JP2018024359A - 走行制御装置 - Google Patents
走行制御装置 Download PDFInfo
- Publication number
- JP2018024359A JP2018024359A JP2016158304A JP2016158304A JP2018024359A JP 2018024359 A JP2018024359 A JP 2018024359A JP 2016158304 A JP2016158304 A JP 2016158304A JP 2016158304 A JP2016158304 A JP 2016158304A JP 2018024359 A JP2018024359 A JP 2018024359A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- preceding vehicle
- travel
- control
- target
- 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.)
- Granted
Links
- 238000003384 imaging method Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims description 51
- 238000000034 method Methods 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 7
- 230000004927 fusion Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
-
- 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
- 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
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- 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
- B60W2554/801—Lateral distance
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (6)
- 自車両の進行方向前方を撮像する撮像装置(11)を備える車両に適用され、
前記撮像装置により撮像された画像情報に基づいて、前記自車両の進行方向前方を走行する先行車両の位置を取得する位置取得部(10)と、
前記位置取得部により取得される前記先行車両の位置に基づいて、前記先行車両の走行軌跡を生成する軌跡生成部(10)と、
前記軌跡生成部により生成された前記先行車両の前記走行軌跡に沿って前記自車両を走行させるための制御量を算出し、算出した前記制御量に基づいて前記自車両を走行させることで、前記先行車両を対象とした追従走行制御を実施する追従走行制御部(10,13)と、
を備え、
前記追従走行制御部は、前記先行車両の車幅が所定幅よりも狭い場合に、前記先行車両の車幅が前記所定幅よりも狭くない場合よりも前記追従走行制御時の前記自車両の走行軌跡の曲率変化量が低くなるように、前記制御量を算出することを特徴とする走行制御装置。 - 前記先行車両を、バイクとバイク以外の車両とに大別する大別部(10)を備え、
前記追従走行制御部は、前記大別部により前記先行車両が前記バイクに大別されたことを条件として、前記大別部により前記先行車両が前記バイク以外の車両に大別された場合よりも前記追従走行制御時の前記自車両の前記走行軌跡の曲率変化量が低くなるように、前記制御量を算出することを特徴とする請求項1に記載の走行制御装置。 - 自車両の進行方向前方を撮像する撮像装置(11)を備える車両に適用され、
前記撮像装置により撮像された画像情報に基づいて、前記自車両の進行方向前方を走行する先行車両の位置を取得する位置取得部(10)と、
前記位置取得部により取得される前記先行車両の位置に基づいて、前記先行車両の走行軌跡を生成する軌跡生成部(10)と、
前記軌跡生成部により生成された前記先行車両の前記走行軌跡に沿って前記自車両を走行させるための制御量を算出し、算出した前記制御量に基づいて前記自車両を走行させることで、前記先行車両を対象とした追従走行制御を実施する追従走行制御部(10,13)と、
前記先行車両を、バイクとバイク以外の車両とに大別する大別部(10)と、
を備え、
前記追従走行制御部は、前記大別部により前記先行車両が前記バイクに大別されたことを条件として、前記大別部により前記先行車両が前記バイク以外の車両に大別された場合よりも前記追従走行制御時の前記自車両の走行軌跡の曲率変化量が低くなるように、前記制御量を算出することを特徴とする走行制御装置。 - 前記追従走行制御部は、前記撮像装置により出力された前記画像情報に前記先行車両が所定期間検出され続けたことを条件として、前記追従走行制御を実施することを特徴とする請求項1乃至3のいずれか1項に記載の走行制御装置。
- 前記車両は、モータの出力トルクに応じて、前記自車両の進行方向を制御する電動式パワーステアリング(13)を備え、
前記制御量は、前記モータの出力トルクに該当することを特徴とする請求項1乃至4のいずれか1項に記載の走行制御装置。 - 前記自車両の進行方向前方に探査波を送信し、物標により反射された反射波を受信するレーダ装置(12)と、
前記レーダ装置から取得した前記反射波に基づく情報により検出した物標であるレーダ検出物標の位置を検出するレーダ検出物標位置検出部(10)と、
前記撮像装置から取得した前記画像により検出した物標である画像検出物標の位置を検出する画像検出物標位置検出部(10)と、
前記自車両の前方に存在する前記レーダ検出物標と前記画像検出物標との位置関係が所定関係となったことを条件として、前記先行車両を検出することを特徴とする請求項1乃至5のいずれか1項に記載の走行制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016158304A JP6520863B2 (ja) | 2016-08-11 | 2016-08-11 | 走行制御装置 |
