JP2015051761A - アクティブ車両制御のための運転支援技術 - Google Patents
アクティブ車両制御のための運転支援技術 Download PDFInfo
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- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- 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
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Abstract
Description
したがって、本発明に従う予測の組み合わせ計算は、これら予測の一つを単に選択する場合とは異なる、又はそのような場合よりも多くのものを含む、複雑な計算を構成するものとなり得る。
Claims (15)
- 車両を能動的に制御するための運転支援システムにおける方法であって、
第1予測サブシステム(216)から、検出された物体(104)に関する挙動(312)の第1予測(227)を受信するステップ(404)と、
第2予測サブシステム(218)から、検出された物体(104)に関する挙動(322)の第2予測(228)を受信するステップ(406)と、
前記第1予測(227)と前記第2予測(228)との組み合わせに基づいて、制御信号(208)を決定するステップ(410)と、
前記制御信号(208)に基づいて前記車両のアクティブ制御を開始するステップ(412)と、
を有する、方法。 - 前記第1予測及び前記第2予測のそれぞれは、関連付けられた確率値(314、324)を持つ潜在的挙動(312、322)のセットを含み、
前記制御信号(208)は、確率値の組み合わせ(328)に基づいて決定される、
請求項1に記載の方法。 - 前記制御信号(208)は、前記車両の特定の動作(210、212、214)に関連付けられた値範囲(604)から採った一の数値(606)を示すものである、
請求項1又は2に記載の方法。 - 前記制御信号(208)は、前記値範囲(614)の最大値(616)又は最小値を設定する、
請求項3に記載の方法。 - 前記第1予測と前記第2予測とを含めることは、一の予測のみを含めること(v2)に比べて、制御信号値(v3)を増加又は減少させることとなる、
請求項3又は4に記載の方法。 - 制御信号(208)は、前記第1予測サブシステムの示値(310)及び前記第2予測サブシステムの示値(320)の少なくとも一つに基づいて決定される、
請求項1ないし5のいずれか一項に記載の方法。 - 前記制御信号(208)は、前記第1予測サブシステムに関連付けられた重み及び前記第2予測サブシステムに関連付けられた重みの少なくとも一つに基づいて決定される、
請求項6に記載の方法。 - 前記重みは、前記サブシステムの、互いに対する相対的な予測信頼度を表すものである、
請求項7に記載の方法。 - 前記制御信号は、前記車両(102)の加速又は減速(606)、及び前記車両(102)のステアリング角度の、少なくとも一つを示すものである、
請求項1ないし8のいずれか一項に記載の方法。 - 前記第1予測サブシステムと前記第2予測サブシステムとは、予測された挙動の開始前に観測可能な間接指標に基づいて挙動を予測するためのコンテキストベース予測サブシステム(218)、及び予測された挙動の開始後に観測可能な直接指標に基づいて挙動を予測するための物理的予測サブシステム(216)の、少なくとも一つにより構成される、
請求項1ないし9のいずれか一項に記載の方法。 - 前記コンテキストベース予測サブシステム(218)は、前記物理的予測サブシステム(216)よりも小さい重みが関連付けられている、
請求項7又は10に記載の方法。 - コンピューティングデバイス上で実行されたときに請求項1ないし11のいずれか一項に記載の方法を実行するためのプログラムコード部分を備える、コンピュータプログラム製品。
- 車両(102)を能動的に制御するための運転者支援システム(116)であって、
第1予測サブシステム(216)から、検出された物体(104)に関する挙動についての第1予測を受信するよう適合されたコンポーネント(302)と、
第2予測サブシステム(218)から、検出された物体(104)に関する挙動についての第2予測を受信するよう適合されたコンポーネント(304)と、
前記第1予測と前記第2予測との組み合わせに基づいて、制御信号(208)を決定するよう適合されたコンポーネント(206)と、
前記制御信号(208)に基づいて前記車両(102)のアクティブ制御を開始するよう適合されたコンポーネント(210、212、214)と、
を備える、システム。 - 前記運転者支援システム(116)は、前記車両(102)のレーン(110)への割り込み又は当該レーンからの離脱を行う検出された車両(104)のレーン変更に応じて、前記車両(102)のアクティブ制御を実行するよう適合されたクルーズコントロール・モジュールを備える、
請求項13に記載のシステム。 - 請求項13又は14に記載のシステムを備える車両(102)。
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JP2016212872A (ja) * | 2015-05-04 | 2016-12-15 | ホンダ リサーチ インスティテュート ヨーロッパ ゲーエムベーハーHonda Research Institute Europe GmbH | 対象物体の将来状態を計算により予測する方法の性能を向上するための方法、運転者支援システム、そのような運転者支援システムを備える車両、並びに対応するプログラムの記憶媒体及びプログラム |
JP2017035902A (ja) * | 2015-08-06 | 2017-02-16 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
US10124810B2 (en) | 2015-08-06 | 2018-11-13 | Honda Motor Co., Ltd. | Vehicle control device, vehicle control method and vehicle control program |
JP2017154614A (ja) * | 2016-03-02 | 2017-09-07 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP2023060455A (ja) * | 2021-10-18 | 2023-04-28 | 三菱電機株式会社 | 軌道予測装置 |
JP7337129B2 (ja) | 2021-10-18 | 2023-09-01 | 三菱電機株式会社 | 軌道予測装置 |
WO2023145490A1 (ja) * | 2022-01-25 | 2023-08-03 | 株式会社デンソー | 運転システムの設計方法及び運転システム |
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JP6822752B2 (ja) | 2021-01-27 |
US20150073662A1 (en) | 2015-03-12 |
US10625776B2 (en) | 2020-04-21 |
EP2845779A1 (en) | 2015-03-11 |
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