JP6363516B2 - 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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- JP6363516B2 JP6363516B2 JP2015009772A JP2015009772A JP6363516B2 JP 6363516 B2 JP6363516 B2 JP 6363516B2 JP 2015009772 A JP2015009772 A JP 2015009772A JP 2015009772 A JP2015009772 A JP 2015009772A JP 6363516 B2 JP6363516 B2 JP 6363516B2
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- 238000003384 imaging method Methods 0.000 claims description 37
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host 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
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4044—Direction of movement, e.g. backwards
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
Ax2=Ly・tanθ+Bx−Lx …(1)
なお、距離Lxは撮像装置21により検出される値であり、距離Lyは撮像装置21及びレーダ装置22により検出される値である。また、ヨー角θは撮像装置21により検出された白線と自車とがなすヨー角である。
VL=CW/2−LA …(2)
なお、距離LAは撮像装置21により検出される値である。
本発明は上記実施形態に限定されず、例えば次のように実施してもよい。
Claims (4)
- 自車両(50)の前方を撮影する撮像装置(21)が搭載された車両に適用され、
前記撮像装置により取得した画像に基づいて、前記自車両の走行車線を区画する走行区画線(61,61a)を認識する区画線認識手段と、
前記自車両の前方を走行する前方車両(51)について、前記区画線認識手段により認識された走行区画線である認識区画線を基準とした前記自車両の車幅方向の相対位置(VL)に基づいて、前記自車両の移動先の車線に存在している車両を、前記自車両が割り込んでいく対象であると判定し、前記自車両の移動元の車線に存在している車両を、前記自車両が離脱する対象であると判定する自車割込み離脱判定を実施する車両判定手段と、
を備えることを特徴とする車両の走行制御装置(10)。 - 前記車両判定手段は、前記認識区画線を基準とした前記自車両の車幅方向の相対位置と、前記認識区画線を基準とした前記前方車両の車幅方向の相対位置とに基づいて前記自車割込み離脱判定を実施する請求項1に記載の車両の走行制御装置。
- 前記前方車両が、前記区画線認識手段により認識された走行区画線の認識距離よりも遠くに存在しているか否かを判定する距離判定手段と、
前記認識区画線に対する前記自車両の傾き角度に基づいて、前記認識距離よりも遠くに存在している前記前方車両の前記認識区画線を基準とした車幅方向の相対位置を算出する位置算出手段と、を備え、
前記車両判定手段は、前記距離判定手段により前記前方車両が前記認識距離よりも遠くに存在していると判定された場合に、前記認識区画線を基準とした前記自車両の車幅方向の相対位置と、前記位置算出手段により算出した相対位置とに基づいて前記自車割込み離脱判定を実施する請求項2に記載の車両の走行制御装置。 - 前記車両判定手段は、前記認識区画線を基準とした前記自車両の車幅方向の相対位置を表すパラメータとして、前記認識区画線に対する前記自車両の接近又は跨ぎの度合いを算出し、該算出した前記度合いに基づいて前記自車割込み離脱判定を実施する請求項1〜3のいずれか一項に記載の車両の走行制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015009772A JP6363516B2 (ja) | 2015-01-21 | 2015-01-21 | 車両の走行制御装置 |
US15/544,855 US10471961B2 (en) | 2015-01-21 | 2016-01-20 | Cruise control device and cruise control method for vehicles |
PCT/JP2016/051573 WO2016117603A1 (ja) | 2015-01-21 | 2016-01-20 | 車両の走行制御装置及び走行制御方法 |
CN201680006356.3A CN107209997B (zh) | 2015-01-21 | 2016-01-20 | 车辆的行驶控制装置以及行驶控制方法 |
DE112016000422.2T DE112016000422B4 (de) | 2015-01-21 | 2016-01-20 | Geschwindigkeitsregelvorrichtung und geschwindigkeitsregelverfahren für fahrzeuge |
Applications Claiming Priority (1)
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JP2015009772A JP6363516B2 (ja) | 2015-01-21 | 2015-01-21 | 車両の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2016134092A JP2016134092A (ja) | 2016-07-25 |
JP6363516B2 true JP6363516B2 (ja) | 2018-07-25 |
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JP2015009772A Active JP6363516B2 (ja) | 2015-01-21 | 2015-01-21 | 車両の走行制御装置 |
Country Status (5)
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---|---|
US (1) | US10471961B2 (ja) |
JP (1) | JP6363516B2 (ja) |
CN (1) | CN107209997B (ja) |
DE (1) | DE112016000422B4 (ja) |
WO (1) | WO2016117603A1 (ja) |
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JP6222786B2 (ja) * | 2015-12-07 | 2017-11-01 | 株式会社Subaru | 車両の走行制御装置 |
KR101807386B1 (ko) * | 2016-01-26 | 2018-01-10 | 주식회사 만도 | 협력주행방법 및 협력주행장치 |
JP6589760B2 (ja) * | 2016-07-07 | 2019-10-16 | 株式会社デンソー | 車両制御装置 |
WO2018069757A2 (en) | 2016-10-11 | 2018-04-19 | Mobileye Vision Technologies Ltd. | Navigating a vehicle based on a detected barrier |
JP6774297B2 (ja) * | 2016-10-17 | 2020-10-21 | 株式会社デンソー | 車両認識装置及び車両認識方法 |
US11008039B2 (en) * | 2017-04-12 | 2021-05-18 | Toyota Jidosha Kabushiki Kaisha | Lane change assist apparatus for vehicle |
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JP7020353B2 (ja) * | 2018-09-21 | 2022-02-16 | トヨタ自動車株式会社 | 物体検出装置 |
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JP6325670B2 (ja) * | 2014-06-10 | 2018-05-16 | クラリオン株式会社 | 車線選択装置、車両制御システム及び車線選択方法 |
JP6165120B2 (ja) * | 2014-10-20 | 2017-07-19 | 株式会社Soken | 走行区画線認識装置 |
JP6189815B2 (ja) * | 2014-10-29 | 2017-08-30 | 株式会社Soken | 走行区画線認識システム |
JP6325425B2 (ja) * | 2014-11-28 | 2018-05-16 | 株式会社デンソー | 車両制御装置 |
JP6313198B2 (ja) * | 2014-11-28 | 2018-04-18 | 株式会社デンソー | 車両制御装置 |
KR102036050B1 (ko) * | 2014-12-30 | 2019-10-24 | 주식회사 만도 | 차선 변경 장치 및 방법 |
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DE112016000422B4 (de) | 2022-11-24 |
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WO2016117603A1 (ja) | 2016-07-28 |
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