JP6027659B1 - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
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- JP6027659B1 JP6027659B1 JP2015168131A JP2015168131A JP6027659B1 JP 6027659 B1 JP6027659 B1 JP 6027659B1 JP 2015168131 A JP2015168131 A JP 2015168131A JP 2015168131 A JP2015168131 A JP 2015168131A JP 6027659 B1 JP6027659 B1 JP 6027659B1
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- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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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
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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
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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
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2720/24—Direction of travel
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/20—Lateral distance
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
Description
Δz=V・Δt・cosθ …(2)
Zpre=(Zold・Δx)・sinθ+(Zold・Δz)・cosθ …(4)
但し、Gl :現在の操舵角での進行したときの自車両位置と制御目標点との偏差に対するフィードバックゲイン
Gff:走行軌跡の曲率に対するフィードフォワードゲイン
Gy :走行軌跡と自車両との相対ヨー角に対するフィードバックゲイン
2 画像認識装置
10 走行制御システム
20 走行環境認識装置
30 エンジン制御装置
40 変速機制御装置
50 ブレーキ制御装置
60 操舵制御装置
100 走行制御装置
101 制御部
102 先行車両登録部
103 先行車両幅算出部
104 制御目標点設定部
150 通信バス
C1 自車両
C2 先行車両
C3 割り込み車両
L 走行軌跡
W 車幅
W0 基準幅
Claims (4)
- 自車両前方を走行する車両への追従走行を制御する車両の走行制御装置であって、
自車両前方の車両が追従走行の制御対象となるか否かを判断し、追従走行の制御対象と判断された車両を先行車両として登録する先行車両登録部と、
前記先行車両の背面領域から前記先行車両の車幅を算出すると共に、前記先行車両と自車両との間に障害物がいない状態での前記先行車両の車幅を基準幅として記憶する先行車両幅算出部と、
前記先行車両の車幅方向の中心位置を追従走行の制御目標点として設定する一方、前記先行車両の背面領域の一部を検出できないときには、前記先行車両幅算出部で記憶した前記基準幅に基づいて前記先行車両の車幅方向の中心位置を推定し、推定した中心位置を前記制御目標点として再設定する制御目標点設定部と
備えることを特徴とする車両の走行制御装置。 - 前記制御目標点設定部は、前記先行車両の背面領域の車幅方向の一端側が検出できない場合、検出されている他端側に前記基準幅を適用することを特徴とする請求項1記載の車両の走行制御装置。
- 前記制御目標点設定部は、前記先行車両と自車両との間に障害物が存在しない状態での前記先行車両の車幅の時間平均値を、前記基準幅として記憶することを特徴とする請求項1又は2記載の車両の走行制御装置。
- 前記先行車両登録部は、前記先行車両と自車両との間に割り込んできた他車両により、前記先行車両の背面領域から算出した車幅が前記基準幅に対して設定値以上乖離した場合、前記他車両による割り込みが完了したと判断し、追従走行の制御対象とする車両を現在の先行車両から前記他車両に登録変更することを特徴とする請求項1〜3の何れか一に記載の車両の走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015168131A JP6027659B1 (ja) | 2015-08-27 | 2015-08-27 | 車両の走行制御装置 |
DE102016115405.9A DE102016115405B4 (de) | 2015-08-27 | 2016-08-19 | Steuerungsvorrichtung für die fahrt eines fahrzeugs |
US15/241,487 US9783198B2 (en) | 2015-08-27 | 2016-08-19 | Vehicle travel control device |
CN201610701904.6A CN106476807B (zh) | 2015-08-27 | 2016-08-22 | 车辆的行驶控制装置 |
Applications Claiming Priority (1)
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JP2015168131A JP6027659B1 (ja) | 2015-08-27 | 2015-08-27 | 車両の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP6027659B1 true JP6027659B1 (ja) | 2016-11-16 |
JP2017043255A JP2017043255A (ja) | 2017-03-02 |
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JP2015168131A Active JP6027659B1 (ja) | 2015-08-27 | 2015-08-27 | 車両の走行制御装置 |
Country Status (4)
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US (1) | US9783198B2 (ja) |
JP (1) | JP6027659B1 (ja) |
CN (1) | CN106476807B (ja) |
DE (1) | DE102016115405B4 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6768604B2 (ja) | 2017-07-03 | 2020-10-14 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP2019038314A (ja) * | 2017-08-23 | 2019-03-14 | トヨタ自動車株式会社 | 車両運転支援装置 |
JP6822365B2 (ja) * | 2017-09-28 | 2021-01-27 | トヨタ自動車株式会社 | 車両運転支援装置 |
JP7149121B2 (ja) * | 2018-07-10 | 2022-10-06 | 日立Astemo株式会社 | 車両制御装置、車両制御方法及び車両制御システム |
CN110502018B (zh) * | 2019-09-06 | 2022-04-12 | 百度在线网络技术(北京)有限公司 | 确定车辆安全区域的方法、装置、电子设备及存储介质 |
US11520342B2 (en) * | 2020-03-12 | 2022-12-06 | Pony Ai Inc. | System and method for determining realistic trajectories |
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JP2012201133A (ja) * | 2011-03-23 | 2012-10-22 | Toyota Motor Corp | 車両走行制御方法及び装置 |
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2015
- 2015-08-27 JP JP2015168131A patent/JP6027659B1/ja active Active
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2016
- 2016-08-19 US US15/241,487 patent/US9783198B2/en active Active
- 2016-08-19 DE DE102016115405.9A patent/DE102016115405B4/de active Active
- 2016-08-22 CN CN201610701904.6A patent/CN106476807B/zh active Active
Patent Citations (3)
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JP2005313780A (ja) * | 2004-04-28 | 2005-11-10 | Denso Corp | 先行車両認識装置 |
JP2011065219A (ja) * | 2009-09-15 | 2011-03-31 | Toyota Motor Corp | 道路曲率推定装置 |
JP2012201133A (ja) * | 2011-03-23 | 2012-10-22 | Toyota Motor Corp | 車両走行制御方法及び装置 |
Also Published As
Publication number | Publication date |
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JP2017043255A (ja) | 2017-03-02 |
DE102016115405A1 (de) | 2017-03-02 |
CN106476807A (zh) | 2017-03-08 |
US9783198B2 (en) | 2017-10-10 |
US20170057508A1 (en) | 2017-03-02 |
DE102016115405B4 (de) | 2018-10-31 |
CN106476807B (zh) | 2018-11-13 |
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