JP6332170B2 - 自動運転制御装置 - Google Patents
自動運転制御装置 Download PDFInfo
- Publication number
- JP6332170B2 JP6332170B2 JP2015132772A JP2015132772A JP6332170B2 JP 6332170 B2 JP6332170 B2 JP 6332170B2 JP 2015132772 A JP2015132772 A JP 2015132772A JP 2015132772 A JP2015132772 A JP 2015132772A JP 6332170 B2 JP6332170 B2 JP 6332170B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- steering
- range
- driver
- automatic driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- 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
- B60W30/10—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
- 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
- B60W40/02—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
- 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
-
- 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
- B60W40/08—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 drivers or passengers
-
- 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
- B60W40/107—Longitudinal 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
- 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
- B60W40/109—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
- 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
- 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
-
- 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
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0014—Adaptive controllers
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2050/146—Display means
-
- 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
- B60W2520/10—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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal 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
- B60W2520/12—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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
-
- 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
-
- 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
- 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 for navigation 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0616—Position of fuel or air injector
-
- 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
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
-
- 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
- B60W2710/30—Auxiliary equipments
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
Claims (3)
- 車線に対して予め設定された基準走行軌跡に沿って車両を走行させる自動運転制御を行う自動運転制御装置において、
前記自動運転制御中に前記車両の運転者による操舵を検出する操舵検出部と、
前記車線の車線幅方向における範囲として前記車線内に前記基準走行軌跡を含む許容範囲を設定すると共に、前記許容範囲内に前記基準走行軌跡を含む第一範囲と前記第一範囲の左右両側の第二範囲を設定する範囲設定部と、
前記自動運転制御を実行すると共に、前記操舵検出部により前記運転者による操舵が検出された場合に前記車両の車線幅方向の位置が前記許容範囲に含まれるときには前記自動運転制御中における前記運転者の操舵を前記車両の走行に反映する自動運転制御部と、
前記操舵検出部により前記運転者による操舵が検出された場合に、前記車両の車線幅方向の位置が前記第二範囲に含まれるか否かを判定する位置判定部と、
前記位置判定部により前記車両の車線幅方向の位置が前記第二範囲に含まれると判定された場合に、前記車両の走行について前記運転者に注意喚起する注意喚起部と、
を備える、自動運転制御装置。 - 前記操舵検出部により検出された前記運転者による操舵の操舵量が操舵量閾値以上から前記操舵量閾値未満になったか否かを判定する操舵判定部を更に備え、
前記位置判定部は、前記車両の車線幅方向の位置が前記第一範囲に含まれるか否かを判定し、
