A1 (ja) * 2016-03-24 2017-09-28 日産自動車株式会社 走路推定方法及び走路推定装置
JP6519545B2 (ja) * 2016-07-21 2019-05-29 トヨタ自動車株式会社 車両用運転支援装置
JP6583183B2 (ja) * 2016-08-04 2019-10-02 トヨタ自動車株式会社 車両制御装置
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JP6569647B2 (ja) * 2016-11-11 2019-09-04 トヨタ自動車株式会社 車両の車線逸脱防止装置
CN110088803B (zh) * 2016-12-26 2023-05-12 日立安斯泰莫株式会社 摄像装置
CN110300694A (zh) * 2017-02-17 2019-10-01 蒂森克虏伯普利斯坦股份公司 车辆横向运动控制
CN112738858B (zh) 2017-03-24 2022-05-31 华为技术有限公司 切换的方法和设备
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JP6642522B2 (ja) * 2017-06-06 2020-02-05 トヨタ自動車株式会社 車線変更支援装置
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US20190241180A1 (en) * 2018-02-07 2019-08-08 Baidu Usa Llc Lane self-localization system using multiple cameras for autonomous driving vehicles
CN110276985B (zh) 2018-03-16 2020-12-15 华为技术有限公司 自动驾驶安全评估方法、装置和系统
CN108820043B (zh) * 2018-06-12 2021-06-01 上海工程技术大学 一种基于双侧轮速的汽车转向自动提醒方法及装置
JP7147546B2 (ja) * 2018-12-25 2022-10-05 トヨタ自動車株式会社 車両のスリップ角推定装置
KR102034316B1 (ko) 2019-01-29 2019-11-08 주식회사 만도 차량 위치 보정 시스템 및 방법, 그리고 카메라
CN110262509B (zh) * 2019-07-10 2022-06-28 百度在线网络技术（北京）有限公司 车辆自动驾驶方法和装置
CN111645756B (zh) * 2020-05-29 2021-10-08 摩登汽车有限公司 转向控制方法
JP7235015B2 (ja) 2020-07-17 2023-03-08 トヨタ自動車株式会社 自動操舵システム
JP7719596B2 (ja) * 2020-10-05 2025-08-06 株式会社Subaru 車両の車線逸脱抑制制御装置
JP7620266B2 (ja) 2022-03-03 2025-01-23 トヨタ自動車株式会社 車両制御システム
CN115092134B (zh) * 2022-06-29 2024-08-16 长春一汽富晟集团有限公司 一种车辆车道居中保持系统及方法
JP2024030217A (ja) 2022-08-24 2024-03-07 トヨタ自動車株式会社 車線逸脱防止装置
JP2024032082A (ja) 2022-08-29 2024-03-12 トヨタ自動車株式会社 車線逸脱防止装置
JP7718366B2 (ja) 2022-09-26 2025-08-05 トヨタ自動車株式会社 運転支援システム
JP7740190B2 (ja) 2022-10-06 2025-09-17 トヨタ自動車株式会社 車両制御装置
JP7787498B2 (ja) 2022-10-19 2025-12-17 トヨタ自動車株式会社 車両の制御装置
CN115599875B (zh) * 2022-10-24 2026-02-06 西北工业大学 一种轨迹异常检测方法、系统及产品
JP2024082331A (ja) 2022-12-08 2024-06-20 トヨタ自動車株式会社 車両制御装置
JP2024101711A (ja) 2023-01-18 2024-07-30 トヨタ自動車株式会社 運転支援装置および該運転支援装置を備えた運転支援システム
JP2024104067A (ja) 2023-01-23 2024-08-02 トヨタ自動車株式会社 車両制御装置
JP7835181B2 (ja) 2023-03-08 2026-03-25 トヨタ自動車株式会社 操舵制御装置及び操舵制御方法
JP7838505B2 (ja) 2023-03-15 2026-04-01 トヨタ自動車株式会社 車両制御装置、車両制御方法及びプログラム
JP2024148245A (ja) 2023-04-05 2024-10-18 トヨタ自動車株式会社 車両運転支援装置、車両運転支援方法及び車両運転支援プログラム
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
JP2025033405A (ja) 2023-08-29 2025-03-13 トヨタ自動車株式会社 車両制御装置
JP7845331B2 (ja) 2023-10-24 2026-04-14 トヨタ自動車株式会社 車両制御装置及びプログラム
JP2025133462A (ja) 2024-03-01 2025-09-11 トヨタ自動車株式会社 運転支援装置

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JP2008250904A (ja) 2007-03-30 2008-10-16 Toyota Motor Corp 車線区分線情報検出装置、走行車線維持装置、車線区分線認識方法
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DE102007025147A1 (de) 2007-05-30 2008-12-04 Bayerische Motoren Werke Aktiengesellschaft System zur Spurverlassenswarnung und/oder Spurhaltefunktion

Also Published As

Publication number Publication date
DE112011105821T5 (de) 2014-08-21
IN2014DN03198A (https=) 2015-05-22
CN103917432B (zh) 2016-06-15
WO2013069099A1 (ja) 2013-05-16
JP5747998B2 (ja) 2015-07-15
JPWO2013069099A1 (ja) 2015-04-02
US20140257640A1 (en) 2014-09-11
CN103917432A (zh) 2014-07-09
US9168953B2 (en) 2015-10-27

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