JP2006199233A5 - - Google Patents

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Publication number
JP2006199233A5
JP2006199233A5 JP2005015653A JP2005015653A JP2006199233A5 JP 2006199233 A5 JP2006199233 A5 JP 2006199233A5 JP 2005015653 A JP2005015653 A JP 2005015653A JP 2005015653 A JP2005015653 A JP 2005015653A JP 2006199233 A5 JP2006199233 A5 JP 2006199233A5
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Japan
Prior art keywords
vehicle
host vehicle
avoidance position
host
surrounding environment
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JP2005015653A
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Japanese (ja)
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JP2006199233A (en
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Priority to JP2005015653A priority Critical patent/JP2006199233A/en
Priority claimed from JP2005015653A external-priority patent/JP2006199233A/en
Publication of JP2006199233A publication Critical patent/JP2006199233A/en
Publication of JP2006199233A5 publication Critical patent/JP2006199233A5/ja
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Claims (6)

自車両（３０）の周辺環境を検出する周辺環境検出手段（２）と、
前記周辺環境検出手段（２）での検出結果に基づいて、前記自車両（３０）に対して衝突する可能性がある他車両（２０）が迫ってくることを検出すると共に、該他車両（２０）が後方から衝突しようとしている場合には前記自車両（３０）の側方あるいは前方に、該他車両（２０）の回避を行うための回避位置を決める回避位置演算手段（１３０）と、
前記自車両（３０）が前記回避位置に移動するように、前記自車両（３０）の移動方向を制御する車両安全制御手段（６）と、を有していることを特徴とする車両用安全制御装置。 A surrounding environment detecting means (2) for detecting the surrounding environment of the host vehicle (30);
Based on the detection result of the surrounding environment detection means (2), it is detected that the other vehicle (20) that may collide with the own vehicle (30) is approaching, and the other vehicle ( 20) When the vehicle is about to collide from behind, avoidance position calculation means (130) for determining an avoidance position for avoiding the other vehicle (20) on the side or front of the host vehicle ( 30) ;
Vehicle safety control means (6) for controlling the moving direction of the host vehicle (30) so that the host vehicle (30) moves to the avoidance position. Control device. 自車両（３０）の周辺環境を検出する周辺環境検出手段（２）と、
前記周辺環境検出手段（２）での検出結果に基づいて、前記自車両（３０）に対して衝突する可能性がある他車両（２０）が迫ってくることを検出すると共に、該他車両（２０）が前方から衝突しようとしている場合には前記自車両（３０）の側方あるいは後方に該他車両（２０）の回避を行うための回避位置を決める回避位置演算手段（１３０）と、
前記自車両（３０）が前記回避位置に移動するように、前記自車両（３０）の移動方向を制御する車両安全制御手段（６）と、を有していることを特徴とする車両用安全制御装置。 A surrounding environment detecting means (2) for detecting the surrounding environment of the host vehicle (30);
Based on the detection result of the surrounding environment detection means (2), it is detected that the other vehicle (20) that may collide with the own vehicle (30) is approaching, and the other vehicle ( 20) when the vehicle is about to collide from the front, avoidance position calculation means (130) for determining an avoidance position for avoiding the other vehicle (20) to the side or rear of the host vehicle (30);
Vehicle safety control means (6) for controlling the moving direction of the host vehicle (30) so that the host vehicle (30) moves to the avoidance position. Control device. 前記回避位置演算手段（１３０）は、前記自車両（３０）が走行する道路の道幅に側方に回避する余裕が無い場合には、該自車両（３０）が前記他車両（２０）から逃げる前方または後方を回避位置として設定することを特徴とする前記請求項１または２に記載の車両用安全制御装置。 The avoidance position calculation means (130) escapes from the other vehicle (20) when the road width of the road on which the own vehicle (30) travels cannot afford to be avoided laterally. The vehicle safety control device according to claim 1 or 2, wherein the front or rear is set as an avoidance position. 前記回避位置演算手段（１３０）は、前記自車両（３０）が走行する道路の道幅に側方に回避する余裕が無く、かつ、該自車両の（３０）の前方に障害物（４０）が存在する場合には、該障害物（４０）と前記自車両（３０）との距離が最大となる位置を前記回避位置として設定することを特徴とする前記請求項１に記載の車両用安全制御装置。 The avoidance position calculation means (130) has no allowance for avoiding to the side in the width of the road on which the host vehicle (30) travels , and the obstacle (40) is in front of the host vehicle (30). 2. The vehicle safety control according to claim 1, wherein if present, a position at which a distance between the obstacle (40) and the host vehicle (30) is maximized is set as the avoidance position. apparatus. 前記回避位置演算手段（１３０）は、前記自車両（３０）が走行する道路の道幅に側方に回避する余裕があり、かつ、該自車両の（３０）の前方に障害物（４０）が存在する場合には、前記自車両（３０）の左右のいずれかを前記回避位置として設定することを特徴とする前記請求項１に記載の車両用安全制御装置。 The avoidance position calculation means (130) has a margin for avoiding laterally in the width of the road on which the host vehicle (30) travels , and an obstacle (40) is in front of the host vehicle (30). The vehicle safety control device according to claim 1, wherein, when the vehicle exists, the left or right of the host vehicle (30) is set as the avoidance position. 前記回避位置演算手段（１３０）は、前記自車両（３０）が走行する道路の道幅に側方に回避する余裕が無く、かつ、前記他車両（２０）が前記自車両（３０）の前方から衝突しようとしている場合には、該自車両（３０）の後方を前記回避位置として設定することを特徴とする前記請求項２に記載の車両用安全制御装置。 The avoidance position calculation means (130) has no allowance for avoiding sideways in the road width of the road on which the host vehicle (30) travels , and the other vehicle (20) is from the front of the host vehicle (30). 3. The vehicle safety control device according to claim 2 , wherein when the vehicle is about to collide, the rear of the host vehicle (30) is set as the avoidance position.
JP2005015653A 2005-01-24 2005-01-24 Safety control device for vehicle Pending JP2006199233A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2005015653A JP2006199233A (en) 2005-01-24 2005-01-24 Safety control device for vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2005015653A JP2006199233A (en) 2005-01-24 2005-01-24 Safety control device for vehicle