前記自動運転制御部は、前記操舵判定部により前記運転者による操舵の操舵量が前記操舵量閾値以上から前記操舵量閾値未満になったと判定され、かつ、前記位置判定部により前記車両の車線幅方向の位置が前記第一範囲に含まれると判定された場合に、前記車両の車線幅方向の位置を維持するように前記自動運転制御を実行する、請求項1に記載の自動運転制御装置。 - 前記車両の車速を検出する車速検出部を更に備え、
前記範囲設定部は、前記車両の車速に基づいて、前記許容範囲、前記第一範囲、及び前記第二範囲を設定し、前記車速が遅いほど前記車線内で前記許容範囲、前記第一範囲、及び前記第二範囲を広く設定する、
請求項1又は請求項2に記載の自動運転制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015132772A JP6332170B2 (ja) | 2015-07-01 | 2015-07-01 | 自動運転制御装置 |
CN201610421375.4A CN106314419B (zh) | 2015-07-01 | 2016-06-14 | 自动驾驶控制装置 |
US15/186,606 US9950740B2 (en) | 2015-07-01 | 2016-06-20 | Automatic driving control device |
DE102016211622.3A DE102016211622A1 (de) | 2015-07-01 | 2016-06-28 | Vorrichtung für atuomatische Fahrsteuerung |
US15/923,671 US10710632B2 (en) | 2015-07-01 | 2018-03-16 | Automatic driving control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015132772A JP6332170B2 (ja) | 2015-07-01 | 2015-07-01 | 自動運転制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017013644A JP2017013644A (ja) | 2017-01-19 |
JP6332170B2 true JP6332170B2 (ja) | 2018-05-30 |
Family
ID=57582991
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015132772A Active JP6332170B2 (ja) | 2015-07-01 | 2015-07-01 | 自動運転制御装置 |
Country Status (4)
Country | Link |
---|---|
US (2) | US9950740B2 (ja) |
JP (1) | JP6332170B2 (ja) |
CN (1) | CN106314419B (ja) |
DE (1) | DE102016211622A1 (ja) |
Families Citing this family (77)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
JP6332170B2 (ja) * | 2015-07-01 | 2018-05-30 | トヨタ自動車株式会社 | 自動運転制御装置 |
JP6376059B2 (ja) * | 2015-07-06 | 2018-08-22 | トヨタ自動車株式会社 | 自動運転車両の制御装置 |
US10532736B2 (en) * | 2015-11-06 | 2020-01-14 | Honda Motor Co., Ltd. | Vehicle travel control device |
US10474158B2 (en) * | 2016-09-09 | 2019-11-12 | Nissan Motor Co., Ltd. | Vehicle travel control method and travel control device |
JP6686869B2 (ja) * | 2016-12-22 | 2020-04-22 | 株式会社デンソー | 運転交代制御装置、及び運転交代制御方法 |
JP6668510B2 (ja) * | 2017-01-23 | 2020-03-18 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP6676196B2 (ja) * | 2017-01-24 | 2020-04-08 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP6646168B2 (ja) * | 2017-01-24 | 2020-02-14 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP6731108B2 (ja) * | 2017-02-22 | 2020-07-29 | 株式会社日立製作所 | 制御システムおよび制御方法 |
CN110290998B (zh) * | 2017-02-23 | 2023-05-23 | 本田技研工业株式会社 | 车辆用控制系统及控制方法 |
JP7003423B2 (ja) * | 2017-03-14 | 2022-01-20 | スズキ株式会社 | 車両の走行制御装置 |
JP7240649B2 (ja) * | 2017-03-14 | 2023-03-16 | スズキ株式会社 | 車両の走行制御装置 |
DE102018202847A1 (de) | 2017-03-22 | 2018-09-27 | Ford Global Technologies, Llc | Verfahren zum Betreiben eines Lenkunterstützungssystems |
JP6831734B2 (ja) * | 2017-03-30 | 2021-02-17 | 株式会社Subaru | 車両の走行制御装置 |
JP6494050B2 (ja) * | 2017-03-31 | 2019-04-03 | 株式会社Subaru | 自動操舵制御装置 |
JP6838821B2 (ja) * | 2017-04-07 | 2021-03-03 | 日立Astemo株式会社 | 車両制御装置 |
JP6601805B2 (ja) * | 2017-04-28 | 2019-11-06 | 株式会社Subaru | 車両 |
CN113525265A (zh) * | 2017-05-15 | 2021-10-22 | 成都中技智慧企业管理咨询有限公司 | 一种自动驾驶汽车与人的交互系统及方法 |
