JP5917472B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP5917472B2 JP5917472B2 JP2013232407A JP2013232407A JP5917472B2 JP 5917472 B2 JP5917472 B2 JP 5917472B2 JP 2013232407 A JP2013232407 A JP 2013232407A JP 2013232407 A JP2013232407 A JP 2013232407A JP 5917472 B2 JP5917472 B2 JP 5917472B2
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- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation 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
- 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
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- 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
- 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
-
- 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
- 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
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
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- 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
- B60T2201/08—Lane monitoring; Lane Keeping 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
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/089—Lane monitoring; Lane Keeping Systems using optical detection
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
-
- 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
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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
- B60W2554/805—Azimuth angle
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Description
本発明は、このような事情を考慮してなされたものであり、より確実に特定物体を保護することができる運転支援装置を提供することを目的の一つとする。
10 レーダ装置(センサ部)
15 車速センサ
20 カメラ/運転支援ユニット
22 カメラ(センサ部)
30 運転支援装置(運転支援装置)
32 物体認識部(認識部)
34 道路区画線認識部(認識部)
36 運転支援制御部(制御部)
40 走行制御ユニット
42 操舵制御部
44 制動制御部
50 パワーステアリング装置
60 電子制御式ブレーキ装置
Claims (7)
- 自車両の周辺情報を取得するセンサ部により取得された周辺情報を参照し、特定物体と道路区画線の位置をそれぞれ認識する認識部と、
前記認識部による認識結果を参照し、自車両の進行方向の先に存在する前記道路区画線に関して走行車線の外側にある前記特定物体が、自車両の進行方向に沿って延在する仮想ラインよりも走行車線を逸脱する側にある場合と、前記仮想ラインよりも走行車線の中央側にある場合とで異なる制御を行う制御部と、
を備える運転支援装置。 - 請求項1記載の運転支援装置であって、
前記制御部は、前記特定物体が、自車両の進行方向に沿って延在する仮想ラインよりも走行車線を逸脱する側にある場合に、走行車線を逸脱しないための制御を行い、前記特定物体が、前記仮想ラインよりも走行車線の中央側にある場合に、制動制御を行う、
運転支援装置。 - 請求項1または2記載の運転支援装置であって、
前記制御部は、自車両の速度が所定速度以上である場合に、前記特定物体が、自車両の進行方向に沿って延在する仮想ラインよりも走行車線を逸脱する側にある場合と、前記仮想ラインよりも走行車線の中央側にある場合とで異なる制御を行う、
運転支援装置。 - 請求項1から3のうちいずれか1項記載の運転支援装置であって、
前記制御部は、自車両の操舵角の大きさが所定値未満である場合に、前記特定物体が、自車両の進行方向に沿って延在する仮想ラインよりも走行車線を逸脱する側にある場合と、前記仮想ラインよりも走行車線の中央側にある場合とで異なる制御を行う、
運転支援装置。 - 請求項1から4のうちいずれか1項記載の運転支援装置であって、
前記制御部は、自車両の前端部における車両幅方向に関する中央部から、自車両の前方に延出するものとして前記仮想ラインを定義する、
運転支援装置。 - 請求項1から4のうちいずれか1項記載の運転支援装置であって、
前記制御部は、自車両の左右端いずれかであって、前記特定物体が存在する側の端部から、自車両の前方に延出するものとして前記仮想ラインを定義する、
運転支援装置。 - 自車両の周辺情報を取得するセンサ部により取得された周辺情報を参照し、特定物体と道路区画線の位置をそれぞれ認識する認識部と、
前記認識部による認識結果を参照し、前記特定物体が、自車両の進行方向に沿って延在する仮想ラインよりも走行車線を逸脱する側にある場合と、前記仮想ラインよりも走行車線の中央側にある場合とで異なる制御を行う制御部と、
を備え、
前記特定物体は、自車量の進行方向において前記仮想ラインと交わる方向に位置する道路区画線に関して、走行車線の外側にある、
運転支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013232407A JP5917472B2 (ja) | 2013-11-08 | 2013-11-08 | 運転支援装置 |
US14/519,695 US9254842B2 (en) | 2013-11-08 | 2014-10-21 | Driving support device |
CN201410609774.4A CN104627177B (zh) | 2013-11-08 | 2014-11-03 | 驾驶辅助装置 |
DE201410222405 DE102014222405A1 (de) | 2013-11-08 | 2014-11-03 | Fahrunterstützungsvorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013232407A JP5917472B2 (ja) | 2013-11-08 | 2013-11-08 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015093519A JP2015093519A (ja) | 2015-05-18 |
JP5917472B2 true JP5917472B2 (ja) | 2016-05-18 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2013232407A Expired - Fee Related JP5917472B2 (ja) | 2013-11-08 | 2013-11-08 | 運転支援装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9254842B2 (ja) |
JP (1) | JP5917472B2 (ja) |
CN (1) | CN104627177B (ja) |
DE (1) | DE102014222405A1 (ja) |
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JP6657618B2 (ja) * | 2015-06-30 | 2020-03-04 | 株式会社デンソー | 逸脱回避装置 |
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CN106896811B (zh) * | 2016-12-22 | 2018-11-09 | 北京京东尚科信息技术有限公司 | 可移动装置的控制方法及系统 |
CN110248856B (zh) * | 2017-02-03 | 2022-10-18 | 本田技研工业株式会社 | 车辆控制装置、车辆控制方法及存储介质 |
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JP7302950B2 (ja) * | 2018-06-05 | 2023-07-04 | 株式会社デンソー | 車両の運転支援制御装置、運転支援システムおよび運転支援制御方法 |
CN110733496B (zh) * | 2018-07-18 | 2024-08-23 | 松下知识产权经营株式会社 | 信息处理装置、信息处理方法以及记录介质 |
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JP5496037B2 (ja) * | 2010-09-21 | 2014-05-21 | トヨタ自動車株式会社 | 車両用運転支援装置 |
WO2012039012A1 (ja) * | 2010-09-24 | 2012-03-29 | トヨタ自動車株式会社 | 物体検出装置及び物体検出プログラム |
JP5757900B2 (ja) * | 2012-03-07 | 2015-08-05 | 日立オートモティブシステムズ株式会社 | 車両走行制御装置 |
JP6031819B2 (ja) * | 2012-05-17 | 2016-11-24 | 富士通株式会社 | 画像処理装置、画像処理方法 |
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US20150134218A1 (en) | 2015-05-14 |
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