JP2009245120A - 交差点見通し検出装置 - Google Patents
交差点見通し検出装置 Download PDFInfo
- Publication number
- JP2009245120A JP2009245120A JP2008090195A JP2008090195A JP2009245120A JP 2009245120 A JP2009245120 A JP 2009245120A JP 2008090195 A JP2008090195 A JP 2008090195A JP 2008090195 A JP2008090195 A JP 2008090195A JP 2009245120 A JP2009245120 A JP 2009245120A
- Authority
- JP
- Japan
- Prior art keywords
- intersection
- line
- sight
- prospect
- determination area
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 27
- 239000013598 vector Substances 0.000 abstract description 8
- 238000013459 approach Methods 0.000 abstract 1
- 238000003745 diagnosis Methods 0.000 description 16
- 238000004891 communication Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 238000012790 confirmation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Traffic Control Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
【解決手段】 交差点見通し検出装置は、交差点の見通し検出処理を行うECUを備えている。ECUは、自車両が一時停止交差点に接近すると、自車両の軌道ベクトルと交差点の左右両方から来ると想定される交差オブジェクトの仮想軌道ベクトルとが交わるコンフリクトポイントを算出する。コンフリクトポイントは、各交差オブジェクトの種類及び走行位置の情報に基づいて求められる。そして、ECUは、各コンフリクトポイントの位置と左右の見通し対象距離と自車両の現在位置とに基づいて、自車両から見た交差点の見通し判定エリアを設定し、この見通し判定エリアから、交差点の見通しの良否を表す見通しパラメータである見通し距離を算出する。
【選択図】 図2
Description
停止距離=速度(km/h)/3600×0.75(s)+速度2/(2×9.8×摩擦係数)
停止距離=60000/3600×0.75+(60000/3600)2/(2×9.8×0.7)=32.7m
となり、交差点の左方から来る自転車がいると想定した場合には、
停止距離=30000/3600×0.75+(30000/3600)2/(2×9.8×0.4)=14.1m
となる。従って、右方見通し対象距離D2は32.7mとなり、左方見通し対象距離D3は14.1mとなる。
α=arctan(D2/D1a)
β=arctan(D3/D1b)
Claims (4)
- 自車両が進入する交差点の見通しを検出する交差点見通し検出装置において、
前記自車両が進入する交差点に関する情報を取得する交差点情報取得手段と、
前記交差点に関する情報に基づいて、前記自車両から見た前記交差点の見通しの良否を表す見通しパラメータを求める見通しパラメータ決定手段とを備え、
前記交差点情報取得手段は、前記交差点に関する情報として、前記交差点を交差すると想定される交差オブジェクトの種類及び走行位置を含む情報を取得することを特徴とする交差点見通し検出装置。 - 前記見通しパラメータ決定手段は、前記交差オブジェクトの種類及び走行位置を含む情報に基づいて、前記自車両から見た前記交差点の見通し判定エリアを設定し、前記見通し判定エリアから前記見通しパラメータを求めることを特徴とする請求項1記載の交差点見通し検出装置。
- 前記見通し判定エリア内に遮蔽物があるか否かを検出する遮蔽物検出手段を更に備え、
前記見通しパラメータ決定手段は、前記遮蔽物検出手段の検出信号に基づいて、前記見通し判定エリア内における前記遮蔽物の占有率が所定値以下であるかどうかを判定し、前記遮蔽物の占有率が所定値以下となった時の前記見通し判定エリアから前記見通しパラメータを求めることを特徴とする請求項2記載の交差点見通し検出装置。 - 前記交差点が左側通行であり、
前記見通しパラメータ決定手段は、前記交差点の右方の見通し判定エリアを前記交差点の左方の見通し判定エリアよりも広く設定することを特徴とする請求項2または3記載の交差点見通し検出装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008090195A JP4604103B2 (ja) | 2008-03-31 | 2008-03-31 | 交差点見通し検出装置 |
EP09728491A EP2260483A1 (en) | 2008-03-31 | 2009-03-27 | Intersection visibility determination device, vehicle with intersection visibility determination device, and method for determining intersection visibility |
CN200980109988.2A CN101978404B (zh) | 2008-03-31 | 2009-03-27 | 交叉口可见度确定设备、带有交叉口可见度确定设备的车辆,和用于确定交叉口可见度的方法 |
US12/935,759 US8451141B2 (en) | 2008-03-31 | 2009-03-27 | Intersection visibility determination device, vehicle with intersection visibility determination device, and method for determining intersection visibility |
PCT/IB2009/005346 WO2009122284A1 (en) | 2008-03-31 | 2009-03-27 | Intersection visibility determination device, vehicle with intersection visibility determination device, and method for determining intersection visibility |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008090195A JP4604103B2 (ja) | 2008-03-31 | 2008-03-31 | 交差点見通し検出装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009245120A true JP2009245120A (ja) | 2009-10-22 |
