JP2018188085A - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- 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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- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- 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
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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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
- 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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/143—Speed control
- B60Y2300/146—Speed limiting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
- B60Y2400/3015—Optical cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
- B60Y2400/3032—Wheel speed sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/81—Braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/90—Driver alarms
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- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
第1実施形態に係る運転支援装置について、図1から図5を参照して説明する。
まず、本実施形態に係る車両1の構成について、図1を参照して説明する。図1は、第1実施形態に係る車両1の構成を示すブロック図である。
続いて、ECU17が行う車線逸脱抑制動作について、図2を参照して詳細に説明する。図2は、第1実施形態に係る車線逸脱抑制動作の流れを示すフローチャートである。
次に、BLDA制御を状況に応じて抑制するためのBLDA制御抑制動作について、図3を参照して説明する。図3は、第1実施形態に係るBLDA制御抑制動作の流れを示すフローチャートである。なお、BLDA制御抑制動作は、図2のフローチャートで示した車線逸脱抑制動作と並行して実行される。
次に、BLDA制御の抑制が禁止される場合の具体的な動作について、図4及び図5を参照して説明する。図4及び図5は夫々、第1実施形態に係るBLDA制御抑制動作時の具体的な動作を示すタイムチャートである。
次に、第2実施形態に係る運転支援装置について、図6から図9を参照して説明する。なお、第2実施形態は、既に説明した第1実施形態と比較して一部の動作が異なるのみであり、その他の動作や装置構成については概ね同様である。このため、以下では第1実施形態と異なる部分について詳細に説明し、他の重複する部分については適宜説明を省略するものとする。
第2実施形態に係るBLDA制御抑制動作について、図6を参照して説明する。図6は、第2実施形態に係るBLDA制御抑制動作の流れを示すフローチャートである。
次に、第3実施形態に係る運転支援装置について、図10を参照して説明する。なお、第3実施形態は、既に説明した第1及び第2実施形態と比較して一部の動作が異なるのみであり、その他の動作や装置構成については概ね同様である。このため、以下では第1及び第2実施形態と異なる部分について詳細に説明し、他の重複する部分については適宜説明を省略するものとする。
第3実施形態に係るBLDA制御抑制動作について、図10を参照して説明する。図10は、第3実施形態に係るBLDA制御抑制動作の流れを示すフローチャートである。
131 ブレーキアクチュエータ
153 ヨーレートセンサ
156 アクセルセンサ
17 ECU
171 データ取得部
172 LDA制御部
173 LDA抑制部
174 抑制低減部
175 ASL制御部
Claims (4)
- 車両の速度が所定速度を超えないようにする第1制御を実行する第1制御手段と、
前記第1制御とは異なる運転支援制御である第2制御を実行する第2制御手段と、
前記車両の搭乗者によるアクセルペダルの操作に基づいて、前記第2制御の実行を抑制する抑制手段と、
前記第1制御が実行されている場合には、前記第1制御が実行されていない場合と比較して、前記第2制御の実行が抑制され難くなるように前記抑制手段を制御する抑制低減手段と
を備えることを特徴とする運転支援装置。 - 前記抑制低減手段は、前記第1制御が実行されている場合には、前記第2制御の実行を抑制しないように前記抑制手段を制御することを特徴とする請求項1に記載の運転支援装置。
- 前記抑制手段は、前記アクセルペダルの操作に係るパラメータが所定条件を満たした場合に、前記第2制御の実行を抑制するものであり、
前記抑制低減手段は、(i)前記第1制御が実行されていない場合には、前記所定条件として第1の条件を利用するように前記抑制手段を制御し、(ii)前記第1制御が実行されている場合には、前記所定条件として前記第1の条件よりも満たされ難い第2の条件を利用するように前記抑制手段を制御する
ことを特徴とする請求項1に記載の運転支援装置。 - 前記抑制手段は、前記第2制御の制御量を減少させることで、前記第2制御の実行を抑制するものであり、
前記抑制低減手段は、(i)前記第1制御が実行されていない場合には、前記制御量を第1所定量だけ減少させるように前記抑制手段を制御し(ii)前記第1制御が実行されている場合には、前記制御量を前記第1所定量よりも小さい第2所定量だけ減少させるように前記抑制手段を制御する
