DE112015005377T8 - Fahrzeugfahrtregelungsvorrichtung und fahrzeugfahrtregelungsverfahren - Google Patents
Fahrzeugfahrtregelungsvorrichtung und fahrzeugfahrtregelungsverfahren Download PDFInfo
- Publication number
- DE112015005377T8 DE112015005377T8 DE112015005377.8T DE112015005377T DE112015005377T8 DE 112015005377 T8 DE112015005377 T8 DE 112015005377T8 DE 112015005377 T DE112015005377 T DE 112015005377T DE 112015005377 T8 DE112015005377 T8 DE 112015005377T8
- Authority
- DE
- Germany
- Prior art keywords
- vehicle driving
- driving device
- driving method
- vehicle
- driving
- 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
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014242237A JP6356586B2 (ja) | 2014-11-28 | 2014-11-28 | 車両の走行制御装置 |
JP2014-242237 | 2014-11-28 | ||
PCT/JP2015/079110 WO2016084506A1 (ja) | 2014-11-28 | 2015-10-15 | 車両の走行制御装置及び走行制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE112015005377T5 DE112015005377T5 (de) | 2017-08-10 |
DE112015005377T8 true DE112015005377T8 (de) | 2017-08-31 |
Family
ID=56074084
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE112015005377.8T Active DE112015005377T8 (de) | 2014-11-28 | 2015-10-15 | Fahrzeugfahrtregelungsvorrichtung und fahrzeugfahrtregelungsverfahren |
Country Status (5)
Country | Link |
---|---|
US (1) | US10345443B2 (de) |
JP (1) | JP6356586B2 (de) |
CN (1) | CN107000749B (de) |
DE (1) | DE112015005377T8 (de) |
WO (1) | WO2016084506A1 (de) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10562531B2 (en) * | 2016-04-28 | 2020-02-18 | Hyundai Motor Company | Adaptive cruise control apparatus and method thereof |
JP6723079B2 (ja) * | 2016-06-08 | 2020-07-15 | 日立オートモティブシステムズ株式会社 | 物体距離検出装置 |
JP6515898B2 (ja) * | 2016-09-29 | 2019-05-22 | トヨタ自動車株式会社 | 物標レーン関係認識装置 |
JP6592423B2 (ja) * | 2016-11-25 | 2019-10-16 | 株式会社デンソー | 車両制御装置 |
US11004000B1 (en) * | 2017-01-30 | 2021-05-11 | Waymo Llc | Predicting trajectory intersection by another road user |
JP6539297B2 (ja) * | 2017-03-31 | 2019-07-03 | 株式会社Subaru | 車両の走行支援装置 |
JP6558393B2 (ja) * | 2017-04-06 | 2019-08-14 | トヨタ自動車株式会社 | 進路設定装置及び進路設定方法 |
JP2018197059A (ja) * | 2017-05-24 | 2018-12-13 | トヨタ自動車株式会社 | 衝突回避制御装置 |
JP6881175B2 (ja) * | 2017-09-13 | 2021-06-02 | トヨタ自動車株式会社 | 運転支援装置、および、運転支援装置の制御方法 |
JP6805105B2 (ja) * | 2017-09-28 | 2020-12-23 | 株式会社デンソー | 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法 |
DE102018210346A1 (de) * | 2018-06-26 | 2020-01-02 | Zf Friedrichshafen Ag | System und Verfahren zum Bestimmen eines Lateralversatzes einer Wechselbrücke in Relation zu einem Fahrzeug |
KR102448164B1 (ko) * | 2018-07-20 | 2022-09-28 | 현대모비스 주식회사 | 차량용 레이더 제어 장치 및 방법 |
JP6970065B2 (ja) * | 2018-09-06 | 2021-11-24 | 株式会社Soken | 物体検出装置 |
JP7096114B2 (ja) * | 2018-09-25 | 2022-07-05 | 本田技研工業株式会社 | センサ軸調整装置及びセンサ軸調整方法 |
JP7109602B2 (ja) * | 2019-02-14 | 2022-07-29 | 三菱電機株式会社 | 車間距離制御装置 |
WO2021024711A1 (ja) * | 2019-08-02 | 2021-02-11 | 日立オートモティブシステムズ株式会社 | エイミング装置、運転制御システム、及びセンサデータの補正量の計算方法 |
CN112818727A (zh) * | 2019-11-18 | 2021-05-18 | 华为技术有限公司 | 一种道路约束确定方法及装置 |