DE112017003974.6T DE112017003974B4 (de) | 2016-08-11 | 2017-08-03 | Geschwindigkeitsregelungsvorrichtung |
US16/323,947 US11014559B2 (en) | 2016-08-11 | 2017-08-03 | Cruise control device |
CN201780048842.6A CN109562788B (zh) | 2016-08-11 | 2017-08-03 | 行驶控制装置 |
PCT/JP2017/028244 WO2018030271A1 (ja) | 2016-08-11 | 2017-08-03 | 走行制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016158304A JP6520863B2 (ja) | 2016-08-11 | 2016-08-11 | 走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018024359A true JP2018024359A (ja) | 2018-02-15 |
JP6520863B2 JP6520863B2 (ja) | 2019-05-29 |
Family
ID=61162191
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016158304A Active JP6520863B2 (ja) | 2016-08-11 | 2016-08-11 | 走行制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11014559B2 (ja) |
JP (1) | JP6520863B2 (ja) |
CN (1) | CN109562788B (ja) |
DE (1) | DE112017003974B4 (ja) |
WO (1) | WO2018030271A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020044904A1 (ja) * | 2018-08-28 | 2020-03-05 | 日立オートモティブシステムズ株式会社 | 走行制御装置及び走行制御方法 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3517381B1 (en) * | 2016-09-26 | 2020-07-15 | Nissan Motor Co., Ltd. | Route setting method and route setting device |
JP2019099033A (ja) * | 2017-12-06 | 2019-06-24 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | モータサイクルの挙動を制御する制御装置及び制御方法 |
CN112912293B (zh) * | 2018-10-30 | 2024-05-03 | 三菱电机株式会社 | 目标轨迹生成装置、车辆控制装置、目标轨迹生成方法和车辆控制方法 |
US11167759B2 (en) * | 2019-04-10 | 2021-11-09 | GM Global Technology Operations LLC | Method and apparatus for controlling a vehicle including an adaptive cruise control system |
KR20200130888A (ko) * | 2019-05-07 | 2020-11-23 | 현대모비스 주식회사 | 복합정보 기반 scc시스템 제어 방법 및 장치 |
KR20210075675A (ko) * | 2019-12-13 | 2021-06-23 | 현대자동차주식회사 | 군집주행 제어 장치 및 그의 경로 생성 방법 |
JP7145179B2 (ja) * | 2020-03-24 | 2022-09-30 | 本田技研工業株式会社 | 鞍乗型車両及び制御装置 |
CN116834729B (zh) * | 2023-08-28 | 2023-11-17 | 常州星宇车灯股份有限公司 | 车辆辅助驾驶的横纵向联合控制系统及控制方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1120499A (ja) * | 1997-06-27 | 1999-01-26 | Mitsubishi Motors Corp | 自動追従走行システム |
JP2001283391A (ja) * | 2000-03-30 | 2001-10-12 | Denso Corp | 先行車選択方法及び装置、記録媒体 |
JP2006088771A (ja) * | 2004-09-21 | 2006-04-06 | Nissan Motor Co Ltd | 走行制御装置 |
JP2012224316A (ja) * | 2011-04-22 | 2012-11-15 | Mitsubishi Motors Corp | 走行制御装置 |
Family Cites Families (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6269308B1 (en) * | 1998-08-20 | 2001-07-31 | Honda Giken Kogyo Kabushiki Kaisha | Safety running system for vehicle |
JP2000131436A (ja) * | 1998-10-29 | 2000-05-12 | Aisin Seiki Co Ltd | カーブ推定方法およびそれを用いた車両速度制御装置 |
DE10140802A1 (de) | 2001-08-20 | 2003-03-06 | Ibeo Automobile Sensor Gmbh | Führung von Kraftfahrzeugen |
