JP4295298B2 - 車両の運転支援制御装置 - Google Patents
車両の運転支援制御装置 Download PDFInfo
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- JP4295298B2 JP4295298B2 JP2006214286A JP2006214286A JP4295298B2 JP 4295298 B2 JP4295298 B2 JP 4295298B2 JP 2006214286 A JP2006214286 A JP 2006214286A JP 2006214286 A JP2006214286 A JP 2006214286A JP 4295298 B2 JP4295298 B2 JP 4295298B2
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- 238000013459 approach Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 28
- 238000000034 method Methods 0.000 description 26
- 238000004364 calculation method Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
-
- 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
- B60W2552/15—Road slope
-
- 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
-
- 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
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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
- B60W2554/804—Relative longitudinal speed
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
Description
もし、ステップ506,507の見通し判断の結果、フラグFcがONを示す数値、例えば1であれば、前方認識装置2が一時停止線を検知したことを示している。この場合、ナビ装置1の出力情報である距離Lnの値と、カメラ等を用いた前方認識装置2の出力情報である距離Lcの値の両者を用いることができる。そこで、距離Lnと距離Lcを基に一時停止制御を行う。ステップ513において、もし、距離Lnの値がナビ装置1の測定誤差以下であると判断すれば、前述したように、もはやナビ装置1での運転支援が不可能な近距離に在るので、前方認識装置2の距離情報Lcのみで制御を行うことになる。このとき、ステップ514において、もし、距離Lcの数値変化から、車両が一時停止線に近づき過ぎて、カメラの画角から既知のカメラの認識限界距離に達したと判定した場合は、車両は、十分に一時停止線に近づいたことを意味する。このため、ステップ516で、一時停止制御用目標速度Vstを0km/hとして与える。それ以外は、ステップ517にて、目標距離Lsの値は前方認識装置2の出力距離Lcであるとして、ステップ510において、その時の目標距離Ls=Lcの値から一時停止制御用目標速度Vstを算出する。ステップ513での判定結果が、もし、距離Lnの値がナビの測定誤差以上であれば、ステップ514で、目標距離Lsを後述するナビ装置1からの距離Lnと、前方認識装置2の出力距離Lcの両者から求める補間値として算出する。そして、ステップ510では、このようにして求められた目標距離Lsに基づいて、一時停止制御用目標速度Vstを算出する。
ここで、x(t)=Lc(t)/Lc(0)、tは現在時刻,Lc(0)は、受信開始した時のカメラを用いた前方認識装置2からの距離情報である。
Claims (3)
- 車両周辺の状況をモニタし特定の対象物までの距離を算出する前方認識装置と、自車前方の道路情報を外部から入手する道路情報入手手段と、走行中の自車の速度を含む自車状態を取得するセンサと、前記前方認識装置,前記道路情報入手手段,および前記センサと接続され、前記道路情報入手手段の出力情報と前記前方認識装置の出力情報とに基づいて目標停止位置へ停止するための運転支援制御を実行する車両の運転支援制御装置において、前記道路情報入手手段が目標停止地点を検出したのち、前記道路情報入手手段から得た目標停止位置までの距離情報を初期値とし、前記目標停止位置に近づくにつれて、前記前方認識装置から得た目標停止位置までの距離情報に次第に近づく補間距離情報に基いて、前記目標停止位置に停止するための運転支援制御を実行することを特徴とする車両の運転支援制御装置。
- 請求項1において、前記道路情報入手手段はナビゲーション装置を含むことを特徴とする車両の運転支援制御装置。
- 請求項1において、前記補間距離情報に基いて前記目標停止位置に停止するための運転支援制御を実行中に、前記道路情報入手手段および前記前方認識装置を利用していることを車内に案内する手段を備えたことを特徴とする車両の運転支援制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006214286A JP4295298B2 (ja) | 2006-08-07 | 2006-08-07 | 車両の運転支援制御装置 |
US11/780,235 US7769506B2 (en) | 2006-08-07 | 2007-07-19 | Driver assistance system controller and driver assistance control method for vehicles |
DE602007012388T DE602007012388D1 (de) | 2006-08-07 | 2007-08-01 | Fahrerunterstützungssystemsteuerung und Fahrerunterstützungssteuerungsverfahren für Fahrzeuge |
EP07015101A EP1886891B1 (en) | 2006-08-07 | 2007-08-01 | Driver assistance system controller and driver assistance control method for vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006214286A JP4295298B2 (ja) | 2006-08-07 | 2006-08-07 | 車両の運転支援制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008040795A JP2008040795A (ja) | 2008-02-21 |
JP4295298B2 true JP4295298B2 (ja) | 2009-07-15 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006214286A Expired - Fee Related JP4295298B2 (ja) | 2006-08-07 | 2006-08-07 | 車両の運転支援制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7769506B2 (ja) |
