JP6477529B2 - 走行支援装置 - Google Patents
走行支援装置 Download PDFInfo
- Publication number
- JP6477529B2 JP6477529B2 JP2016018114A JP2016018114A JP6477529B2 JP 6477529 B2 JP6477529 B2 JP 6477529B2 JP 2016018114 A JP2016018114 A JP 2016018114A JP 2016018114 A JP2016018114 A JP 2016018114A JP 6477529 B2 JP6477529 B2 JP 6477529B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- travel
- evacuation
- retreat
- unit
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000000034 method Methods 0.000 claims description 85
- 238000004891 communication Methods 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 description 66
- 230000005856 abnormality Effects 0.000 description 9
- 239000000470 constituent Substances 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 230000004397 blinking Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 206010010904 Convulsion Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000036772 blood pressure Effects 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W40/08—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 drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
- B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/14—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated upon collapse of driver
-
- 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
- B60W30/08—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
- 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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- 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
- 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
- B60W40/08—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 drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- 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
- B60W40/08—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 drivers or passengers
- B60W2040/0872—Driver physiology
-
- 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
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
-
- 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
- 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
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2540/215—Selection or confirmation of options
-
- 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
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
-
- 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
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
-
- 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
- B60W2540/26—Incapacity
-
- 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
- B60W2552/10—Number of lanes
-
- 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
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- 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
- B60W2554/20—Static 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- 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
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from the vehicle
-
- 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