KR102299496B1 (ko) * | 2017-06-16 | 2021-09-08 | 현대자동차주식회사 | 차량의 자율 주행 제어 장치 및 방법, 그리고 차량 시스템 |
CN107458367B (zh) * | 2017-07-07 | 2020-11-20 | 驭势科技(北京)有限公司 | 行驶控制方法及行驶控制装置 |
JP6568559B2 (ja) * | 2017-09-13 | 2019-08-28 | 株式会社Subaru | 車両の走行制御装置 |
CN109976321A (zh) * | 2017-12-27 | 2019-07-05 | 湖南中车时代电动汽车股份有限公司 | 一种用于智能驾驶系统的轨迹规划方法及智能驾驶系统 |
WO2019162717A1 (ja) * | 2018-02-20 | 2019-08-29 | 日産自動車株式会社 | 自動車線変更制御方法及び自動車線変更制御装置 |
US11597403B2 (en) | 2018-04-11 | 2023-03-07 | Hyundai Motor Company | Apparatus for displaying driving state of vehicle, system including the same and method thereof |
US11084491B2 (en) | 2018-04-11 | 2021-08-10 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
EP3552913B1 (en) * | 2018-04-11 | 2021-08-18 | Hyundai Motor Company | Apparatus and method for controlling to enable autonomous system in vehicle |
US11351989B2 (en) | 2018-04-11 | 2022-06-07 | Hyundai Motor Company | Vehicle driving controller, system including the same, and method thereof |
US11334067B2 (en) | 2018-04-11 | 2022-05-17 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
US11173910B2 (en) | 2018-04-11 | 2021-11-16 | Hyundai Motor Company | Lane change controller for vehicle system including the same, and method thereof |
US11548509B2 (en) | 2018-04-11 | 2023-01-10 | Hyundai Motor Company | Apparatus and method for controlling lane change in vehicle |
EP3569460B1 (en) | 2018-04-11 | 2024-03-20 | Hyundai Motor Company | Apparatus and method for controlling driving in vehicle |
EP3552902A1 (en) * | 2018-04-11 | 2019-10-16 | Hyundai Motor Company | Apparatus and method for providing a driving path to a vehicle |
US10843710B2 (en) | 2018-04-11 | 2020-11-24 | Hyundai Motor Company | Apparatus and method for providing notification of control authority transition in vehicle |
US11077854B2 (en) | 2018-04-11 | 2021-08-03 | Hyundai Motor Company | Apparatus for controlling lane change of vehicle, system having the same and method thereof |
US11084490B2 (en) | 2018-04-11 | 2021-08-10 | Hyundai Motor Company | Apparatus and method for controlling drive of vehicle |
EP3552901A3 (en) | 2018-04-11 | 2020-04-29 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
JP6900930B2 (ja) * | 2018-04-13 | 2021-07-14 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP6962864B2 (ja) * | 2018-05-29 | 2021-11-05 | 本田技研工業株式会社 | 車両制御システム |
DE102018007022A1 (de) * | 2018-09-05 | 2020-03-05 | Daimler Ag | Verfahren und Vorrichtung zum Betrieb eines Assistenzsystems eines Fahrzeuges und Fahrzeug |
JP7205154B2 (ja) | 2018-10-16 | 2023-01-17 | トヨタ自動車株式会社 | 表示装置 |
KR102463723B1 (ko) * | 2018-11-07 | 2022-11-07 | 현대자동차주식회사 | 군집주행 차량의 조향 제어 장치 및 그 방법 |
TWI674984B (zh) * | 2018-11-15 | 2019-10-21 | 財團法人車輛研究測試中心 | 自動駕駛車輛之行駛軌跡規劃系統及方法 |
DE102018129572A1 (de) * | 2018-11-23 | 2020-05-28 | Bayerische Motoren Werke Aktiengesellschaft | Fahrassistenzsystem für ein automatisiert fahrendes Fahrzeug und Verfahren zum Führen eines automatisiert fahrenden Fahrzeugs |
JP7153191B2 (ja) * | 2018-11-26 | 2022-10-14 | トヨタ自動車株式会社 | 情報提供装置及び車載装置 |
