JP6413953B2 - 車線逸脱回避システム - Google Patents

車線逸脱回避システム Download PDF

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Publication number
JP6413953B2
JP6413953B2 JP2015130159A JP2015130159A JP6413953B2 JP 6413953 B2 JP6413953 B2 JP 6413953B2 JP 2015130159 A JP2015130159 A JP 2015130159A JP 2015130159 A JP2015130159 A JP 2015130159A JP 6413953 B2 JP6413953 B2 JP 6413953B2
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JP
Japan
Prior art keywords
lane
curvature
condition
control
threshold value
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Application number
JP2015130159A
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English (en)
Japanese (ja)
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JP2017013559A5 (enExample
JP2017013559A (ja
Inventor
和道 岡
和道 岡
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 JP2015130159A priority Critical patent/JP6413953B2/ja
Priority to US15/740,321 priority patent/US10821974B2/en
Priority to PCT/JP2016/069003 priority patent/WO2017002758A1/ja
Publication of JP2017013559A publication Critical patent/JP2017013559A/ja
Publication of JP2017013559A5 publication Critical patent/JP2017013559A5/ja
Application granted granted Critical
Publication of JP6413953B2 publication Critical patent/JP6413953B2/ja
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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
    • B60W30/18—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
    • 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
    • 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
    • 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
    • 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
    • B60W40/114—Yaw movement

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
JP2015130159A 2015-06-29 2015-06-29 車線逸脱回避システム Active JP6413953B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2015130159A JP6413953B2 (ja) 2015-06-29 2015-06-29 車線逸脱回避システム
US15/740,321 US10821974B2 (en) 2015-06-29 2016-06-27 Lane departure avoidance apparatus
PCT/JP2016/069003 WO2017002758A1 (ja) 2015-06-29 2016-06-27 車線逸脱回避装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015130159A JP6413953B2 (ja) 2015-06-29 2015-06-29 車線逸脱回避システム

Publications (3)

Publication Number Publication Date
JP2017013559A JP2017013559A (ja) 2017-01-19
JP2017013559A5 JP2017013559A5 (enExample) 2017-06-01
JP6413953B2 true JP6413953B2 (ja) 2018-10-31

Family

ID=57608108

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015130159A Active JP6413953B2 (ja) 2015-06-29 2015-06-29 車線逸脱回避システム

Country Status (3)

Country Link
US (1) US10821974B2 (enExample)
JP (1) JP6413953B2 (enExample)
WO (1) WO2017002758A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106740869A (zh) * 2017-02-06 2017-05-31 福建省汽车工业集团云度新能源汽车股份有限公司 一种汽车防跑偏方法和系统
EP3623240B1 (en) * 2018-09-12 2024-10-30 Polestar Performance AB Method and system for assisting a driver in the event of a road departure
JP7116012B2 (ja) * 2019-06-06 2022-08-09 本田技研工業株式会社 車両制御装置、車両、車両制御装置の動作方法およびプログラム
JP7213149B2 (ja) * 2019-06-06 2023-01-26 本田技研工業株式会社 車両制御装置、車両、車両制御装置の動作方法およびプログラム
JP7348775B2 (ja) * 2019-08-28 2023-09-21 株式会社Subaru 車両の車線逸脱抑制制御装置
GB2586976B (en) * 2019-09-10 2022-08-03 Jaguar Land Rover Ltd Steering torque assist method and apparatus
CN110834642B (zh) * 2019-11-04 2021-03-26 中国第一汽车股份有限公司 车辆跑偏识别方法、装置、车辆及存储介质
US11584371B2 (en) * 2020-07-15 2023-02-21 Toyota Research Institute, Inc. Systems and methods for using R-functions and semi-analytic geometry for lane keeping in trajectory planning
JP7481680B2 (ja) * 2021-05-11 2024-05-13 トヨタ自動車株式会社 車線逸脱防止装置

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4563619B2 (ja) 2001-06-28 2010-10-13 富士重工業株式会社 車両用運転支援装置
JP4496760B2 (ja) * 2003-10-29 2010-07-07 日産自動車株式会社 車線逸脱防止装置
US7212901B2 (en) * 2003-10-29 2007-05-01 Nissan Motor Co., Ltd. Lane departure prevention apparatus
US7200478B2 (en) * 2003-10-31 2007-04-03 Nissan Motor Co., Ltd. Lane departure prevention apparatus
JP4148179B2 (ja) * 2004-04-23 2008-09-10 日産自動車株式会社 車線維持支援装置
DE102005018697A1 (de) * 2004-06-02 2005-12-29 Daimlerchrysler Ag Verfahren und Vorrichtung zur Warnung eines Fahrers im Falle eines Verlassens der Fahrspur
JP4277755B2 (ja) * 2004-07-16 2009-06-10 日産自動車株式会社 車両用旋回走行制御装置
JP4289243B2 (ja) * 2004-07-16 2009-07-01 三菱自動車工業株式会社 車両用左右輪間駆動力制御装置
WO2007063397A1 (en) * 2005-12-01 2007-06-07 Toyota Jidosha Kabushiki Kaisha Driving assistance system and driving assistance method
RU2449909C2 (ru) * 2006-02-03 2012-05-10 Итон Корпорейшн Повышающая устойчивость система автоматического контроля пробуксовки и рыскания с дифференциалом повышенного трения
JP5018092B2 (ja) 2007-01-09 2012-09-05 トヨタ自動車株式会社 車線逸脱防止装置
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
JP5213576B2 (ja) * 2008-08-01 2013-06-19 富士重工業株式会社 車線逸脱防止制御装置
JP2010058739A (ja) 2008-09-05 2010-03-18 Toyota Motor Corp 車線逸脱警報装置
JP2010076539A (ja) * 2008-09-25 2010-04-08 Fuji Heavy Ind Ltd 車両逸脱防止装置
JP2015099406A (ja) * 2012-03-05 2015-05-28 アイシン精機株式会社 運転支援装置
JP5804032B2 (ja) * 2013-11-26 2015-11-04 トヨタ自動車株式会社 車両制御装置
US10046793B2 (en) * 2014-02-26 2018-08-14 GM Global Technology Operations LLC Methods and systems for automated driving
JP2016007894A (ja) * 2014-06-23 2016-01-18 トヨタ自動車株式会社 注意喚起装置及び走行制御装置
JP6501602B2 (ja) * 2015-04-23 2019-04-17 本田技研工業株式会社 レーン検出装置及びその方法、カーブ開始点検出装置及びその方法、並びに操舵アシスト装置及びその方法
EP3106369B1 (en) * 2015-06-16 2018-12-12 Volvo Car Corporation Method and system for safe steering assistance in a vehicle
KR102422933B1 (ko) * 2015-08-26 2022-07-21 주식회사 에이치엘클레무브 차량용 감지장치 및 차량용 감지방법
JP2018020682A (ja) * 2016-08-04 2018-02-08 トヨタ自動車株式会社 車両制御装置
JP6536519B2 (ja) * 2016-09-13 2019-07-03 トヨタ自動車株式会社 車両制御装置
JP6690506B2 (ja) * 2016-11-17 2020-04-28 トヨタ自動車株式会社 車両の車線内走行支援装置

Also Published As

Publication number Publication date
US10821974B2 (en) 2020-11-03
US20180170378A1 (en) 2018-06-21
WO2017002758A1 (ja) 2017-01-05
JP2017013559A (ja) 2017-01-19

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