ことを特徴とする請求項1に記載の運転支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017094568A JP6822306B2 (ja) | 2017-05-11 | 2017-05-11 | 運転支援装置 |
US15/971,001 US11161411B2 (en) | 2017-05-11 | 2018-05-04 | Driving support apparatus |
CN201810444569.5A CN108860164B (zh) | 2017-05-11 | 2018-05-10 | 驾驶辅助装置 |
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JP2017094568A JP6822306B2 (ja) | 2017-05-11 | 2017-05-11 | 運転支援装置 |
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JP2018188085A true JP2018188085A (ja) | 2018-11-29 |
JP6822306B2 JP6822306B2 (ja) | 2021-01-27 |
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JP2017094568A Active JP6822306B2 (ja) | 2017-05-11 | 2017-05-11 | 運転支援装置 |
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US (1) | US11161411B2 (ja) |
JP (1) | JP6822306B2 (ja) |
CN (1) | CN108860164B (ja) |
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WO2018220811A1 (ja) * | 2017-06-02 | 2018-12-06 | 本田技研工業株式会社 | 車両制御システムおよび車両制御方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009255897A (ja) * | 2008-03-21 | 2009-11-05 | Nissan Motor Co Ltd | 車線逸脱防止装置、及び車線逸脱防止方法 |
JP2011037437A (ja) * | 2005-12-22 | 2011-02-24 | Nissan Motor Co Ltd | 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両 |
JP2016101891A (ja) * | 2014-11-28 | 2016-06-02 | 株式会社アドヴィックス | 衝突回避装置 |
KR101673766B1 (ko) * | 2015-05-08 | 2016-11-07 | 현대자동차주식회사 | Ssc 진입 또는 해제 지연방법 및 장치 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4161938B2 (ja) * | 2004-06-01 | 2008-10-08 | トヨタ自動車株式会社 | 走行制御装置 |
JP4946807B2 (ja) | 2007-11-07 | 2012-06-06 | トヨタ自動車株式会社 | 車線逸脱防止制御装置 |
US20090281701A1 (en) * | 2008-05-07 | 2009-11-12 | Kargman James B | Multi-mode accelerator for automobile and method |
JP6412457B2 (ja) * | 2015-03-31 | 2018-10-24 | 株式会社デンソー | 運転支援装置、及び運転支援方法 |
JP6427155B2 (ja) * | 2016-10-14 | 2018-11-21 | 本田技研工業株式会社 | 走行制御装置及び走行制御方法 |
-
2017
- 2017-05-11 JP JP2017094568A patent/JP6822306B2/ja active Active
-
2018
- 2018-05-04 US US15/971,001 patent/US11161411B2/en active Active
- 2018-05-10 CN CN201810444569.5A patent/CN108860164B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011037437A (ja) * | 2005-12-22 | 2011-02-24 | Nissan Motor Co Ltd | 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両 |
JP2009255897A (ja) * | 2008-03-21 | 2009-11-05 | Nissan Motor Co Ltd | 車線逸脱防止装置、及び車線逸脱防止方法 |
JP2016101891A (ja) * | 2014-11-28 | 2016-06-02 | 株式会社アドヴィックス | 衝突回避装置 |
KR101673766B1 (ko) * | 2015-05-08 | 2016-11-07 | 현대자동차주식회사 | Ssc 진입 또는 해제 지연방법 및 장치 |
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Publication number | Publication date |
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CN108860164B (zh) | 2021-09-21 |
US11161411B2 (en) | 2021-11-02 |
JP6822306B2 (ja) | 2021-01-27 |
US20180326848A1 (en) | 2018-11-15 |
CN108860164A (zh) | 2018-11-23 |
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