JP2019215730A - 車両の運転支援装置 - Google Patents
車両の運転支援装置 Download PDFInfo
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- JP2019215730A JP2019215730A JP2018112850A JP2018112850A JP2019215730A JP 2019215730 A JP2019215730 A JP 2019215730A JP 2018112850 A JP2018112850 A JP 2018112850A JP 2018112850 A JP2018112850 A JP 2018112850A JP 2019215730 A JP2019215730 A JP 2019215730A
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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
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the 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
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- 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
-
- 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
-
- 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
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2554/804—Relative longitudinal speed
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Abstract
Description
10 … 車内通信回線
11 … ロケータユニット
12 … ロケータ演算部
12a … 自車位置推定部
12b … 地図情報取得部
13 … 前後加速度センサ
14 … 車輪速センサ
15 … ジャイロセンサ
16 … GNSS受信機
17 … 情報通信装置
18 … 高精度道路地図データベース
21 … カメラユニット
21a … メインカメラ
21b … サブカメラ
21d … 走行環境認識部
22 … 走行_ECU
23 … E/G_ECU
24 … PS_ECU
25 … BK_ECU
26 … スロットルアクチュエータ
27 … 電動パワステモータ
28 … ブレーキアクチュエータ
30 … モード切換部
31 … 自動運転スイッチ
32 … ハンドルタッチセンサ
33 … 操舵トルクセンサ
34 … ブレーキセンサ
40 … インフラ設備
Claims (7)
- 自車両に搭載した自律センサを用いて自車走行路の前方環境を認識する第1の前方環境認識手段と、
外部通信により車外から受信した情報に基づいて自車走行路の前方環境を認識する第2の前方環境認識手段と、
前記第1の前方環境認識手段によって先行車が認識されているとき、前記先行車に基づいて制御目標位置を設定し、前記制御目標位置に基づく第1のブレーキ制御を行う第1のブレーキ制御手段と、
前記第2の前方環境認識手段のみによって前記先行車が認識されているとき、前記先行車に基づいて設定される前記制御目標位置を自車両よりも遠方に補正した制御目標補正位置を設定し、前記第1の前方環境認識手段によって前記先行車が認識されるまでの間、前記制御目標補正位置に基づく予備的な第2のブレーキ制御を行う第2のブレーキ制御手段と、を備えたことを特徴とする車両の運転支援装置。 - 前記第2のブレーキ制御手段は、自車両から前記制御目標位置までの道のり距離を制御用車間距離として設定し、前記制御用車間距離が、自車両と前記先行車との相対速度に基づいて算出される制御開始距離未満となったとき、前記制御目標補正位置に対する前記第2のブレーキ制御を開始することを特徴とする請求項1に記載の車両の運転支援装置。
- 前記第2のブレーキ制御手段は、自車両から前記制御目標補正位置までの道のり距離を制御用車間距離として設定し、前記制御用車間距離が、自車両と前記先行車との相対速度に基づいて算出される制御開始距離未満となったとき、前記制御目標補正位置に対する前記第2のブレーキ制御を開始することを特徴とする請求項1に記載の車両の運転支援装置。
- 前記制御目標位置を補正して前記制御目標補正位置を設定するための補正値は、天候に応じて可変であり、晴天時以外の前記補正値が前記晴天時の前記補正値よりも相対的に小さいことを特徴とする請求項1乃至請求項3の何れか1項に記載の車両の運転支援装置。
- 前記制御目標位置を補正して前記制御目標補正位置を設定するための補正値は、路面状況に応じて可変であり、雪路での前記補正値がドライ路面での前記補正値よりも相対的に小さいことを特徴とする請求項1乃至請求項4の何れか1項に記載の車両の運転支援装置。
- 前記制御目標位置を補正して前記制御目標補正位置を設定するための補正値は、時間帯に応じて可変であり、日没から日の出までの前記補正値が日の出から日没までの前記補正値よりも相対的に小さいことを特徴とする請求項1乃至請求項5の何れか1項に記載の車両の運転支援装置。
- 前記制御目標位置を補正して前記制御目標補正位置を設定するための補正値は、自車走行路前方の曲率に応じて可変であり、曲率が大きくなるほど前記補正値が小さいことを特徴とする請求項1乃至請求項6の何れか1項に記載の車両の運転支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018112850A JP6898658B2 (ja) | 2018-06-13 | 2018-06-13 | 車両の運転支援装置 |
CN201910266322.3A CN110588651A (zh) | 2018-06-13 | 2019-04-03 | 车辆的驾驶辅助装置 |
US16/374,225 US11468772B2 (en) | 2018-06-13 | 2019-04-03 | Vehicle drive-assist apparatus |
DE102019111763.1A DE102019111763A1 (de) | 2018-06-13 | 2019-05-07 | Fahrzeugfahrassistenzvorrichtung |
Applications Claiming Priority (1)
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JP2018112850A JP6898658B2 (ja) | 2018-06-13 | 2018-06-13 | 車両の運転支援装置 |