JP7082940B2 (ja) * | 2018-12-17 | 2022-06-09 | 本田技研工業株式会社 | 走行軌道決定処理及び自動運転装置 |
JP7238393B2 (ja) * | 2018-12-25 | 2023-03-14 | 株式会社デンソー | 地図データ生成装置、地図データ生成システム、地図データ生成プログラム及び記憶媒体 |
JP2020104738A (ja) | 2018-12-27 | 2020-07-09 | トヨタ自動車株式会社 | 報知装置 |
JP6821644B2 (ja) * | 2018-12-28 | 2021-01-27 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
US11639195B2 (en) * | 2019-02-27 | 2023-05-02 | Steering Solutions Ip Holding Corporation | Lane change assistant |
US11093761B2 (en) * | 2019-03-06 | 2021-08-17 | GM Global Technology Operations LLC | Lane position sensing and tracking in a vehicle |
JP7172794B2 (ja) * | 2019-03-27 | 2022-11-16 | トヨタ自動車株式会社 | 自動運転システム |
JP7207099B2 (ja) * | 2019-03-29 | 2023-01-18 | マツダ株式会社 | 自動車走行制御用の演算装置及びそれを用いた走行制御システム |
JP7207098B2 (ja) * | 2019-03-29 | 2023-01-18 | マツダ株式会社 | 自動車用走行制御システム |
JP7251294B2 (ja) * | 2019-04-25 | 2023-04-04 | 株式会社アドヴィックス | 車両の走行制御装置 |
US11505194B2 (en) * | 2019-05-15 | 2022-11-22 | Nissan Motor Co., Ltd. | Vehicle travel control method and travel control device |
CN110525434B (zh) * | 2019-08-08 | 2021-05-07 | 中国北方车辆研究所 | 一种无人驾驶操控系统的驾驶员意图理解模块 |
JP7219200B2 (ja) | 2019-10-18 | 2023-02-07 | 日立Astemo株式会社 | 車両制御装置 |
JP7243589B2 (ja) * | 2019-11-15 | 2023-03-22 | トヨタ自動車株式会社 | 車両の制御装置 |
KR20210063893A (ko) * | 2019-11-25 | 2021-06-02 | 현대자동차주식회사 | 차로 변경 보조 장치, 그를 포함한 시스템 및 그 방법 |
JP2020038726A (ja) * | 2019-12-05 | 2020-03-12 | 本田技研工業株式会社 | 車両制御装置 |
JP7358958B2 (ja) * | 2019-12-11 | 2023-10-11 | トヨタ自動車株式会社 | 運転意識推定装置 |
DE112020006505T5 (de) * | 2020-01-10 | 2022-12-01 | Denso Corporation | Präsentationssteuervorrichtung, präsentationssteuerprogramm und fahrsteuervorrichtung |
DE102020200703B3 (de) * | 2020-01-22 | 2021-03-25 | Volkswagen Aktiengesellschaft | Überlenkbare Fahrerassistenzfunktion mit verbessertem Lenkgefühl |
JP7104740B2 (ja) * | 2020-03-30 | 2022-07-21 | 本田技研工業株式会社 | 移動体制御装置、移動体及び移動体制御方法 |
JP7235015B2 (ja) * | 2020-07-17 | 2023-03-08 | トヨタ自動車株式会社 | 自動操舵システム |
US11608067B2 (en) * | 2020-08-12 | 2023-03-21 | Honda Motor Co., Ltd. | Probabilistic-based lane-change decision making and motion planning system and method thereof |
JP7261782B2 (ja) * | 2020-10-29 | 2023-04-20 | 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 |
CN112606847B (zh) * | 2020-11-18 | 2022-08-19 | 湖南中车智行科技有限公司 | 一种自导向车辆的控制方法及控制装置 |
CN114550474B (zh) * | 2020-11-24 | 2023-03-03 | 华为技术有限公司 | 一种横向规划约束确定方法及装置 |
US11472435B2 (en) * | 2020-11-30 | 2022-10-18 | Automotive Research & Testing Center | Trajectory determination method for a vehicle |
US20220281473A1 (en) * | 2021-03-05 | 2022-09-08 | Continental Automotive Systems, Inc. | Driver Effort Augmentation to Indicate Trajectory Planner Feedback |
FR3123033B1 (fr) * | 2021-05-19 | 2023-04-07 | Psa Automobiles Sa | Procédé et dispositif d’aide à la conduite d’un véhicule circulant sur une voie de circulation. |
CN113759903A (zh) * | 2021-08-23 | 2021-12-07 | 东莞职业技术学院 | 无人驾驶车辆及其转向控制方法、电子设备及存储介质 |
CN114013435A (zh) * | 2021-11-12 | 2022-02-08 | 合众新能源汽车有限公司 | 车辆横向辅助控制方法及系统 |
