JP6340037B2 - 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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- JP6340037B2 JP6340037B2 JP2016113802A JP2016113802A JP6340037B2 JP 6340037 B2 JP6340037 B2 JP 6340037B2 JP 2016113802 A JP2016113802 A JP 2016113802A JP 2016113802 A JP2016113802 A JP 2016113802A JP 6340037 B2 JP6340037 B2 JP 6340037B2
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Description
Vt=Gθ・MIN(V0,V1,走行車線の制限速度,右左折路の制限速度)
…(1)
ここで、Gθは予め実験、計算等により設定される、後述の旋回速度補正係数である。また、MIN以下の演算部は、走行車線の幅W0に基づいて予め設定する車速V0、右左折路の幅W1に基づいて予め設定する車速V1、地図情報から取得した走行車線の制限速度、地図情報から取得した右左折路の制限速度の中から最小速度を選択するMIN関数となっている。
10 走行制御部
11 周辺環境認識装置
12 走行パラメータ検出装置
13 自車位置情報検出装置
14 道路交通情報通信装置
15 スイッチ群
21 エンジン制御装置
22 ブレーキ制御装置
23 ステアリング制御装置
24 表示装置
25 スピーカ・ブザー
26 外部報知装置(外部報知手段)
Claims (6)
- 自車両の走行状態と走行環境情報に基づいて自動運転制御を実行する走行制御部を備える車両の走行制御装置において、
上記走行制御部は、上記自車両の走行状態と走行環境情報に基づき、上記自車両の走行車線からの右折と左折の実行を推定し、上記自車両の走行車線からの右折と左折のどちらかの実行が推定される際は、上記自車両の走行状態と走行環境情報に応じて上記走行車線から右左折先車線への走行軌跡を可変して制御するに際し、上記右左折先車線の車線幅が、予め設定しておいた第1の車線幅より広く、かつ、予め設定していた第2の車線幅を超えない場合は、上記右左折先車線へ右左折する上記走行軌跡の旋回半径を大きくなる方向に補正することを特徴とする車両の走行制御装置。 - 上記走行制御部は、上記右左折先車線の車線幅が、予め設定しておいた第1の車線幅より狭い場合は、上記走行車線から上記右左折先車線への右左折を禁止することを特徴とする請求項1記載の車両の走行制御装置。
- 上記走行制御部は、上記自車両が上記右左折先車線に直進して進入できるように上記走行軌跡の旋回半径を大きくなる方向に補正することを特徴とする請求項1記載の車両の走行制御装置。
- 上記走行制御部は、上記右左折先車線に他の車両を検出した場合は、上記他の車両の移動状況を監視し、上記他の車両が移動している際には、上記他の車両の移動が完了した後に、上記走行車線から上記右左折先車線へ右左折制御を実行することを特徴とする請求項1乃至請求項3の何れか一つに記載の車両の走行制御装置。
- 上記走行制御部は、上記右左折先車線に他の車両を検出した場合は、上記他の車両の移動状況を監視し、上記他の車両が停止している際には、停止している上記他の車両に対し、該他の車両の移動を優先して行うように外部報知手段により信号を発することを特徴とする請求項1乃至請求項4の何れか一つに記載の車両の走行制御装置。
- 上記走行制御部は、上記走行軌跡の旋回半径を大きくなる方向に補正して右左折制御するに際しては、旋回車速を極低速に設定することを特徴とする請求項1、又は請求項3乃至請求項5の何れか一つに記載の車両の走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016113802A JP6340037B2 (ja) | 2016-06-07 | 2016-06-07 | 車両の走行制御装置 |
DE102017109162.9A DE102017109162A1 (de) | 2016-06-07 | 2017-04-28 | Fahrtsteuerungsvorrichtung für Fahrzeug |
US15/584,668 US10360461B2 (en) | 2016-06-07 | 2017-05-02 | Travel control device for vehicle |
CN201710398027.4A CN107472248B (zh) | 2016-06-07 | 2017-05-31 | 车辆的行驶控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016113802A JP6340037B2 (ja) | 2016-06-07 | 2016-06-07 | 車両の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017220028A JP2017220028A (ja) | 2017-12-14 |
JP6340037B2 true JP6340037B2 (ja) | 2018-06-06 |
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Application Number | Title | Priority Date | Filing Date |
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JP2016113802A Active JP6340037B2 (ja) | 2016-06-07 | 2016-06-07 | 車両の走行制御装置 |
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---|---|
US (1) | US10360461B2 (ja) |
JP (1) | JP6340037B2 (ja) |
CN (1) | CN107472248B (ja) |
DE (1) | DE102017109162A1 (ja) |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10647319B2 (en) * | 2016-07-05 | 2020-05-12 | Nissan Motor Co., Ltd. | Travel control method and travel control device |
JP7225536B2 (ja) * | 2018-01-16 | 2023-02-21 | 株式会社デンソー | 車両の自動運転制御システム |
JP6941189B2 (ja) * | 2018-01-19 | 2021-09-29 | 日立Astemo株式会社 | 運転支援装置、運転支援方法及び運転支援システム |
JP7043295B2 (ja) * | 2018-03-07 | 2022-03-29 | 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 |
JP7098996B2 (ja) * | 2018-03-26 | 2022-07-12 | 株式会社デンソー | 走行位置決定装置 |
US10689033B2 (en) * | 2018-03-27 | 2020-06-23 | Subaru Corporation | Vehicle driving assist apparatus |
JP6947130B2 (ja) * | 2018-07-05 | 2021-10-13 | トヨタ自動車株式会社 | 車両走行支援装置 |
EP3823795A4 (en) * | 2018-07-16 | 2022-04-06 | Brain Corporation | SYSTEMS AND METHODS TO OPTIMIZE ROUTE PLANNING FOR NARROW TURNS FOR ROBOTIC DEVICES |
JP7193948B2 (ja) * | 2018-08-13 | 2022-12-21 | 株式会社Subaru | 自動運転支援装置 |
KR102474613B1 (ko) * | 2018-08-23 | 2022-12-06 | 현대자동차주식회사 | 차량의 어드밴스 관성주행제어방법 |
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