JP6436116B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP6436116B2 JP6436116B2 JP2016044078A JP2016044078A JP6436116B2 JP 6436116 B2 JP6436116 B2 JP 6436116B2 JP 2016044078 A JP2016044078 A JP 2016044078A JP 2016044078 A JP2016044078 A JP 2016044078A JP 6436116 B2 JP6436116 B2 JP 6436116B2
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- 238000000034 method Methods 0.000 claims description 15
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- 230000006870 function Effects 0.000 description 5
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
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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
- 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
- B60W40/04—Traffic conditions
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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
- 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
- B60W40/105—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
- 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
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- B60W2420/408—
-
- 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
- B60W2540/10—Accelerator pedal position
-
- 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
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
Description
(1)先行車両の車速が第1の速度(例えば2km/h)以上、かつ、先行車両との車間距離が第1の距離(例えば3m)以上
(2)先行車両との車間距離が第1の距離よりも大きい第2の距離(例えば8m)以上
・v≧第1の速度、かつ、L3≧第1の距離
・L3≧第2の距離
この場合、基準車間距離設定部51は、L3を「基準車間距離」として車間距離記憶部53に記憶する。
実施の形態では、全車速ACCの動作中でも、LVNは動作させていた。本変形例では、LVN制御部50は、全車速ACCの動作中はLVNによる先行車発進報知を実行しない。詳しくは、全車速ACCの動作中は、基準車間距離設定部51および先行車発進報知判定部52は、それぞれの処理を実行しない。本変形例によれば、先行車両が発進したときは、全車速ACCによる報知だけがなされるため、ドライバに煩わしさを与えるような報知を抑止できる。
実施の形態では、全車速ACCの発進許可判定がなされたとき、言い換えるとACC制御部40による報知をするか否かの報知条件が成立したときの先行車両と自車両との車間距離を基準車間距離として車間距離記憶部53に記憶する場合について説明したが、これに限られない。全車速ACCの発進許可判定がなされたとき(ACC制御部40による報知をするか否かの報知条件が成立したとき)に限らず、それ以降のタイミングにおける先行車両と自車両との車間距離を基準車間距離として車間距離記憶部53に記憶してもよい。たとえば、全車速ACCの発進許可判定がなされてACC制御部40による報知がなされたとき、またはその直後の先行車両と自車両との車間距離を基準車間距離として車間距離記憶部53に記憶してもよい。
Claims (2)
- 先行車両と自車両との車間距離を検出する車間距離検出手段と、
先行車両と自車両との相対速度を検出する相対速度検出手段と、
車間距離が目標車間距離になるよう自車両を制御する車間距離制御手段であって、先行車両の停止に応じて自車両が停止している状態から、車間距離が第1の距離以上かつ相対速度が第1の速度以上になった場合または車間距離が第1の距離より大きい第2の距離以上になった場合、報知条件が成立したと判定し、ドライバに対する報知処理を実行する車間距離制御手段と、
前記車間距離制御手段がオフ状態の場合、先行車両および自車両がともに停止している状態の車間距離を基準車間距離と設定し、前記車間距離制御手段がオン状態の場合、前記車間距離制御手段が報知条件が成立したと判定した時点以降の車間距離を基準車間距離と設定する基準車間距離設定手段と、
基準車間距離から車間距離が第3の距離以上増加した場合、ドライバに対する報知処理を実行する先行車両発進報知手段と、を備えることを特徴とする運転支援装置。 - 先行車両と自車両との車間距離を検出する車間距離検出手段と、
先行車両と自車両との相対速度を検出する相対速度検出手段と、
車間距離が目標車間距離になるよう自車両を制御する車間距離制御手段であって、先行車両の停止に応じて自車両が停止している状態から、車間距離が第1の距離以上かつ相対速度が第1の速度以上になった場合または車間距離が第1の距離より大きい第2の距離以上になった場合、報知条件が成立したと判定し、ドライバに対する報知処理を実行する車間距離制御手段と、
先行車両および自車両がともに停止している状態の車間距離である基準車間距離から車間距離が第3の距離以上増加した場合、ドライバに対する報知処理を実行する先行車両発進報知手段と、を備え、
前記車間距離制御手段がオン状態の場合、前記先行車両発進報知手段は、ドライバに対する報知処理を実行しないことを特徴とする運転支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016044078A JP6436116B2 (ja) | 2016-03-08 | 2016-03-08 | 運転支援装置 |
