JP2017037473A - 操舵支援装置 - Google Patents
操舵支援装置 Download PDFInfo
- Publication number
- JP2017037473A JP2017037473A JP2015158335A JP2015158335A JP2017037473A JP 2017037473 A JP2017037473 A JP 2017037473A JP 2015158335 A JP2015158335 A JP 2015158335A JP 2015158335 A JP2015158335 A JP 2015158335A JP 2017037473 A JP2017037473 A JP 2017037473A
- Authority
- JP
- Japan
- Prior art keywords
- lane
- state
- white line
- lane width
- vehicle
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
Abstract
Description
ST2:白線が自車両の左側にのみある状態
ST3:白線が自車両の右側にのみある状態
ST4:白線が無い状態
2 画像処理部
10 操舵支援装置
20 車線認識装置
21 車線認識部
22 車線幅設定部
23 車線状態遷移判断部
30 ステアリング制御装置
40 ブレーキ制御装置
50 警報・表示装置
ST1 白線が自車両の両側にある状態
ST2 白線が自車両の左側にのみある状態
ST3 白線が自車両の右側にのみある状態
ST4 白線が無い状態
W 車線幅
Claims (4)
- 自車両が走行する道路の車線幅に基づいてドライバのハンドル操作を支援する支援制御の介入タイミング及び制御量を決定する操舵支援装置であって、
自車両の左右両側の車線の車線幅を設定する車線幅設定部と、
自車両の左右両側の車線の有無の車線状態を監視し、前記車線状態の遷移を判断する車線状態遷移判断部と
を備え、
前記車線幅設定部は、前記車線状態が自車両の左右の何れかの側にのみ車線が存在する状態に遷移したと判断された場合、車線が存在しない側に仮想的な車線を設けて前記車線幅を設定することを特徴とする操舵支援装置。 - 前記車線幅設定部は、自車両の左右両側に車線が存在しない状態から自車両の左右の何れかの側にのみ車線が存在する状態に遷移したと判断された場合、前記車線幅を予め設定した値に設定することを特徴とする請求項1記載の操舵支援装置。
- 前記車線幅設定部は、自車両の左右の何れかの側にのみ車線が存在する状態で互いに反対側の車線状態からの遷移であると判断された場合、前記車線幅を遷移前の値に保持することを特徴とする請求項1又は2記載の操舵支援装置。
- 前記車線幅設定部は、自車両の左右両側に車線が存在する状態から自車両の左右の何れかの側にのみ車線が存在する状態に遷移したと判断された場合、遷移前の前記車線幅を設定時間だけ保持することを特徴とする請求項1〜3の何れか一に記載の操舵支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015158335A JP6222785B2 (ja) | 2015-08-10 | 2015-08-10 | 操舵支援装置 |
US15/215,162 US10131349B2 (en) | 2015-08-10 | 2016-07-20 | Steering assistant |
DE102016113804.5A DE102016113804A1 (de) | 2015-08-10 | 2016-07-27 | Lenkassistent |
CN201610626494.3A CN106428209B (zh) | 2015-08-10 | 2016-08-03 | 转向辅助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015158335A JP6222785B2 (ja) | 2015-08-10 | 2015-08-10 | 操舵支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017037473A true JP2017037473A (ja) | 2017-02-16 |
JP6222785B2 JP6222785B2 (ja) | 2017-11-01 |
Family
ID=57908368
Family Applications (1)
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---|---|---|---|
JP2015158335A Active JP6222785B2 (ja) | 2015-08-10 | 2015-08-10 | 操舵支援装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10131349B2 (ja) |
JP (1) | JP6222785B2 (ja) |
CN (1) | CN106428209B (ja) |
DE (1) | DE102016113804A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020095673A1 (ja) * | 2018-11-07 | 2020-05-14 | 日立オートモティブシステムズ株式会社 | 車載制御装置 |
US10906540B2 (en) | 2017-12-15 | 2021-02-02 | Denso Corporation | Vehicle control apparatus |
CN113335272A (zh) * | 2021-05-14 | 2021-09-03 | 江铃汽车股份有限公司 | 辅助驾驶方法 |
DE112021006879T5 (de) | 2021-01-22 | 2023-11-30 | Mitsubishi Electric Corporation | Zieltrajektorien-Berechnungsvorrichtung, Fahrzeugsteuervorrichtung und Zieltrajektorien-Berechnungsverfahren |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6817804B2 (ja) * | 2016-12-16 | 2021-01-20 | クラリオン株式会社 | 区画線認識装置 |
JP2018173834A (ja) * | 2017-03-31 | 2018-11-08 | 本田技研工業株式会社 | 車両制御装置 |
JP6637946B2 (ja) * | 2017-11-17 | 2020-01-29 | 株式会社Subaru | 車両の車線逸脱防止制御装置 |
JP6611275B2 (ja) * | 2017-11-17 | 2019-11-27 | 株式会社Subaru | 車両の車線逸脱防止制御装置 |