- G05D1/0231—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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Acoustics & Sound (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Description
[1−1.構成]
[1−1−1.全体構成]
図1に示す走行支援装置1は、車両に搭載されるマイクロコンピュータ等によって構成され、当該車両が備える運転支援システム2、表示器3、スピーカ4、灯火系5、及びホーン6と連携して運転を支援する装置である。
走行支援装置1は、通信部10、地図情報取得部11、自車両情報取得部12、周辺環境情報取得部13、運転者情報取得部14、状態判定部15、経路設定部16、退避制御部17、了承スイッチ18、及び、走行指示部19を備える。
[1−2−1.経路設定部の処理]
次に、経路設定部16が実行する経路設定処理を、図2に示すフローチャートに沿って説明する。本処理は、自車両の電源がオンである間、所定時間毎に繰り返し実行される。なお、電源がオンである間とは、自車両が内燃機関車である場合は、自車両のイグニッションキーがACC又はONである間を指す。
走行指示部19が実行する走行指示処理を、図4に示すフローチャートに沿って説明する。本処理は、自車両の電源がオンである間、所定時間毎に繰り返し実行される。なお、本処理は、前述の経路設定処理と前後して連続的に実行されてもよく、並行して実行されてもよい。
以上詳述した第1実施形態によれば、以下の効果が得られる。
(1A)例えば、図5,図6に例示するように、運転者に異常が発生した退避車両Tに対しては、経路設定処理により次のような制御がなされる。ここで、退避車両Tが走行中の道路Rが、走行車線としての車線L1及びL2と追い越し車線としての車線L3とを左側から順次有し、部分的に、車線L1の更に左側に退避路としての退避用車線LTを有する場合を想定する。先ず、退避誘導がなされない場合について、図5を用いて説明する。
なお、前記実施形態において、地図情報取得部11及び自車両情報取得部12及び周辺環境情報取得部13が情報取得部に対応する。経路設定部16が経路設定部及び情報送信部及び灯火系制御部に対応する。了承スイッチ18が了承判断部に対応する。走行指示部19が走行指示部及び了承送信部に対応する。そして、経路設定部16による経路設定処理のうち、S23及びS25の処理が経路設定部に対応する処理であり、S9が情報送信部に対応する処理であり、S17が灯火系制御部に対応する処理である。また、走行指示部19による走行指示処理のうち、S65及びS67が走行指示部に対応する処理であり、S59が了承送信部に対応する処理である。
[2−1.第1実施形態との相違点]
第2実施形態は、基本的な構成は第1実施形態と同様であるため、共通する構成については説明を省略し、相違点を中心に説明する。なお、第1実施形態と同じ符号は、同一の構成を示すものであって、先行する説明を参照する。
このような実施形態は、第1実施形態における走行指示処理を、図7に示すように変更することで実現することができる。図7に示すように、この処理は、S67の次にS69を、S73の次にS75を、それぞれ挿入した点で異なり、その他の点では図4に示した走行指示処理と同様である。
以上説明した第2実施形態によれば、前述した第1実施形態の効果(1A)〜(1F)に加え、以下の効果が得られる。
以上、本発明を実施するための形態について説明したが、本発明は上述の実施形態に限定されることなく、種々変形して実施することができる。
4…スピーカ 5…灯火系 6…ホーン
10…通信部 11…地図情報取得部 12…自車両情報取得部
13…周辺環境情報取得部 14…運転者情報取得部 15…状態判定部
16…経路設定部 17…退避制御部 18…了承スイッチ
19…走行指示部
Claims (7)
- 走行支援装置であって、
当該走行支援装置を搭載した車両を自車両として、前記自車両周囲の車両と通信を行う通信部(10)と、
運転者が適切に運転操作を実施可能な状態にあるか否かを判定する状態判定部(15)と、
前記状態判定部により前記運転者が適切に運転操作を実施不能な状態にあると判定された場合に、前記自車両を緊急停車させるための退避経路を一定のアルゴリズムに基づいて設定する経路設定部(16:S23,S25)と、
前記アルゴリズムの実行のために必要な各種情報を取得する情報取得部(11,12,13)と、
前記経路設定部が設定した退避経路に従って、前記自車両を緊急停車させる退避走行を実施する退避制御部(17)と、
前記自車両が前記退避走行を実施する旨の情報を、前記通信部を介して周囲の車両に送信する情報送信部(16:S9)と、
を備え、
前記通信部を介して、前記自車両の退避走行を誘導する旨の情報を周囲の車両から受信した場合、前記退避制御部は、当該周囲の車両に追従走行することによって前記自車両の退避走行を実施することを特徴とする
走行支援装置。 - 前記自車両の外部に向かって光を放つ灯火を点灯又は消灯又は点滅させて、前記自車両が前記退避走行を実施する旨周囲に知らせる灯火系制御部(16:S17)を、
更に備えた請求項1に記載の走行支援装置。 - 前記退避走行を実施する旨の情報は、前記経路設定部が設定した退避経路の情報を含むことを特徴とする請求項1又は請求項2に記載の走行支援装置。
- 走行支援装置であって、
当該走行支援装置を搭載した車両を自車両として、前記自車両周囲の車両と通信を行う通信部(10)と、
設定された退避経路に従って緊急停車する走行を退避走行として、前記通信部を介して、退避走行を実施する旨の情報を周囲の車両から受信した場合、前記退避走行を実施する車両を退避車両として、前記退避車両による退避走行を前記自車両が妨げるのが抑制されるように前記自車両に対して走行方法を指示する走行指示部(19:S65,S67,S69,S73,S75)と、
を備え、
前記自車両が前記退避車両の前方直近を走行している場合、前記走行指示部(19:S69,S73)は、前記退避車両を誘導する走行を指示することを特徴とする
走行支援装置。 - 前記自車両が前記退避車両の前方を走行している場合、前記走行指示部(19:S69)は、前記退避車両の退避経路が経由する車線とは異なる車線への車線変更を指示することを特徴とする請求項4に記載の走行支援装置。
- 前記自車両が前記退避車両の後方を走行している場合、前記走行指示部(19:S69)は、前記退避車両との車間距離が増加又は維持されるように減速を指示することを特徴とする請求項4又は5に記載の走行支援装置。
- 前記退避車両を誘導する走行を前記自車両の運転者が了承したか否かを判断する了承判断部(18)と、
前記了承判断部が前記了承した旨判断した場合、前記通信部を介して、前記自車両が前記退避走行を誘導する旨の情報を前記退避車両に送信する了承送信部(19:S59)と、
を備えた請求項4〜請求項6のいずれか1項に記載の走行支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016018114A JP6477529B2 (ja) | 2016-02-02 | 2016-02-02 | 走行支援装置 |
