JP6470839B2 - 走行指令生成装置 - Google Patents
走行指令生成装置 Download PDFInfo
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- JP6470839B2 JP6470839B2 JP2017526264A JP2017526264A JP6470839B2 JP 6470839 B2 JP6470839 B2 JP 6470839B2 JP 2017526264 A JP2017526264 A JP 2017526264A JP 2017526264 A JP2017526264 A JP 2017526264A JP 6470839 B2 JP6470839 B2 JP 6470839B2
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- Prior art keywords
- travel command
- collision
- vehicle
- collision probability
- command generation
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W30/18154—Approaching an intersection
Description
複数障害物の存在確率分布から、前記複数障害物と自車との衝突を回避する走行指令を生成する走行指令生成装置において、
前記複数障害物の存在確率分布から、固定進路上の移動距離L、および時刻Tを入力とし、前記複数障害物と自車との衝突確率を出力とする衝突確率テーブルを生成し、前記衝突確率テーブルより、前記複数障害物と自車との衝突を回避する走行指令を生成することを特徴とする。
2…演算ユニット
3…外部記憶部
4…IF1
5…地図DB
6…IF2
7…センサ
8…GPS
9…車両制御ECU
Claims (5)
- 複数障害物の存在確率分布から、前記複数障害物と自車との衝突を回避する走行指令を生成する走行指令生成装置において、
前記複数障害物の存在確率分布から、固定進路上の移動距離L、および時刻Tを入力とし、前記複数障害物と自車との衝突確率を出力とする衝突確率テーブルを生成し、前記衝突確率テーブルより、前記複数障害物と自車との衝突を回避する走行指令を生成することを特徴とする走行指令生成装置。 - 請求項1記載の走行指令生成装置において、
前記衝突確率テーブルの生成方法は、固定進路上の移動距離L、および時刻Tを入力とした場合、固定進路上でL移動した時の自車領域Sを生成し、時刻Tにおける前記複数障害物の存在確率分布の前記自車領域S内の積分値、または、平均値、または、最大値を計算することにより求められること、を特徴とする走行指令生成装置。 - 請求項2記載の走行指令生成装置において、
前記走行指令の生成方法は、一定期間における前記衝突確率テーブルの積算値、または最大値を最小化する走行指令を探索することにより求めること、を特徴とする走行指令生成装置。 - 請求項3記載の走行指令生成装置において、
前記走行指令の生成方法は、前記衝突確率テーブルを複数個備えることにより並列処理されること、を特徴とする走行指令生成装置。 - 請求項2記載の走行指令生成装置において、
前記衝突確率テーブルの入力である固定進路上の移動距離Lの範囲は、時刻Tに依存して決定されること、を特徴とする走行指令生成装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015129456 | 2015-06-29 | ||
JP2015129456 | 2015-06-29 | ||
PCT/JP2016/067472 WO2017002590A1 (ja) | 2015-06-29 | 2016-06-13 | 走行指令生成装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2017002590A1 JPWO2017002590A1 (ja) | 2018-03-29 |
JP6470839B2 true JP6470839B2 (ja) | 2019-02-13 |
Family
ID=57608776
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017526264A Active JP6470839B2 (ja) | 2015-06-29 | 2016-06-13 | 走行指令生成装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10049578B2 (ja) |
JP (1) | JP6470839B2 (ja) |
WO (1) | WO2017002590A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021111512A1 (ja) * | 2019-12-03 | 2021-06-10 | 三菱電機株式会社 | 運転支援装置、運転支援システム、運転支援方法、及び運転支援プログラム |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9568915B1 (en) * | 2016-02-11 | 2017-02-14 | Mitsubishi Electric Research Laboratories, Inc. | System and method for controlling autonomous or semi-autonomous vehicle |
WO2018189770A1 (ja) * | 2017-04-10 | 2018-10-18 | 三菱電機株式会社 | 地図管理装置および自律移動体制御装置 |
US10754339B2 (en) * | 2017-09-11 | 2020-08-25 | Baidu Usa Llc | Dynamic programming and quadratic programming based decision and planning for autonomous driving vehicles |
JP7087316B2 (ja) * | 2017-09-27 | 2022-06-21 | オムロン株式会社 | 情報処理装置、情報処理方法およびプログラム |
JPWO2019198449A1 (ja) * | 2018-04-10 | 2021-04-30 | 住友電気工業株式会社 | 情報提供システム、移動端末、情報提供装置、情報提供方法、及びコンピュータプログラム |
US11001256B2 (en) * | 2018-09-19 | 2021-05-11 | Zoox, Inc. | Collision prediction and avoidance for vehicles |
JP7193289B2 (ja) * | 2018-09-28 | 2022-12-20 | 日立Astemo株式会社 | 車載電子制御システム |
US10971005B1 (en) * | 2019-12-26 | 2021-04-06 | Continental Automotive Systems, Inc. | Determining I2X traffic-participant criticality |
JPWO2022049924A1 (ja) * | 2020-09-07 | 2022-03-10 | ||
WO2022054430A1 (ja) * | 2020-09-11 | 2022-03-17 | 住友電気工業株式会社 | 情報配信装置、車載装置、運転支援システム、制御方法及びコンピュータプログラム |
Family Cites Families (8)
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JP5082433B2 (ja) | 2006-12-26 | 2012-11-28 | トヨタ自動車株式会社 | 移動体周囲危険度判定方法、装置、およびプログラム |
WO2009013816A1 (ja) * | 2007-07-24 | 2009-01-29 | Nissan Motor Co., Ltd. | 車両用運転支援装置および車両用運転支援装置を備える車両 |
JP4614005B2 (ja) * | 2009-02-27 | 2011-01-19 | トヨタ自動車株式会社 | 移動軌跡生成装置 |
JP5407764B2 (ja) * | 2009-10-30 | 2014-02-05 | トヨタ自動車株式会社 | 運転支援装置 |
JP5880580B2 (ja) * | 2012-01-20 | 2016-03-09 | トヨタ自動車株式会社 | 車両挙動予測装置及び車両挙動予測方法、並びに運転支援装置 |
JP2013152551A (ja) * | 2012-01-24 | 2013-08-08 | Toyota Central R&D Labs Inc | 運転支援装置、状況学習装置、及びプログラム |
US9135798B2 (en) * | 2012-09-01 | 2015-09-15 | Honda Motor Co., Ltd. | Vehicle periphery monitoring device |
DE102014201382A1 (de) * | 2014-01-27 | 2015-07-30 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Fahrerassistenzsystems und Fahrerassistenzsystem |
-
2016
- 2016-06-13 WO PCT/JP2016/067472 patent/WO2017002590A1/ja active Application Filing
- 2016-06-13 JP JP2017526264A patent/JP6470839B2/ja active Active
- 2016-06-13 US US15/578,445 patent/US10049578B2/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2021111512A1 (ja) * | 2019-12-03 | 2021-06-10 | 三菱電機株式会社 | 運転支援装置、運転支援システム、運転支援方法、及び運転支援プログラム |
Also Published As
Publication number | Publication date |
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US20180151076A1 (en) | 2018-05-31 |
WO2017002590A1 (ja) | 2017-01-05 |
JPWO2017002590A1 (ja) | 2018-03-29 |
US10049578B2 (en) | 2018-08-14 |
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