JP4604103B2 JP4604103B2 (ja) | 2010-12-22 |
Family
ID=40959047
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008090195A Active JP4604103B2 (ja) | 2008-03-31 | 2008-03-31 | 交差点見通し検出装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8451141B2 (ja) |
EP (1) | EP2260483A1 (ja) |
JP (1) | JP4604103B2 (ja) |
CN (1) | CN101978404B (ja) |
WO (1) | WO2009122284A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014002460A (ja) * | 2012-06-15 | 2014-01-09 | Toyota Motor Corp | 運転支援装置 |
JP2014109870A (ja) * | 2012-11-30 | 2014-06-12 | Fujitsu Ltd | 運転評価装置、方法、プログラム及び運転評価用車載機 |
JP2014194625A (ja) * | 2013-03-28 | 2014-10-09 | Fujitsu Ltd | 目視確認評価装置、方法及びプログラム |
KR20150011282A (ko) * | 2013-07-22 | 2015-01-30 | 현대모비스 주식회사 | 차량 충돌 방지 장치 및 방법 |
WO2019073526A1 (ja) * | 2017-10-10 | 2019-04-18 | 日産自動車株式会社 | 運転制御方法及び運転制御装置 |
CN114067569A (zh) * | 2022-01-14 | 2022-02-18 | 华砺智行(武汉)科技有限公司 | V2x车联网环境下车辆左转辅助预警方法 |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4614005B2 (ja) * | 2009-02-27 | 2011-01-19 | トヨタ自動車株式会社 | 移動軌跡生成装置 |
JPWO2014002187A1 (ja) * | 2012-06-26 | 2016-05-26 | トヨタ自動車株式会社 | 車両用警告装置 |
TWI545041B (zh) * | 2012-10-30 | 2016-08-11 | 原相科技股份有限公司 | 車用監測暨警示系統 |
CN105324661B (zh) * | 2013-06-26 | 2019-07-05 | 飞利浦灯具控股公司 | 采用基于传感器的照明器探测能见度降低的区域及其移动方向的装置和方法 |
MX345733B (es) * | 2013-07-19 | 2017-02-14 | Nissan Motor | Dispositivo de asistencia a la conduccion para vehiculo y metodo de asistencia a la conduccion para vehiculo. |
EP2853444B1 (en) * | 2013-09-26 | 2017-08-30 | Fico Mirrors S.A. | Mirror device for motor vehicles and method for assembling thereof |
US9207677B2 (en) * | 2014-01-02 | 2015-12-08 | Automotive Research & Testing Center | Vehicle positioning method and its system |
US9081383B1 (en) | 2014-01-22 | 2015-07-14 | Google Inc. | Enhancing basic roadway-intersection models using high intensity image data |
DE202014003224U1 (de) * | 2014-04-15 | 2015-07-20 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Fahrerassistenzsystem zur Warnung eines Fahrers vor eineKollision mit einem anderen Verkehrsteilnehmer |
US9810783B2 (en) * | 2014-05-15 | 2017-11-07 | Empire Technology Development Llc | Vehicle detection |
CN104700629B (zh) * | 2014-11-04 | 2017-08-04 | 南通大学 | 一种高速公路团雾的监测预警系统及方法 |
KR101617345B1 (ko) * | 2014-12-03 | 2016-05-02 | 현대모비스 주식회사 | 차량의 주행차로 추정 시스템 및 방법 |
US11138349B2 (en) | 2015-12-04 | 2021-10-05 | International Business Machines Corporation | System and method for simulating traffic flow distributions with approximated vehicle behavior near intersections |
US10445603B1 (en) * | 2015-12-11 | 2019-10-15 | Lytx, Inc. | System for capturing a driver image |
KR101826408B1 (ko) * | 2016-03-03 | 2018-03-22 | 엘지전자 주식회사 | 디스플레이 장치 및 이를 포함하는 차량 |
US9813973B2 (en) * | 2016-04-03 | 2017-11-07 | Siklu Communication ltd. | Embedded millimeter-wave components |
JP2019531560A (ja) * | 2016-07-05 | 2019-10-31 | ナウト, インコーポレイテッドNauto, Inc. | 自動運転者識別システムおよび方法 |
US10026321B2 (en) * | 2016-10-31 | 2018-07-17 | Delphi Technologies, Inc. | Automated vehicle cross-traffic detection system |
US9959767B1 (en) | 2016-11-03 | 2018-05-01 | GM Global Technology Operations LLC | Method and apparatus for warning of objects |