WO2023108455A1 (zh) * | 2021-12-15 | 2023-06-22 | 华为技术有限公司 | 一种智能驾驶方法、装置及包括该装置的车辆 |
Family Cites Families (40)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0723370A (ja) * | 1993-06-30 | 1995-01-24 | Isuzu Motors Ltd | 車線逸脱警報装置 |
JP3183164B2 (ja) * | 1996-05-23 | 2001-07-03 | トヨタ自動車株式会社 | 車両用操舵制御装置 |
JP3235522B2 (ja) * | 1997-07-22 | 2001-12-04 | トヨタ自動車株式会社 | 走行レーン逸脱警報装置 |
JP3858485B2 (ja) * | 1998-11-26 | 2006-12-13 | マツダ株式会社 | 車両の制御装置 |
JP4069530B2 (ja) * | 1998-12-16 | 2008-04-02 | マツダ株式会社 | 車両の制御装置 |
JP2000198458A (ja) * | 1999-01-08 | 2000-07-18 | Mazda Motor Corp | 車両の制御装置 |
JP3529037B2 (ja) * | 1999-08-02 | 2004-05-24 | 日産自動車株式会社 | 車線追従装置 |
JP2001048035A (ja) * | 1999-08-10 | 2001-02-20 | Nissan Motor Co Ltd | 車線追従装置 |
JP3716905B2 (ja) * | 1999-12-14 | 2005-11-16 | 三菱自動車工業株式会社 | 車線逸脱警報装置 |
JP4622180B2 (ja) * | 2001-07-17 | 2011-02-02 | いすゞ自動車株式会社 | 自動操舵装置 |
EP1502246B1 (de) * | 2002-04-30 | 2006-08-02 | Robert Bosch Gmbh | Verfahren und vorrichtung zur fahrerinformation bzw. zur reaktion bei verlassen der fahrspur |
JP2004231096A (ja) * | 2003-01-31 | 2004-08-19 | Nissan Motor Co Ltd | 車線追従装置 |
JP4762528B2 (ja) * | 2004-11-10 | 2011-08-31 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP4507976B2 (ja) * | 2005-05-11 | 2010-07-21 | トヨタ自動車株式会社 | 車両用走行制御装置 |
US20070225914A1 (en) * | 2006-03-21 | 2007-09-27 | Hiroshi Kawazoe | Lane departure avoidance control |
JP4721279B2 (ja) * | 2006-03-29 | 2011-07-13 | 富士重工業株式会社 | 車線追従支援装置 |
JP4582052B2 (ja) * | 2006-06-07 | 2010-11-17 | トヨタ自動車株式会社 | 走行支援装置 |
DE102008008172A1 (de) * | 2008-02-08 | 2009-08-13 | Daimler Ag | Verfahren zur Längs- und Querführungsunterstützung des Fahrers eines Fahrzeugs und Fahrerassistenzsystem zur Durchführung des Verfahrens |
JP5380860B2 (ja) * | 2008-03-04 | 2014-01-08 | 日産自動車株式会社 | 車線維持支援装置及び車線維持支援方法 |
JP5380861B2 (ja) * | 2008-03-04 | 2014-01-08 | 日産自動車株式会社 | 車線維持支援装置及び車線維持支援方法 |
JP5359085B2 (ja) * | 2008-03-04 | 2013-12-04 | 日産自動車株式会社 | 車線維持支援装置及び車線維持支援方法 |
JP5358978B2 (ja) * | 2008-03-05 | 2013-12-04 | 日産自動車株式会社 | 車両用走行制御装置及びその方法 |
JP5266926B2 (ja) * | 2008-07-23 | 2013-08-21 | 日産自動車株式会社 | 車線維持支援装置及び車線維持支援方法 |
JP5504589B2 (ja) * | 2008-07-30 | 2014-05-28 | 日産自動車株式会社 | 車両用操舵制御装置及び車両用操舵制御方法 |
JP5365084B2 (ja) * | 2008-07-30 | 2013-12-11 | 日産自動車株式会社 | 車両用操舵制御装置及び車両用操舵制御方法 |
JP5493842B2 (ja) * | 2009-12-25 | 2014-05-14 | トヨタ自動車株式会社 | 走行支援装置 |
US8260482B1 (en) * | 2010-04-28 | 2012-09-04 | Google Inc. | User interface for displaying internal state of autonomous driving system |
CN102939230B (zh) * | 2010-06-16 | 2015-05-20 | 丰田自动车株式会社 | 驾驶辅助装置 |
KR20110139898A (ko) * | 2010-06-24 | 2011-12-30 | 주식회사 만도 | 차선유지 제어 방법 및 장치와 차선이탈 경고 장치 |
WO2012068331A1 (en) * | 2010-11-19 | 2012-05-24 | Magna Electronics Inc. | Lane keeping system and lane centering system |
DE102011011714A1 (de) * | 2011-02-18 | 2012-08-23 | MAN Truck & Bus Aktiengesellschaft | Verfahren zur Unterstützung eines Fahrers eines Fahrzeuges, insbesondere eines Kraft- oder Nutzfahrzeuges |