JP3878008B2 (ja) * | 2001-12-07 | 2007-02-07 | 株式会社日立製作所 | 車両用走行制御装置及び地図情報データ記録媒体 |
US6826479B2 (en) * | 2002-06-03 | 2004-11-30 | Visteon Global Technologies, Inc. | Method and apparatus for target vehicle identification in automatic cruise control and collision avoidance systems |
US7272482B2 (en) * | 2002-09-30 | 2007-09-18 | Nissan Motor Co., Ltd. | Preceding-vehicle following control system |
JP3791490B2 (ja) * | 2002-12-18 | 2006-06-28 | トヨタ自動車株式会社 | 運転補助システム及び装置 |
JP3979339B2 (ja) * | 2003-05-12 | 2007-09-19 | 日産自動車株式会社 | 車線逸脱防止装置 |
KR100708922B1 (ko) * | 2003-07-11 | 2007-04-17 | 도요다 지도샤 가부시끼가이샤 | 충돌-대응 차량 제어시스템 |
JP4367127B2 (ja) * | 2003-12-19 | 2009-11-18 | 日産自動車株式会社 | 先行車両検出装置及びその制御方法 |
JP2006038697A (ja) | 2004-07-28 | 2006-02-09 | Nissan Motor Co Ltd | 他車両検出装置及び車間距離制御装置 |
DE102007013685A1 (de) * | 2007-03-22 | 2008-09-25 | Robert Bosch Gmbh | Kollisionswarnvorrichtung für Kraftfahrzeuge |
JP5287441B2 (ja) | 2009-04-06 | 2013-09-11 | トヨタ自動車株式会社 | 走行制御装置 |
JP5838547B2 (ja) | 2010-12-02 | 2016-01-06 | トヨタ自動車株式会社 | 運転支援装置 |
WO2012147295A1 (ja) | 2011-04-27 | 2012-11-01 | パナソニック株式会社 | 送信装置、受信装置、送信方法、及び受信方法 |
US9771070B2 (en) * | 2011-12-09 | 2017-09-26 | GM Global Technology Operations LLC | Method and system for controlling a host vehicle |
JP5605381B2 (ja) * | 2012-02-13 | 2014-10-15 | 株式会社デンソー | クルーズ制御装置 |
WO2013186925A1 (ja) * | 2012-06-15 | 2013-12-19 | トヨタ自動車株式会社 | 追従制御装置 |
DE102012215093A1 (de) * | 2012-08-24 | 2014-02-27 | Robert Bosch Gmbh | Fahrerassistenzsystem und Verfahren zum Betreiben des Fahrerassistenzsystems |
JP2014102165A (ja) * | 2012-11-20 | 2014-06-05 | Denso Corp | 物標判定装置 |
DE112012007213T5 (de) * | 2012-12-11 | 2015-08-20 | Toyota Jidosha Kabushiki Kaisha | Antriebsassistenzvorrichtung und Antriebsassistenzverfahren |
JP5920990B2 (ja) * | 2013-09-27 | 2016-05-24 | 富士重工業株式会社 | 車両のレーンキープ制御装置 |
JP6154348B2 (ja) * | 2014-03-28 | 2017-06-28 | 株式会社Soken | 走行経路生成装置 |
CN106573618B (zh) * | 2014-08-11 | 2018-06-29 | 日产自动车株式会社 | 车辆的行驶控制装置及方法 |
DE102015206969B4 (de) | 2015-04-17 | 2022-02-17 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem in einem Kraftfahrzeug |
DE102015207024B4 (de) | 2015-04-17 | 2017-03-02 | Bayerische Motoren Werke Aktiengesellschaft | Fahrerassistenzsystem in einem Kraftfahrzeug |
KR101664716B1 (ko) * | 2015-06-29 | 2016-10-10 | 현대자동차주식회사 | Cacc 시스템의 속도 제어 장치 및 그 방법 |
DE102015213892B4 (de) * | 2015-07-23 | 2019-05-16 | Ford Global Technologies, Llc | Verfahren zur LNT-Steuerung mit einem Abstandsregeltempomat |
CA2999961C (en) * | 2015-09-28 | 2018-09-18 | Nissan Motor Co., Ltd. | Vehicular display device and vehicular display method |
JPWO2017158768A1 (ja) * | 2016-03-16 | 2018-10-11 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP6690703B2 (ja) * | 2016-03-24 | 2020-04-28 | 日産自動車株式会社 | 走路推定方法及び走路推定装置 |
