JP2017111684A - 制御装置、制御方法 - Google Patents
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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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- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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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
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
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- G—PHYSICS
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- 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
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- G01S13/50—Systems of measurement based on relative movement of target
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- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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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
- B60T2201/022—Collision avoidance 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
- 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
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- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/805—Azimuth angle
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- G—PHYSICS
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- 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
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- G01S13/06—Systems determining position data of a target
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- G01S13/44—Monopulse radar, i.e. simultaneous lobing
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- G—PHYSICS
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- 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
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- G—PHYSICS
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- 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
Abstract
Description
本実施形態に係る制御装置は、車両に搭載され、車両の移動方向前方等の周囲に存在する物体を検知し、その物体との衝突を回避すべく、若しくは衝突被害を軽減すべく制御を行うPCSシステムとして機能する。
本実施形態に係る制御装置10は、全体構成は第1実施形態に係る制御装置10と同等であり、角度取得部16が実行する処理の一部が異なっている。
本実施形態に係る制御装置10は、全体構成は第1実施形態に係る制御装置10と同等であり、角度取得部16が実行する処理の一部、及び、作動判定部15が実行する処理の一部が異なっている。
本実施形態に係る制御装置10は、構成の一部が第1〜第3実施形態に係る制御装置10と異なっている。具体的には、車両の移動方向と物体の移動方向との相対角度、及び相対角度の時間当たりの変化量により安全装置の作動を禁止する代わりに、図2で示した作動領域の幅を変更することにより、安全装置の作動を制限するものとしている。
・第1実施形態では、車両の移動方向と物体の移動方向との相対角度のみを用いて安全装置を作動させるか否かを判定しており、第2、第3実施形態では、車の移動方向と物体の移動方向との相対角度に加えて、相対角度の時間当たりの変化量を用いて、安全装置を作動させるか否かを判定している。この点、安全装置を作動させるか否かの判定に相対角度を用いず、相対角度の時間当たりの変化量のみを用いて安全装置を作動させるか否かを判定してもよい。この場合、相対角度の時間当たりの変化量が閾値を超えている時間を計時し、その時間が所定期間以上となった場合に、安全装置の作動を禁止するものとすればよい。
Claims (10)
- 移動体の移動方向の前方に存在する物体と衝突する可能性がある場合に、前記移動体の前記物体に対する衝突の回避又は衝突被害を軽減する装置を安全装置として作動させる制御装置(10)であって、
前記移動体の前記移動方向に対する前記物体の移動方向の角度を示す関係、及び前記角度の時間当たりの変化量を示す関係の少なくとも一方を含む角度情報に基づいて、前記安全装置の作動を制限する制限部(17,17a)を備える制御装置。 - 前記角度情報は、少なくとも前記角度を示す関係を含み、
前記制限部は、前記角度が直交と同方向との間の所定角度よりも同方向側であることを示す場合、及び、前記角度が直交と逆方向との間の所定角度よりも逆方向側であることを示す場合の一方を満たせば、前記安全装置の作動を制限する、請求項1に記載の制御装置。 - 前記角度情報は、少なくとも前記角度の時間当たりの変化量を示す関係を含み、
前記制限部は、前記角度の時間当たりの変化量が前記角度が直交から同方向へと変化していることを示す場合、及び、前記角度の時間当たりの変化量が前記角度が直交から逆方向へと変化していることを示す場合の一方を満たせば、前記安全装置の作動を制限する、請求項1に記載の制御装置。 - 前記角度情報は、前記角度を示す関係及び前記角度の時間当たりの変化量を示す関係を共に含むものであり、
前記制限部は、前記角度が直交と同方向との間の所定角度よりも同方向側であることを示し、且つ、前記角度の時間当たりの変化量が前記角度が直交から同方向へと変化していることを示す場合、前記安全装置の作動を制限する、請求項1に記載の制御装置。 - 前記制限部は、前記角度が同方向であることを示す場合、前記角度の時間当たりの変化量に関わらず、前記安全装置の作動を制限する、請求項4に記載の制御装置。
- 前記角度情報は、前記角度を示す関係及び前記角度の時間当たりの変化量を示す関係を共に含むものであり、
前記制限部は、前記角度が直交と逆方向との間の所定角度よりも逆方向側であることを示し、且つ、前記角度の時間当たりの変化量が前記角度が直交から逆方向へと変化していることを示す場合、前記安全装置の作動を制限する、請求項4又は5に記載の制御装置。 - 前記制限部は、前記角度が逆方向であることを示す場合、前記角度の時間当たりの変化量に関わらず、前記安全装置の作動を制限する、請求項6に記載の制御装置。
- 前記制限部は、前記安全装置の作動を禁止することにより前記制限を行う、請求項1〜7のいずれか1項に記載の制御装置。
- 前記移動体の前記移動方向の前方に所定の幅を有する領域を設定する領域設定部(13a)と、
前記領域内に位置する前記物体を前記安全装置の作動対象とする作動判定部(15)をさらに備え、
前記制限部(17a)は、前記領域の幅を小さくすることにより前記制限を行う、請求項1〜6のいずれか1項に記載の制御装置。 - 移動体の移動方向の前方に存在する物体と衝突する可能性がある場合に、前記移動体の前記物体に対する衝突の回避又は衝突被害を軽減する装置を安全装置として作動させる制御装置(10)が実行する制御方法であって、
前記移動体の前記移動方向に対する前記物体の移動方向の角度を示す関係、及び前記角度の時間当たりの変化量を示す関係の少なくとも一方を含む角度情報に基づいて、前記安全装置の作動を制限する制限ステップを実行する、制御方法。
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JP2015246693A JP6504042B2 (ja) | 2015-12-17 | 2015-12-17 | 制御装置、制御方法 |
US16/062,542 US10665107B2 (en) | 2015-12-17 | 2016-12-15 | Moving object control apparatus and method of controlling moving object |
PCT/JP2016/087452 WO2017104773A1 (ja) | 2015-12-17 | 2016-12-15 | 移動体制御装置及び移動体制御方法 |
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Cited By (4)
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JP2019046143A (ja) * | 2017-09-01 | 2019-03-22 | 株式会社デンソー | 走行支援装置 |
WO2021070880A1 (ja) * | 2019-10-11 | 2021-04-15 | 株式会社デンソー | 制御装置 |
WO2022254637A1 (ja) * | 2021-06-02 | 2022-12-08 | 日本電信電話株式会社 | 位置推定方法、位置推定装置およびプログラム |
JP7453785B2 (ja) | 2019-12-18 | 2024-03-21 | フォルシアクラリオン・エレクトロニクス株式会社 | 駐車支援装置、及び駐車支援システム |
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JP6432538B2 (ja) * | 2016-02-09 | 2018-12-05 | 株式会社デンソー | 衝突予測装置 |
US10248872B2 (en) | 2016-10-19 | 2019-04-02 | Texas Instruments Incorporated | Estimation of time to collision in a computer vision system |
JP7014032B2 (ja) | 2018-04-23 | 2022-02-01 | 株式会社デンソー | 車両衝突推定装置 |
JP7247042B2 (ja) * | 2019-07-11 | 2023-03-28 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、及びプログラム |
US11884252B2 (en) * | 2019-08-29 | 2024-01-30 | Ford Global Technologies, Llc | Enhanced threat assessment |
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WO2017104773A1 (ja) | 2017-06-22 |
JP6504042B2 (ja) | 2019-04-24 |
US20180366001A1 (en) | 2018-12-20 |
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