JP5600330B2 - 車両の運転支援装置 - Google Patents
車両の運転支援装置 Download PDFInfo
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- JP5600330B2 JP5600330B2 JP2012031999A JP2012031999A JP5600330B2 JP 5600330 B2 JP5600330 B2 JP 5600330B2 JP 2012031999 A JP2012031999 A JP 2012031999A JP 2012031999 A JP2012031999 A JP 2012031999A JP 5600330 B2 JP5600330 B2 JP 5600330B2
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- JP
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- Prior art keywords
- brake
- vehicle
- obstacle
- collision
- engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
- G06V20/647—Three-dimensional objects by matching two-dimensional images to three-dimensional objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/12—Pre-actuation of braking systems without significant braking effect; Optimizing brake performance by reduction of play between brake pads and brake disc
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral speed
Description
図1において、符号1は自動車等の車両(自車両)を示し、この車両1には、自車両の前方の障害物や先行車を認識して運転支援制御(衝突防止制御)を図る車両運転支援装置2が搭載されている。
まず、ステップ(以下、「S」と略称)101において、前方環境認識部20で、前方障害物が認識されているか否か判定される。
2 車両運転支援装置
10 制御ユニット(衝突判定手段、ブレーキ制御手段)
20 前方環境認識部(前方環境認識手段)
21 ステレオカメラ
30 エンジン自動停止制御部(エンジン自動停止制御手段)
31 エンジン制御部
40 ブレーキ負圧センサ
50 ブレーキ制御部(ブレーキ制御手段)
51 ブレーキ駆動部(ブレーキ駆動手段)
Claims (5)
- 自車両の前方環境を認識する前方環境認識手段と、
上記前方環境認識手段で自車両前方の障害物を認識した場合に、該障害物と自車両との衝突の可能性を予め設定する評価値と予め設定する閾値とを比較して判定する衝突判定手段と、
予め設定しておいた運転条件が成立する場合にエンジンを自動停止させるエンジン自動停止制御手段と、
上記衝突判定手段で上記障害物と自車両との衝突の可能性が高いと判定され、且つ、上記エンジン自動停止制御手段で上記エンジンが自動停止されている場合と、上記衝突判定手段で上記障害物と自車両との衝突の可能性が高いと判定され、且つ、ブレーキブースタの負圧が不足する場合の少なくとも一方の場合に、ブレーキ駆動手段のポンプを起動させるブレーキ制御手段と、
を備えたことを特徴とする車両の運転支援装置。 - 上記ブレーキ制御手段は、上記ブレーキ駆動手段のポンプを起動させて各輪のブレーキパッドをディスクロータの被制動面に向けて押動するプレフィルを実行させることを特徴とする請求項1記載の車両の運転支援装置。
- 上記前方環境認識手段で上記障害物が先行車であると認識しなかった場合には、上記ブレーキ制御手段は、上記衝突判定手段で上記障害物と自車両との衝突の可能性が高いと判定され、且つ、上記エンジン自動停止制御手段で上記エンジンが自動停止されている場合と、上記衝突判定手段で上記障害物と自車両との衝突の可能性が高いと判定され、且つ、ブレーキブースタの負圧が不足する場合の少なくとも一方の場合に、上記ブレーキ駆動手段のポンプを起動させることを特徴とする請求項1又は請求項2記載の車両の運転支援装置。
- 上記前方環境認識手段で上記障害物が先行車であると認識した場合には、自車両と先行車との幅方向のラップ率を算出し、該ラップ率が予め設定しておいた閾値を超えない場合には、上記ブレーキ制御手段は、上記ブレーキ駆動手段のポンプ起動をキャンセルすることを特徴とする請求項1乃至請求項3の何れか一つに記載の車両の運転支援装置。
- 上記前方環境認識手段で上記障害物が先行車であると認識して該先行車のブレーキランプが消灯し、且つ、上記前方環境認識手段で青信号が検出された場合には、上記ブレーキ制御手段は、上記ブレーキ駆動手段のポンプ起動をキャンセルすることを特徴とする請求項1乃至請求項4の何れか一つに記載の車両の運転支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012031999A JP5600330B2 (ja) | 2012-02-16 | 2012-02-16 | 車両の運転支援装置 |
DE102013100949.2A DE102013100949B4 (de) | 2012-02-16 | 2013-01-30 | Fahrzeugfahrtunterstützungsvorrichtung |
CN201310050122.7A CN103253264B (zh) | 2012-02-16 | 2013-02-08 | 车辆的驾驶辅助装置 |
US13/764,684 US9514649B2 (en) | 2012-02-16 | 2013-02-11 | Vehicle driving support device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012031999A JP5600330B2 (ja) | 2012-02-16 | 2012-02-16 | 車両の運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013166509A JP2013166509A (ja) | 2013-08-29 |
JP5600330B2 true JP5600330B2 (ja) | 2014-10-01 |
Family
ID=48915319
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012031999A Active JP5600330B2 (ja) | 2012-02-16 | 2012-02-16 | 車両の運転支援装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9514649B2 (ja) |
JP (1) | JP5600330B2 (ja) |
CN (1) | CN103253264B (ja) |
DE (1) | DE102013100949B4 (ja) |
Cited By (1)
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CN108839651A (zh) * | 2018-06-19 | 2018-11-20 | 苏州博学智能科技有限公司 | 一种汽车的智能驾驶系统 |
Families Citing this family (18)
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JP2014227985A (ja) * | 2013-05-27 | 2014-12-08 | アイシン精機株式会社 | 車両用駆動装置 |
US9424607B2 (en) * | 2013-09-20 | 2016-08-23 | Elwha Llc | Systems and methods for insurance based upon status of vehicle software |
US10169821B2 (en) | 2013-09-20 | 2019-01-01 | Elwha Llc | Systems and methods for insurance based upon status of vehicle software |
JP6221929B2 (ja) * | 2014-05-13 | 2017-11-01 | 株式会社デンソー | 車両用運転支援装置 |
US9586585B2 (en) * | 2014-11-20 | 2017-03-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | Autonomous vehicle detection of and response to traffic officer presence |
JP6543078B2 (ja) * | 2015-04-27 | 2019-07-10 | 本田技研工業株式会社 | 車両用ブレーキ装置 |
CN104859610B (zh) * | 2015-05-22 | 2018-08-24 | 北京宝沃汽车有限公司 | 用于车辆辅助驾驶的控制器、系统和方法 |
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-
2012
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-
2013
- 2013-01-30 DE DE102013100949.2A patent/DE102013100949B4/de active Active
- 2013-02-08 CN CN201310050122.7A patent/CN103253264B/zh not_active Expired - Fee Related
- 2013-02-11 US US13/764,684 patent/US9514649B2/en active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108839651A (zh) * | 2018-06-19 | 2018-11-20 | 苏州博学智能科技有限公司 | 一种汽车的智能驾驶系统 |
CN108839651B (zh) * | 2018-06-19 | 2020-04-24 | 赵勇 | 一种汽车的智能驾驶系统 |
Also Published As
Publication number | Publication date |
---|---|
DE102013100949B4 (de) | 2017-08-31 |
US20130218433A1 (en) | 2013-08-22 |
JP2013166509A (ja) | 2013-08-29 |
CN103253264B (zh) | 2017-04-26 |
US9514649B2 (en) | 2016-12-06 |
CN103253264A (zh) | 2013-08-21 |
DE102013100949A1 (de) | 2013-08-22 |
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