JP6390525B2 - 運転支援装置 - Google Patents

運転支援装置 Download PDF

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Publication number
JP6390525B2
JP6390525B2 JP2015114163A JP2015114163A JP6390525B2 JP 6390525 B2 JP6390525 B2 JP 6390525B2 JP 2015114163 A JP2015114163 A JP 2015114163A JP 2015114163 A JP2015114163 A JP 2015114163A JP 6390525 B2 JP6390525 B2 JP 6390525B2
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JP
Japan
Prior art keywords
driving support
control
driving
ltc
physical quantity
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.)
Expired - Fee Related
Application number
JP2015114163A
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English (en)
Japanese (ja)
Other versions
JP2017004057A5 (enExample
JP2017004057A (ja
Inventor
靖彦 向井
靖彦 向井
宏明 大嶋
宏明 大嶋
仁志 和田
仁志 和田
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
Original Assignee
Denso Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2015114163A priority Critical patent/JP6390525B2/ja
Priority to US15/579,124 priority patent/US11014556B2/en
Priority to PCT/JP2016/065401 priority patent/WO2016194722A1/ja
Publication of JP2017004057A publication Critical patent/JP2017004057A/ja
Publication of JP2017004057A5 publication Critical patent/JP2017004057A5/ja
Application granted granted Critical
Publication of JP6390525B2 publication Critical patent/JP6390525B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • B60W30/10—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
    • 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
    • B60W30/143—Speed control
    • 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
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/18145—Cornering
    • 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
    • B60W40/072—Curvature of the road
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • 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
    • 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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2552/30—Road curve radius
    • 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 of positioning data, e.g. GPS [Global Positioning System] data

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
JP2015114163A 2015-06-04 2015-06-04 運転支援装置 Expired - Fee Related JP6390525B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2015114163A JP6390525B2 (ja) 2015-06-04 2015-06-04 運転支援装置
US15/579,124 US11014556B2 (en) 2015-06-04 2016-05-25 Driving support apparatus
PCT/JP2016/065401 WO2016194722A1 (ja) 2015-06-04 2016-05-25 運転支援装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015114163A JP6390525B2 (ja) 2015-06-04 2015-06-04 運転支援装置

Publications (3)

Publication Number Publication Date
JP2017004057A JP2017004057A (ja) 2017-01-05
JP2017004057A5 JP2017004057A5 (enExample) 2017-07-06
JP6390525B2 true JP6390525B2 (ja) 2018-09-19

Family

ID=57440584

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015114163A Expired - Fee Related JP6390525B2 (ja) 2015-06-04 2015-06-04 運転支援装置

Country Status (3)

Country Link
US (1) US11014556B2 (enExample)
JP (1) JP6390525B2 (enExample)
WO (1) WO2016194722A1 (enExample)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102262132B1 (ko) * 2017-03-27 2021-06-10 현대자동차주식회사 차량용 조향 제어방법
KR102532338B1 (ko) 2018-06-21 2023-05-16 현대자동차주식회사 차량용 조향 제어방법

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2918617B2 (ja) * 1990-03-30 1999-07-12 マツダ株式会社 自律走行車両の制御装置
JP3430832B2 (ja) * 1997-01-27 2003-07-28 日産自動車株式会社 道路曲率推定装置
US7260465B2 (en) * 2002-04-30 2007-08-21 Ford Global Technology, Llc Ramp identification in adaptive cruise control
JP2008260381A (ja) * 2007-04-11 2008-10-30 Toyota Motor Corp 操舵支援装置
DE102007020280A1 (de) * 2007-04-30 2008-11-06 Robert Bosch Gmbh Verfahren und Vorrichtung für die Steuerung eines Fahrerassistenzsystems
JP5134448B2 (ja) * 2008-06-10 2013-01-30 富士重工業株式会社 車両の運転支援装置
JP2009298182A (ja) 2008-06-10 2009-12-24 Nissan Motor Co Ltd 自動車の荷室構造
CN102448798B (zh) * 2009-04-10 2014-07-30 丰田自动车株式会社 车辆的控制装置
US8260482B1 (en) 2010-04-28 2012-09-04 Google Inc. User interface for displaying internal state of autonomous driving system
JP4978721B2 (ja) * 2010-08-23 2012-07-18 株式会社デンソー 運転支援装置
JP2012144053A (ja) * 2011-01-06 2012-08-02 Denso Corp アクセル・ブレーキ踏み間違い判定装置
JP5696712B2 (ja) * 2012-11-05 2015-04-08 株式会社デンソー 情報表示システム
FR3005924B1 (fr) * 2013-05-27 2016-10-21 Renault Sa Procede de fonctionnement d'un vehicule en mode manuel et en mode autonome
AT514754B1 (de) * 2013-09-05 2018-06-15 Avl List Gmbh Verfahren und Vorrichtung zur Optimierung von Fahrassistenzsystemen
JP6229879B2 (ja) * 2013-10-31 2017-11-15 マツダ株式会社 車両用挙動制御装置
JP6115520B2 (ja) * 2014-05-30 2017-04-19 株式会社デンソー 運転支援装置
JP6453586B2 (ja) * 2014-08-26 2019-01-16 株式会社ゼンリン 自動運転システム
DE102014220496A1 (de) * 2014-10-09 2016-04-14 Robert Bosch Gmbh Verfahren und Vorrichtung zum Unterstützen eines Fahrers eines Fahrzeugs beim Auffahren auf eine Fahrbahn über eine Auffahrstrecke
CN107207013B (zh) * 2014-12-12 2020-01-21 索尼公司 自动驾驶控制设备以及自动驾驶控制方法和程序

Also Published As

Publication number Publication date
US20180162395A1 (en) 2018-06-14
WO2016194722A1 (ja) 2016-12-08
US11014556B2 (en) 2021-05-25
JP2017004057A (ja) 2017-01-05

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