JP6344402B2 - 車両の運転支援装置 - Google Patents
車両の運転支援装置 Download PDFInfo
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
-
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
-
- 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
- B62D15/027—Parking aids, e.g. instruction 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
- 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
-
- 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
- B60W2554/801—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal 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
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Description
自車両の後退進路に交差するように前記後退進路に接近する障害物をレーダーセンサ(38)によって検出し、前記障害物が前記自車両に衝突する可能性が高い場合に前記自車両の自動ブレーキを作動させる後退時衝突回避支援システム(20,37,38,50,60,73)と、
ドライバーによって車庫入れ支援モードと縦列駐車支援モードとが選択可能であり、選択されている支援モードにて、前記自車両を目標駐車位置に駐車させるための目標経路に沿って自車両が移動するように操舵輪を自動操舵させる駐車支援システム(10,31〜37,40,71,72)と
を備えた運転支援装置において、
前記縦列駐車支援モードが選択されて、前記駐車支援システムによって前記自車両を縦列駐車させる支援が行われている特定状況であるか否かを判定する状況判定手段(S14)と、
前記特定状況であると判定されている場合には、前記後退時衝突回避支援システムによる自動ブレーキの作動を禁止する自動ブレーキ禁止手段(S18)と
を備え、
前記特定状況には、前記車庫入れ支援モードが選択されて、前記駐車支援システムによって前記自車両を車庫入れさせる支援が行われている状況が含まれないことにある。
ドライバーによって選択可能な支援モードには、前記自車両を縦列駐車状態から出庫させるための目標経路に沿って自車両が移動するように前記操舵輪を自動操舵させる出庫支援モードが含まれており、
前記特定状況には、前記出庫支援モードが選択されて、前記駐車支援システムによって前記自車両を縦列駐車状態から出庫させる支援が行われている状況が含まれている(S15)ことにある。
Claims (2)
- 自車両の後退進路に交差するように前記後退進路に接近する障害物をレーダーセンサによって検出し、前記障害物が前記自車両に衝突する可能性が高い場合に前記自車両の自動ブレーキを作動させる後退時衝突回避支援システムと、
ドライバーによって車庫入れ支援モードと縦列駐車支援モードとが選択可能であり、選択されている支援モードにて、前記自車両を目標駐車位置に駐車させるための目標経路に沿って自車両が移動するように操舵輪を自動操舵させる駐車支援システムと
を備えた運転支援装置において、
前記縦列駐車支援モードが選択されて、前記駐車支援システムによって前記自車両を縦列駐車させる支援が行われている特定状況であるか否かを判定する状況判定手段と、
前記特定状況であると判定されている場合には、前記後退時衝突回避支援システムによる自動ブレーキの作動を禁止する自動ブレーキ禁止手段と
を備え、
前記特定状況には、前記車庫入れ支援モードが選択されて、前記駐車支援システムによって前記自車両を車庫入れさせる支援が行われている状況が含まれない車両の運転支援装置。 - 請求項1記載の車両の運転支援装置において、
ドライバーによって選択可能な支援モードには、前記自車両を縦列駐車状態から出庫させるための目標経路に沿って自車両が移動するように前記操舵輪を自動操舵させる出庫支援モードが含まれており、
前記特定状況には、前記出庫支援モードが選択されて、前記駐車支援システムによって前記自車両を縦列駐車状態から出庫させる支援が行われている状況が含まれている車両の運転支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2016008791A JP6344402B2 (ja) | 2016-01-20 | 2016-01-20 | 車両の運転支援装置 |
US15/298,874 US9834210B2 (en) | 2016-01-20 | 2016-10-20 | Driving support device for vehicle |
DE102016124629.8A DE102016124629B4 (de) | 2016-01-20 | 2016-12-16 | Fahrunterstützungsvorrichtung für ein fahrzeug |
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JP2016008791A JP6344402B2 (ja) | 2016-01-20 | 2016-01-20 | 車両の運転支援装置 |
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JP2017128213A JP2017128213A (ja) | 2017-07-27 |
JP6344402B2 true JP6344402B2 (ja) | 2018-06-20 |
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US (1) | US9834210B2 (ja) |
JP (1) | JP6344402B2 (ja) |
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JP6174516B2 (ja) * | 2014-04-24 | 2017-08-02 | 本田技研工業株式会社 | 衝突回避支援装置、衝突回避支援方法、及びプログラム |
US10290212B2 (en) * | 2015-03-19 | 2019-05-14 | Mitsubishi Electric Corporation | Drive control apparatus and drive control method |
