JP6006765B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- JP6006765B2 JP6006765B2 JP2014186766A JP2014186766A JP6006765B2 JP 6006765 B2 JP6006765 B2 JP 6006765B2 JP 2014186766 A JP2014186766 A JP 2014186766A JP 2014186766 A JP2014186766 A JP 2014186766A JP 6006765 B2 JP6006765 B2 JP 6006765B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- state
- rudder angle
- angle
- steering
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Description
Claims (2)
- 車両の状態が前進状態と後進状態とのうちの一方である第一の状態から前記前進状態と前記後進状態とのうちの他方である第二の状態に切り替わる際に、前記車両の車輪の舵角を、中立位置の一方側の第一の舵角から前記中立位置の他方側の第二の舵角に変更する場合、前記車両の状態が前記第二の状態になる前に前記第一の舵角から前記第二の舵角に向かい始め、前記車両の状態が前記第二の状態となっているときに、前記第一の舵角と前記第二の舵角との間の第三の舵角から前記第二の舵角に向かうように、前記舵角を制御する操舵制御部と、
停止状態の前記車両の前方の障害物と前記車両の後方の障害物との間の距離を検出する検出部と、
を備え、
前記操舵制御部は、前記距離が閾値以上のときには、前記車両の状態が前記第一の状態となっているときに、前記第一の舵角から前記第二の舵角に向かい始めるように、前記舵角を制御し、前記距離が閾値未満のときには、前記車両の状態が前記第一の状態から前記第二の状態に切り替わる途中の停止状態となっているときに、前記第一の舵角から前記第二の舵角に向かい始めるように、前記舵角を制御する、運転支援装置。 - 前記車両の現在位置から目標位置への移動経路を算出する移動経路算出部を備えた、請求項1に記載の運転支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014186766A JP6006765B2 (ja) | 2014-09-12 | 2014-09-12 | 運転支援装置 |
CN201580048378.1A CN107074274B (zh) | 2014-09-12 | 2015-09-10 | 驾驶辅助装置 |
US15/509,633 US10377416B2 (en) | 2014-09-12 | 2015-09-10 | Driving assistance device |
DE112015004150.8T DE112015004150B4 (de) | 2014-09-12 | 2015-09-10 | Fahrunterstützungseinrichtung |
PCT/JP2015/075694 WO2016039410A1 (ja) | 2014-09-12 | 2015-09-10 | 運転支援装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014186766A JP6006765B2 (ja) | 2014-09-12 | 2014-09-12 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016060217A JP2016060217A (ja) | 2016-04-25 |
JP6006765B2 true JP6006765B2 (ja) | 2016-10-12 |
Family
ID=55459154
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014186766A Active JP6006765B2 (ja) | 2014-09-12 | 2014-09-12 | 運転支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10377416B2 (ja) |
JP (1) | JP6006765B2 (ja) |
CN (1) | CN107074274B (ja) |
DE (1) | DE112015004150B4 (ja) |
WO (1) | WO2016039410A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6569362B2 (ja) * | 2015-07-31 | 2019-09-04 | アイシン精機株式会社 | 駐車支援装置 |
JP6750365B2 (ja) * | 2016-07-22 | 2020-09-02 | 日産自動車株式会社 | 駐車支援方法及び駐車支援装置 |
JP6649857B2 (ja) * | 2016-08-31 | 2020-02-19 | 本田技研工業株式会社 | 出庫支援装置 |
CN109641617B (zh) * | 2016-08-31 | 2020-09-22 | 本田技研工业株式会社 | 出库辅助装置 |
JP6907895B2 (ja) | 2017-11-15 | 2021-07-21 | トヨタ自動車株式会社 | 自動運転システム |
JP6850760B2 (ja) * | 2018-03-28 | 2021-03-31 | ヤンマーパワーテクノロジー株式会社 | 作業車両の自動走行装置 |
JP7052745B2 (ja) * | 2019-01-25 | 2022-04-12 | トヨタ自動車株式会社 | 車両制御システム |
JP7247849B2 (ja) | 2019-10-11 | 2023-03-29 | トヨタ自動車株式会社 | 駐車支援装置 |
JP7147728B2 (ja) | 2019-10-11 | 2022-10-05 | トヨタ自動車株式会社 | 駐車支援装置 |
DE102022211123A1 (de) | 2022-10-20 | 2024-04-25 | Volkswagen Aktiengesellschaft | Verfahren zur Einstellung eines Radwinkels bei einem Lenkvorgang eines Kraftfahrzeugs und Kraftfahrzeug mit einer Lenkeinrichtung |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4096445B2 (ja) * | 1999-03-31 | 2008-06-04 | アイシン精機株式会社 | 駐車補助装置 |
US6476730B2 (en) * | 2000-02-29 | 2002-11-05 | Aisin Seiki Kabushiki Kaisha | Assistant apparatus and method for a vehicle in reverse motion |
JP3936204B2 (ja) | 2002-02-15 | 2007-06-27 | トヨタ自動車株式会社 | 駐車支援装置 |
JP2003175852A (ja) * | 2002-11-12 | 2003-06-24 | Honda Motor Co Ltd | 車両の駐車モード選択装置 |
JP3911492B2 (ja) * | 2003-06-26 | 2007-05-09 | トヨタ自動車株式会社 | 車両用走行支援装置 |
JP4572752B2 (ja) * | 2005-06-17 | 2010-11-04 | トヨタ自動車株式会社 | 走行支援装置 |
JP2010143465A (ja) * | 2008-12-19 | 2010-07-01 | Toyota Industries Corp | 駐車支援装置 |
DE102010000964A1 (de) | 2010-01-18 | 2011-07-21 | Robert Bosch GmbH, 70469 | Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeuges |
DE102010028714A1 (de) | 2010-05-07 | 2011-11-10 | Robert Bosch Gmbh | Verfahren zum Einparken eines Kraftfahrzeuges sowie Einparksystem |
JP5510255B2 (ja) * | 2010-10-01 | 2014-06-04 | トヨタ自動車株式会社 | 車両の操作状態判定システム |
KR101360424B1 (ko) * | 2011-12-09 | 2014-02-10 | 현대자동차주식회사 | 차량용 주차궤적 도출방법 |
JP2014004933A (ja) * | 2012-06-25 | 2014-01-16 | Aisin Seiki Co Ltd | 駐車支援装置、制御方法、およびプログラム |
JP6028745B2 (ja) * | 2014-01-24 | 2016-11-16 | トヨタ自動車株式会社 | 車両用操舵制御装置 |
-
2014
- 2014-09-12 JP JP2014186766A patent/JP6006765B2/ja active Active
-
2015
- 2015-09-10 WO PCT/JP2015/075694 patent/WO2016039410A1/ja active Application Filing
- 2015-09-10 CN CN201580048378.1A patent/CN107074274B/zh active Active
- 2015-09-10 DE DE112015004150.8T patent/DE112015004150B4/de active Active
- 2015-09-10 US US15/509,633 patent/US10377416B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN107074274A (zh) | 2017-08-18 |
DE112015004150T5 (de) | 2017-06-01 |
CN107074274B (zh) | 2019-03-08 |
JP2016060217A (ja) | 2016-04-25 |
WO2016039410A1 (ja) | 2016-03-17 |
US10377416B2 (en) | 2019-08-13 |
US20170259847A1 (en) | 2017-09-14 |
DE112015004150B4 (de) | 2021-07-29 |
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