CN201780008703.0A CN108602513B (zh) | 2016-02-02 | 2017-02-02 | 行驶辅助装置 |
US16/074,533 US11059482B2 (en) | 2016-02-02 | 2017-02-02 | Travelling support apparatus |
DE112017000607.4T DE112017000607T5 (de) | 2016-02-02 | 2017-02-02 | Fahrunterstützungsvorrichtung |
PCT/JP2017/003725 WO2017135355A1 (ja) | 2016-02-02 | 2017-02-02 | 走行支援装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016018114A JP6477529B2 (ja) | 2016-02-02 | 2016-02-02 | 走行支援装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2017138724A JP2017138724A (ja) | 2017-08-10 |
JP2017138724A5 JP2017138724A5 (ja) | 2018-03-08 |
JP6477529B2 true JP6477529B2 (ja) | 2019-03-06 |
Family
ID=59500864
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016018114A Active JP6477529B2 (ja) | 2016-02-02 | 2016-02-02 | 走行支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11059482B2 (ja) |
JP (1) | JP6477529B2 (ja) |
CN (1) | CN108602513B (ja) |
DE (1) | DE112017000607T5 (ja) |
WO (1) | WO2017135355A1 (ja) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11008039B2 (en) * | 2017-04-12 | 2021-05-18 | Toyota Jidosha Kabushiki Kaisha | Lane change assist apparatus for vehicle |
US10988491B2 (en) | 2018-08-17 | 2021-04-27 | Massachusetts Institute Of Technology | Degradable polymers of a cyclic silyl ether and uses thereof |
JP7052684B2 (ja) | 2018-11-14 | 2022-04-12 | トヨタ自動車株式会社 | 車両制御システム |
JP7087937B2 (ja) | 2018-11-14 | 2022-06-21 | トヨタ自動車株式会社 | 車両制御システム |
JP7139901B2 (ja) * | 2018-11-14 | 2022-09-21 | トヨタ自動車株式会社 | 車両制御システム |
CN109272741A (zh) * | 2018-11-21 | 2019-01-25 | 山东中安科技股份有限公司 | 一种用于公路恶劣环境下行车安全的发音诱导装置及方法 |
CN111319616A (zh) * | 2018-11-28 | 2020-06-23 | 比亚迪股份有限公司 | 基于驾驶员状态的车辆控制方法、装置和车辆 |
JP7139964B2 (ja) * | 2019-01-15 | 2022-09-21 | トヨタ自動車株式会社 | 車両制御装置及び車両制御方法 |
EP3699812A1 (en) * | 2019-02-21 | 2020-08-26 | Volvo Car Corporation | Method and system supporting obtaining of body parameters of a person outside a vehicle |
JP7172740B2 (ja) * | 2019-03-01 | 2022-11-16 | 株式会社デンソー | 駐車支援装置 |
JP2020164081A (ja) * | 2019-03-29 | 2020-10-08 | 本田技研工業株式会社 | 車両制御システム |
JP2020164017A (ja) * | 2019-03-29 | 2020-10-08 | 本田技研工業株式会社 | 車両制御システム |
KR20200129351A (ko) * | 2019-05-08 | 2020-11-18 | 현대자동차주식회사 | 차량 및 그 제어방법 |
JP7378768B2 (ja) * | 2019-06-17 | 2023-11-14 | 株式会社ユピテル | 電子機器、システムおよびプログラム等 |
JP7322559B2 (ja) * | 2019-07-10 | 2023-08-08 | 株式会社デンソー | 退避アシスト装置 |
CN110322729A (zh) * | 2019-08-01 | 2019-10-11 | 公安部交通管理科学研究所 | 基于v2x交通安全动态信息实时发布方法及系统 |
JP7045406B2 (ja) * | 2020-02-06 | 2022-03-31 | 本田技研工業株式会社 | 緊急車両待避制御装置及び緊急車両待避制御方法 |
CN111717199B (zh) * | 2020-06-24 | 2021-09-17 | 中国第一汽车股份有限公司 | 自动换道避撞控制方法、装置、车辆及存储介质 |
JP7469979B2 (ja) * | 2020-07-28 | 2024-04-17 | 株式会社日立製作所 | 車両制御システム |
JP2023005759A (ja) * | 2021-06-29 | 2023-01-18 | 株式会社Soken | 退避走行支援装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07200991A (ja) * | 1993-11-30 | 1995-08-04 | Sconick Joseph | 2台以上の車両の連携運転システム |
JP3998855B2 (ja) * | 1999-05-18 | 2007-10-31 | 三菱電機株式会社 | 危険接近防止装置 |
JP3537705B2 (ja) * | 1999-05-31 | 2004-06-14 | 本田技研工業株式会社 | 自動追従走行システム |
JP3875697B2 (ja) * | 2004-05-06 | 2007-01-31 | 松下電器産業株式会社 | 車載情報処理装置 |
JP2007331652A (ja) | 2006-06-16 | 2007-12-27 | Toyota Motor Corp | 車両停止装置 |
