JP2023107502A - 経路生成装置 - Google Patents
経路生成装置 Download PDFInfo
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- JP2023107502A JP2023107502A JP2022008737A JP2022008737A JP2023107502A JP 2023107502 A JP2023107502 A JP 2023107502A JP 2022008737 A JP2022008737 A JP 2022008737A JP 2022008737 A JP2022008737 A JP 2022008737A JP 2023107502 A JP2023107502 A JP 2023107502A
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- 238000001514 detection method Methods 0.000 claims description 10
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 208000019901 Anxiety disease Diseases 0.000 abstract description 9
- 230000036506 anxiety Effects 0.000 abstract description 9
- 230000004048 modification Effects 0.000 description 20
- 238000012986 modification Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 13
- 238000012888 cubic function Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001771 impaired effect Effects 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
-
- 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
- B60W30/18018—Start-stop drive, e.g. in a traffic jam
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- 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
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/10—Number of lanes
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/406—Traffic density
-
- 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
Abstract
Description
FL(X)=C3LX3+C2LX2+C1LX+C0L ・・・(i)
FR(X)=C3RX3+C2RX2+C1RX+C0R ・・・(ii)
F(X)=C3X3+C2X2+C1X+C0 ・・・(iii)
C3=(C3L+C3R)/2,C2=(C2L+C2R)/2,
C1=(C1L+C1R)/2,C0=(C0L+C0R)/2
(1)装置100は、自車線2を走行する自車両1の走行速度を検出する車速センサ12と、自車両1の周辺領域の物体を検出する外部センサ13と、外部センサ13により検出された物体のうち、自車線2に隣接する隣接車線3a,3bを走行する隣接車両5a,5bを認識する周辺認識部16と、車速センサ12により検出された自車両1の走行速度に基づいて自車線2が渋滞しているか否かを判定するとともに、周辺認識部16による認識結果に基づいて隣接車線3a,3bが渋滞しているか否かを判定する渋滞判定部17と、自車両1の目標経路6を生成する経路生成部18とを備える(図1)。
Claims (5)
- 自車線を走行する自車両の速度情報を取得する速度情報取得部と、
自車両の周辺領域の物体を検出する検出部と、
前記検出部により検出された物体のうち、前記自車線に隣接する隣接車線を走行する隣接車両を認識する周辺認識部と、
前記速度情報取得部により取得された速度情報に基づいて前記自車線が渋滞しているか否かを判定するとともに、前記周辺認識部による認識結果に基づいて前記隣接車線が渋滞しているか否かを判定する渋滞判定部と、
自車両の目標経路を生成する経路生成部と、を備え、
前記経路生成部は、前記渋滞判定部により、前記自車線が渋滞していると判定され、かつ、前記隣接車線が渋滞していないと判定されるとき、前記自車線が渋滞していると判定され、かつ、前記隣接車線が渋滞していると判定されるときよりも、前記隣接車線から離間する側に前記目標経路を生成することを特徴とする経路生成装置。 - 請求項1に記載の経路生成装置において、
前記隣接車線は、第1隣接車線であり、
前記自車線には、前記第1隣接車線の反対側において、さらに第2隣接車線が隣接し、
前記経路生成部は、前記渋滞判定部により、前記自車線が渋滞していると判定され、かつ、前記第1隣接車線および前記第2隣接車線の一方が渋滞し、他方が渋滞していないと判定されるとき、前記自車線が渋滞していると判定され、かつ、前記第1隣接車線および前記第2隣接車線の両方が渋滞していないと判定されるときよりも、前記隣接車線から離間する側に前記目標経路を生成することを特徴とする経路生成装置。 - 請求項1または2に記載の経路生成装置において、
前記渋滞判定部は、前記自車線が渋滞していると判定されると、前記周辺認識部による認識結果に基づいて自車両に対する前記隣接車両の相対速度を特定し、特定された前記相対速度が所定速度以下のとき、前記隣接車線が渋滞していると判定する一方、前記相対速度が前記所定速度を超えるとき、前記隣接車線が渋滞していないと判定することを特徴とする経路生成装置。 - 請求項1~3のいずれか1項に記載の経路生成装置において、
前記検出部は、自車両の後側方を含む前記周辺領域の物体を検出することを特徴とする経路生成装置。 - 請求項1~4のいずれか1項に記載の経路生成装置において、
自車両の運転者に対する運転支援を行うないし自車両を自動運転するように走行用アクチュエータを制御する走行制御部をさらに備え、
前記走行制御部は、前記経路生成部により生成された目標経路に基づいて前記走行用アクチュエータを制御することを特徴とする経路生成装置。
Priority Applications (3)
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JP2022008737A JP7458428B2 (ja) | 2022-01-24 | 2022-01-24 | 経路生成装置 |
CN202310013697.5A CN116486638A (zh) | 2022-01-24 | 2023-01-05 | 路径生成装置和路径生成方法 |
US18/098,688 US20230234607A1 (en) | 2022-01-24 | 2023-01-18 | Path generation apparatus and path generation method |
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JP2022008737A JP7458428B2 (ja) | 2022-01-24 | 2022-01-24 | 経路生成装置 |
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JP7458428B2 JP7458428B2 (ja) | 2024-03-29 |
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US (1) | US20230234607A1 (ja) |
JP (1) | JP7458428B2 (ja) |
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Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4367293B2 (ja) | 2004-09-01 | 2009-11-18 | マツダ株式会社 | 車両の走行制御装置 |
JP6160509B2 (ja) | 2014-02-25 | 2017-07-12 | アイシン・エィ・ダブリュ株式会社 | 運転支援装置、運転支援方法及びプログラム |
JP6774259B2 (ja) | 2016-08-10 | 2020-10-21 | 株式会社Subaru | 車両の走行制御装置 |
JP2018094960A (ja) | 2016-12-08 | 2018-06-21 | 本田技研工業株式会社 | 車両制御装置 |
JP2018127084A (ja) | 2017-02-08 | 2018-08-16 | トヨタ自動車株式会社 | 自動運転車両 |
JP7108916B2 (ja) | 2018-03-13 | 2022-07-29 | パナソニックIpマネジメント株式会社 | 車両制御装置 |
CN113788029B (zh) | 2021-09-29 | 2023-01-31 | 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 |
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US20230234607A1 (en) | 2023-07-27 |
JP7458428B2 (ja) | 2024-03-29 |
CN116486638A (zh) | 2023-07-25 |
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