JP6477617B2 - 車線逸脱防止装置 - Google Patents
車線逸脱防止装置 Download PDFInfo
- Publication number
- JP6477617B2 JP6477617B2 JP2016130344A JP2016130344A JP6477617B2 JP 6477617 B2 JP6477617 B2 JP 6477617B2 JP 2016130344 A JP2016130344 A JP 2016130344A JP 2016130344 A JP2016130344 A JP 2016130344A JP 6477617 B2 JP6477617 B2 JP 6477617B2
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- JP
- Japan
- Prior art keywords
- vehicle
- departure
- white line
- determination unit
- lane
- 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.)
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Classifications
-
- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
-
- 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
-
- 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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60T2201/08—Lane monitoring; Lane Keeping Systems
-
- 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
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/083—Lane monitoring; Lane Keeping Systems using active brake actuation
-
- 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
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Description
逸脱予測時間T=(Lw/2−X)/Vx
目標軌跡OT=∫dθ/dt
目標ヨーモーメントMs=I・(d2θ/dt2)
基準距離Ln=(Lw−Lv)×a/2+b
Claims (1)
- 車両の外部センサ及び内部センサの検出結果に基づいて、前記車両の走行状態を認識する走行状態認識部と、
前記外部センサの検出結果に基づいて、前記車両が走行する走行車線の白線を認識する白線認識部と、
前記走行状態及び前記白線に基づいて、前記車両が前記走行車線から逸脱するか否かを判定する逸脱判定部と、
前記逸脱判定部で前記車両が前記走行車線から逸脱すると判定した場合、前記走行状態及び前記白線に基づき目標軌跡を算出し、当該目標軌跡に沿って前記車両を走行させるヨーモーメントである目標ヨーモーメントを算出するヨーモーメント算出部と、
前記車両と前記白線との間の距離に基づいて、車幅方向において前記車両が前記走行車線の中央に近づく方向である逸脱回避方向が左方向であるか右方向であるかを判別する方向判別部と、
車幅方向において前記目標ヨーモーメントにより前記車両を回頭する方向が、前記逸脱回避方向と一致するか否かを判定する方向整合判定部と、
前記目標ヨーモーメント及び前記方向整合判定部の判定結果に基づいて、前記車両の左右輪の制動力を制御する制動力制御部と、を備え、
前記制動力制御部は、
前記方向整合判定部で一致すると判定した場合、前記目標ヨーモーメントが発生するように前記車両の左右輪の制動力に差を与える制動力制御を実行し、
前記方向整合判定部で一致すると判定しない場合、当該制動力制御を実行しない、車線逸脱防止装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016130344A JP6477617B2 (ja) | 2016-06-30 | 2016-06-30 | 車線逸脱防止装置 |
AU2017203011A AU2017203011B2 (en) | 2016-06-30 | 2017-05-05 | Lane departure prevention device |
US15/604,824 US10583816B2 (en) | 2016-06-30 | 2017-05-25 | Lane departure prevention device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016130344A JP6477617B2 (ja) | 2016-06-30 | 2016-06-30 | 車線逸脱防止装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018001927A JP2018001927A (ja) | 2018-01-11 |
JP6477617B2 true JP6477617B2 (ja) | 2019-03-06 |
Family
ID=60806488
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016130344A Active JP6477617B2 (ja) | 2016-06-30 | 2016-06-30 | 車線逸脱防止装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10583816B2 (ja) |
JP (1) | JP6477617B2 (ja) |
AU (1) | AU2017203011B2 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10839139B2 (en) | 2018-04-17 | 2020-11-17 | Adobe Inc. | Glyph aware snapping |
US10634793B1 (en) * | 2018-12-24 | 2020-04-28 | Automotive Research & Testing Center | Lidar detection device of detecting close-distance obstacle and method thereof |
CN109886175B (zh) * | 2019-02-13 | 2021-06-01 | 合肥思艾汽车科技有限公司 | 一种直线与圆弧相结合的车道线检测方法 |
US10832442B2 (en) * | 2019-03-28 | 2020-11-10 | Adobe Inc. | Displaying smart guides for object placement based on sub-objects of reference objects |
US10846878B2 (en) * | 2019-03-28 | 2020-11-24 | Adobe Inc. | Multi-axis equal spacing smart guides |
JP7395996B2 (ja) * | 2019-11-28 | 2023-12-12 | 株式会社アドヴィックス | 車両の自動制動装置 |
CN116823958A (zh) * | 2023-04-20 | 2023-09-29 | 阿波罗智联(北京)科技有限公司 | 车载相机的偏航角估计方法、装置、设备、车辆及介质 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04133825A (ja) | 1990-09-25 | 1992-05-07 | Hitachi Ltd | ヨー運動制御装置付車両とそのヨー運動制御装置 |
GB0002292D0 (en) * | 2000-02-02 | 2000-03-22 | Jaguar Cars | Motor vehicle dynamic stability control |
GB2394702A (en) * | 2002-10-30 | 2004-05-05 | Trw Ltd | Video enhanced stability control in road vehicles |
JP4735147B2 (ja) * | 2005-09-14 | 2011-07-27 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP5130638B2 (ja) * | 2006-03-22 | 2013-01-30 | 日産自動車株式会社 | 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法 |
JP4162013B2 (ja) * | 2006-04-03 | 2008-10-08 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP4452300B2 (ja) * | 2007-09-11 | 2010-04-21 | 日信工業株式会社 | 車両挙動制御装置 |
JP5359085B2 (ja) * | 2008-03-04 | 2013-12-04 | 日産自動車株式会社 | 車線維持支援装置及び車線維持支援方法 |
JP5200926B2 (ja) * | 2008-12-26 | 2013-06-05 | トヨタ自動車株式会社 | 運転支援装置 |
JP5552339B2 (ja) * | 2010-03-12 | 2014-07-16 | トヨタ自動車株式会社 | 車両制御装置 |
-
2016
- 2016-06-30 JP JP2016130344A patent/JP6477617B2/ja active Active
-
2017
- 2017-05-05 AU AU2017203011A patent/AU2017203011B2/en active Active
- 2017-05-25 US US15/604,824 patent/US10583816B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
AU2017203011B2 (en) | 2019-04-04 |
JP2018001927A (ja) | 2018-01-11 |
AU2017203011A1 (en) | 2018-01-18 |
US20180001876A1 (en) | 2018-01-04 |
US10583816B2 (en) | 2020-03-10 |
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