SG11201913444XA (en) * | 2017-07-03 | 2020-01-30 | Gp Network Asia Pte Ltd | Processing payments |
US10969785B2 (en) * | 2017-07-24 | 2021-04-06 | Motional Ad Llc | Automated vehicle operation to compensate for sensor field-of-view limitations |
JP6583697B2 (ja) * | 2017-09-26 | 2019-10-02 | 本田技研工業株式会社 | 周辺監視装置、制御装置、周辺監視方法、およびプログラム |
JP6972885B2 (ja) * | 2017-10-12 | 2021-11-24 | トヨタ自動車株式会社 | 情報処理装置および車両システム |
CN107731009A (zh) * | 2017-11-28 | 2018-02-23 | 吉林大学 | 一种适用于无信号灯交叉路口车辆避人、避撞系统及方法 |
EP3588006B1 (en) * | 2018-06-28 | 2021-08-11 | Continental Automotive GmbH | Determining visibility distances based a on dynamic field of view of a vehicle |
US11643073B2 (en) * | 2019-10-24 | 2023-05-09 | Zoox, Inc. | Trajectory modifications based on a collision zone |
US20220392188A1 (en) * | 2021-04-27 | 2022-12-08 | ARETé ASSOCIATES | Systems and methods for estimating visibility in a scene |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10250507A (ja) * | 1997-03-07 | 1998-09-22 | Calsonic Corp | 車両用距離警報装置 |
JP2005063398A (ja) * | 2003-06-16 | 2005-03-10 | Fujitsu Ten Ltd | 車両制御装置 |
JP2006024103A (ja) * | 2004-07-09 | 2006-01-26 | Honda Motor Co Ltd | 車両の走行支援装置 |
JP2007336466A (ja) * | 2006-06-19 | 2007-12-27 | Nissan Motor Co Ltd | 車両用周辺情報提示装置及び車両用周辺情報提示方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002240659A (ja) * | 2001-02-14 | 2002-08-28 | Nissan Motor Co Ltd | 車両周囲の状況を判断する装置 |
JP2003099898A (ja) | 2001-09-25 | 2003-04-04 | Nissan Motor Co Ltd | 運転者将来状況予測装置 |
JP3878008B2 (ja) | 2001-12-07 | 2007-02-07 | 株式会社日立製作所 | 車両用走行制御装置及び地図情報データ記録媒体 |
JP3991804B2 (ja) | 2002-07-24 | 2007-10-17 | 日産自動車株式会社 | 運転者将来状況予測装置 |
JP3772838B2 (ja) * | 2003-02-12 | 2006-05-10 | トヨタ自動車株式会社 | 車両用運転支援装置及び車両用制御装置 |
US6967593B2 (en) * | 2003-06-26 | 2005-11-22 | International Business Machines Corporation | Emergency vehicle approach warning method and system |
KR100559870B1 (ko) * | 2003-11-04 | 2006-03-13 | 현대자동차주식회사 | 차량의 주행차로 변경방법 |
JP4380550B2 (ja) * | 2004-03-31 | 2009-12-09 | 株式会社デンソー | 車載用撮影装置 |
JP2006072830A (ja) * | 2004-09-03 | 2006-03-16 | Aisin Aw Co Ltd | 運転支援システム及び運転支援モジュール |
JP4614098B2 (ja) | 2006-03-28 | 2011-01-19 | アイシン・エィ・ダブリュ株式会社 | 周辺状況認識装置及び方法 |
-
2008
- 2008-03-31 JP JP2008090195A patent/JP4604103B2/ja active Active
-
2009
- 2009-03-27 WO PCT/IB2009/005346 patent/WO2009122284A1/en active Application Filing
- 2009-03-27 CN CN200980109988.2A patent/CN101978404B/zh active Active
- 2009-03-27 US US12/935,759 patent/US8451141B2/en active Active
- 2009-03-27 EP EP09728491A patent/EP2260483A1/en not_active Ceased
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10250507A (ja) * | 1997-03-07 | 1998-09-22 | Calsonic Corp | 車両用距離警報装置 |
JP2005063398A (ja) * | 2003-06-16 | 2005-03-10 | Fujitsu Ten Ltd | 車両制御装置 |
JP2006024103A (ja) * | 2004-07-09 | 2006-01-26 | Honda Motor Co Ltd | 車両の走行支援装置 |
JP2007336466A (ja) * | 2006-06-19 | 2007-12-27 | Nissan Motor Co Ltd | 車両用周辺情報提示装置及び車両用周辺情報提示方法 |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014002460A (ja) * | 2012-06-15 | 2014-01-09 | Toyota Motor Corp | 運転支援装置 |
US9586582B2 (en) | 2012-06-15 | 2017-03-07 | Toyota Jidosha Kabushiki Kaisha | Driving support system |