US9896096B2 (en) * | 2016-04-11 | 2018-02-20 | David E. Newman | Systems and methods for hazard mitigation |
JP6382887B2 (ja) * | 2016-06-03 | 2018-08-29 | 本田技研工業株式会社 | 走行制御装置 |
-
2016
- 2016-08-11 JP JP2016158304A patent/JP6520863B2/ja active Active
-
2017
- 2017-08-03 US US16/323,947 patent/US11014559B2/en active Active
- 2017-08-03 CN CN201780048842.6A patent/CN109562788B/zh active Active
- 2017-08-03 DE DE112017003974.6T patent/DE112017003974B4/de active Active
- 2017-08-03 WO PCT/JP2017/028244 patent/WO2018030271A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1120499A (ja) * | 1997-06-27 | 1999-01-26 | Mitsubishi Motors Corp | 自動追従走行システム |
JP2001283391A (ja) * | 2000-03-30 | 2001-10-12 | Denso Corp | 先行車選択方法及び装置、記録媒体 |
JP2006088771A (ja) * | 2004-09-21 | 2006-04-06 | Nissan Motor Co Ltd | 走行制御装置 |
JP2012224316A (ja) * | 2011-04-22 | 2012-11-15 | Mitsubishi Motors Corp | 走行制御装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020044904A1 (ja) * | 2018-08-28 | 2020-03-05 | 日立オートモティブシステムズ株式会社 | 走行制御装置及び走行制御方法 |
JPWO2020044904A1 (ja) * | 2018-08-28 | 2021-08-10 | 日立Astemo株式会社 | 走行制御装置及び走行制御方法 |
JP7026242B2 (ja) | 2018-08-28 | 2022-02-25 | 日立Astemo株式会社 | 走行制御装置及び走行制御方法 |
Also Published As
Publication number | Publication date |
---|---|
WO2018030271A1 (ja) | 2018-02-15 |
CN109562788A (zh) | 2019-04-02 |
US20190168758A1 (en) | 2019-06-06 |
DE112017003974T5 (de) | 2019-05-02 |
CN109562788B (zh) | 2021-05-11 |
JP6520863B2 (ja) | 2019-05-29 |
DE112017003974B4 (de) | 2023-07-20 |
US11014559B2 (en) | 2021-05-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2018030271A1 (ja) | 走行制御装置 | |
JP6462630B2 (ja) | 物標検出装置 | |
US10384681B2 (en) | Vehicle cruise control device and cruise control method | |
US10345443B2 (en) | Vehicle cruise control apparatus and vehicle cruise control method | |
JP6589760B2 (ja) | 車両制御装置 | |
US9150223B2 (en) | Collision mitigation apparatus | |
JP6313198B2 (ja) | 車両制御装置 | |
JP6363517B2 (ja) | 車両の走行制御装置 | |
US11127300B2 (en) | Vehicle recognition device and vehicle recognition method | |
JP6988200B2 (ja) | 車両制御装置 | |
JP6363519B2 (ja) | 車両制御装置 | |
JP6363516B2 (ja) | 車両の走行制御装置 | |
JP7045155B2 (ja) | 物標認識装置、物標認識方法及び車両制御システム | |
JP6354659B2 (ja) | 走行支援装置 | |
JP6561704B2 (ja) | 運転支援装置、及び運転支援方法 | |
WO2018101208A1 (ja) | 走行制御装置 | |
JP6497284B2 (ja) | 車両制御装置、及び車両制御方法 | |
CN109416888B (zh) | 行驶辅助装置 | |
JP4407315B2 (ja) | ターゲット推定装置 | |
JP2021117848A (ja) | 物体検出装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180614 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20190402 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190415 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6520863 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |