JP6432447B2 - 車両制御装置、及び車両制御方法 - Google Patents
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- 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
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- 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
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- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
- B60W2554/00—Input parameters relating to objects
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- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
本実施形態に係る車両制御装置は、車両(自車両)に搭載され、自車両の進行方向前方等の周囲に存在する物標を検知し、その物標との衝突を回避すべく、若しくは衝突被害を軽減すべく制御を行うPCSシステムとして機能する。
本実施形態では、横断判定部15が行う処理を一部追加している。本実施形態は、自車両が道路の曲線区間を走行している場合等、進路が曲線である場合の処理に関するものである。本実施形態に係る処理では、自車両の左右方向の中心を通る直線である中心線を用いている。
・第1実施形態において、自車両の進路を撮像装置22から得られる画像に基づいて求めるものとしたが、レーダ装置21により道路上の構造物を検知することにより進路を求めるものとしてもよく、自車両に搭載されるヨーレートセンサの検出値を用いてもよい。また、複数の検知方法により進路を求め、その平均値等を用いるものとしてもよい。
Claims (6)
- 自車両の進行方向前方に存在する通行人の、前記自車両との相対位置である現在位置を取得する物標情報取得部(12)と、
前記現在位置に基づいて、前記通行人と前記自車両との前記自車両の進行方向の距離がゼロである場合の相対位置を、衝突位置として算出する衝突位置算出部(14)と、
前記通行人が、前記自車両の進路を横断するか否かを判定する横断判定部(15)と、
前記自車両の前記進行方向に直交する横方向について、左右のそれぞれに前記横方向の幅を示す規制値を設定する規制値設定部(16)と、
前記衝突位置が前記規制値内である場合に、前記通行人が前記自車両の進路上に存在すると判定する存在判定部(17)と、を備え、
前記通行人の前記現在位置が前記進路の左右一方に位置しており、前記衝突位置が前記進路の左右他方に位置する場合、前記横断判定部は前記通行人が前記横断すると判定し、前記横断すると判定された場合、前記規制値設定部は、前記進行方向において、前記左右他方の前記規制値を、前記左右一方の前記規制値よりも大きい値に設定する拡大処理を行うことを特徴とする、車両制御装置。 - 前記横断判定部は、前記拡大処理を行っている場合に、前記横断判定部による横断の判定が終了したことに基づいて、前記拡大処理を終了することを特徴とする、請求項1に記載の車両制御装置。
- 前記横断判定部は、前記自車両の進路と前記通行人の進路とが交差する場合に、横断していると判定することを特徴とする、請求項1又は2に記載の車両制御装置。
- 前記規制値設定部は、前記通行人が、前記自車両の左右方向の中心を通る中心線の右側に位置し、且つ、前記進路の左側に移動している場合、又は、前記通行人が前記中心線の左側に位置し、且つ、前記中心線の右側に移動している場合に、前記拡大処理を実行することを特徴とする、請求項1〜3のいずれか1項に記載の車両制御装置。
- 前記物標情報取得部は、前記通行人の自車両の進路に直交する方向の速度を取得し、
前記規制値設定部は、前記速度が大きいほど、前記拡大処理において規制値をより大きい値に設定することを特徴とする、請求項1〜4のいずれか1項に記載の車両制御装置。 - 車両制御装置により実行される車両制御方法であって、
自車両の進行方向前方に存在する通行人の、前記自車両との相対位置である現在位置を取得する物標情報取得ステップと、
前記現在位置に基づいて、前記通行人と前記自車両との前記自車両の進行方向の距離がゼロである場合の相対位置を、衝突位置として算出する衝突位置算出ステップと、
前記通行人が、前記自車両の進路を横断するか否かを判定する横断判定ステップと、
前記自車両の前記進行方向に直交する横方向について、左右のそれぞれに前記横方向の幅を示す規制値を設定する規制値設定ステップと、
前記衝突位置が前記規制値内である場合に、前記通行人が前記自車両の進路上に存在すると判定する存在判定ステップと、を実行し、
前記通行人の前記現在位置が前記進路の左右一方に位置しており、前記衝突位置が前記進路の左右他方に位置する場合、横断判定ステップでは前記通行人が前記横断すると判定し、前記横断すると判定された場合、前記規制値設定ステップでは、前記進行方向において、前記左右他方の前記規制値を、前記左右一方の前記規制値よりも大きい値に設定する拡大処理を行うことを特徴とする、車両制御方法。
Priority Applications (5)
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JP2015107903A JP6432447B2 (ja) | 2015-05-27 | 2015-05-27 | 車両制御装置、及び車両制御方法 |
PCT/JP2016/063986 WO2016190103A1 (ja) | 2015-05-27 | 2016-05-11 | 車両制御装置及び車両制御方法 |
CN201680029940.0A CN107615356B (zh) | 2015-05-27 | 2016-05-11 | 车辆控制装置以及车辆控制方法 |
US15/576,528 US10723346B2 (en) | 2015-05-27 | 2016-05-11 | Vehicle control apparatus and vehicle control method |
DE112016002348.0T DE112016002348T5 (de) | 2015-05-27 | 2016-05-11 | Fahrzeugsteuervorrichtung und fahrzeugsteuerverfahren |
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JP6551382B2 (ja) * | 2016-12-22 | 2019-07-31 | トヨタ自動車株式会社 | 衝突回避支援装置 |
KR101996418B1 (ko) * | 2016-12-30 | 2019-07-04 | 현대자동차주식회사 | 센서 융합 기반 보행자 탐지 및 보행자 충돌 방지 장치 및 방법 |
US10611370B2 (en) * | 2017-02-09 | 2020-04-07 | Panasonic Intellectual Property Corporation Of America | Information processing apparatus, information processing method, and non-transitory recording medium |
CN107591027A (zh) * | 2017-09-21 | 2018-01-16 | 临沂市华夏高科信息有限公司 | 一种非灯控路口避让预警系统 |
JP2019156180A (ja) * | 2018-03-13 | 2019-09-19 | 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 |
EP3821418B1 (en) * | 2018-07-12 | 2024-07-03 | ZF CV Systems Europe BV | Information, warning and braking request generation for turn assist functionality |
DE102018120923A1 (de) * | 2018-08-28 | 2020-03-05 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Unterstützen eines Fahrers eines Fahrzeugs |
CN109064746A (zh) * | 2018-08-31 | 2018-12-21 | 努比亚技术有限公司 | 一种信息处理方法、终端和计算机可读存储介质 |
CN113874268A (zh) * | 2019-05-22 | 2021-12-31 | 日立安斯泰莫株式会社 | 车辆控制装置 |
KR20210153998A (ko) | 2020-06-11 | 2021-12-20 | 현대자동차주식회사 | 차량 및 그 제어방법 |
CN112440986B (zh) * | 2020-11-30 | 2022-08-09 | 重庆长安汽车股份有限公司 | 一种行车控制方法、行人aeb系统、智能驾驶汽车、控制器及计算机可读存储介质 |
JP2022134678A (ja) * | 2021-03-03 | 2022-09-15 | 本田技研工業株式会社 | 制御装置、移動体、制御方法及びプログラム |
JP7493486B2 (ja) | 2021-07-21 | 2024-05-31 | ダイハツ工業株式会社 | 運転支援装置 |
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JP5379543B2 (ja) * | 2009-04-09 | 2013-12-25 | 日立オートモティブシステムズ株式会社 | 自動車の外界認識装置 |
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WO2011086661A1 (ja) | 2010-01-12 | 2011-07-21 | トヨタ自動車株式会社 | 衝突位置予測装置 |
US20130278441A1 (en) * | 2012-04-24 | 2013-10-24 | Zetta Research and Development, LLC - ForC Series | Vehicle proxying |
JP5910434B2 (ja) * | 2012-09-25 | 2016-04-27 | トヨタ自動車株式会社 | 衝突予測装置 |
JP5729416B2 (ja) * | 2013-04-26 | 2015-06-03 | 株式会社デンソー | 衝突判定装置、および衝突緩和装置 |
KR101480647B1 (ko) * | 2013-11-15 | 2015-01-09 | 현대자동차주식회사 | 협로 주행을 위한 조향 위험도 판단 시스템 및 그 판단 방법 |
JP6442904B2 (ja) * | 2014-08-01 | 2018-12-26 | 株式会社デンソー | 運転支援装置 |
JP6432482B2 (ja) * | 2015-10-14 | 2018-12-05 | 株式会社デンソー | 車両制御装置、車両制御方法 |
CN106157694B (zh) * | 2016-07-29 | 2019-04-19 | 深圳市元征科技股份有限公司 | 一种交叉路口的行人防碰撞预警方法及装置 |
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