JP6302825B2 - 衝突回避装置 - Google Patents
衝突回避装置 Download PDFInfo
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- JP6302825B2 JP6302825B2 JP2014242296A JP2014242296A JP6302825B2 JP 6302825 B2 JP6302825 B2 JP 6302825B2 JP 2014242296 A JP2014242296 A JP 2014242296A JP 2014242296 A JP2014242296 A JP 2014242296A JP 6302825 B2 JP6302825 B2 JP 6302825B2
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- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 3
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- 238000005259 measurement Methods 0.000 description 2
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
-
- 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
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W30/08—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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W50/10—Interpretation of driver requests or demands
-
- 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
-
- 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
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/03—Vehicle yaw rate
-
- 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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
図2に戻り、判断部61は、車両100と先行車両等の回避対象物と衝突が回避可能か否かを判断する。具体的には、ドライバーが先行車両等の回避対象物との衝突を回避しようとして操舵システム50でステアリング操作を行うことにより、車両100が旋回する。このとき、車両100に旋回により実際に発生する旋回パラメータとしての横加速度Gy(またはヨーレート)がある。判断部61は、この横加速度Gy(またはヨーレート)が所定の第1閾値以上であるか否かを判断することにより、回避対象物と衝突が回避可能か否かを判断する。ここで、横加速度Gyは加速度センサ43で検知され、ヨーレートはヨーレートセンサ46で検知される。また、旋回パラメータとして、この他、横加速度の微分値を用いてもよい。
Claims (2)
- 衝突回避装置であって、
回避対象物との衝突を回避するための衝突回避機能を作動可能な衝突回避実行部と、
ドライバーによりステアリング操作が行われた場合に、前記ステアリング操作による旋回に関する旋回パラメータに基づいて、前記回避対象物と衝突が回避可能か否かを判断する判断部と、
前記回避対象物と衝突が回避可能と判断された場合には、前記衝突回避機能の作動を禁止する衝突回避制御部と、を備え、
前記判断部は、前記旋回パラメータとしての横加速度またはヨーレートが第1閾値以上であるか否かを判断することにより、前記回避対象物と衝突が回避可能か否かを判断し、
前記衝突回避制御部は、自車両の前記横加速度または前記ヨーレートが前記第1閾値以上である場合に、前記衝突回避機能の作動を禁止し、
前記判断部は、前記衝突回避機能の作動中に、前記ドライバーの前記ステアリング操作に基づいて、前記ドライバーによるキャンセル意思の有無を判断し、
前記衝突回避制御部は、前記衝突回避機能の作動中に、前記キャンセル意思があると判断された場合には、前記衝突回避機能の作動を終了する、衝突回避装置。 - 前記判断部は、前記ステアリング操作による操舵速度が第2閾値以上であるか否かにより、前記キャンセル意思の有無を判断し、
前記衝突回避制御部は、前記操舵速度が第2閾値以上である場合には、前記衝突回避機能の作動を終了する、
請求項1に記載の衝突回避装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014242296A JP6302825B2 (ja) | 2014-11-28 | 2014-11-28 | 衝突回避装置 |
CN201580063810.4A CN107000712A (zh) | 2014-11-28 | 2015-11-27 | 避撞装置 |
PCT/JP2015/083508 WO2016084969A1 (ja) | 2014-11-28 | 2015-11-27 | 衝突回避装置 |
US15/529,152 US20170358209A1 (en) | 2014-11-28 | 2015-11-27 | Collision avoidance device |
EP15863698.5A EP3225472B1 (en) | 2014-11-28 | 2015-11-27 | Collision avoidance device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014242296A JP6302825B2 (ja) | 2014-11-28 | 2014-11-28 | 衝突回避装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016101893A JP2016101893A (ja) | 2016-06-02 |
JP2016101893A5 JP2016101893A5 (ja) | 2017-03-16 |
JP6302825B2 true JP6302825B2 (ja) | 2018-03-28 |
Family
ID=56074514
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2014242296A Active JP6302825B2 (ja) | 2014-11-28 | 2014-11-28 | 衝突回避装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20170358209A1 (ja) |
EP (1) | EP3225472B1 (ja) |
JP (1) | JP6302825B2 (ja) |
CN (1) | CN107000712A (ja) |
WO (1) | WO2016084969A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102587244B1 (ko) * | 2018-08-27 | 2023-10-06 | 현대자동차주식회사 | 자율주행 차량의 충돌 위험상황 판단 방법 |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6485328B2 (ja) * | 2015-11-09 | 2019-03-20 | 株式会社デンソー | 車両の運転支援装置 |
