JP6040945B2 - 先行車選択装置 - Google Patents
先行車選択装置 Download PDFInfo
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- JP6040945B2 JP6040945B2 JP2014026612A JP2014026612A JP6040945B2 JP 6040945 B2 JP6040945 B2 JP 6040945B2 JP 2014026612 A JP2014026612 A JP 2014026612A JP 2014026612 A JP2014026612 A JP 2014026612A JP 6040945 B2 JP6040945 B2 JP 6040945B2
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- 238000004364 calculation method Methods 0.000 claims description 47
- 238000001514 detection method Methods 0.000 claims description 41
- 230000008859 change Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 26
- 230000008569 process Effects 0.000 description 20
- 230000001133 acceleration Effects 0.000 description 13
- 238000001914 filtration Methods 0.000 description 6
- 230000003111 delayed effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001678 irradiating effect Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012887 quadratic function Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- 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
- 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- 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
-
- 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
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
-
- 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
- B60W2520/14—Yaw
-
- 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
- B60W2520/28—Wheel 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
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
Description
本発明の先行車選択装置は、自車両の旋回状態に係るパラメータの値を検出する旋回検出部(22,24)から出力された検出信号の時間変化値を求める変化値演算部(11)と、前記旋回検出部(11)から出力された信号および前記自車両の走行速度に基づいて求められる走行路の曲率と、前記自車両の車幅方向の所定角度範囲内に送信波を照射し、その反射に基づいて物体までの距離と前記車幅方向の角度を検出する物体検出部(21)から出力された信号に基づき求められる前記物体の相対位置と、に基づいて前記物体が前記自車両と同一車線上に存在する確率である自車線確率を演算により求めるものであり、予め記憶された所定の閾値および前記時間変化値を比較し、前記時間変化値が前記所定の閾値よりも大きい場合には、前記自車線確率の演算に用いられるフィルタ定数の補正係数を変更し、前記自車線確率の変動を抑制する確率演算部(12)と、前記確率演算部(12)により求められた前記自車線確率に基づいて先行車の選択を行う選択部(13)と、が設けられていることを特徴とする。
Claims (5)
- 自車両の旋回状態に係るパラメータの値を検出する旋回検出部(22,24)から出力された検出信号の時間変化値を求める変化値演算部(11)と、
前記旋回検出部から出力された信号および前記自車両の走行速度に基づいて求められる走行路の曲率と、前記自車両の車幅方向の所定角度範囲内に送信波を照射し、その反射に基づいて物体までの距離と前記車幅方向の角度を検出する物体検出部(21)から出力された信号に基づき求められる前記物体の相対位置と、に基づいて前記物体が前記自車両と同一車線上に存在する確率である自車線確率を演算により求めるものであり、
予め記憶された所定の閾値および前記時間変化値を比較し、前記時間変化値が前記所定の閾値よりも大きいときには、前記自車線確率の演算に用いられるフィルタ定数の補正係数を変更し、前記前記時間変化値が前記所定の閾値よりも小さいときに比べて前記自車線確率の変動を抑制する確率演算部(12)と、
前記確率演算部(12)により求められた前記自車線確率に基づいて先行車の選択を行う選択部(13)と、
が設けられていることを特徴とする先行車選択装置(1)。 - 前記確率演算部(12)は、前記自車両の走行速度が相対的に低い場合には、前記所定の閾値の値を大きく設定し、
前記走行速度が相対的に高い場合には、前記所定の閾値の値を小さく設定することを特徴とする請求項1記載の先行車選択装置。 - 前記所定の閾値は固定値であることを特徴とする請求項1記載の先行車選択装置。
- 前記旋回検出部(22,24)は、前記自車両のヨーレートを検出するヨーレートセンサ(22)であることを特徴とする請求項1から3のいずれか1項に記載の先行車選択装置。
- 前記旋回検出部(22,24)は、前記車両のステアリング角度を検出するステアリングセンサ(24)であることを特徴とする請求項1から3のいずれか1項に記載の先行車選択装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014026612A JP6040945B2 (ja) | 2014-02-14 | 2014-02-14 | 先行車選択装置 |
US14/620,398 US9421980B2 (en) | 2014-02-14 | 2015-02-12 | Vehicle-mounted apparatus for selecting preceding vehicle positioned in the travel path of the host vehicle of the apparatus |
KR1020150022272A KR101946043B1 (ko) | 2014-02-14 | 2015-02-13 | 차량 탑재 장치의 호스트 차량의 운행 경로에 배치된 선행 차량을 선택하는 차량 탑재 장치 |
DE102015202628.0A DE102015202628B4 (de) | 2014-02-14 | 2015-02-13 | In ein fahrzeug eingebaute vorrichtung zur auswahl eines vorausfahrenden fahrzeugs in dem fahrtweg des trägerfahrzeugs der vorrichtung |
CN201510079641.5A CN104843007B (zh) | 2014-02-14 | 2015-02-13 | 用于选择位于其主车辆的行驶路径中的前车的车载设备 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2014026612A JP6040945B2 (ja) | 2014-02-14 | 2014-02-14 | 先行車選択装置 |
Publications (2)
Publication Number | Publication Date |
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JP2015153165A JP2015153165A (ja) | 2015-08-24 |
JP6040945B2 true JP6040945B2 (ja) | 2016-12-07 |
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Country Status (5)
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---|---|
US (1) | US9421980B2 (ja) |
JP (1) | JP6040945B2 (ja) |
KR (1) | KR101946043B1 (ja) |
CN (1) | CN104843007B (ja) |
DE (1) | DE102015202628B4 (ja) |
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US10486707B2 (en) * | 2016-01-06 | 2019-11-26 | GM Global Technology Operations LLC | Prediction of driver intent at intersection |
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CN111183467B (zh) * | 2017-10-13 | 2023-01-17 | 罗伯特·博世有限公司 | 用于估计交通参与者的定向的系统和方法 |
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US9051711B2 (en) * | 2013-09-05 | 2015-06-09 | Caterpillar Inc. | Path detection-based steering command filtering method for motor grader automatic articulation feature |
JP2015067193A (ja) | 2013-09-30 | 2015-04-13 | 株式会社デンソー | 先行車選択装置 |
JP5898746B1 (ja) * | 2014-09-29 | 2016-04-06 | 富士重工業株式会社 | 車両の走行制御装置 |
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