JP6638012B2 (ja) * | 2018-03-16 | 2020-01-29 | 株式会社Subaru | 車両の車線逸脱防止制御装置 |
US10689033B2 (en) * | 2018-03-27 | 2020-06-23 | Subaru Corporation | Vehicle driving assist apparatus |
JP7131131B2 (ja) * | 2018-06-29 | 2022-09-06 | マツダ株式会社 | 車両用ライン検出装置および該方法 |
US20200307590A1 (en) * | 2019-03-29 | 2020-10-01 | Robert Bosch Gmbh | Highway exit detection and line mirroring for vehicle trajectory determination |
JP7116012B2 (ja) * | 2019-06-06 | 2022-08-09 | 本田技研工業株式会社 | 車両制御装置、車両、車両制御装置の動作方法およびプログラム |
CN115087573B (zh) * | 2020-03-31 | 2023-05-05 | 华为技术有限公司 | 一种关键目标选取方法、装置及系统 |
US11688180B2 (en) | 2020-06-03 | 2023-06-27 | Continental Autonomous Mobility US, LLC | Lane departure warning without lane lines |
KR20220114750A (ko) * | 2021-02-09 | 2022-08-17 | 현대모비스 주식회사 | 차선 인식 시스템 및 제어 방법 |
CN113353074B (zh) * | 2021-08-10 | 2021-10-29 | 天津所托瑞安汽车科技有限公司 | 一种车辆控制方法、装置、电子设备和存储介质 |
CN114212079B (zh) * | 2022-02-18 | 2022-05-20 | 国汽智控(北京)科技有限公司 | 基于acc的车辆控制方法、装置及系统 |
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JP2015069341A (ja) * | 2013-09-27 | 2015-04-13 | 富士重工業株式会社 | 運転支援装置 |
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JP3912416B2 (ja) | 2005-05-31 | 2007-05-09 | トヨタ自動車株式会社 | 車両逸脱防止制御装置 |
JP4730406B2 (ja) * | 2008-07-11 | 2011-07-20 | トヨタ自動車株式会社 | 走行支援制御装置 |
DE112009005401B4 (de) * | 2009-11-27 | 2021-01-28 | Toyota Jidosha Kabushiki Kaisha | Fahrunterstützungsvorrichtung und fahrunterstützungsverfahren |
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JP5940573B2 (ja) | 2014-02-25 | 2016-06-29 | 三菱重工業株式会社 | ボイラ燃焼方法及びボイラ |
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2015
- 2015-08-10 JP JP2015158335A patent/JP6222785B2/ja active Active
-
2016
- 2016-07-20 US US15/215,162 patent/US10131349B2/en active Active
- 2016-07-27 DE DE102016113804.5A patent/DE102016113804A1/de active Pending
- 2016-08-03 CN CN201610626494.3A patent/CN106428209B/zh active Active
Patent Citations (2)
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JP2014122965A (ja) * | 2012-12-20 | 2014-07-03 | Nec Corp | 光変調器、光送信器、光送受信システム及び光変調器の制御方法 |
JP2015069341A (ja) * | 2013-09-27 | 2015-04-13 | 富士重工業株式会社 | 運転支援装置 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10906540B2 (en) | 2017-12-15 | 2021-02-02 | Denso Corporation | Vehicle control apparatus |
WO2020095673A1 (ja) * | 2018-11-07 | 2020-05-14 | 日立オートモティブシステムズ株式会社 | 車載制御装置 |
JP2020077180A (ja) * | 2018-11-07 | 2020-05-21 | 日立オートモティブシステムズ株式会社 | 車載制御装置 |
JP7136663B2 (ja) | 2018-11-07 | 2022-09-13 | 日立Astemo株式会社 | 車載制御装置 |
DE112021006879T5 (de) | 2021-01-22 | 2023-11-30 | Mitsubishi Electric Corporation | Zieltrajektorien-Berechnungsvorrichtung, Fahrzeugsteuervorrichtung und Zieltrajektorien-Berechnungsverfahren |
CN113335272A (zh) * | 2021-05-14 | 2021-09-03 | 江铃汽车股份有限公司 | 辅助驾驶方法 |
CN113335272B (zh) * | 2021-05-14 | 2023-04-25 | 江铃汽车股份有限公司 | 辅助驾驶方法 |
Also Published As
Publication number | Publication date |
---|---|
CN106428209B (zh) | 2018-11-30 |
US20170043772A1 (en) | 2017-02-16 |
JP6222785B2 (ja) | 2017-11-01 |
CN106428209A (zh) | 2017-02-22 |
US10131349B2 (en) | 2018-11-20 |
DE102016113804A1 (de) | 2017-02-16 |
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