JP6115576B2 - 車両走行制御装置 - Google Patents
車両走行制御装置 Download PDFInfo
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- JP6115576B2 JP6115576B2 JP2015001472A JP2015001472A JP6115576B2 JP 6115576 B2 JP6115576 B2 JP 6115576B2 JP 2015001472 A JP2015001472 A JP 2015001472A JP 2015001472 A JP2015001472 A JP 2015001472A JP 6115576 B2 JP6115576 B2 JP 6115576B2
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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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
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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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
- B60W2554/40—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
- B60W2554/801—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Description
図1は、車両走行制御装置100の構成を示すブロック図である。図2(a)は、車両走行制御装置100の横位置制御を説明する俯瞰図である。図2(b)は、車両走行制御装置100の減速制御を説明する俯瞰図である。図3(a)は、車両走行制御装置100の閾値を説明する図である。
次に、第2実施形態について説明する。本実施形態の説明では、第1実施形態と異なる点について説明する。
Claims (2)
- 走行車線内に予め設定された目標横位置に沿って自車両を自動走行させる車両走行制御装置であって、
前記自車両の周辺情報を検出する周辺情報検出部と、
前記周辺情報に基づいて、前記走行車線に隣接する隣接車線上の先行車両の位置を認識する先行車両認識部と、
前記先行車両認識部において前記先行車両の位置をロストした継続時間であるロスト継続時間が第1所定時間に達した場合、前記目標横位置に対して前記隣接車線側と反対側に離間する離間横位置に沿って前記自車両を自動走行させる走行制御部と、を備える、車両走行制御装置。 - 前記自車両の自動走行中に、前記ロスト継続時間が前記第1所定時間よりも大きい第2所定時間に達した場合、当該自動走行から前記自車両の運転者による手動走行へ切り替えるための注意喚起を出力する注意喚起部を備える、請求項1に記載の車両走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015001472A JP6115576B2 (ja) | 2015-01-07 | 2015-01-07 | 車両走行制御装置 |
US14/979,746 US9902399B2 (en) | 2015-01-07 | 2015-12-28 | Vehicle travelling control device for controlling a vehicle in traffic |
DE102016200018.7A DE102016200018B4 (de) | 2015-01-07 | 2016-01-05 | Fahrzeugfortbewegungssteuereinrichtung |
CN201610007176.9A CN105774806B (zh) | 2015-01-07 | 2016-01-06 | 车辆行驶控制装置 |
Applications Claiming Priority (1)
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JP2015001472A JP6115576B2 (ja) | 2015-01-07 | 2015-01-07 | 車両走行制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2016124479A JP2016124479A (ja) | 2016-07-11 |
JP6115576B2 true JP6115576B2 (ja) | 2017-04-19 |
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JP2015001472A Active JP6115576B2 (ja) | 2015-01-07 | 2015-01-07 | 車両走行制御装置 |
Country Status (4)
Country | Link |
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US (1) | US9902399B2 (ja) |
JP (1) | JP6115576B2 (ja) |
CN (1) | CN105774806B (ja) |
DE (1) | DE102016200018B4 (ja) |
Families Citing this family (29)
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JP6103716B2 (ja) * | 2014-06-17 | 2017-03-29 | 富士重工業株式会社 | 車両の走行制御装置 |
JP6304086B2 (ja) * | 2015-03-23 | 2018-04-04 | トヨタ自動車株式会社 | 自動運転装置 |
JP2017001597A (ja) | 2015-06-15 | 2017-01-05 | トヨタ自動車株式会社 | 自動運転装置 |
US9701307B1 (en) | 2016-04-11 | 2017-07-11 | David E. Newman | Systems and methods for hazard mitigation |
JP6355111B2 (ja) * | 2016-04-28 | 2018-07-11 | 本田技研工業株式会社 | 車両制御システム |
JP6677134B2 (ja) * | 2016-09-13 | 2020-04-08 | スズキ株式会社 | 運転支援装置 |
CN110050301B (zh) * | 2016-12-07 | 2021-12-03 | 本田技研工业株式会社 | 车辆控制装置 |
CN108733042B (zh) * | 2017-04-19 | 2021-11-09 | 上海汽车集团股份有限公司 | 自动驾驶车辆的目标跟踪方法及装置 |
CN110268352B (zh) * | 2017-04-26 | 2023-04-04 | 深圳市元征科技股份有限公司 | 一种终端运行监测方法及终端 |
JP6799150B2 (ja) * | 2017-05-25 | 2020-12-09 | 本田技研工業株式会社 | 車両制御装置 |
JP6596047B2 (ja) * | 2017-09-01 | 2019-10-23 | 本田技研工業株式会社 | 車両制御装置、車両、及び方法 |
DE112017008084T5 (de) * | 2017-10-12 | 2020-06-25 | Honda Motor Co., Ltd. | Fahrzeug, vorrichtung zu dessen steuerung und steuerverfahren dafür |
JP6600878B2 (ja) * | 2017-12-21 | 2019-11-06 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
JP7185408B2 (ja) * | 2018-03-02 | 2022-12-07 | 本田技研工業株式会社 | 車両制御装置 |
JP7152165B2 (ja) * | 2018-03-02 | 2022-10-12 | トヨタ自動車株式会社 | 車両制御装置 |
JP7098996B2 (ja) | 2018-03-26 | 2022-07-12 | 株式会社デンソー | 走行位置決定装置 |
JP7117881B2 (ja) * | 2018-04-02 | 2022-08-15 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
US11142205B2 (en) * | 2018-04-25 | 2021-10-12 | Aptiv Technologies Limited | System and method to notify operator of host-vehicle of takeover-event in another-vehicle |
JP7024603B2 (ja) * | 2018-05-23 | 2022-02-24 | トヨタ自動車株式会社 | データ記録装置 |
JP6676697B2 (ja) * | 2018-05-24 | 2020-04-08 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、及びプログラム |
CN110562253B (zh) * | 2018-06-05 | 2020-12-11 | 广州汽车集团股份有限公司 | 一种汽车自适应巡航弯道跟随控制装置及控制方法 |
JP6710722B2 (ja) * | 2018-06-15 | 2020-06-17 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
EP3604065B1 (en) * | 2018-08-01 | 2020-11-04 | Hitachi Automotive Systems, Ltd. | Vehicle travelling control apparatus |
EP3670283A1 (en) | 2018-12-17 | 2020-06-24 | Ningbo Geely Automobile Research & Development Co. Ltd. | Follow that car |
KR20200123505A (ko) * | 2019-04-15 | 2020-10-30 | 현대자동차주식회사 | 군집 주행 제어 장치, 그를 포함한 시스템 및 그 방법 |
JP7121714B2 (ja) * | 2019-09-17 | 2022-08-18 | 本田技研工業株式会社 | 車両制御システム |
JP7038097B2 (ja) * | 2019-12-25 | 2022-03-17 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
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KR102623680B1 (ko) * | 2015-02-10 | 2024-01-12 | 모빌아이 비젼 테크놀로지스 엘티디. | 자율 주행을 위한 약도 |
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2015
- 2015-01-07 JP JP2015001472A patent/JP6115576B2/ja active Active
- 2015-12-28 US US14/979,746 patent/US9902399B2/en active Active
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- 2016-01-05 DE DE102016200018.7A patent/DE102016200018B4/de active Active
- 2016-01-06 CN CN201610007176.9A patent/CN105774806B/zh active Active
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US20160194003A1 (en) | 2016-07-07 |
DE102016200018A1 (de) | 2016-07-07 |
CN105774806A (zh) | 2016-07-20 |
JP2016124479A (ja) | 2016-07-11 |
CN105774806B (zh) | 2018-08-28 |
US9902399B2 (en) | 2018-02-27 |
DE102016200018B4 (de) | 2022-03-31 |
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