JP2018001800A - 車両制御装置及び車両制御方法 - Google Patents
車両制御装置及び車両制御方法 Download PDFInfo
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Abstract
【解決手段】車両制御装置10は、先行車に追従走行しているときに自車の方向指示器が作動された場合に、該作動に連動させて前記自車を加速させる追従時制御を行う。車両制御装置10は、前記自車の進行方向に直交する方向における前記自車との相対位置である横位置と、前記自車の進行方向における前記自車との相対距離とに基づいて、前記自車の前方に存在する他車の中から、前記自車の隣接車線を走行する隣接車を選択する隣接車選択部と、前記追従走行しているときに前記方向指示器が作動された場合に、前記隣接車選択部によって前記隣接車が選択されているか否かに基づいて、前記追従時制御による前記自車の加速を実施する加速制御部として機能する走行制御部18と、を備える。
【選択図】図1
Description
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 (8)
- 先行車(41)に追従走行しているときに自車(40)の方向指示器が作動された場合に、該作動に連動させて前記自車を加速させる追従時制御を行う車両制御装置であって、
前記自車の進行方向に直交する方向における前記自車との相対位置である横位置と、前記自車の進行方向における前記自車との相対距離とに基づいて、前記自車の前方に存在する他車(41,42)の中から、前記自車の走行車線(51)に隣接する隣接車線(52)を走行する隣接車(42)を選択する隣接車選択部と、
前記追従走行しているときに前記方向指示器が作動された場合に、前記隣接車選択部によって前記隣接車が選択されているか否かに基づいて、前記追従時制御による前記自車の加速を実施する加速制御部と、
を備えることを特徴とする車両制御装置。 - 道路を含む周辺環境を撮影する撮像装置(21)が前記自車に搭載されており、
前記撮像装置により撮影された画像に基づいて、前記道路の区画線を認識する区画線認識部を備え、
前記隣接車選択部は、前記区画線認識部によって前記区画線が認識されている場合には、前記他車の中から、前記区画線を基準に定めた横位置範囲内に存在している車両を前記隣接車として選択する、請求項1に記載の車両制御装置。 - 前記隣接車選択部は、前記区画線認識部によって前記区画線が認識されていない場合には、前記他車の中から、前記自車を基準に定めた横位置範囲内に存在している車両を前記隣接車として選択する、請求項2に記載の車両制御装置。
- 前記隣接車選択部は、前記区画線認識部によって前記区画線が認識されている状況から前記区画線が認識されない状況になった場合には、前記隣接車の選択範囲とする横位置範囲を、前記区画線を基準に定めた横位置範囲から前記自車を基準に定めた横位置範囲に徐々に変更する、請求項3に記載の車両制御装置。
- 前記隣接車選択部は、前記区画線認識部によって前記区画線が認識されていない状況から前記区画線が認識される状況になった場合には、前記隣接車の選択範囲とする横位置範囲を、前記自車を基準に定めた横位置範囲から前記区画線を基準に定めた横位置範囲に瞬時に変更する、請求項3又は4に記載の車両制御装置。
- 前記隣接車選択部は、前記方向指示器の作動開始後の所定時間は、前記方向指示器の作動開始に伴い前記隣接車として選択した車両を前記隣接車と選択したままにする、請求項1〜5のいずれか一項に記載の車両制御装置。
- 前記隣接車選択部は、前記他車の中から、前記相対距離が最小であって且つ前記先行車でない車両を前記隣接車として選択する、請求項1〜6のいずれか一項に記載の車両制御装置。
- 先行車(41)に追従走行しているときに自車(40)の方向指示器が作動された場合に、該作動に連動させて前記自車を加速させる追従時制御を行う車両制御方法であって、
前記自車の進行方向に直交する方向における前記自車との相対位置である横位置と、前記自車の進行方向における前記自車との相対距離とに基づいて、前記自車の前方に存在する他車(41,42)の中から、前記自車の走行車線(51)に隣接する隣接車線(52)を走行する隣接車(42)を選択し、
前記追従走行しているときに前記方向指示器が作動された場合に、前記隣接車が選択されているか否かに基づいて、前記追従時制御による前記自車の加速を実施する、車両制御方法。
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JP2016127020A JP6550016B2 (ja) | 2016-06-27 | 2016-06-27 | 車両制御装置及び車両制御方法 |
US16/313,378 US11021155B2 (en) | 2016-06-27 | 2017-06-15 | Vehicle control apparatus and vehicle control method |
PCT/JP2017/022199 WO2018003529A1 (ja) | 2016-06-27 | 2017-06-15 | 車両制御装置及び車両制御方法 |
DE112017003200.8T DE112017003200T5 (de) | 2016-06-27 | 2017-06-15 | Fahrzeugsteuerungseinrichtung und fahrzeugsteuerungsverfahren |
CN201780039612.3A CN109562761B (zh) | 2016-06-27 | 2017-06-15 | 车辆控制装置以及车辆控制方法 |
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CN110070755A (zh) * | 2018-01-24 | 2019-07-30 | 丰田自动车株式会社 | 车辆控制系统 |
WO2019202859A1 (ja) * | 2018-04-17 | 2019-10-24 | 株式会社デンソー | 走行制御装置 |
US11077853B2 (en) * | 2017-09-29 | 2021-08-03 | Mando Corporation | Apparatus and method for controlling lane-keeping |
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JP6642413B2 (ja) * | 2016-12-27 | 2020-02-05 | トヨタ自動車株式会社 | 車両走行制御装置 |
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JP7152165B2 (ja) * | 2018-03-02 | 2022-10-12 | トヨタ自動車株式会社 | 車両制御装置 |
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JP7165109B2 (ja) * | 2019-09-09 | 2022-11-02 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
CN113257036A (zh) * | 2020-02-13 | 2021-08-13 | 宁波吉利汽车研究开发有限公司 | 一种车辆碰撞预警方法、装置、设备和存储介质 |
KR20220026656A (ko) * | 2020-08-25 | 2022-03-07 | 현대모비스 주식회사 | 차량의 주행 제어 시스템 및 방법 |
JP7304334B2 (ja) * | 2020-12-03 | 2023-07-06 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
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US11021155B2 (en) | 2021-06-01 |
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US20190193739A1 (en) | 2019-06-27 |
WO2018003529A1 (ja) | 2018-01-04 |
CN109562761A (zh) | 2019-04-02 |
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