JP2017114429A - 運転支援装置及び運転支援方法 - Google Patents
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Abstract
Description
以下、第1実施形態を図面に基づいて説明する。なお、以下の各実施形態相互において、互いに同一もしくは均等である部分には、図中、同一符号を付しており、同一符号の部分についてはその説明を援用する。本実施形態の運転支援装置は車両に搭載され、自車両の周囲に存在する物標を検知し運転支援を実行することで、物標との衝突を回避又は衝突被害を軽減するための各種制御を行うPCSシステムとして機能する。
本実施形態の運転支援装置は、全体構成は第1実施形態と共通しており、回避当初期間を予め所定長さに定めておく構成に替えて、時間経過に伴い長くし、回避当初期間での経時指標と閾値とを逐次比較して作動タイミングを設定している点が異なっている。
本発明は上記の実施形態に限定されず、例えば以下のように実施されてもよい。
Claims (11)
- 自車両(40)の周囲に存在する物標を認識する物標認識部と、
前記自車両の操舵に関する指標の瞬間値である瞬時指標に基づいて、前記物標認識部により認識された物標と前記自車両との衝突を回避するための運転者による衝突回避操作の開始を判定する操作判定部と、
前記操作判定部により前記衝突回避操作が開始されたと判定された場合に、前記物標と前記自車両との衝突を回避又は衝突被害を軽減するための運転支援を開始する支援開始タイミングを、前記衝突回避操作が開始されていない場合に比べて遅いタイミングに設定するタイミング演算部と、
前記タイミング演算部で設定した支援開始タイミングに基づいて前記運転支援を開始する制御部と、を備え、
前記タイミング演算部は、前記操作判定部により前記衝突回避操作が開始されたと判定されてから所定の設定時間が経過するまでの期間である衝突回避期間における前記支援開始タイミングを、前記衝突回避期間内の複数タイミングでの前記瞬時指標を用いて表される経時指標に基づいて設定する、運転支援装置(10)。 - 前記タイミング演算部は、前記衝突回避期間のうち開始点を含む一部の期間である回避当初期間での前記経時指標に基づいて、前記衝突回避期間における前記支援開始タイミングを前記遅いタイミングのままにするか、又は前記衝突回避操作が開始されていない場合の前記支援開始タイミングに変更する、請求項1に記載の運転支援装置。
- 前記回避当初期間の長さが予め定められており、
前記タイミング演算部は、前記回避当初期間が経過するまでは、前記衝突回避期間における前記支援開始タイミングを前記遅いタイミングとし、前記回避当初期間が経過した後に前記回避当初期間での前記経時指標と閾値とを比較し、該比較の結果に基づいて、前記衝突回避期間における前記支援開始タイミングを前記遅いタイミングのままにするか、又は前記衝突回避操作が開始されていない場合の前記支援開始タイミングに変更する、請求項2に記載の運転支援装置。 - 前記運転支援として、前記自車両に搭載された警報装置を作動させる第1制御と、前記自車両の制動装置により前記運転者のブレーキ操作を補助する第2制御と、前記制動装置により前記自車両の自動制動を行う第3制御と、を実行する機能を有し、
前記回避当初期間の長さ及び前記閾値の少なくとも一方は、前記運転支援の制御ごとに可変に設定される、請求項3に記載の運転支援装置。 - 前記回避当初期間の長さ及び前記閾値の少なくとも一方は、前記自車両の車速に応じて可変に設定される、請求項3又は4に記載の運転支援装置。
- 前記回避当初期間が時間経過に伴い長くなり、
前記タイミング演算部は、前記回避当初期間での前記経時指標と閾値とを逐次比較し、該比較の結果に基づいて、前記衝突回避期間における前記支援開始タイミングを前記遅いタイミングのままにするか、又は前記衝突回避操作が開始されていない場合の前記支援開始タイミングに変更する、請求項2に記載の運転支援装置。 - 前記運転支援として、前記自車両に搭載された警報装置を作動させる第1制御と、前記自車両の制動装置により前記運転者のブレーキ操作を補助する第2制御と、前記制動装置により前記自車両の自動制動を行う第3制御と、を実行する機能を有し、
前記閾値は、前記運転支援の制御ごとに可変に設定される、請求項6に記載の運転支援装置。 - 前記閾値は、前記自車両の車速に応じて可変に設定される、請求項6又は7に記載の運転支援装置。
- 前記経時指標は、前記衝突回避期間の開始から所定時間内での操舵角の変化量、操舵角の平均値及び操舵角速度の平均値の少なくともいずれかである、請求項1〜8のいずれか一項に記載の運転支援装置。
- 前記瞬時指標は、操舵角及び操舵角速度の少なくともいずれかの瞬間値である、請求項1〜9のいずれか一項に記載の運転支援装置。
- 自車両(40)の周囲に存在する物標を認識し、
前記自車両の操舵に関する指標の瞬間値である瞬時指標に基づいて、前記認識された物標と前記自車両との衝突を回避するための運転者による衝突回避操作の開始を判定し、
前記衝突回避操作が開始されたと判定された場合に、前記物標と前記自車両との衝突を回避又は衝突被害を軽減するための運転支援を開始する支援開始タイミングを、前記衝突回避操作が開始されていない場合に比べて遅いタイミングに設定するとともに、前記衝突回避操作が開始されたと判定されてから所定の設定時間が経過するまでの期間である衝突回避期間における前記支援開始タイミングを、前記衝突回避期間内の複数タイミングでの前記瞬時指標を用いて表される経時指標に基づいて設定し、
前記設定した支援開始タイミングに基づいて前記運転支援を開始する、運転支援方法。
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JP2015254471A JP6622584B2 (ja) | 2015-12-25 | 2015-12-25 | 運転支援装置及び運転支援方法 |
PCT/JP2016/087695 WO2017110702A1 (ja) | 2015-12-25 | 2016-12-18 | 運転支援装置及び運転支援方法 |
CN201680075439.8A CN108473133B (zh) | 2015-12-25 | 2016-12-18 | 驾驶辅助装置以及驾驶辅助方法 |
US16/064,625 US10723350B2 (en) | 2015-12-25 | 2016-12-18 | Driving assistance apparatus and driving assistance method |
DE112016005955.8T DE112016005955B4 (de) | 2015-12-25 | 2016-12-18 | Fahrunterstützungsvorrichtung und fahrunterstützungsverfahren |
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JP7125917B2 (ja) * | 2019-05-31 | 2022-08-25 | 本田技研工業株式会社 | 車両用保護装置 |
FR3107686B1 (fr) * | 2020-02-27 | 2022-04-29 | Renault Sas | Procédé de détection de l’amorce, par un conducteur de véhicule automobile, d’une manœuvre d’évitement |
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DE112016005955T5 (de) | 2018-09-27 |
WO2017110702A1 (ja) | 2017-06-29 |
DE112016005955B4 (de) | 2024-05-08 |
JP6622584B2 (ja) | 2019-12-18 |
US10723350B2 (en) | 2020-07-28 |
CN108473133A (zh) | 2018-08-31 |
US20190001970A1 (en) | 2019-01-03 |
CN108473133B (zh) | 2021-03-19 |
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