DE112018004361B4 - Vorrichtung zum festlegen eines zielfahrzeugs, system zum festlegen eines zielfahrzeugs und verfahren zum festlegen eines zielfahrzeugs - Google Patents

Vorrichtung zum festlegen eines zielfahrzeugs, system zum festlegen eines zielfahrzeugs und verfahren zum festlegen eines zielfahrzeugs Download PDF

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Publication number
DE112018004361B4
DE112018004361B4 DE112018004361.4T DE112018004361T DE112018004361B4 DE 112018004361 B4 DE112018004361 B4 DE 112018004361B4 DE 112018004361 T DE112018004361 T DE 112018004361T DE 112018004361 B4 DE112018004361 B4 DE 112018004361B4
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Prior art keywords
target vehicle
vehicle
setting
detection signal
preceding object
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DE112018004361.4T
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German (de)
English (en)
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DE112018004361T5 (de
Inventor
Yohei MASUI
Ryo MIZUNO
Takashi Maeda
Naoki KUSUMOTO
Yuki TEZUKA
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.)
Denso Corp
Toyota Motor Corp
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Denso Corp
Toyota Motor Corp
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Publication of DE112018004361T5 publication Critical patent/DE112018004361T5/de
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    • 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
    • B60K31/0008—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 including means for detecting potential obstacles in vehicle path
    • 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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60K31/0008—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 including means for detecting potential obstacles in vehicle path
    • B60K2031/0016—Identification of obstacles; Selection of a target vehicle
    • 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
    • B60K31/0008—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 including means for detecting potential obstacles in vehicle path
    • B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
    • 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
    • B60K31/0008—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 including means for detecting potential obstacles in vehicle path
    • B60K2031/0033—Detecting longitudinal speed or acceleration of target vehicle
    • 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
    • B60K31/0008—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 including means for detecting potential obstacles in vehicle path
    • B60K2031/0041—Detecting lateral speed of target vehicle
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/801—Lateral 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
    • B60W2554/806—Relative heading
    • 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
    • B60W2556/10—Historical data

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
DE112018004361.4T 2017-09-28 2018-07-27 Vorrichtung zum festlegen eines zielfahrzeugs, system zum festlegen eines zielfahrzeugs und verfahren zum festlegen eines zielfahrzeugs Active DE112018004361B4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2017187659A JP6805105B2 (ja) 2017-09-28 2017-09-28 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
JP2017-187659 2017-09-28
PCT/JP2018/028242 WO2019064875A1 (ja) 2017-09-28 2018-07-27 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

Publications (2)

Publication Number Publication Date
DE112018004361T5 DE112018004361T5 (de) 2020-09-24
DE112018004361B4 true DE112018004361B4 (de) 2024-11-14

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Country Link
US (2) US11235766B2 (https=)
JP (1) JP6805105B2 (https=)
CN (1) CN111149142B (https=)
DE (1) DE112018004361B4 (https=)
WO (1) WO2019064875A1 (https=)

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JP6669059B2 (ja) 2016-12-27 2020-03-18 トヨタ自動車株式会社 位置算出装置
JP7176478B2 (ja) 2019-06-14 2022-11-22 トヨタ自動車株式会社 画像認識装置
JP6953575B2 (ja) * 2020-03-25 2021-10-27 本田技研工業株式会社 車両制御装置、車両、車両制御方法およびプログラム
JP7264103B2 (ja) 2020-04-21 2023-04-25 トヨタ自動車株式会社 車両制御システム及び車両制御方法
JP7220192B2 (ja) * 2020-12-28 2023-02-09 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7355049B2 (ja) 2021-03-03 2023-10-03 トヨタ自動車株式会社 車両制御方法、車両制御システム、及び情報処理装置
KR102603672B1 (ko) * 2021-11-17 2023-11-21 한국생산기술연구원 농작업 차량의 자율주행장치, 시스템 및 그 방법
JP7600971B2 (ja) 2021-12-03 2024-12-17 トヨタ自動車株式会社 車載通知装置
JP7626102B2 (ja) 2022-06-20 2025-02-04 トヨタ自動車株式会社 運転支援装置
JP2024016501A (ja) 2022-07-26 2024-02-07 トヨタ自動車株式会社 車載カメラ遮蔽状態判定装置
JP7694515B2 (ja) 2022-09-14 2025-06-18 トヨタ自動車株式会社 画像処理装置および画像処理方法
JP7750206B2 (ja) 2022-10-19 2025-10-07 トヨタ自動車株式会社 車室内状態認識装置
JP7722336B2 (ja) 2022-11-11 2025-08-13 トヨタ自動車株式会社 運転支援装置
JP7694539B2 (ja) 2022-11-15 2025-06-18 トヨタ自動車株式会社 車載カメラの光軸位置調整方法及び光軸位置調整具
JP7697450B2 (ja) 2022-11-24 2025-06-24 トヨタ自動車株式会社 消失点探索装置
JP7690943B2 (ja) 2022-11-24 2025-06-11 トヨタ自動車株式会社 報知装置
FR3152777B1 (fr) * 2023-09-11 2025-08-15 Psa Automobiles Sa Sélection d’un véhicule cible pour une fonction d’aide à la conduite

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JPH08279099A (ja) 1995-04-06 1996-10-22 Nippondenso Co Ltd 車間距離制御装置
DE10149146A1 (de) 2001-10-05 2003-04-17 Bosch Gmbh Robert Geschwindigkeitsregler mit Abstandsregelfunktion
DE102016113286A1 (de) 2015-07-21 2017-01-26 GM Global Technology Operations LLC Verfahren und system für den betrieb eines adaptiven geschwindigkeitsregelungssystems

Also Published As

Publication number Publication date
JP6805105B2 (ja) 2020-12-23
DE112018004361T5 (de) 2020-09-24
US11235766B2 (en) 2022-02-01
CN111149142B (zh) 2022-09-27
WO2019064875A1 (ja) 2019-04-04
JP2019061613A (ja) 2019-04-18
US20200223438A1 (en) 2020-07-16
US20220111842A1 (en) 2022-04-14
CN111149142A (zh) 2020-05-12
US11975716B2 (en) 2024-05-07

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