JP2009003650A - 車両走行推定装置 - Google Patents
車両走行推定装置 Download PDFInfo
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- JP2009003650A JP2009003650A JP2007162990A JP2007162990A JP2009003650A JP 2009003650 A JP2009003650 A JP 2009003650A JP 2007162990 A JP2007162990 A JP 2007162990A JP 2007162990 A JP2007162990 A JP 2007162990A JP 2009003650 A JP2009003650 A JP 2009003650A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W2554/00—Input parameters relating to objects
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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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
- 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 for navigation systems
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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, 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
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
Abstract
【解決手段】 車両軌跡推定ECU1は、第一軌跡予測部14において交通ルールを遵守する拘束条件の下で第一対象車両走行軌跡を求める。また、第二軌跡予測部15において交通ルールを遵守しないという条件の下で第二対象車両走行軌跡を求める。運転者特性算出部10は、車線方向と車軸方向とのずれである軸線ずれを取得する。この軸線ずれが小さい場合に、第一対象車両走行軌跡を利用軌跡として維持し、軸線ずれが大きい場合に、利用軌跡を第二対象車両走行軌跡に切り替える。
【選択図】 図1
Description
Claims (8)
- 自車両と衝突の可能性がある対象車両の走行軌跡を互いに異なる態様で推定する複数の対象車両走行軌跡推定手段と、
前記対象車両の特性を取得する特性検出手段と、
を備え、
前記対象車両の特性に基づいて前記対象車両走行軌跡推定手段を切り替えて、前記対象車両の走行軌跡を推定することを特徴とする車両走行軌跡推定装置。 - 前記特性検出手段は、前記対象車両を運転する運転者特性を取得する運転者特性取得手段を備えており、
前記運転者特性に基づいて前記対象車両走行軌跡推定手段を切り替えて、前記対象車両の走行軌跡を推定する請求項1に記載の車両走行軌跡推定装置。 - 前記運転者特性検出手段は、
前記対象車両の車軸の方向を取得する車軸方向取得手段と、
前記対象車両が走行する車線の方向を取得する車線方向取得手段と、
前記対象車両の車軸の方向と前記対象車両が走行する車線の方向とのずれの大きさを取得する軸線ずれ取得手段と、
を備えており、
前記車軸の方向と前記車線の方向とのずれの大きさに基づいて、前記対象車両走行軌跡推定手段を切り替えて、前記対象車両の走行軌跡を推定する請求項2に記載の車両走行軌跡推定装置。 - 前記運転者特性検出手段は、前記対象車両における運転者の他車両に対する反応に関する反応パラメータを取得するパラメータ取得手段を備えており、
前記対象車両における他車両に対する反応に関する反応パラメータに基づいて、前記対象車両走行軌跡推定手段を切り替えて、前記対象車両の走行軌跡を推定する請求項2に記載の車両走行軌跡推定装置。 - 前記反応パラメータは、前記対象車両における衝突に対するリスクの許容の度合いを表すパラメータである請求項4に記載の車両挙動推定装置。
- 前記反応パラメータは、前記対象車両のリスクに対する敏感度合いを表すパラメータである請求項4または請求項5に記載の車両走行軌跡推定装置。
- 前記リスクに対する敏感度合いを表すパラメータは、前記対象車両の運転者の覚醒度である請求項6に記載の車両走行軌跡推定装置。
- 前記特性検出手段は、前記対象車両の車両特性を検出する車両特性取得手段を備えており、
前記対象車両の車両特性に基づいて前記対象車両走行軌跡推定手段を切り替えて、前記対象車両の走行軌跡を推定する請求項1に記載の車両走行軌跡推定装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007162990A JP4207088B2 (ja) | 2007-06-20 | 2007-06-20 | 車両走行推定装置 |
AT08790617T ATE539427T1 (de) | 2007-06-20 | 2008-06-19 | Vorrichtung zur schätzung des fahrwegs eines fahrzeugs |
US12/522,797 US8781720B2 (en) | 2007-06-20 | 2008-06-19 | Vehicle travel track estimator |
CN2008800197652A CN101681562B (zh) | 2007-06-20 | 2008-06-19 | 车辆行驶轨迹推定装置 |
PCT/JP2008/061587 WO2008156201A1 (ja) | 2007-06-20 | 2008-06-19 | 車両走行軌跡推定装置 |
EP08790617A EP2172919B1 (en) | 2007-06-20 | 2008-06-19 | Vehicle travel track estimator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007162990A JP4207088B2 (ja) | 2007-06-20 | 2007-06-20 | 車両走行推定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009003650A true JP2009003650A (ja) | 2009-01-08 |
JP4207088B2 JP4207088B2 (ja) | 2009-01-14 |
Family
ID=40156353
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007162990A Active JP4207088B2 (ja) | 2007-06-20 | 2007-06-20 | 車両走行推定装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8781720B2 (ja) |
EP (1) | EP2172919B1 (ja) |
JP (1) | JP4207088B2 (ja) |
CN (1) | CN101681562B (ja) |
AT (1) | ATE539427T1 (ja) |
WO (1) | WO2008156201A1 (ja) |
Cited By (6)
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WO2011052247A1 (ja) * | 2009-10-30 | 2011-05-05 | トヨタ自動車株式会社 | 運転支援装置 |
JP2011170762A (ja) * | 2010-02-22 | 2011-09-01 | Toyota Motor Corp | 運転支援装置 |
JP2012022527A (ja) * | 2010-07-14 | 2012-02-02 | Denso Corp | 車両位置推定装置、および車両位置推定プログラム |
KR101714250B1 (ko) * | 2015-10-28 | 2017-03-08 | 현대자동차주식회사 | 주변 차량의 이동 경로의 예측 방법 |
WO2020121010A1 (ja) | 2018-12-11 | 2020-06-18 | 日産自動車株式会社 | 他車動作予測方法及び他車動作予測装置 |
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ATE539427T1 (de) | 2012-01-15 |
CN101681562A (zh) | 2010-03-24 |
US20100106418A1 (en) | 2010-04-29 |
EP2172919B1 (en) | 2011-12-28 |
US8781720B2 (en) | 2014-07-15 |
JP4207088B2 (ja) | 2009-01-14 |
WO2008156201A1 (ja) | 2008-12-24 |
EP2172919A4 (en) | 2011-05-11 |
EP2172919A1 (en) | 2010-04-07 |
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