JP2014109870A (ja) * | 2012-11-30 | 2014-06-12 | Fujitsu Ltd | 運転評価装置、方法、プログラム及び運転評価用車載機 |
JP2014194625A (ja) * | 2013-03-28 | 2014-10-09 | Fujitsu Ltd | 目視確認評価装置、方法及びプログラム |
KR20150011282A (ko) * | 2013-07-22 | 2015-01-30 | 현대모비스 주식회사 | 차량 충돌 방지 장치 및 방법 |
KR102111906B1 (ko) * | 2013-07-22 | 2020-05-18 | 현대모비스 주식회사 | 차량 충돌 방지 장치 및 방법 |
WO2019073526A1 (ja) * | 2017-10-10 | 2019-04-18 | 日産自動車株式会社 | 運転制御方法及び運転制御装置 |
JPWO2019073526A1 (ja) * | 2017-10-10 | 2020-10-22 | 日産自動車株式会社 | 運転制御方法及び運転制御装置 |
US11584388B2 (en) | 2017-10-10 | 2023-02-21 | Nissan Motor Co., Ltd. | Driving control method and driving control apparatus |
CN114067569A (zh) * | 2022-01-14 | 2022-02-18 | 华砺智行(武汉)科技有限公司 | V2x车联网环境下车辆左转辅助预警方法 |
Also Published As
Publication number | Publication date |
---|---|
EP2260483A1 (en) | 2010-12-15 |
JP4604103B2 (ja) | 2010-12-22 |
WO2009122284A1 (en) | 2009-10-08 |
US8451141B2 (en) | 2013-05-28 |
CN101978404B (zh) | 2014-02-05 |
WO2009122284A8 (en) | 2010-09-10 |
US20110025529A1 (en) | 2011-02-03 |
CN101978404A (zh) | 2011-02-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4604103B2 (ja) | 交差点見通し検出装置 | |
US11270589B2 (en) | Surrounding vehicle display method and surrounding vehicle display device | |
US9896094B2 (en) | Collision avoidance control system and control method | |
JP5345350B2 (ja) | 車両の運転支援装置 | |
US10431094B2 (en) | Object detection method and object detection apparatus | |
WO2010035781A1 (ja) | 車線判定装置及びナビゲーションシステム | |
JP3214122B2 (ja) | 危険状況警報装置 | |
JP6036371B2 (ja) | 車両用運転支援システム及び運転支援方法 | |
CN102442248B (zh) | 用于警告前方碰撞危险的系统和方法及使用其的车辆 | |
US10964217B2 (en) | Travel control method and travel control apparatus | |
US10395527B2 (en) | Method and control and detection device for a plausibility check of a wrong-way driving incident of a motor vehicle | |
US20160350606A1 (en) | Driving assistance apparatus and driving assistance method | |
US20120245756A1 (en) | Driver assistance system | |
JP2012519346A (ja) | 自動車の運転操縦の自動認識方法及びこの方法を含む運転者援助システム | |
JP2011013039A (ja) | 車線判定装置及びナビゲーションシステム | |
WO2020008220A1 (ja) | 走行軌道生成方法及び走行軌道生成装置 | |
JP4876147B2 (ja) | 車線判定装置及びナビゲーションシステム | |
JP6941178B2 (ja) | 自動運転制御装置及び方法 | |
JP2010078387A (ja) | 車線判定装置 | |
JP2008041058A (ja) | 死角移動体を報知するための報知システム、画像処理装置、車載装置及び報知方法 | |
JP2021175630A (ja) | 運転支援装置 | |
JP2017189989A (ja) | 車線維持装置 | |
JP2005182310A (ja) | 車両運転支援装置 | |
JP6259680B2 (ja) | 安全確認判定装置、及び運転支援装置 | |
JP2007058326A (ja) | 車両用移動体検知装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20091104 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20091224 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20100629 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20100827 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20100921 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20101004 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20131008 Year of fee payment: 3 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 4604103 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20131008 Year of fee payment: 3 |
|
S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313532 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20131008 Year of fee payment: 3 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |