JP6313198B2 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

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Publication number
JP6313198B2
JP6313198B2 JP2014242234A JP2014242234A JP6313198B2 JP 6313198 B2 JP6313198 B2 JP 6313198B2 JP 2014242234 A JP2014242234 A JP 2014242234A JP 2014242234 A JP2014242234 A JP 2014242234A JP 6313198 B2 JP6313198 B2 JP 6313198B2
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JP
Japan
Prior art keywords
vehicle
lane
parameter
probability
width
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JP2014242234A
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English (en)
Japanese (ja)
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JP2016103223A (ja
JP2016103223A5 (enExample
Inventor
光宏 時政
光宏 時政
豊晴 勝倉
豊晴 勝倉
緒方　義久
義久 緒方
洋平 増井
洋平 増井
卓 佐喜眞
卓 佐喜眞
剛 名波
剛 名波
喬士 西田
喬士 西田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
Original Assignee
Denso Corp
Toyota Motor Corp
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Filing date
Publication date
Application filed by Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Priority to JP2014242234A priority Critical patent/JP6313198B2/ja
Priority to PCT/JP2015/082075 priority patent/WO2016084637A1/ja
Priority to US15/529,905 priority patent/US10427689B2/en
Publication of JP2016103223A publication Critical patent/JP2016103223A/ja
Publication of JP2016103223A5 publication Critical patent/JP2016103223A5/ja
Application granted granted Critical
Publication of JP6313198B2 publication Critical patent/JP6313198B2/ja
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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
    • 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
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • 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
    • 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
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
JP2014242234A 2014-11-28 2014-11-28 車両制御装置 Active JP6313198B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2014242234A JP6313198B2 (ja) 2014-11-28 2014-11-28 車両制御装置
PCT/JP2015/082075 WO2016084637A1 (ja) 2014-11-28 2015-11-16 車両制御装置及び車両制御方法
US15/529,905 US10427689B2 (en) 2014-11-28 2015-11-16 Vehicle control apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2014242234A JP6313198B2 (ja) 2014-11-28 2014-11-28 車両制御装置

Publications (3)

Publication Number Publication Date
JP2016103223A JP2016103223A (ja) 2016-06-02
JP2016103223A5 JP2016103223A5 (enExample) 2017-03-02
JP6313198B2 true JP6313198B2 (ja) 2018-04-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014242234A Active JP6313198B2 (ja) 2014-11-28 2014-11-28 車両制御装置

Country Status (3)

Country Link
US (1) US10427689B2 (enExample)
JP (1) JP6313198B2 (enExample)
WO (1) WO2016084637A1 (enExample)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6363516B2 (ja) * 2015-01-21 2018-07-25 株式会社デンソー 車両の走行制御装置
US10131356B2 (en) * 2015-07-28 2018-11-20 Nissan Motor Co., Ltd. Travel control method and travel control apparatus
DE102016208846B4 (de) * 2016-05-23 2020-03-12 Continental Teves Ag & Co. Ohg Kommunikationssystem für ein Fahrzeug
JP6589760B2 (ja) * 2016-07-07 2019-10-16 株式会社デンソー 車両制御装置
JP6669059B2 (ja) 2016-12-27 2020-03-18 トヨタ自動車株式会社 位置算出装置
JP2019003234A (ja) * 2017-06-09 2019-01-10 トヨタ自動車株式会社 運転支援装置
JP2019099034A (ja) * 2017-12-06 2019-06-24 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ モータサイクルの挙動を制御する制御装置及び制御方法
US10255528B1 (en) * 2017-12-06 2019-04-09 Lytx, Inc. Sensor fusion for lane departure behavior detection
JP2019099033A (ja) * 2017-12-06 2019-06-24 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ モータサイクルの挙動を制御する制御装置及び制御方法
US11034359B2 (en) * 2018-11-29 2021-06-15 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Control device for a vehicle
JPWO2020161512A1 (enExample) * 2019-02-07 2020-08-13
JP7176478B2 (ja) 2019-06-14 2022-11-22 トヨタ自動車株式会社 画像認識装置
JP7131508B2 (ja) 2019-08-21 2022-09-06 トヨタ自動車株式会社 レーダ装置
CN114435389B (zh) * 2020-11-02 2024-01-30 上海汽车集团股份有限公司 一种车辆控制方法、装置及车辆
JP7600971B2 (ja) 2021-12-03 2024-12-17 トヨタ自動車株式会社 車載通知装置
JP7567771B2 (ja) * 2021-12-27 2024-10-16 トヨタ自動車株式会社 自動車
JP7626102B2 (ja) 2022-06-20 2025-02-04 トヨタ自動車株式会社 運転支援装置
JP2024016501A (ja) 2022-07-26 2024-02-07 トヨタ自動車株式会社 車載カメラ遮蔽状態判定装置
JP7694515B2 (ja) 2022-09-14 2025-06-18 トヨタ自動車株式会社 画像処理装置および画像処理方法
JP7750206B2 (ja) 2022-10-19 2025-10-07 トヨタ自動車株式会社 車室内状態認識装置
JP7722336B2 (ja) 2022-11-11 2025-08-13 トヨタ自動車株式会社 運転支援装置
JP7694539B2 (ja) 2022-11-15 2025-06-18 トヨタ自動車株式会社 車載カメラの光軸位置調整方法及び光軸位置調整具
JP7697450B2 (ja) 2022-11-24 2025-06-24 トヨタ自動車株式会社 消失点探索装置
JP7690943B2 (ja) 2022-11-24 2025-06-11 トヨタ自動車株式会社 報知装置
US20240192019A1 (en) * 2022-12-09 2024-06-13 Woven By Toyota, Inc. System and method for generating a semantic map for a road
JP2024171863A (ja) * 2023-05-30 2024-12-12 トヨタ自動車株式会社 自走搬送システム
US12422278B2 (en) * 2024-01-30 2025-09-23 Toyota Jidosha Kabushiki Kaisha Point clustering based on roadways

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19804944C2 (de) 1998-02-07 2000-04-20 Volkswagen Ag Verfahren zur automatischen Abstandsregelung von Kraftfahrzeugen
JP2000235699A (ja) * 1999-02-15 2000-08-29 Denso Corp 車間距離制御装置
JP3778166B2 (ja) * 2002-12-19 2006-05-24 株式会社デンソー 車間距離制御装置
EP1714108A4 (en) * 2003-12-24 2010-01-13 Automotive Systems Lab ROAD curvature ESTIMATES SYSTEM
JP4595833B2 (ja) * 2006-02-24 2010-12-08 トヨタ自動車株式会社 物体検出装置
US8316527B2 (en) 2008-04-01 2012-11-27 Western Digital (Fremont), Llc Method for providing at least one magnetoresistive device
JP2012234373A (ja) * 2011-05-02 2012-11-29 Mitsubishi Motors Corp 運転支援装置
WO2014068668A1 (ja) * 2012-10-30 2014-05-08 トヨタ自動車株式会社 衝突回避支援装置及び衝突回避支援方法

Also Published As

Publication number Publication date
WO2016084637A1 (ja) 2016-06-02
US10427689B2 (en) 2019-10-01
JP2016103223A (ja) 2016-06-02
US20170327123A1 (en) 2017-11-16

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