JP2018030495A - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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Abstract
Description
Claims (2)
- 車両を自動で走行させる車両制御装置であって、
カメラの撮像情報及びランドマークの地図上の位置情報に基づいて、前記車両が走行する走行道路の延在方向における前記車両の位置である縦位置を認識する縦位置照合部と、
前記車両の状態を検出する内部センサの検出結果、及び前記縦位置照合部における認識結果に基づいて前記縦位置を推定する縦位置推定部と、
前記内部センサの検出精度に基づいて、前記縦位置推定部で推定される前記縦位置の誤差を推定する誤差推定部と、
推定された前記縦位置及び地図情報より前記車両の前方のカーブ路のカーブ半径を取得する半径取得部と、
取得された前記カーブ半径及び推定された前記縦位置の誤差に基づいて、取得された前記カーブ半径のカーブ路において走行車線内を自動で走行するためのカーブ走行速度を算出するカーブ走行速度算出部と、
前記車両の速度が前記カーブ走行速度以上であり且つ前記カーブ走行速度が予め定められた基準速度以上の場合、前記車両の前方のカーブ路への進入時に前記車両の速度が前記カーブ走行速度となるように前記車両を減速させ、前記車両の速度が前記カーブ走行速度以上であり且つ前記カーブ走行速度が前記基準速度よりも遅い場合、現在の速度を維持する又は前記車両の前方のカーブ路への進入時に前記基準速度となるように前記車両を減速させる速度制御部と、
前記車両の速度が前記カーブ走行速度以上であり且つ前記カーブ走行速度が前記基準速度よりも遅い場合、前記車両の制御を運転者による手動運転に切り替えるハンズオンの要求を行う要求部と、を備え、
前記カーブ走行速度算出部は、前記カーブ半径が小さい場合には前記カーブ半径が大きい場合に比べて前記カーブ走行速度を遅くし、前記縦位置の誤差が大きい場合には前記縦位置の誤差が小さい場合に比べて前記カーブ走行速度を遅くする、車両制御装置。 - 前記要求部は、前記車両の運転状態を自動運転状態から手動運転状態に切り替えるための時間として予め定められた基準時間と前記車両の現在の速度とに基づいて、前記車両の現在の速度で前記基準時間走行した場合の走行距離である基準距離を算出し、前記車両の前方のカーブ路よりも前記基準距離手前の位置で前記ハンズオンの要求を行う、請求項1に記載の車両制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016164896A JP6642334B2 (ja) | 2016-08-25 | 2016-08-25 | 車両制御装置 |
DE102017114471.4A DE102017114471B4 (de) | 2016-08-25 | 2017-06-29 | Fahrzeugsteuerungsvorrichtung |
CN201710712772.1A CN107783535B (zh) | 2016-08-25 | 2017-08-18 | 车辆控制装置 |
US15/680,838 US10310508B2 (en) | 2016-08-25 | 2017-08-18 | Vehicle control apparatus |
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JP2016164896A JP6642334B2 (ja) | 2016-08-25 | 2016-08-25 | 車両制御装置 |
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JP2018030495A true JP2018030495A (ja) | 2018-03-01 |
JP6642334B2 JP6642334B2 (ja) | 2020-02-05 |
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JP2016164896A Active JP6642334B2 (ja) | 2016-08-25 | 2016-08-25 | 車両制御装置 |
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US (1) | US10310508B2 (ja) |
JP (1) | JP6642334B2 (ja) |
CN (1) | CN107783535B (ja) |
DE (1) | DE102017114471B4 (ja) |
Cited By (8)
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WO2019194235A1 (ja) * | 2018-04-04 | 2019-10-10 | 株式会社デンソー | 車両の自動運転制御装置 |
JP2019177766A (ja) * | 2018-03-30 | 2019-10-17 | 日信工業株式会社 | バーハンドル車両用ブレーキ制御装置 |
JP2019206258A (ja) * | 2018-05-29 | 2019-12-05 | 本田技研工業株式会社 | 車両制御システム |
JP2019209889A (ja) * | 2018-06-06 | 2019-12-12 | 本田技研工業株式会社 | 車両制御システム |
RU2774335C1 (ru) * | 2019-05-15 | 2022-06-17 | Ниссан Мотор Ко., Лтд. | Способ управления движением транспортного средства и устройство управления движением транспортного средства |
JP2023502632A (ja) * | 2019-11-13 | 2023-01-25 | メルセデス・ベンツ グループ アクチェンゲゼルシャフト | 走行経路を承認するための方法 |
WO2023002543A1 (ja) * | 2021-07-19 | 2023-01-26 | 日産自動車株式会社 | 車両の運転モード切り替え制御方法及び運転モード切り替え制御装置 |
JP7495901B2 (ja) | 2021-03-31 | 2024-06-05 | 株式会社トランストロン | 運転支援装置、運転支援方法、およびプログラム |
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US10532736B2 (en) * | 2015-11-06 | 2020-01-14 | Honda Motor Co., Ltd. | Vehicle travel control device |
JP6642399B2 (ja) | 2016-12-07 | 2020-02-05 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP6780611B2 (ja) | 2017-08-25 | 2020-11-04 | トヨタ自動車株式会社 | 自動運転装置 |
JP6984232B2 (ja) | 2017-08-25 | 2021-12-17 | トヨタ自動車株式会社 | 自動運転装置 |
JP6897495B2 (ja) | 2017-10-27 | 2021-06-30 | トヨタ自動車株式会社 | 配車システム及び配車方法 |
JP7052543B2 (ja) * | 2018-05-09 | 2022-04-12 | トヨタ自動車株式会社 | 自車位置推定装置 |
JP7087654B2 (ja) | 2018-05-14 | 2022-06-21 | トヨタ自動車株式会社 | 車外報知装置、及び車外報知方法 |
JP7110729B2 (ja) | 2018-05-25 | 2022-08-02 | トヨタ自動車株式会社 | 自動運転システム及び自動運転システムの制御方法 |
JP7172257B2 (ja) | 2018-08-01 | 2022-11-16 | トヨタ自動車株式会社 | 自動運転システム |
JP7020348B2 (ja) | 2018-08-30 | 2022-02-16 | トヨタ自動車株式会社 | 自車位置推定装置 |
JP7115184B2 (ja) | 2018-09-26 | 2022-08-09 | トヨタ自動車株式会社 | 自動運転システム |
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JP6642334B2 (ja) | 2020-02-05 |
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