JP2017154683A - 衝突緩和制御装置 - Google Patents
衝突緩和制御装置 Download PDFInfo
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- JP2017154683A JP2017154683A JP2016041833A JP2016041833A JP2017154683A JP 2017154683 A JP2017154683 A JP 2017154683A JP 2016041833 A JP2016041833 A JP 2016041833A JP 2016041833 A JP2016041833 A JP 2016041833A JP 2017154683 A JP2017154683 A JP 2017154683A
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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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
- B60W50/0097—Predicting future 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar 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
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0095—Automatic control mode change
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
-
- 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
Abstract
Description
なお、S13〜S22の処理が判定部としての処理に相当し、S28〜S36の処理が実行部としての処理に相当し、S23〜S27の処理が条件変更部としての処理に相当する。S23〜S27の条件が全て成立した場合は、S20〜S22の処理は条件変更部としての処理に相当する。
Claims (8)
- 車両前方の対象物の位置を検出する検出装置(31、32)と、前記車両と前記対象物との衝突緩和動作を実行する衝突緩和装置(40)とを備える車両に適用され、前記衝突緩和装置による前記衝突緩和動作を制御する制御装置(10)であって、
前記検出装置により検出された前記対象物の位置と前記対象物の位置の履歴とに基づいて、前記車両と前記対象物との衝突可能性を判定する判定部と、
前記判定部により前記衝突可能性が所定値よりも高いと判定された場合に、前記衝突緩和装置により衝突緩和動作を実行させる実行部と、
前記検出装置により検出された前記対象物が、静止物の陰から飛び出してきた歩行者又は自転車であると判定した場合に、前記判定部による前記判定を、前記検出装置により検出された前記対象物の位置の履歴に基づかず、前記衝突可能性を判定するように変更する条件変更処理を実行する条件変更部と、
を備えることを特徴とする衝突緩和制御装置。 - 車両前方の対象物の位置を検出する検出装置(31、32)と、前記車両と前記対象物との衝突緩和動作を実行する衝突緩和装置(40)とを備える車両に適用され、前記衝突緩和装置による前記衝突緩和動作を制御する制御装置(10)であって、
前記検出装置により検出された前記対象物の位置と前記対象物の位置の履歴とに基づいて、前記車両と前記対象物との衝突可能性を判定する判定部と、
前記判定部により前記衝突可能性が所定値よりも高いと判定された場合に、前記衝突緩和装置により衝突緩和動作を実行させる実行部と、
前記検出装置により検出された前記対象物が、静止物の陰から飛び出してきた歩行者又は自転車であると判定した場合に、前記判定部による前記判定において用いる前記履歴の量を減少させる条件変更処理を実行する条件変更部と、
を備えることを特徴とする衝突緩和制御装置。 - 前記条件変更部は、前記車両の速度が所定速度よりも高いことを条件として、前記条件変更処理を実行する請求項1又は2に記載の衝突緩和制御装置。
- 前記条件変更部は、前記車両が直進していることを条件として、前記条件変更処理を実行する請求項1〜3のいずれか1項に記載の衝突緩和制御装置。
- 前記条件変更部は、前記検出装置により検出された前記対象物の位置の履歴の量が、前記判定部による前記判定において用いる前記履歴の量よりも少ないことを条件として、前記条件変更処理を実行する請求項1〜4のいずれか1項に記載の衝突緩和制御装置。
- 前記条件変更部は、前記検出装置により検出された前記対象物の車両進行方向の速度が所定速度よりも低いことを条件として、前記条件変更処理を実行する請求項1〜5のいずれか1項に記載の衝突緩和制御装置。
- 前記条件変更部は、前記検出装置により検出された前記対象物が、その少なくとも一部が静止物で隠れている対象物である、又は静止物の陰から現れた対象物であることを条件として、前記条件変更処理を実行する請求項1〜6のいずれか1項に記載の衝突緩和制御装置。
- 前記条件変更部は、前記条件変更処理の実行中に、前記検出装置により検出された前記対象物の位置の履歴の量が、前記判定部による前記判定において用いる前記対象物の位置の履歴の量以上になった場合に、前記条件変更処理を終了する請求項1〜7のいずれか1項に記載の衝突緩和制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2016041833A JP6597408B2 (ja) | 2016-03-04 | 2016-03-04 | 衝突緩和制御装置 |
US16/080,459 US20190061750A1 (en) | 2016-03-04 | 2017-02-13 | Collision mitigation control device |
PCT/JP2017/005150 WO2017150159A1 (ja) | 2016-03-04 | 2017-02-13 | 衝突緩和制御装置 |
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JP2016041833A JP6597408B2 (ja) | 2016-03-04 | 2016-03-04 | 衝突緩和制御装置 |
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JP2017154683A true JP2017154683A (ja) | 2017-09-07 |
JP6597408B2 JP6597408B2 (ja) | 2019-10-30 |
