JP6465319B2 - 車両の走行制御装置 - Google Patents
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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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
- 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
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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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
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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
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- G—PHYSICS
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Navigation (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
2 … 車両制御系
3 … ステレオカメラユニット
3a,3b … カメラ
4 … 側方レーダユニット
5 … 後方レーダユニット
6 … 車速センサ
7 … ヨーレートセンサ
8 … 方位センサ
9 … 操舵角センサ
10 … 走行制御装置(制御情報演算手段、異常時制御情報演算手段、推定位置算出手段、推定位置信頼度算出手段、走行制御手段)
20 … エンジン制御装置
30 … ブレーキ制御装置
40 … 操舵制御装置
50 … 走行環境認識装置(走行環境情報取得手段)
60 … 地図情報処理装置(地図情報記憶手段)
70 … 測位装置(測位手段)
DB … 地図データベース
100 … 通信バス
200 … 航法衛星
Claims (4)
- 地図情報を記憶する地図情報記憶手段と、衛星からの信号を受信して自車位置の測位情報を取得する測位手段と、自車両の前方の車線区画線情報を含む走行環境情報を取得する走行環境情報取得手段と、を備えた車両制御系に設けられた車両の走行制御装置であって、
前記地図情報と前記測位情報と前記車線区画線情報とに基づいて自車両の走行制御のための制御情報を演算する制御情報演算手段と、
前記制御情報に基づいて自車両の走行制御を行う走行制御手段と、
過去の自車位置に関する情報を用いた複数の演算方法により現在の自車位置に関する複数の推定位置をそれぞれ算出する推定位置算出手段と、
前記推定位置を含む位置情報の比較結果に基づいて累積的に変化する推定位置信頼度を算出する推定位置信頼度算出手段と、
前記測位情報或いは前記車線区画線情報のうちの少なくとも何れか一方が検出不能であるとき、前記推定位置を用いて前記制御情報を演算する異常時制御情報演算手段と、を備え、
前記走行制御手段は、前記測位情報或いは前記車線区画線情報のうちの少なくとも何れか一方が検出不能となった場合であっても、前記推定位置信頼度が閾値以下となるまでの間は前記走行制御を継続することを特徴とする車両の走行制御装置。 - 前記推定位置算出手段は、前記車線区画線情報に基づく過去直近の自車位置に関する情報と自車両の運動状態とに基づいて前記推定位置を算出することを特徴とする請求項1に記載の車両の走行制御装置。
- 前記自車両の運動状態は、前記自車両に作用するヨーレートに基づく運動状態であることを特徴とする請求項2に記載の車両の走行制御装置。
- 前記自車両の運動状態は、前記自車両の操舵角を用いた車両モデルに基づく運動状態であることを特徴とする請求項2に記載の車両の走行制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2017070131A JP6465319B2 (ja) | 2017-03-31 | 2017-03-31 | 車両の走行制御装置 |
CN201810153437.7A CN108688662B (zh) | 2017-03-31 | 2018-02-22 | 车辆的行驶控制装置 |
US15/915,719 US10569774B2 (en) | 2017-03-31 | 2018-03-08 | Traveling controller for vehicle |
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JP2017070131A JP6465319B2 (ja) | 2017-03-31 | 2017-03-31 | 車両の走行制御装置 |
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JP2018173303A JP2018173303A (ja) | 2018-11-08 |
JP6465319B2 true JP6465319B2 (ja) | 2019-02-06 |
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US (1) | US10569774B2 (ja) |
JP (1) | JP6465319B2 (ja) |
CN (1) | CN108688662B (ja) |
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US10907971B2 (en) * | 2017-12-08 | 2021-02-02 | Regents Of The University Of Minnesota | Square root inverse Schmidt-Kalman filters for vision-aided inertial navigation and mapping |
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