US15/447,978 US10137894B2 (en) | 2016-03-08 | 2017-03-02 | Driving assistance system |
CN201710127618.8A CN107161148B (zh) | 2016-03-08 | 2017-03-06 | 驾驶辅助系统 |
EP17159378.3A EP3231681B1 (en) | 2016-03-08 | 2017-03-06 | Driving assistance system |
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JP2016044078A JP6436116B2 (ja) | 2016-03-08 | 2016-03-08 | 運転支援装置 |
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JP2017162052A JP2017162052A (ja) | 2017-09-14 |
JP6436116B2 true JP6436116B2 (ja) | 2018-12-12 |
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Country Status (4)
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US (1) | US10137894B2 (ja) |
EP (1) | EP3231681B1 (ja) |
JP (1) | JP6436116B2 (ja) |
CN (1) | CN107161148B (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102506871B1 (ko) * | 2018-02-19 | 2023-03-08 | 현대자동차주식회사 | 자율 주행 제어 장치 및 그의 전방차량 출발 알림 방법 |
JP7095330B2 (ja) * | 2018-03-16 | 2022-07-05 | トヨタ自動車株式会社 | 先行車発進報知装置 |
US10745007B2 (en) * | 2018-06-08 | 2020-08-18 | Denso International America, Inc. | Collision avoidance systems and methods |
JP7255113B2 (ja) * | 2018-09-13 | 2023-04-11 | いすゞ自動車株式会社 | 車両制御装置及び車両制御方法 |
JP7444539B2 (ja) * | 2019-01-17 | 2024-03-06 | トヨタ自動車株式会社 | 運転支援装置 |
JP7151566B2 (ja) * | 2019-03-14 | 2022-10-12 | トヨタ自動車株式会社 | 車両走行制御装置 |
FR3093975A1 (fr) * | 2019-03-20 | 2020-09-25 | Psa Automobiles Sa | Procédé de régulation de vitesse d’un véhicule automobile mettant en œuvre une fonction de régulation de vitesse adaptative |
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KR102367952B1 (ko) * | 2020-03-19 | 2022-03-03 | 주식회사 만도모빌리티솔루션즈 | 비전 시스템, 그를 가지는 차량 및 그 제어 방법 |
US20240025409A1 (en) * | 2020-08-28 | 2024-01-25 | Nissan Motor Co., Ltd. | Driving Support Method and Driving Support Device |
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DE19958520A1 (de) * | 1999-12-04 | 2001-06-07 | Bosch Gmbh Robert | Geschwindigkeitsregler für ein Kraftfahrzeug |
WO2001048726A1 (en) * | 1999-12-23 | 2001-07-05 | Thomas Bertram Poole | Following distance warning system for a vehicle |
JP3584874B2 (ja) * | 2000-07-28 | 2004-11-04 | トヨタ自動車株式会社 | 車両追従装置 |
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- 2016-03-08 JP JP2016044078A patent/JP6436116B2/ja active Active
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2017
- 2017-03-02 US US15/447,978 patent/US10137894B2/en active Active
- 2017-03-06 CN CN201710127618.8A patent/CN107161148B/zh active Active
- 2017-03-06 EP EP17159378.3A patent/EP3231681B1/en active Active
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JP2017162052A (ja) | 2017-09-14 |
EP3231681B1 (en) | 2018-10-31 |
CN107161148B (zh) | 2019-06-21 |
US20170259821A1 (en) | 2017-09-14 |
US10137894B2 (en) | 2018-11-27 |
CN107161148A (zh) | 2017-09-15 |
EP3231681A1 (en) | 2017-10-18 |
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