Publications (2)

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JP2006199233A JP2006199233A (en) 2006-08-03
JP2006199233A5 true JP2006199233A5 (en) 2007-11-15

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JP2008121583A (en) * 2006-11-13 2008-05-29 Toyota Motor Corp Vehicle control device
JP4893531B2 (en) * 2007-08-21 2012-03-07 株式会社デンソー Driving support system
JP5616190B2 (en) * 2010-10-08 2014-10-29 パイオニア株式会社 Pseudo-sound generator, pseudo-sound generation method, and sound output device
JP5729250B2 (en) * 2011-10-07 2015-06-03 株式会社デンソー Collision avoidance system
DE102013204893A1 (en) 2013-03-20 2014-09-25 Robert Bosch Gmbh Method and system for avoiding a collision in connection with vehicles
JP6115296B2 (en) * 2013-05-07 2017-04-19 株式会社デンソー Driving assistance device
JP6155963B2 (en) * 2013-08-21 2017-07-05 株式会社デンソー Collision mitigation device
JP6144181B2 (en) * 2013-11-25 2017-06-07 本田技研工業株式会社 Vehicle control apparatus and control method
US9809219B2 (en) * 2014-01-29 2017-11-07 Continental Automotive Systems, Inc. System for accommodating a pedestrian during autonomous vehicle operation
JP6332838B2 (en) * 2016-02-15 2018-05-30 マツダ株式会社 Driving assistance device
CN110177722B (en) 2017-01-19 2022-07-01 本田技研工业株式会社 Vehicle control system, vehicle control method, and storage medium
JP6967360B2 (en) * 2017-03-10 2021-11-17 株式会社Subaru Image display device
JP6874456B2 (en) * 2017-03-22 2021-05-19 日本電気株式会社 Anti-collision devices, communication systems, anti-collision methods, and computer programs
CN107161143A (en) * 2017-05-18 2017-09-15 江苏大学 A kind of vehicle active collision avoidance method of use Artificial Potential Field Method
JP7245069B2 (en) * 2019-02-18 2023-03-23 株式会社Subaru Vehicle travel control device

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JPH10211886A (en) * 1997-01-29 1998-08-11 Honda Motor Co Ltd Steering device for vehicle
JP2000313323A (en) * 1999-05-06 2000-11-14 Toyota Motor Corp Brake control device for vehicle
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JP4075701B2 (en) * 2003-06-23 2008-04-16 株式会社デンソー Collision avoidance device

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