JP4865096B1 (ja) * | 2011-03-03 | 2012-02-01 | 富士重工業株式会社 | 車線逸脱警報制御装置 |
US20120271500A1 (en) * | 2011-04-20 | 2012-10-25 | GM Global Technology Operations LLC | System and method for enabling a driver to input a vehicle control instruction into an autonomous vehicle controller |
US20120283912A1 (en) * | 2011-05-05 | 2012-11-08 | GM Global Technology Operations LLC | System and method of steering override end detection for automated lane centering |
JP5783204B2 (ja) * | 2013-05-01 | 2015-09-24 | トヨタ自動車株式会社 | 運転支援装置および運転支援方法 |
CN103646298B (zh) * | 2013-12-13 | 2018-01-02 | 中国科学院深圳先进技术研究院 | 一种自动驾驶方法及系统 |
US10101742B2 (en) * | 2014-12-07 | 2018-10-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Mixed autonomous and manual control of autonomous vehicles |
JP6176263B2 (ja) | 2015-01-19 | 2017-08-09 | トヨタ自動車株式会社 | 自動運転装置 |
JP6176264B2 (ja) | 2015-01-19 | 2017-08-09 | トヨタ自動車株式会社 | 自動運転車両システム |
JP6332170B2 (ja) * | 2015-07-01 | 2018-05-30 | トヨタ自動車株式会社 | 自動運転制御装置 |
-
2015
- 2015-07-01 JP JP2015132772A patent/JP6332170B2/ja active Active
-
2016
- 2016-06-14 CN CN201610421375.4A patent/CN106314419B/zh active Active
- 2016-06-20 US US15/186,606 patent/US9950740B2/en active Active
- 2016-06-28 DE DE102016211622.3A patent/DE102016211622A1/de active Pending
-
2018
- 2018-03-16 US US15/923,671 patent/US10710632B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20180201314A1 (en) | 2018-07-19 |
CN106314419A (zh) | 2017-01-11 |
JP2017013644A (ja) | 2017-01-19 |
US10710632B2 (en) | 2020-07-14 |
DE102016211622A1 (de) | 2017-01-05 |
US9950740B2 (en) | 2018-04-24 |
CN106314419B (zh) | 2019-03-29 |
US20170003683A1 (en) | 2017-01-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6332170B2 (ja) | 自動運転制御装置 | |
US9796416B2 (en) | Automated driving apparatus and automated driving system | |
JP6269534B2 (ja) | 走行制御装置 | |
JP6583061B2 (ja) | 自動運転制御装置 | |
US11180143B2 (en) | Vehicle control device | |
JP6269606B2 (ja) | 車両制御装置 | |
JP6409699B2 (ja) | 自動運転システム | |
JP6269546B2 (ja) | 自動運転装置 | |
JP6460008B2 (ja) | 自動運転装置 | |
JP6323385B2 (ja) | 車両走行制御装置 | |
JP7115270B2 (ja) | 自動運転システム | |
JP6555067B2 (ja) | 車線変更支援装置 | |
JP6350383B2 (ja) | 車両走行制御装置 | |
JP7172257B2 (ja) | 自動運転システム | |
JP2017001597A (ja) | 自動運転装置 | |
JP2016212630A (ja) | 走行制御装置 | |
JP7115184B2 (ja) | 自動運転システム | |
JP2017151703A (ja) | 自動運転装置 | |
JP6863194B2 (ja) | 自動運転システム | |
US20200051436A1 (en) | Vehicle control apparatus and vehicle control method | |
JP6674560B2 (ja) | 外界認識システム | |
JP2017073059A (ja) | 車線変更支援装置 | |
JP6648551B2 (ja) | 自動運転装置 | |
JP6558261B2 (ja) | 自動運転装置 | |
JP2018176959A (ja) | 自動運転システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20161214 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20170922 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20171003 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180403 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180416 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6332170 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |