JP2016103225A - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
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- 238000005259 measurement Methods 0.000 description 10
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- B60K31/0066—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 responsive to vehicle path curvature
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
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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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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
本発明は上記実施形態に限定されず、例えば次のように実施してもよい。
Claims (3)
- 自車両(M1)の将来の走行進路である予測進路に基づいて前記自車両の走行を制御する車両の走行制御装置であって、
前記自車両には、物体を検出する物体検出手段として、探査波の送信及び受信により車間距離を検出する車間距離センサ(12)が設けられており、
前記車間距離センサの検出結果に基づいて、前記自車両よりも前方を走行する先行車両(M2)の移動軌跡を算出する軌跡算出手段と、
前記軌跡算出手段により算出した前記先行車両の移動軌跡に基づいて前記予測進路を算出する進路予測手段と、
前記車間距離センサの軸ずれを検出する軸ずれ検出手段と、
前記軸ずれ検出手段により前記車間距離センサの軸ずれが生じていることが検出された場合に、前記進路予測手段により算出した予測進路を無効にする無効処理手段と、
を備えることを特徴とする車両の走行制御装置。 - 前記自車両には、前記物体検出手段として、走行道路を含む周辺環境を撮影する撮像装置(11)が更に設けられており、
前記撮像装置で取得した画像データに、前記車間距離センサで検出されている前記先行車両と同一物体とみなされる物標が含まれているか否かを判定する物標判定手段を備え、
前記無効処理手段は、前記軸ずれ検出手段により前記車間距離センサの軸ずれが生じていることが検出された場合において、前記物標判定手段により前記物標が含まれていると判定されていない場合に、前記進路予測手段により算出した予測進路を無効にし、前記物標が含まれていると判定された場合に、前記進路予測手段により算出した予測進路を有効にする請求項1に記載の車両の走行制御装置。 - 前記自車両のヨーレートに基づいて前記予測進路を算出する代替予測手段を備え、
前記無効処理手段は、前記軸ずれ検出手段により前記車間距離センサの軸ずれが生じていることが検出された場合に、前記進路予測手段により算出した予測進路を無効にし、かつ前記代替予測手段により算出した予測進路を有効にする請求項1又は2に記載の車両の走行制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2014242237A JP6356586B2 (ja) | 2014-11-28 | 2014-11-28 | 車両の走行制御装置 |
US15/529,920 US10345443B2 (en) | 2014-11-28 | 2015-10-15 | Vehicle cruise control apparatus and vehicle cruise control method |
CN201580064929.3A CN107000749B (zh) | 2014-11-28 | 2015-10-15 | 车辆的行驶控制装置以及行驶控制方法 |
PCT/JP2015/079110 WO2016084506A1 (ja) | 2014-11-28 | 2015-10-15 | 車両の走行制御装置及び走行制御方法 |
DE112015005377.8T DE112015005377T8 (de) | 2014-11-28 | 2015-10-15 | Fahrzeugfahrtregelungsvorrichtung und fahrzeugfahrtregelungsverfahren |
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JP2014242237A JP6356586B2 (ja) | 2014-11-28 | 2014-11-28 | 車両の走行制御装置 |
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JP2016103225A true JP2016103225A (ja) | 2016-06-02 |
JP6356586B2 JP6356586B2 (ja) | 2018-07-11 |
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US (1) | US10345443B2 (ja) |
JP (1) | JP6356586B2 (ja) |
CN (1) | CN107000749B (ja) |
DE (1) | DE112015005377T8 (ja) |
WO (1) | WO2016084506A1 (ja) |
Cited By (7)
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CN108693878A (zh) * | 2017-04-06 | 2018-10-23 | 丰田自动车株式会社 | 前进路线设定装置以及前进路线设定方法 |
CN108688664A (zh) * | 2017-03-31 | 2018-10-23 | 株式会社斯巴鲁 | 车辆的行驶辅助装置 |
JP2019051775A (ja) * | 2017-09-13 | 2019-04-04 | トヨタ自動車株式会社 | 運転支援装置、および、運転支援装置の制御方法 |
JPWO2021024711A1 (ja) * | 2019-08-02 | 2021-02-11 | ||
WO2021140811A1 (ja) * | 2020-01-10 | 2021-07-15 | 日立Astemo株式会社 | センサエイミング装置、運転制御システム、及び補正量の推定方法 |
CN113439048A (zh) * | 2019-02-14 | 2021-09-24 | 三菱电机株式会社 | 车间距离控制装置 |
KR20220080794A (ko) * | 2020-12-07 | 2022-06-15 | 국민대학교산학협력단 | 주행 차량의 차선 이탈 방지 장치 및 방법 |
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US10562531B2 (en) * | 2016-04-28 | 2020-02-18 | Hyundai Motor Company | Adaptive cruise control apparatus and method thereof |
JP6723079B2 (ja) * | 2016-06-08 | 2020-07-15 | 日立オートモティブシステムズ株式会社 | 物体距離検出装置 |
JP6515898B2 (ja) | 2016-09-29 | 2019-05-22 | トヨタ自動車株式会社 | 物標レーン関係認識装置 |
JP6592423B2 (ja) * | 2016-11-25 | 2019-10-16 | 株式会社デンソー | 車両制御装置 |
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DE102018210346A1 (de) * | 2018-06-26 | 2020-01-02 | Zf Friedrichshafen Ag | System und Verfahren zum Bestimmen eines Lateralversatzes einer Wechselbrücke in Relation zu einem Fahrzeug |
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JP7491358B2 (ja) | 2022-09-26 | 2024-05-28 | いすゞ自動車株式会社 | 移動物位置予測装置 |
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CN108688664A (zh) * | 2017-03-31 | 2018-10-23 | 株式会社斯巴鲁 | 车辆的行驶辅助装置 |
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JP2019051775A (ja) * | 2017-09-13 | 2019-04-04 | トヨタ自動車株式会社 | 運転支援装置、および、運転支援装置の制御方法 |
CN113439048A (zh) * | 2019-02-14 | 2021-09-24 | 三菱电机株式会社 | 车间距离控制装置 |
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KR20220080794A (ko) * | 2020-12-07 | 2022-06-15 | 국민대학교산학협력단 | 주행 차량의 차선 이탈 방지 장치 및 방법 |
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WO2016084506A1 (ja) | 2016-06-02 |
US10345443B2 (en) | 2019-07-09 |
DE112015005377T5 (de) | 2017-08-10 |
DE112015005377T8 (de) | 2017-08-31 |
CN107000749B (zh) | 2019-05-10 |
US20170329000A1 (en) | 2017-11-16 |
JP6356586B2 (ja) | 2018-07-11 |
CN107000749A (zh) | 2017-08-01 |
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