JP2021030740A - 車両用運転支援装置 - Google Patents
車両用運転支援装置 Download PDFInfo
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- YQNRVGJCPCNMKT-LFVJCYFKSA-N 2-[(e)-[[2-(4-benzylpiperazin-1-ium-1-yl)acetyl]hydrazinylidene]methyl]-6-prop-2-enylphenolate Chemical compound [O-]C1=C(CC=C)C=CC=C1\C=N\NC(=O)C[NH+]1CCN(CC=2C=CC=CC=2)CC1 YQNRVGJCPCNMKT-LFVJCYFKSA-N 0.000 description 11
- 101100462537 Caenorhabditis elegans pac-1 gene Proteins 0.000 description 11
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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
- B60K31/0008—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 including means for detecting potential obstacles in vehicle path
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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
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- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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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
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- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W30/18154—Approaching an intersection
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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
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- 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
- B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
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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
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2554/805—Azimuth angle
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
11…ナビゲーションユニット、
12…地図ロケータ演算部、
12a…自車位置推定演算部、
12b…走行ルート設定演算部、
13…GNSS受信機、
14…自律センサ、
15…ルート情報入力装置、
16…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、
21c…画像処理ユニット(IPU)、
21d…前方走行環境認識部、
31…走行制御ユニット、
32…アクセル開度センサ、
33…ブレーキスイッチ、
34…車速センサ、
35…操舵角センサ、
36…ウインカスイッチ、
37…ブレーキ駆動部、
38…加減速駆動部、
39…報知装置、
41…駆動源、
F…加速抑制解除フラグ、
Ka…加速度ゲイン、
Li…到達距離、
Lia,Lib.Lic,Lid…限界距離、
M…自車両、
Pac1…アクセル操作量しきい値、
Pac2…アクセル開放判定しきい値、
Pacc…アクセル操作量、
WLANE…車線幅、
WLAO…車線幅しきい値、
Δψ…方位角差分、
ψo…方位差分しきい値
Claims (8)
- 自車両の加速を抑制する加速抑制度合いを求める加速抑制度合算出部と、
前記加速抑制度合算出部で算出した前記加速抑制度合いに基づいて前記自車両の目標加速度を抑制する走行状態制御部と
を備える車両用運転支援装置において、
道路地図情報を記憶する地図情報記憶部と、
前記自車両の現在位置である自車位置を推定し、該自車位置に基づいて前記地図情報記憶部に記憶されている前記道路地図情報上の走行車線を特定する自車位置推定部と、
前記地図情報記憶部に記憶されている前記道路地図情報に基づいて前記自車位置推定部で推定した前記走行車線の前方に交差道路があるか否かを検出する交差道路検出部と、
前記交差道路検出部で前記交差道路が検出された場合、前記自車両が曲がろうとする該交差道路の方位と該自車両の進行方向の方位とがなす方位角差分を求める方位角差分算出部と