WO2021140811A1 (ja) * | 2020-01-10 | 2021-07-15 | 日立Astemo株式会社 | センサエイミング装置、運転制御システム、及び補正量の推定方法 |
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 |
CN112697128B (zh) * | 2020-12-04 | 2024-03-01 | 盐城中科高通量计算研究院有限公司 | 一种巡逻车用路线循迹方法 |
KR102474641B1 (ko) * | 2020-12-07 | 2022-12-06 | 국민대학교산학협력단 | 주행 차량의 차선 이탈 방지 장치 및 방법 |
CN116755450B (zh) * | 2023-07-24 | 2024-04-09 | 北京思明启创科技有限公司 | 一种巡线小车的控制方法、装置、电子设备和存储介质 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3565638B2 (ja) * | 1995-11-21 | 2004-09-15 | 富士通テン株式会社 | Fm−cwレーダ故障検知装置 |
US6087975A (en) * | 1997-06-25 | 2000-07-11 | Honda Giken Kogyo Kabushiki Kaisha | Object detecting system for vehicle |
JP3314007B2 (ja) * | 1997-06-25 | 2002-08-12 | 本田技研工業株式会社 | 車両の物体検知装置 |
DE19855400A1 (de) | 1998-12-01 | 2000-06-15 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Bestimmung eines zukünftigen Kursbereichs eines Fahrzeugs |
KR100466458B1 (ko) * | 1999-09-20 | 2005-01-14 | 마츠시타 덴끼 산교 가부시키가이샤 | 운전지원장치 |
JP2004085258A (ja) * | 2002-08-23 | 2004-03-18 | Hitachi Ltd | レーダ装置 |
JP2006240453A (ja) * | 2005-03-02 | 2006-09-14 | Daihatsu Motor Co Ltd | センサ異常検出装置及びセンサ異常検出方法 |
JP4207088B2 (ja) * | 2007-06-20 | 2009-01-14 | トヨタ自動車株式会社 | 車両走行推定装置 |
GB2490878B8 (en) * | 2011-05-12 | 2014-07-23 | Jaguar Cars | Monitoring apparatus and method |
JP5626151B2 (ja) * | 2011-07-12 | 2014-11-19 | 株式会社デンソー | 車両用制御装置 |
JP2013152540A (ja) * | 2012-01-24 | 2013-08-08 | Toyota Motor Corp | 走行車線認識装置 |
US8930063B2 (en) * | 2012-02-22 | 2015-01-06 | GM Global Technology Operations LLC | Method for determining object sensor misalignment |
JP5505453B2 (ja) * | 2012-04-26 | 2014-05-28 | 株式会社デンソー | 車両用挙動制御装置 |
US9274525B1 (en) * | 2012-09-28 | 2016-03-01 | Google Inc. | Detecting sensor degradation by actively controlling an autonomous vehicle |
-
2014
- 2014-11-28 JP JP2014242237A patent/JP6356586B2/ja active Active
-
2015
- 2015-10-15 US US15/529,920 patent/US10345443B2/en active Active
- 2015-10-15 WO PCT/JP2015/079110 patent/WO2016084506A1/ja active Application Filing
- 2015-10-15 DE DE112015005377.8T patent/DE112015005377T8/de active Active
- 2015-10-15 CN CN201580064929.3A patent/CN107000749B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN107000749B (zh) | 2019-05-10 |
JP6356586B2 (ja) | 2018-07-11 |
US20170329000A1 (en) | 2017-11-16 |
CN107000749A (zh) | 2017-08-01 |
US10345443B2 (en) | 2019-07-09 |
DE112015005377T5 (de) | 2017-08-10 |
WO2016084506A1 (ja) | 2016-06-02 |
JP2016103225A (ja) | 2016-06-02 |
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R082 | Change of representative |
Representative=s name: WINTER, BRANDL - PARTNERSCHAFT MBB, PATENTANWA, DE Representative=s name: WINTER, BRANDL, FUERNISS, HUEBNER, ROESS, KAIS, DE |
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R082 | Change of representative |
Representative=s name: WINTER, BRANDL - PARTNERSCHAFT MBB, PATENTANWA, DE Representative=s name: WINTER, BRANDL, FUERNISS, HUEBNER, ROESS, KAIS, DE |
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R016 | Response to examination communication |