Publications (2)
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JP2019215730A true JP2019215730A (ja) | 2019-12-19 |
JP6898658B2 JP6898658B2 (ja) | 2021-07-07 |
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JP2018112850A Active JP6898658B2 (ja) | 2018-06-13 | 2018-06-13 | 車両の運転支援装置 |
Country Status (4)
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US (1) | US11468772B2 (ja) |
JP (1) | JP6898658B2 (ja) |
CN (1) | CN110588651A (ja) |
DE (1) | DE102019111763A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020166392A (ja) * | 2019-03-28 | 2020-10-08 | 株式会社Subaru | 車両の走行制御装置 |
JP2021112936A (ja) * | 2020-01-16 | 2021-08-05 | 本田技研工業株式会社 | 車両及びその制御装置 |
JP7473277B2 (ja) | 2020-07-07 | 2024-04-23 | 株式会社Subaru | 車両の走行制御装置 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
JP7268464B2 (ja) * | 2019-04-23 | 2023-05-08 | 株式会社デンソー | 車両制御装置 |
JP2022064762A (ja) * | 2020-10-14 | 2022-04-26 | トヨタ自動車株式会社 | 車両制御装置及び車両制御方法 |
CN112572426B (zh) * | 2021-02-25 | 2021-06-11 | 天津所托瑞安汽车科技有限公司 | 车辆制动方法、装置、电子设备及介质 |
Citations (1)
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JP2001101599A (ja) * | 1999-09-30 | 2001-04-13 | Toyota Motor Corp | 走行支援用の車載装置および走行支援方法 |
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JP2000085407A (ja) * | 1998-07-17 | 2000-03-28 | Denso Corp | 車間制御装置及び記録媒体 |
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JP4877773B2 (ja) * | 2006-10-02 | 2012-02-15 | クラリオン株式会社 | 車両の走行制御システム |
JP2009096361A (ja) * | 2007-10-17 | 2009-05-07 | Toyota Motor Corp | 車両走行支援装置 |
DE102008012644A1 (de) * | 2008-03-05 | 2009-09-10 | Robert Bosch Gmbh | Längsführungsassistent mit Seitenassistenzfunktion für Kraftfahrzeuge |
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JP2018112850A (ja) | 2017-01-11 | 2018-07-19 | 三菱自動車工業株式会社 | 車両の自動運転システムおよび自動運転システムを備えた車両 |
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2018
- 2018-06-13 JP JP2018112850A patent/JP6898658B2/ja active Active
-
2019
- 2019-04-03 CN CN201910266322.3A patent/CN110588651A/zh active Pending
- 2019-04-03 US US16/374,225 patent/US11468772B2/en active Active
- 2019-05-07 DE DE102019111763.1A patent/DE102019111763A1/de active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2001101599A (ja) * | 1999-09-30 | 2001-04-13 | Toyota Motor Corp | 走行支援用の車載装置および走行支援方法 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020166392A (ja) * | 2019-03-28 | 2020-10-08 | 株式会社Subaru | 車両の走行制御装置 |
JP7232100B2 (ja) | 2019-03-28 | 2023-03-02 | 株式会社Subaru | 車両の走行制御装置 |
JP2021112936A (ja) * | 2020-01-16 | 2021-08-05 | 本田技研工業株式会社 | 車両及びその制御装置 |
US11654955B2 (en) | 2020-01-16 | 2023-05-23 | Honda Motor Co., Ltd. | Vehicle and control apparatus of vehicle |
JP7473277B2 (ja) | 2020-07-07 | 2024-04-23 | 株式会社Subaru | 車両の走行制御装置 |
Also Published As
Publication number | Publication date |
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JP6898658B2 (ja) | 2021-07-07 |
DE102019111763A1 (de) | 2019-12-19 |
CN110588651A (zh) | 2019-12-20 |
US20190385459A1 (en) | 2019-12-19 |
US11468772B2 (en) | 2022-10-11 |
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