を更に備え、
前記加速抑制度合算出部は、前記方位角差分算出部で求めた前記方位角差分に基づいて該方位角差分が狭くなるに従い前記加速抑制度合いを高く設定する
ことを特徴とする車両用運転支援装置。 - アクセルペダルの操作量を検出するアクセル操作量検出部を更に有し、
前記加速抑制度合算出部は、前記方位角差分算出部で求めた前記方位角差分と前記アクセル操作量検出部で検出した前記アクセルペダルの操作量とに基づいて、該方位角差分が狭く、且つ前記アクセルペダルの操作量が大きくなるに従い前記加速抑制度合いを高く設定する
ことを特徴とする請求項1記載の車両用運転支援装置。 - 前記自車両から前記交差道路までの到達距離を求める到達距離算出部を更に有し、
前記加速抑制度合算出部は、前記到達距離算出部で求めた前記到達距離に基づいて該到達距離が短くなるに従い低い値のアクセル操作量しきい値を設定し、前記アクセル操作量検出部で検出した前記アクセルペダルの操作量が前記アクセル操作量しきい値を上回っている場合、前記アクセルペダルの操作量に基づいて前記加速抑制度合いを設定する
ことを特徴とする請求項2に記載の車両用運転支援装置。 - 前記自車両から前記交差道路に到達するまで到達距離を求める到達距離算出部を更に有し、
前記加速抑制度合算出部は、前記到達距離算出部で算出した前記到達距離に基づいて該到達距離が短くなるに従い高い値の方位角差分しきい値を設定し、前記方位角差分算出部で求めた前記方位角差分が該方位角差分しきい値を下回っている場合、該方位角差分に基づいて前記加速抑制度合いを設定する
ことを特徴とする請求項1或いは2に記載の車両用運転支援装置。 - 前記自車両の前記交差道路の方向への操舵を検出する操舵検出部と、
前記交差道路の車線幅を取得する車線幅取得部と
を更に有し、
前記加速抑制度合算出部は、前記操舵検出部で前記交差道路の方向への操舵を検出したした場合、前記車線幅取得部で取得した前記交差道路の車線幅に基づいて、該車線幅が狭くなるに従い前記加速抑制度合いを高く設定する
ことを特徴とする請求項1記載の車両用運転支援装置。 - 前記自車両が前記交差道路を右折又は左折するかを予測する右左折予測部を更に有し、
前記方位角差分算出部は、前記自車両の方位と前記右左折予測部で予測した右折又は左折方向の方位とがなす交差角から前記方位角差分を算出する
ことを特徴とする請求項1〜5の何れか1項に記載の車両用運転支援装置。 - 前記自車両は自動運転車であり、
前記自動運転車の運転モードが自動運転モードから運転者がハンドル操作を行う手動運転モードに遷移した際に、前記加速抑制度合算出部で前記加速抑制度合いが求められ、
前記走行状態制御部は、前記加速抑制度合算出部で算出した前記加速抑制度合いに基づいて前記自車両の加速度を抑制する
ことを特徴とする請求項1〜6の何れか1項に記載の車両用運転支援装置。 - アクセルペダルの操作量を検出するアクセル操作量検出部と、
前記アクセル操作量検出部で検出した前記アクセルペダルの操作量に基づき該アクセルペダルの開放を検出する加速抑制制御解除検出部と
を更に有し、
前記走行状態制御部は、前記加速抑制制御解除検出部が前記アクセルペダルの開放を検出した場合、前記目標加速度に対する加速抑制を解除する
ことを特徴とする請求項1記載の車両用運転支援装置。
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JP2019148502A JP7344044B2 (ja) | 2019-08-13 | 2019-08-13 | 車両用運転支援装置 |
CN202010423761.3A CN112389432A (zh) | 2019-08-13 | 2020-05-19 | 车辆用驾驶辅助装置 |
US16/898,857 US11407417B2 (en) | 2019-08-13 | 2020-06-11 | Vehicle driving assist apparatus |
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WO2023032035A1 (ja) * | 2021-08-31 | 2023-03-09 | 株式会社Subaru | 走行制御装置 |
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DE102019003238B4 (de) * | 2019-05-08 | 2023-04-20 | Mercedes-Benz Group AG | Fahrzeugortung durch Kartenabgleich unter Berücksichtigung eines Straßenprofils |
JP7053707B2 (ja) * | 2020-03-26 | 2022-04-12 | 本田技研工業株式会社 | 車両及びその制御装置 |
JP7343846B2 (ja) * | 2020-11-24 | 2023-09-13 | トヨタ自動車株式会社 | 車両制御装置及び車両制御方法 |
JP2022140032A (ja) * | 2021-03-12 | 2022-09-26 | 本田技研工業株式会社 | 運転支援装置及び車両 |
CN113401131B (zh) * | 2021-06-30 | 2023-07-11 | 东风汽车集团股份有限公司 | 一种防误踩油门辅助系统及方法 |
CN115230725B (zh) * | 2021-08-20 | 2023-05-12 | 广州汽车集团股份有限公司 | 一种驾驶辅助系统控制方法及装置 |
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