CN109311462B (zh) * | 2016-06-15 | 2021-03-05 | 日立汽车系统株式会社 | 车辆控制装置 |
JP6535302B2 (ja) * | 2016-07-13 | 2019-06-26 | 株式会社Soken | 物体検知装置 |
CN109979239A (zh) * | 2017-12-28 | 2019-07-05 | 北京百度网讯科技有限公司 | 违规车辆提醒方法、装置及设备 |
EP3597511B1 (en) * | 2018-07-19 | 2021-03-03 | Volvo Car Corporation | Method and system for providing a steering guidance to a driver of a host vehicle |
KR101964858B1 (ko) * | 2018-10-08 | 2019-08-13 | 주식회사 만도 | 충돌 방지 장치 및 충돌 방지 방법 |
US11059479B2 (en) * | 2018-10-08 | 2021-07-13 | Mando Corporation | Collision avoidance apparatus and collision avoidance method |
US11185003B2 (en) * | 2019-04-03 | 2021-11-30 | Caterpillar Inc. | Tipping avoidance system and method |
KR20210035523A (ko) * | 2019-09-24 | 2021-04-01 | 현대자동차주식회사 | 차량 주행제어 방법 및 장치 |
US11891061B2 (en) | 2021-06-17 | 2024-02-06 | Ford Global Technologies, Llc | Target vehicle detection |
DE102021206563A1 (de) * | 2021-06-24 | 2022-12-29 | Robert Bosch Gesellschaft mit beschränkter Haftung | Bremssystem und Verfahren zum Betreiben eines Bremssystems |
CN114212102B (zh) * | 2021-12-01 | 2024-03-19 | 智己汽车科技有限公司 | 一种避免侧向碰撞的辅助驾驶方法、系统及装置 |
Family Cites Families (12)
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JPH0558257A (ja) * | 1991-09-06 | 1993-03-09 | Mazda Motor Corp | 車両の自動制動装置 |
JP3853991B2 (ja) * | 1998-11-04 | 2006-12-06 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP3800007B2 (ja) * | 2001-01-09 | 2006-07-19 | 日産自動車株式会社 | 制動制御装置 |
JP3986939B2 (ja) * | 2002-10-25 | 2007-10-03 | 本田技研工業株式会社 | 車両用ブレーキ装置 |
JP4290455B2 (ja) * | 2003-03-28 | 2009-07-08 | 日産自動車株式会社 | 車両用制動制御装置 |
JP4446984B2 (ja) * | 2006-07-10 | 2010-04-07 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP4254821B2 (ja) * | 2006-08-15 | 2009-04-15 | トヨタ自動車株式会社 | 制動制御装置 |
JP4862630B2 (ja) * | 2006-11-27 | 2012-01-25 | 株式会社デンソー | 車間距離制御装置 |
JP2012121534A (ja) * | 2010-12-10 | 2012-06-28 | Daimler Ag | 車両の自動制動装置 |
US9405727B2 (en) * | 2011-02-23 | 2016-08-02 | Toyota Jidosha Kabushiki Kaisha | Driving support device, driving support method, and driving support program |
DE102011106520A1 (de) * | 2011-06-15 | 2011-12-15 | Daimler Ag | Verfahren zur Verhinderung einer Kollision eines Fahrzeuges und Fahrerassistenzsystem für ein Fahrzeug |
DE102012204391A1 (de) * | 2012-03-20 | 2013-09-26 | Bayerische Motoren Werke Aktiengesellschaft | Bremsregelsystem in einem Kraftfahrzeug |
-
2014
- 2014-11-28 JP JP2014242296A patent/JP6302825B2/ja active Active
-
2015
- 2015-11-27 WO PCT/JP2015/083508 patent/WO2016084969A1/ja active Application Filing
- 2015-11-27 US US15/529,152 patent/US20170358209A1/en not_active Abandoned
- 2015-11-27 CN CN201580063810.4A patent/CN107000712A/zh active Pending
- 2015-11-27 EP EP15863698.5A patent/EP3225472B1/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102587244B1 (ko) * | 2018-08-27 | 2023-10-06 | 현대자동차주식회사 | 자율주행 차량의 충돌 위험상황 판단 방법 |
Also Published As
Publication number | Publication date |
---|---|
CN107000712A (zh) | 2017-08-01 |
EP3225472A4 (en) | 2018-01-03 |
EP3225472B1 (en) | 2019-10-09 |
JP2016101893A (ja) | 2016-06-02 |
WO2016084969A1 (ja) | 2016-06-02 |
EP3225472A1 (en) | 2017-10-04 |
US20170358209A1 (en) | 2017-12-14 |
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