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US (1) | US20190061750A1 (ja) |
JP (1) | JP6597408B2 (ja) |
WO (1) | WO2017150159A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7363095B2 (ja) | 2019-05-22 | 2023-10-18 | 株式会社リコー | 前処理液と非浸透性基材のセット、インクと前処理液と非浸透性基材のセット、印刷方法及び印刷装置 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6868699B2 (ja) * | 2017-08-07 | 2021-05-12 | 日立Astemo株式会社 | 路側物検出装置、路側物検出方法及び路側物検出システム |
US10435035B2 (en) * | 2017-10-17 | 2019-10-08 | Denso International America, Inc. | Screen reduction system for autonomous vehicles |
JP7245006B2 (ja) * | 2018-07-05 | 2023-03-23 | 株式会社デンソー | 車両の運転支援制御装置、車両の運転支援システムおよび車両の運転支援制御方法 |
KR102650306B1 (ko) * | 2018-10-16 | 2024-03-22 | 주식회사 에이치엘클레무브 | 차량 제어 시스템, 차량 제어 방법 |
CN114127821A (zh) * | 2019-07-12 | 2022-03-01 | 日产自动车株式会社 | 信息处理装置、信息处理方法以及程序 |
KR20210030524A (ko) * | 2019-09-09 | 2021-03-18 | 주식회사 만도 | 차량 제어 장치 및 그 제어 방법 |
CN110949381B (zh) * | 2019-11-12 | 2021-02-12 | 深圳大学 | 一种驾驶行为危险度的监测方法及装置 |
US11738682B2 (en) * | 2020-10-08 | 2023-08-29 | Motional Ad Llc | Communicating vehicle information to pedestrians |
Citations (4)
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JPH06119599A (ja) * | 1992-10-08 | 1994-04-28 | Nissan Motor Co Ltd | 車両走行制御装置 |
JP2008247111A (ja) * | 2007-03-29 | 2008-10-16 | Fuji Heavy Ind Ltd | 車両の衝突安全制御システム |
WO2012172632A1 (ja) * | 2011-06-13 | 2012-12-20 | トヨタ自動車株式会社 | 運転支援装置及び運転支援方法 |
JP2014213777A (ja) * | 2013-04-26 | 2014-11-17 | 株式会社デンソー | 衝突緩和装置 |
Family Cites Families (5)
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US7881868B2 (en) * | 2007-06-12 | 2011-02-01 | Palo Alto Research Center Incorporated | Dual assessment for early collision warning |
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JP4605265B2 (ja) * | 2008-07-22 | 2011-01-05 | トヨタ自動車株式会社 | 車両の操舵装置 |
CN103155015B (zh) * | 2010-09-08 | 2014-12-31 | 丰田自动车株式会社 | 移动物预测装置、假想活动物预测装置、程序模块、移动物预测方法以及假想活动物预测方法 |
CN108137058B (zh) * | 2015-09-30 | 2019-04-16 | 日产自动车株式会社 | 信息提示装置及信息提示方法 |
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2016
- 2016-03-04 JP JP2016041833A patent/JP6597408B2/ja active Active
-
2017
- 2017-02-13 WO PCT/JP2017/005150 patent/WO2017150159A1/ja active Application Filing
- 2017-02-13 US US16/080,459 patent/US20190061750A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06119599A (ja) * | 1992-10-08 | 1994-04-28 | Nissan Motor Co Ltd | 車両走行制御装置 |
JP2008247111A (ja) * | 2007-03-29 | 2008-10-16 | Fuji Heavy Ind Ltd | 車両の衝突安全制御システム |
WO2012172632A1 (ja) * | 2011-06-13 | 2012-12-20 | トヨタ自動車株式会社 | 運転支援装置及び運転支援方法 |
JP2014213777A (ja) * | 2013-04-26 | 2014-11-17 | 株式会社デンソー | 衝突緩和装置 |
Cited By (1)
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JP7363095B2 (ja) | 2019-05-22 | 2023-10-18 | 株式会社リコー | 前処理液と非浸透性基材のセット、インクと前処理液と非浸透性基材のセット、印刷方法及び印刷装置 |
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US20190061750A1 (en) | 2019-02-28 |
JP6597408B2 (ja) | 2019-10-30 |
WO2017150159A1 (ja) | 2017-09-08 |
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