JP2021030956A - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP2021030956A JP2021030956A JP2019154854A JP2019154854A JP2021030956A JP 2021030956 A JP2021030956 A JP 2021030956A JP 2019154854 A JP2019154854 A JP 2019154854A JP 2019154854 A JP2019154854 A JP 2019154854A JP 2021030956 A JP2021030956 A JP 2021030956A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
- B60W30/08—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static 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
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- 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 for navigation 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/20—Lateral distance
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Abstract
【解決手段】運転支援装置1は、自車両2の前方に検出された物標を避ける操舵制御及び減速制御を行う。運転支援装置1は、自車両2が物標の横を通過するときの自車両2と物標との間の横距離であって操舵制御が目標とする目標横距離YGAP *を演算し、目標横距離が閾値α未満の場合に、閾値αから目標横距離YGAP *を減算してなる横距離抑制量ΔYGAPが大きいほど、自車両2が物標の横を通過するときの自車両2の減速度であって減速制御が目標とする目標減速度Ax *を大きくする。
【選択図】図1
Description
図1は、第1実施形態に係る運転支援装置1を含む自車両2の機能ブロック図である。図1に示されるように、運転支援装置1は、乗用車などの自車両2に搭載される。運転支援装置1は、自車両2の前方に検出された物標を避ける操舵制御及び減速制御を行う。物標は、静止物体(固定障害物)及び移動物体(移動障害物)を含む。
Ur(x,y)=(1−exp(−(y−ys)2/2σr 2)) …(1)
ys:道路の幅方向の中心情報に対する規範ドライバのライン取りの横位置
Uo(x,y)=exp(−(x−xo)2/σox 2−
(y−yo)2/σoy 2)…(2)
リスクポテンシャル場=全物標の単一ポテンシャル場Uoの総和
+道路ポテンシャル場Ur…(3)
目標操舵量θsw *=Gainθ×最低谷位置 …(3)
横距離抑制量ΔYGAP(k)=閾値α(k)−目標横距離YGAP *(k) …(4)
次に、第2実施形態について説明する。第2実施形態においては、上記第1実施形態と異なる点を説明し、重複する説明は省略する。
以上、種々の例示的実施形態について説明してきたが、上述した例示的実施形態に限定されることなく、様々な省略、置換、及び変更がなされてもよい。
Claims (3)
- 自車両の前方に検出された物標を避ける操舵制御及び減速制御を行う運転支援装置であって、
前記自車両が前記物標の横を通過するときの前記自車両と前記物標との間の横距離であって前記操舵制御が目標とする目標横距離を演算し、
前記目標横距離が閾値未満の場合に、前記閾値から前記目標横距離を減算してなる差分が大きいほど、前記自車両が前記物標の横を通過するときの前記自車両の減速度であって前記減速制御が目標とする目標減速度を大きくする、運転支援装置。 - 1又は複数の前記物標の種別に応じて、前記閾値を1又は複数の前記物標ごとに取得する第1処理部と、
前記自車両の車速、前記自車両の位置、前記自車両が走行する道路の道路幅、及び、1又は複数の前記物標の位置に基づいて、リスクポテンシャル場を演算する第2処理部と、
前記自車両の車速、前記自車両の位置、前記リスクポテンシャル場、及び、1又は複数の前記物標に関する前記閾値に基づいて、1又は複数の前記物標に関する前記目標横距離及び前記差分を演算する第3処理部と、
1又は複数の前記物標のうち少なくとも何れかの物標に関して前記目標横距離が前記閾値未満の場合に、当該物標に関する前記差分が大きいほど、当該物標に関する前記目標減速度を大きくする第4処理部と、を備える、請求項1に記載の運転支援装置。 - 前記自車両との距離が第一所定距離以下の1又は複数の前記物標が検出された場合に、前記第1処理部及び前記第2処理部の処理を、周期的に繰り返し実行し、
前記自車両との距離が前記第一所定距離よりも小さい第二所定距離以下の1又は複数の前記物標が検出された場合に、前記第3処理部及び前記第4処理部の処理を、周期的に繰り返し実行する、請求項2に記載の運転支援装置。
Priority Applications (3)
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JP2019154854A JP7188325B2 (ja) | 2019-08-27 | 2019-08-27 | 運転支援装置 |
US16/884,463 US11731692B2 (en) | 2019-08-27 | 2020-05-27 | Driving support device that performs steering control and deceleration control for avoiding an object |
CN202010805226.4A CN112440983A (zh) | 2019-08-27 | 2020-08-12 | 驾驶辅助装置 |
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JP2019154854A JP7188325B2 (ja) | 2019-08-27 | 2019-08-27 | 運転支援装置 |
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JP2021030956A true JP2021030956A (ja) | 2021-03-01 |
JP7188325B2 JP7188325B2 (ja) | 2022-12-13 |
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JP7268629B2 (ja) * | 2020-03-23 | 2023-05-08 | トヨタ自動車株式会社 | 運転支援システム |
JP7414612B2 (ja) * | 2020-03-26 | 2024-01-16 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
WO2024064621A1 (en) * | 2022-09-19 | 2024-03-28 | Velios Inc. | Situational awareness systems and methods and micromobility platform |
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US11731692B2 (en) | 2023-08-22 |
JP7188325B2 (ja) | 2022-12-13 |
CN112440983A (zh) | 2021-03-05 |
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