JP4400624B2 (ja) * | 2007-01-24 | 2010-01-20 | トヨタ自動車株式会社 | 居眠り防止装置及び方法 |
DE112011105431B4 (de) * | 2011-07-11 | 2019-05-29 | Toyota Jidosha Kabushiki Kaisha | Fahrzeug-Notfallevakuierungsvorrichtung |
DE112012006465B4 (de) * | 2012-06-05 | 2021-08-05 | Toyota Jidosha Kabushiki Kaisha | Fahreigenschaftenabschätzvorrichtung und Fahrassistenzsystem |
WO2014016911A1 (ja) * | 2012-07-24 | 2014-01-30 | トヨタ自動車株式会社 | 運転支援装置 |
CN104487309B (zh) * | 2012-07-24 | 2017-03-08 | 丰田自动车株式会社 | 驾驶辅助装置 |
JP5919150B2 (ja) * | 2012-09-18 | 2016-05-18 | ダイムラー・アクチェンゲゼルシャフトDaimler AG | 運転支援装置 |
TWI552897B (zh) * | 2013-05-17 | 2016-10-11 | 財團法人工業技術研究院 | 影像動態融合方法與裝置 |
CN103770780B (zh) * | 2014-01-15 | 2017-10-03 | 中国人民解放军国防科学技术大学 | 一种车辆主动安全系统告警屏蔽装置 |
CN106463063A (zh) * | 2014-06-12 | 2017-02-22 | 日立汽车系统株式会社 | 车辆的行驶控制装置 |
JP2016018114A (ja) | 2014-07-09 | 2016-02-01 | 株式会社ソシオネクスト | 保存データの生成方法、保存データの生成プログラム、及び、保存データ生成装置 |
JP6443160B2 (ja) * | 2015-03-23 | 2018-12-26 | 株式会社デンソー | 自動走行制御装置、又は、自動走行制御システム |
-
2016
- 2016-02-02 JP JP2016018114A patent/JP6477529B2/ja active Active
-
2017
- 2017-02-02 DE DE112017000607.4T patent/DE112017000607T5/de active Pending
- 2017-02-02 CN CN201780008703.0A patent/CN108602513B/zh active Active
- 2017-02-02 WO PCT/JP2017/003725 patent/WO2017135355A1/ja active Application Filing
- 2017-02-02 US US16/074,533 patent/US11059482B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
DE112017000607T5 (de) | 2018-10-11 |
CN108602513B (zh) | 2021-03-30 |
US20190039617A1 (en) | 2019-02-07 |
US11059482B2 (en) | 2021-07-13 |
CN108602513A (zh) | 2018-09-28 |
WO2017135355A1 (ja) | 2017-08-10 |
JP2017138724A (ja) | 2017-08-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6477529B2 (ja) | 走行支援装置 | |
JP6490044B2 (ja) | 車両用制御装置 | |
JP6375237B2 (ja) | 自動運転制御装置 | |
US11970158B2 (en) | Driving assistance system, driving assistance device, and driving assistance method for avoidance of an obstacle in a traveling lane | |
JP6485792B2 (ja) | 運転支援制御装置 | |
JP6221569B2 (ja) | 運転支援装置 | |
JP7022680B2 (ja) | 車両制御装置 | |
JP6654907B2 (ja) | 車両の走行制御装置 | |
JP2014041556A (ja) | 運転支援装置 | |
JP2016017758A (ja) | 走行支援装置及び走行支援方法 | |
JP2008257350A (ja) | 運転支援装置 | |
KR20200017971A (ko) | 차량 및 그 제어방법 | |
JP2019077427A (ja) | 車両制御装置、インタフェース装置、およびコンピュータ | |
JP6633041B2 (ja) | 車両、走行制御装置及び走行制御方法 | |
JP2007200052A (ja) | 交差点における運転支援装置および交差点における運転支援方法 | |
JP6629897B2 (ja) | 車両制御装置 | |
JP2020104634A (ja) | 車両制御装置 | |
JP5614079B2 (ja) | 運転支援装置 | |
CN111469845B (zh) | 车辆的控制系统、车辆的控制方法以及介质 | |
CN115257707A (zh) | 用于操作机动车辆的停车辅助功能的方法 | |
JP2015149006A (ja) | 車両用通信装置、車両用通信装置プログラム、車両用通信方法 | |
JP2020111090A (ja) | 車両の制御システム、車両の制御方法、およびプログラム | |
JP2018106473A (ja) | 車両制御装置、車両制御方法及びプログラム | |
JP2021135830A (ja) | 運転情報提示装置 | |
JP2019156199A (ja) | 車両の自動運転制御ecuおよび自動運転制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180125 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180201 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20190108 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190121 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6477529 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |