JP2019020761A - 走行支援装置 - Google Patents
走行支援装置 Download PDFInfo
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- JP2019020761A JP2019020761A JP2017135476A JP2017135476A JP2019020761A JP 2019020761 A JP2019020761 A JP 2019020761A JP 2017135476 A JP2017135476 A JP 2017135476A JP 2017135476 A JP2017135476 A JP 2017135476A JP 2019020761 A JP2019020761 A JP 2019020761A
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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
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- 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
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- 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
- B60W30/08—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
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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
- B60W30/08—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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
- 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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- 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
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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
- B60W2050/143—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
- 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
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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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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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
- B60W2554/4041—Position
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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
- B60W2554/4043—Lateral 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
- B60W2554/80—Spatial relation or speed relative 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
本発明は、上記実施形態に限定されず、例えば以下のように実施してもよい。なお、以下では、各実施形態で互いに同一又は均等である部分には同一符号を付しており、同一符号の部分についてはその説明を援用する。
Claims (7)
- 自車両の周囲における他車両を検出する車両検出装置(21)が搭載される車両に適用され、前記車両検出装置による前記他車両の検出情報に基づき、前記自車両の走行支援を実施させる走行支援装置(10)において、
前記他車両の検出情報に基づき、前記他車両において、前記自車両の進行方向に対して交差する交差方向における横位置、横速度及び横加速度を取得する取得部(11)と、
前記他車両の横位置及び横速度に基づき、自車両が走行する自車線と隣接する隣接車線において走行している前記他車両が前記自車線に向けて移動していることを判定する第1判定部(12)と、
前記第1判定部により前記他車両の移動が判定された場合に、当該他車両の横加速度が前記自車線内において負側に増加したか否かを判定する第2判定部(12)と、
前記第2判定部により前記他車両の横加速度が負側に増加したと判定された場合に、前記自車線において前記他車両を前記走行支援における対象車両とする一方、前記第1判定部により前記他車両が前記自車線に向けて移動していることが判定された場合であって、前記第2判定部により前記他車両の横加速度が負側に増加していないと判定された場合、前記自車線において前記他車両を前記走行支援における対象車両としない走行支援部(13)と、を備える走行支援装置。 - 前記第2判定部は、前記第1判定部により前記他車両の移動が判定された場合であって、当該他車両の横加速度が前記自車線内において負側に閾値以上となるまで増加した場合、前記他車両の横加速度が前記自車線内において負側に増加したと判定し、
前記閾値は、前記他車両の横速度が大きい場合には、前記他車両の横速度が小さい場合と比較して大きい値が設定される請求項1に記載の走行支援装置。 - 前記自車線は、前記自車両の左右両側の区画線に基づき定められる請求項1又は2に記載の走行支援装置。
- 前記自車線は、前記自車両の幅又は前記自車両を中心として所定の幅を有するように設定される請求項1又は2に記載の走行支援装置。
- 前記第2判定部は、前記第1判定部により前記他車両の移動が判定された場合であって、前記他車両が前記自車線内に進入してから隣接車線に至るまでに、前記他車両の横加速度が負側に増加しなかった場合、前記自車線内において前記他車両の横加速度が負側に増加しなかったと判定する請求項1〜4のうちいずれか1項に記載の走行支援装置。
- 前記第2判定部は、前記他車両が前記隣接車線内にある場合であって、前記他車両が前記自車両の側に接近する方向に移動し、且つ、前記他車両の横速度が所定速度以上である場合、前記他車両が前記自車線に向けて移動していると判定する請求項1〜5のうちいずれか1項に記載の走行支援装置。
- 前記他車両との車間距離及び相対速度に基づき、衝突判定を行う衝突判定部(10)を備え、
前記走行支援部は、前記衝突判定部により前記自車両と前記他車両とが衝突すると判定された場合、前記自車両の走行支援を行う請求項1〜6のうちいずれか1項に記載の走行支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2017135476A JP6740970B2 (ja) | 2017-07-11 | 2017-07-11 | 走行支援装置 |
PCT/JP2018/024419 WO2019012995A1 (ja) | 2017-07-11 | 2018-06-27 | 走行支援装置 |
US16/735,982 US11414074B2 (en) | 2017-07-11 | 2020-01-07 | Driving support device |
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JP2017135476A JP6740970B2 (ja) | 2017-07-11 | 2017-07-11 | 走行支援装置 |
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JP2019020761A true JP2019020761A (ja) | 2019-02-07 |
JP6740970B2 JP6740970B2 (ja) | 2020-08-19 |
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Cited By (1)
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JP2021054293A (ja) * | 2019-09-30 | 2021-04-08 | トヨタ自動車株式会社 | 車両割込み対処システム |
Families Citing this family (7)
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KR20210083459A (ko) * | 2019-12-26 | 2021-07-07 | 주식회사 만도 | 운전자 보조 시스템, 그를 가지는 차량 및 그 제어 방법 |
CN112863249B (zh) * | 2021-01-11 | 2022-08-16 | 广州小鹏自动驾驶科技有限公司 | 一种车辆的变道预警方法、装置、车辆和可读存储介质 |
JP2023072146A (ja) * | 2021-11-12 | 2023-05-24 | トヨタ自動車株式会社 | ロボット制御システム、ロボット制御方法、及びプログラム |
CN114103956B (zh) * | 2021-12-02 | 2023-11-24 | 腾讯科技(深圳)有限公司 | 车辆控制方法、装置及计算机程序产品 |
US20230182724A1 (en) * | 2021-12-10 | 2023-06-15 | Aptiv Technologies Limited | Collision Indication Based on Yaw Rate and Lateral Velocity Thresholds |
US20230278581A1 (en) * | 2022-03-04 | 2023-09-07 | Ford Global Technologies, Llc | System, Method, and Computer Program Product for Detecting and Preventing an Autonomous Driving Action |
US20240083430A1 (en) * | 2022-09-08 | 2024-03-14 | Bendix Commercial Vehicle Systems Llc | Adaptive cruise control system and method |
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US20080167820A1 (en) * | 2007-01-04 | 2008-07-10 | Kentaro Oguchi | System for predicting driver behavior |
WO2016056976A1 (en) * | 2014-10-07 | 2016-04-14 | Autoliv Development Ab | Lane change detection |
JP2016134093A (ja) * | 2015-01-21 | 2016-07-25 | 株式会社デンソー | 車両の走行制御装置 |
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JP2003016599A (ja) | 2001-06-29 | 2003-01-17 | Hitachi Ltd | 車両走行制御装置 |
JP4235090B2 (ja) | 2003-11-17 | 2009-03-04 | トヨタ自動車株式会社 | 車両走行支援装置 |
JP4876772B2 (ja) | 2006-08-15 | 2012-02-15 | トヨタ自動車株式会社 | 割込車両判定装置 |
JP2011196943A (ja) | 2010-03-23 | 2011-10-06 | Denso Corp | 認識装置 |
JP5152244B2 (ja) * | 2010-04-06 | 2013-02-27 | トヨタ自動車株式会社 | 追従対象車特定装置 |
DE102012219449B4 (de) * | 2012-10-24 | 2019-01-24 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Geschwindigkeits- und/oder Abstandsregelung bei Kraftfahrzeugen |
JP6508118B2 (ja) * | 2016-04-26 | 2019-05-08 | トヨタ自動車株式会社 | 車両走行制御装置 |
KR102313025B1 (ko) * | 2017-04-03 | 2021-10-15 | 현대자동차주식회사 | 차량 및 그 제어방법 |
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- 2017-07-11 JP JP2017135476A patent/JP6740970B2/ja active Active
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- 2018-06-27 WO PCT/JP2018/024419 patent/WO2019012995A1/ja active Application Filing
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080167820A1 (en) * | 2007-01-04 | 2008-07-10 | Kentaro Oguchi | System for predicting driver behavior |
WO2016056976A1 (en) * | 2014-10-07 | 2016-04-14 | Autoliv Development Ab | Lane change detection |
JP2016134093A (ja) * | 2015-01-21 | 2016-07-25 | 株式会社デンソー | 車両の走行制御装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021054293A (ja) * | 2019-09-30 | 2021-04-08 | トヨタ自動車株式会社 | 車両割込み対処システム |
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US20200180616A1 (en) | 2020-06-11 |
WO2019012995A1 (ja) | 2019-01-17 |
US11414074B2 (en) | 2022-08-16 |
JP6740970B2 (ja) | 2020-08-19 |
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