JP2021088289A - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP2021088289A JP2021088289A JP2019220149A JP2019220149A JP2021088289A JP 2021088289 A JP2021088289 A JP 2021088289A JP 2019220149 A JP2019220149 A JP 2019220149A JP 2019220149 A JP2019220149 A JP 2019220149A JP 2021088289 A JP2021088289 A JP 2021088289A
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- 238000004364 calculation method Methods 0.000 claims abstract description 69
- 238000001514 detection method Methods 0.000 claims description 174
- 238000000034 method Methods 0.000 description 15
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- 230000036461 convulsion Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
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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, 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
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
-
- 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- 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
-
- 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 or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2556/20—Data confidence level
Abstract
Description
運転支援装置100の構成について図面を参照して説明する。図1に示すように、運転支援装置100は、装置を統括的に管理する運転支援ECU[Electronic Control Unit]10を備えている。運転支援ECU10は、CPU[Central Processing Unit]、ROM[Read Only Memory]、RAM[Random Access Memory]などを有する電子制御ユニットである。運転支援ECU10では、例えば、ROMに記憶されているプログラムをRAMにロードし、RAMにロードされたプログラムをCPUで実行することにより各種の機能を実現する。運転支援ECU10は、複数の電子ユニットから構成されていてもよい。
検出信頼度の算出方法1として、信頼度算出部13は、自車両と減速対象との位置関係に基づいて検出信頼度を算出することができる。ここで、減速対象を検出する外部センサ1の検出性能によって、外部センサ1からの距離が離れるほど減速対象の検出信頼度が低下し、外部センサ1の検出の中心軸(検出範囲の幅方向の中心位置)から横方向にずれるほど検出信頼度が低下する。
検出信頼度の算出方法2として、信頼度算出部13は、周辺環境に基づいて検出信頼度を算出することができる。この周辺環境として、例えば、自車両(外部センサ1)の前方が視界不良であるか否かを用いることができる。自車両(外部センサ1)の前方が視界不良である場合、視界不良でない場合に比べて外部センサ1を用いた減速対象の検出信頼度が低下する。
検出信頼度の算出方法3として、信頼度算出部13は、カメラ(外部センサ1)の撮像画像に基づいて減速対象検出部11が検出した減速対象の画像認識尤度に基づいて検出信頼度を算出することができる。画像認識尤度とは、撮像画像に基づいて認識される減速対象の認識の確からしさを表す。減速対象検出部11は、上述したようにカメラの撮像画像に基づいて減速対象を検出することに加え、減速対象の画像認識尤度を求める。
Claims (3)
- 自車両の前方の減速対象を検出し、検出した前記減速対象と前記自車両との距離に少なくとも基づいて前記自車両の減速支援を開始する運転支援装置であって、
前記減速対象の検出信頼度を算出する信頼度算出部と、
算出された前記検出信頼度に応じて、複数の支援内容の中から前記減速支援の前記支援内容を選択する支援内容選択部と、
選択された前記減速支援の前記支援内容を実行する運転支援部と、
を備え、
前記複数の支援内容には、第1支援と、前記第1支援よりも前記減速支援の度合いが大きい第2支援とが含まれ、
前記支援内容選択部は、前記検出信頼度が予め定められた信頼度閾値未満の場合には前記第1支援を選択し、前記検出信頼度が前記信頼度閾値以上の場合には前記第2支援を選択する運転支援装置。 - 前記信頼度算出部は、前記自車両と前記減速対象との位置関係に基づいて前記検出信頼度を算出し、
前記位置関係に基づいて前記信頼度算出部が前記検出信頼度を算出することには、前記自車両から前記減速対象までの距離が長いほど前記検出信頼度を小さく算出すること、及び前記自車両に対する前記減速対象の横位置のずれが大きいほど前記検出信頼度を小さく算出することの少なくともいずれかを含む、請求項1に記載の運転支援装置。 - 前記信頼度算出部は、
前記減速対象が先行車両である場合、前記自車両と前記減速対象との前記位置関係に基づいて前記検出信頼度を算出し、
前記減速対象が信号機である場合、撮像画像に基づいて認識される前記信号機の画像認識尤度に基づいて前記検出信頼度を算出する、請求項2に記載の運転支援装置。
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JP2019220149A JP7414497B2 (ja) | 2019-12-05 | 2019-12-05 | 運転支援装置 |
CN202010794852.8A CN113022554A (zh) | 2019-12-05 | 2020-08-10 | 驾驶支援装置 |
US16/992,739 US11433888B2 (en) | 2019-12-05 | 2020-08-13 | Driving support system |
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JP2019220149A JP7414497B2 (ja) | 2019-12-05 | 2019-12-05 | 運転支援装置 |
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JP2021088289A true JP2021088289A (ja) | 2021-06-10 |
JP7414497B2 JP7414497B2 (ja) | 2024-01-16 |
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JP (1) | JP7414497B2 (ja) |
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JP7440237B2 (ja) | 2019-10-16 | 2024-02-28 | トヨタ自動車株式会社 | 表示装置 |
JP7439563B2 (ja) * | 2020-02-26 | 2024-02-28 | トヨタ自動車株式会社 | 走行支援装置 |
Citations (4)
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JP2000038121A (ja) * | 1998-07-22 | 2000-02-08 | Mitsubishi Motors Corp | 車両の走行制御方法 |
JP2009154590A (ja) * | 2007-12-25 | 2009-07-16 | Mitsubishi Fuso Truck & Bus Corp | 車両の衝突被害軽減装置 |
JP2012173879A (ja) * | 2011-02-18 | 2012-09-10 | Toyota Central R&D Labs Inc | 信号機検出装置及びプログラム |
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JP6658692B2 (ja) | 2017-07-31 | 2020-03-04 | トヨタ自動車株式会社 | 走行支援装置 |
-
2019
- 2019-12-05 JP JP2019220149A patent/JP7414497B2/ja active Active
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2020
- 2020-08-10 CN CN202010794852.8A patent/CN113022554A/zh active Pending
- 2020-08-13 US US16/992,739 patent/US11433888B2/en active Active
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US11433888B2 (en) | 2022-09-06 |
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