CN107356925B (zh) * | 2017-08-21 | 2023-12-22 | 山西焦煤机械电气有限公司 | 基于毫米波雷达的防爆无轨胶轮车浇封型前防撞系统 |
JP6836189B2 (ja) * | 2017-08-30 | 2021-02-24 | トヨタ自動車株式会社 | 操舵支援装置 |
CN109532826A (zh) * | 2017-09-21 | 2019-03-29 | 天津所托瑞安汽车科技有限公司 | 一种基于车道线视觉识别技术优化的雷达防碰撞预警方法 |
CN107891851A (zh) * | 2017-10-31 | 2018-04-10 | 北京新能源汽车股份有限公司 | 一种车辆的控制方法、装置及控制器 |
DE102018214730A1 (de) * | 2018-08-30 | 2020-03-05 | Ford Global Technologies, Llc | Aktive Einparkhilfe für ein Kraftfahrzeug |
JP7251987B2 (ja) * | 2019-01-15 | 2023-04-04 | フォルシアクラリオン・エレクトロニクス株式会社 | 出庫支援装置、及び出庫支援装置の制御方法 |
JP7362256B2 (ja) * | 2019-02-05 | 2023-10-17 | 日産自動車株式会社 | 車両管理システム、車両管理装置、および車両管理方法 |
JP7262026B2 (ja) * | 2019-03-22 | 2023-04-21 | パナソニックIpマネジメント株式会社 | 駐車支援装置、車両、駐車支援方法および駐車支援プログラム |
CN112114541B (zh) * | 2019-06-21 | 2022-09-23 | 华为技术有限公司 | 传感器的控制方法、装置和传感器 |
KR20210051872A (ko) * | 2019-10-31 | 2021-05-10 | 현대모비스 주식회사 | 후방 교차 충돌 감지 시스템 및 방법 |
KR20210060237A (ko) * | 2019-11-18 | 2021-05-26 | 현대모비스 주식회사 | 후방 교차 충돌 감지 시스템 및 방법 |
JP7279659B2 (ja) * | 2020-02-12 | 2023-05-23 | トヨタ自動車株式会社 | 自動バレー駐車システム及びサービス提供方法 |
US11897468B2 (en) * | 2020-03-03 | 2024-02-13 | Ford Global Technologies, Llc | Vehicle control system |
JP7437247B2 (ja) | 2020-06-26 | 2024-02-22 | 日立Astemo株式会社 | 運転支援装置の制御装置 |
KR20220119229A (ko) * | 2021-02-19 | 2022-08-29 | 주식회사 에이치엘클레무브 | 운전자 보조 시스템 및 그를 가지는 차량 |
US20230174055A1 (en) * | 2021-12-07 | 2023-06-08 | Deere & Company | Multiple mode body swing collision avoidance system and method |
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JP2007145152A (ja) * | 2005-11-28 | 2007-06-14 | Mitsubishi Electric Corp | 車両用自動制動装置 |
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DE102010042048B4 (de) * | 2010-10-06 | 2020-11-12 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs bei einem Fahrmanöver |
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JP2013220809A (ja) | 2012-04-19 | 2013-10-28 | Mitsubishi Motors Corp | 車両用運転支援装置 |
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JP5870908B2 (ja) * | 2012-12-11 | 2016-03-01 | 株式会社デンソー | 車両の衝突判定装置 |
JP6120371B2 (ja) * | 2013-10-23 | 2017-04-26 | クラリオン株式会社 | 自動駐車制御装置および駐車支援装置 |
KR101628503B1 (ko) * | 2014-10-27 | 2016-06-08 | 현대자동차주식회사 | 운전자 보조장치 및 그 작동 방법 |
JP6544121B2 (ja) * | 2015-07-31 | 2019-07-17 | アイシン精機株式会社 | 駐車支援装置 |
JP6569362B2 (ja) * | 2015-07-31 | 2019-09-04 | アイシン精機株式会社 | 駐車支援装置 |
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2016
- 2016-01-20 JP JP2016008791A patent/JP6344402B2/ja active Active
- 2016-10-20 US US15/298,874 patent/US9834210B2/en active Active
- 2016-12-16 DE DE102016124629.8A patent/DE102016124629B4/de active Active
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DE102016124629A1 (de) | 2017-07-20 |
US20170203757A1 (en) | 2017-07-20 |
JP2017128213A (ja) | 2017-07-27 |
DE102016124629B4 (de) | 2023-08-03 |
US9834210B2 (en) | 2017-12-05 |
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