JP6243942B2 - 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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- JP6243942B2 JP6243942B2 JP2016053478A JP2016053478A JP6243942B2 JP 6243942 B2 JP6243942 B2 JP 6243942B2 JP 2016053478 A JP2016053478 A JP 2016053478A JP 2016053478 A JP2016053478 A JP 2016053478A JP 6243942 B2 JP6243942 B2 JP 6243942B2
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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
- B60W30/02—Control of vehicle driving stability
-
- 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
- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- 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
- 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"
-
- 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
-
- 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
- B60W2554/404—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
-
- 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
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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
- 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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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
P=K1・Z2+K2・Z+K3 …(1)
αref=αf+αy+αff …(2)
2 画像認識装置
10 走行制御システム
20 外部環境認識装置
70 操舵制御装置
100 走行制御装置
101 制御部
102 先行車両オフセット算出部
103 制御目標点設定部
Claims (3)
- 自車両の走行車線及び自車両前方の先行車両を認識して、前記走行車線に追従して走行する走行制御と前記先行車両に追従して走行する走行制御とを切り換える車両の走行制御装置であって、
前記走行車線を認識している状態で、前記走行車線の中央位置に対する前記先行車両の中心位置の横方向のオフセット量を算出する先行車両オフセット算出部と、
前記走行車線を認識しているとき、前記走行車線の中央位置を前記走行車線に追従する走行制御の制御目標点として設定し、前記走行車線を認識している状態から前記走行車線を認識しない状態に移行したとき、前記先行車両の中心位置から前記オフセット量だけシフトさせた位置を、前記先行車両に追従する走行制御の制御目標点として設定する制御目標点設定部と
を備え、
前記制御目標点設定部は、前記走行車線を認識しない状態が所定時間以上継続した場合、前記オフセット量をクリアして前記制御目標点を前記先行車両の中心位置とする
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、前記走行車線を認識しない状態で前記制御目標点を前記先行車両の中心位置とした後、前記走行車線を認識する状態に復帰したとき、前記制御目標点を前記走行車線の中心位置に漸次移動させることを特徴とする請求項1に記載の車両の走行制御装置。
- 前記制御目標点設定部は、前記走行車線が一定距離毎に断続する場合、自車両の車速に基づいて前記走行車線の破断区間の距離を超えたか否かを判断することにより、前記走行車線を認識しない状態が所定時間以上継続したか否かを判断することを特徴とする請求項1又は2に記載の車両の走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016053478A JP6243942B2 (ja) | 2016-03-17 | 2016-03-17 | 車両の走行制御装置 |
DE102017100777.6A DE102017100777A1 (de) | 2016-03-17 | 2017-01-17 | Fahrzeugfahrtsteuerungsvorrichtung |
US15/416,214 US10106161B2 (en) | 2016-03-17 | 2017-01-26 | Vehicle travel control device |
CN201710092633.3A CN107200012B (zh) | 2016-03-17 | 2017-02-21 | 车辆的行驶控制装置 |
Applications Claiming Priority (1)
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JP2016053478A JP6243942B2 (ja) | 2016-03-17 | 2016-03-17 | 車両の走行制御装置 |
Publications (2)
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JP2017165309A JP2017165309A (ja) | 2017-09-21 |
JP6243942B2 true JP6243942B2 (ja) | 2017-12-06 |
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Country Status (4)
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US (1) | US10106161B2 (ja) |
JP (1) | JP6243942B2 (ja) |
CN (1) | CN107200012B (ja) |
DE (1) | DE102017100777A1 (ja) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6302519B2 (ja) * | 2016-09-06 | 2018-03-28 | 株式会社Subaru | 車両の運転支援装置 |
BR112019005696B1 (pt) * | 2016-09-26 | 2022-09-27 | Nissan Motor Co., Ltd | Método de configuração de rota e dispositivo de configuração de rota |
KR102265376B1 (ko) * | 2017-03-07 | 2021-06-16 | 현대자동차주식회사 | 차량 및 그 제어방법과 이를 이용한 자율 주행 시스템 |
CN109213134B (zh) * | 2017-07-03 | 2020-04-28 | 百度在线网络技术(北京)有限公司 | 生成自动驾驶策略的方法和装置 |
JP6627153B2 (ja) * | 2017-09-11 | 2020-01-08 | 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 |
JP6795792B2 (ja) | 2017-09-28 | 2020-12-02 | トヨタ自動車株式会社 | 運転支援装置 |
KR102374919B1 (ko) * | 2017-10-16 | 2022-03-16 | 주식회사 만도모빌리티솔루션즈 | 자율주행 지원 장치 및 방법 |
JP7065585B2 (ja) * | 2017-10-24 | 2022-05-12 | 株式会社Subaru | 車両の走行制御装置 |
KR102553247B1 (ko) * | 2018-04-27 | 2023-07-07 | 주식회사 에이치엘클레무브 | 전방 차량 추종 제어 시 안전성을 향상할 수 있는 차선 유지 보조 시스템 및 방법 |
WO2020014683A1 (en) * | 2018-07-13 | 2020-01-16 | Kache.AI | Systems and methods for autonomous object detection and vehicle following |
JP7101073B2 (ja) * | 2018-08-02 | 2022-07-14 | 日野自動車株式会社 | 隊列走行システム |
JP7422661B2 (ja) * | 2018-08-03 | 2024-01-26 | 日産自動車株式会社 | 走行軌跡補正方法、走行制御方法、及び走行軌跡補正装置 |
JP7202112B2 (ja) * | 2018-09-11 | 2023-01-11 | 本田技研工業株式会社 | 車両用制御システムおよび車両の制御方法 |
JP7303044B2 (ja) * | 2019-06-25 | 2023-07-04 | 株式会社Subaru | 操舵制御装置 |
KR20210005439A (ko) * | 2019-07-05 | 2021-01-14 | 현대자동차주식회사 | 운전자 보조 장치, 그를 가지는 차량 및 그 제어 방법 |
KR20210063893A (ko) * | 2019-11-25 | 2021-06-02 | 현대자동차주식회사 | 차로 변경 보조 장치, 그를 포함한 시스템 및 그 방법 |
JP7109496B2 (ja) * | 2020-03-13 | 2022-07-29 | 本田技研工業株式会社 | 走行制御装置、車両、走行制御方法及びプログラム |
US11623639B2 (en) * | 2020-07-15 | 2023-04-11 | Charter Communications Operating, Llc | Video analytics traffic monitoring and control |
CN112141103A (zh) * | 2020-08-31 | 2020-12-29 | 恒大新能源汽车投资控股集团有限公司 | 一种控制车辆跟随前车行驶的方法和系统 |
JP7256216B2 (ja) * | 2021-02-25 | 2023-04-11 | 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 |
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JP3336961B2 (ja) * | 1998-06-29 | 2002-10-21 | 三菱自動車工業株式会社 | 車両走行制御装置 |
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JP5668359B2 (ja) * | 2010-08-11 | 2015-02-12 | トヨタ自動車株式会社 | 車両制御装置 |
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JP5994755B2 (ja) * | 2013-09-06 | 2016-09-21 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP5991340B2 (ja) * | 2014-04-28 | 2016-09-14 | トヨタ自動車株式会社 | 運転支援装置 |
JP5952859B2 (ja) * | 2014-06-23 | 2016-07-13 | 富士重工業株式会社 | 車両の運転支援装置 |
JP2016053478A (ja) | 2014-09-02 | 2016-04-14 | 株式会社東芝 | 相分離観測方法、相分離観測装置、及びアニール装置 |
CN104290753B (zh) * | 2014-09-29 | 2017-11-28 | 长安大学 | 一种前方车辆运动状态追踪预测装置及其预测方法 |
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2016
- 2016-03-17 JP JP2016053478A patent/JP6243942B2/ja active Active
-
2017
- 2017-01-17 DE DE102017100777.6A patent/DE102017100777A1/de active Pending
- 2017-01-26 US US15/416,214 patent/US10106161B2/en active Active
- 2017-02-21 CN CN201710092633.3A patent/CN107200012B/zh active Active
Also Published As
Publication number | Publication date |
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CN107200012B (zh) | 2019-01-01 |
US10106161B2 (en) | 2018-10-23 |
JP2017165309A (ja) | 2017-09-21 |
CN107200012A (zh) | 2017-09-26 |
DE102017100777A1 (de) | 2017-09-21 |
US20170267237A1 (en) | 2017-09-21 |
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