EP (1) | EP1886891B1 (ja) |
JP (1) | JP4295298B2 (ja) |
DE (1) | DE602007012388D1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8909388B1 (en) | 2013-08-09 | 2014-12-09 | Hyundai Motor Company | Driving device and method using imaging device signal and navigation signal |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4816248B2 (ja) * | 2006-05-23 | 2011-11-16 | 日産自動車株式会社 | 車両用運転操作補助装置 |
JP4871909B2 (ja) * | 2008-04-25 | 2012-02-08 | 日立オートモティブシステムズ株式会社 | 物体認識装置、および物体認識方法 |
JP5441549B2 (ja) | 2009-07-29 | 2014-03-12 | 日立オートモティブシステムズ株式会社 | 道路形状認識装置 |
KR20130005107A (ko) * | 2011-07-05 | 2013-01-15 | 현대자동차주식회사 | 차간거리 자동 가변 시스템 및 그 방법 |
JP5861584B2 (ja) * | 2012-07-17 | 2016-02-16 | トヨタ自動車株式会社 | ふらつき判定装置 |
US9196164B1 (en) * | 2012-09-27 | 2015-11-24 | Google Inc. | Pedestrian notifications |
KR101414572B1 (ko) | 2013-02-18 | 2014-08-06 | 주식회사 만도 | 차선 인식 보조 장치 및 그 보조 방법 |
US10318823B2 (en) | 2013-10-14 | 2019-06-11 | Mobileye Vision Technologies Ltd. | Forward-facing multi-imaging system for navigating a vehicle |
CN104554259B (zh) * | 2013-10-21 | 2018-03-30 | 财团法人车辆研究测试中心 | 主动式自动驾驶辅助系统与方法 |
US9238407B1 (en) | 2014-02-05 | 2016-01-19 | Jose Brito | Tire pressure dependent cruise control device |
KR101621877B1 (ko) * | 2015-01-20 | 2016-05-31 | 현대자동차주식회사 | 차량 데이터 수집 방법 및 장치 |
CN108139218B (zh) * | 2015-10-15 | 2020-12-08 | 华为技术有限公司 | 导航系统、装置和方法 |
JP6552064B2 (ja) | 2017-03-31 | 2019-07-31 | 株式会社Subaru | 車両の走行制御システム |
JP2023021835A (ja) * | 2021-08-02 | 2023-02-14 | 株式会社デンソー | 車両制御装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3644149B2 (ja) | 1996-09-10 | 2005-04-27 | 日産自動車株式会社 | 車間距離制御型定速走行装置 |
JP3878008B2 (ja) | 2001-12-07 | 2007-02-07 | 株式会社日立製作所 | 車両用走行制御装置及び地図情報データ記録媒体 |
JP3888166B2 (ja) | 2002-01-16 | 2007-02-28 | 三菱自動車工業株式会社 | 車両用運転支援装置 |
JP3969251B2 (ja) | 2002-08-23 | 2007-09-05 | トヨタ自動車株式会社 | 車両用運転補助装置 |
JP4134894B2 (ja) | 2003-12-09 | 2008-08-20 | 株式会社デンソー | 車両運転支援装置 |
JP4246084B2 (ja) | 2004-02-17 | 2009-04-02 | 日産自動車株式会社 | 車両用走行制御装置 |
JP2005253642A (ja) | 2004-03-11 | 2005-09-22 | Aloka Co Ltd | 超音波診断装置 |
JP4432801B2 (ja) * | 2005-03-02 | 2010-03-17 | 株式会社デンソー | 運転支援装置 |
JP4820712B2 (ja) * | 2005-08-05 | 2011-11-24 | アイシン・エィ・ダブリュ株式会社 | 路面標示認識システム |
-
2006
- 2006-08-07 JP JP2006214286A patent/JP4295298B2/ja not_active Expired - Fee Related
-
2007
- 2007-07-19 US US11/780,235 patent/US7769506B2/en not_active Expired - Fee Related
- 2007-08-01 DE DE602007012388T patent/DE602007012388D1/de active Active
- 2007-08-01 EP EP07015101A patent/EP1886891B1/en active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8909388B1 (en) | 2013-08-09 | 2014-12-09 | Hyundai Motor Company | Driving device and method using imaging device signal and navigation signal |
KR101518909B1 (ko) * | 2013-08-09 | 2015-05-15 | 현대자동차 주식회사 | 전방영상 및 네비게이션 기반 운행 장치 및 방법 |
Also Published As
Publication number | Publication date |
---|---|
EP1886891A3 (en) | 2008-04-16 |
US20080033625A1 (en) | 2008-02-07 |
EP1886891B1 (en) | 2011-02-09 |
JP2008040795A (ja) | 2008-02-21 |
EP1886891A2 (en) | 2008-02-13 |
DE602007012388D1 (de) | 2011-03-24 |
US7769506B2 (en) | 2010-08-03 |
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