JP6504078B2 - 衝突予測装置 - Google Patents
衝突予測装置 Download PDFInfo
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- JP6504078B2 JP6504078B2 JP2016033531A JP2016033531A JP6504078B2 JP 6504078 B2 JP6504078 B2 JP 6504078B2 JP 2016033531 A JP2016033531 A JP 2016033531A JP 2016033531 A JP2016033531 A JP 2016033531A JP 6504078 B2 JP6504078 B2 JP 6504078B2
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- 238000001514 detection method Methods 0.000 claims description 39
- 238000000034 method Methods 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012887 quadratic function Methods 0.000 description 1
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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
- B60W30/08—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
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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
- B60W30/08—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
-
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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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
- 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
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
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- 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
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- 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
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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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
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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
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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
- 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
- B60W2050/143—Alarm means
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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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
- 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
- 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
-
- 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
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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
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/805—Azimuth angle
Description
Claims (5)
- 自車両の前方に存在する物体を検出する物体検出部(21,23)と、
前記物体検出部により検出された前記物体と前記自車両との相対位置に基づいて、前記物体が将来的に前記自車両に衝突する位置である衝突予測位置を算出する衝突予測位置算出部(10)と、
を備え、
前記衝突予測位置算出部は、前記物体検出部により検出された前記物体が前記自車両の進路から外れた位置で前記自車両に対向して進んでおり、且つ前記自車両が前記物体の進路を横切る方向に旋回した場合に、過去に算出された複数の前記相対位置をカーブフィッティングにより近似した近似曲線を求め、前記近似曲線に基づいて前記衝突予測位置を算出し、一方で、前記物体検出部により検出された前記物体が前記自車両の進路から外れた位置で前記自車両に対向して進んでいない場合、又は、前記自車両が前記物体の進路を横切る方向に旋回していない場合には、過去に算出された複数の前記相対位置を直線フィッティングにより近似した近似直線を求め、前記近似直線に基づいて前記衝突予測位置を算出することを特徴とする衝突予測装置。 - 前記衝突予測位置算出部は、前記物体の進路と前記自車両の進路とが平行であることが判定されたことを更に条件として、前記衝突予測位置を算出することを特徴とする請求項1に記載の衝突予測装置。
- 前記物体検出部は、前記自車両の進行方向前方の対向車線を走行する対向車両を対象として検出することを特徴とする請求項1又は2に記載の衝突予測装置。
- 前記衝突予測位置算出部は、前記自車両が走行する車線としての自車線と前記対向車線とが直線であることを条件として、前記衝突予測位置を算出することを特徴とする請求項3に記載の衝突予測装置。
- 前記衝突予測位置算出部は、前記自車線又は前記対向車線が湾曲している場合には、前記衝突予測位置の算出を行わないことを特徴とする請求項4に記載の衝突予測装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016033531A JP6504078B2 (ja) | 2016-02-24 | 2016-02-24 | 衝突予測装置 |
US16/079,333 US20190061748A1 (en) | 2016-02-24 | 2017-02-13 | Collision prediction apparatus |
PCT/JP2017/005186 WO2017145845A1 (ja) | 2016-02-24 | 2017-02-13 | 衝突予測装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2016033531A JP6504078B2 (ja) | 2016-02-24 | 2016-02-24 | 衝突予測装置 |
Publications (2)
Publication Number | Publication Date |
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JP2017151726A JP2017151726A (ja) | 2017-08-31 |
JP6504078B2 true JP6504078B2 (ja) | 2019-04-24 |
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Application Number | Title | Priority Date | Filing Date |
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JP2016033531A Active JP6504078B2 (ja) | 2016-02-24 | 2016-02-24 | 衝突予測装置 |
Country Status (3)
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US (1) | US20190061748A1 (ja) |
JP (1) | JP6504078B2 (ja) |
WO (1) | WO2017145845A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7039940B2 (ja) | 2017-11-09 | 2022-03-23 | トヨタ自動車株式会社 | 車両制御装置 |
TWI671717B (zh) * | 2018-01-05 | 2019-09-11 | 聚晶半導體股份有限公司 | 行車示警方法與行車示警系統 |
CN109808492B (zh) * | 2019-02-15 | 2020-06-02 | 辽宁工业大学 | 一种车载雷达预警装置及预警方法 |
JP2020154384A (ja) * | 2019-03-18 | 2020-09-24 | いすゞ自動車株式会社 | 衝突確率算出装置、衝突確率算出システムおよび衝突確率算出方法 |
JP7227072B2 (ja) * | 2019-05-22 | 2023-02-21 | 日立Astemo株式会社 | 車両制御装置 |
CN111806465B (zh) * | 2020-07-23 | 2022-04-29 | 北京经纬恒润科技股份有限公司 | 自动驾驶控制方法及装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08285881A (ja) * | 1995-04-10 | 1996-11-01 | Kansei Corp | 加速度スイッチ及び衝突警報装置 |
JP3949628B2 (ja) * | 2003-09-02 | 2007-07-25 | 本田技研工業株式会社 | 車両の周辺監視装置 |
US9440650B2 (en) * | 2012-08-08 | 2016-09-13 | Toyota Jidosha Kabushiki Kaisha | Collision prediction apparatus |
JP5884794B2 (ja) * | 2013-08-29 | 2016-03-15 | 株式会社デンソー | 衝突可能性判定装置およびプログラム |
WO2015155833A1 (ja) * | 2014-04-08 | 2015-10-15 | 三菱電機株式会社 | 衝突防止装置 |
WO2016024315A1 (ja) * | 2014-08-11 | 2016-02-18 | 日産自動車株式会社 | 車両の走行制御装置及び方法 |
JP5979259B2 (ja) * | 2015-01-20 | 2016-08-24 | トヨタ自動車株式会社 | 衝突回避制御装置 |
US9555736B2 (en) * | 2015-04-03 | 2017-01-31 | Magna Electronics Inc. | Vehicle headlamp control using sensing and communication systems |
US9751506B2 (en) * | 2015-10-27 | 2017-09-05 | GM Global Technology Operations LLC | Algorithms for avoiding automotive crashes at left and right turn intersections |
JP6432538B2 (ja) * | 2016-02-09 | 2018-12-05 | 株式会社デンソー | 衝突予測装置 |
US9896096B2 (en) * | 2016-04-11 | 2018-02-20 | David E. Newman | Systems and methods for hazard mitigation |
-
2016
- 2016-02-24 JP JP2016033531A patent/JP6504078B2/ja active Active
-
2017
- 2017-02-13 US US16/079,333 patent/US20190061748A1/en not_active Abandoned
- 2017-02-13 WO PCT/JP2017/005186 patent/WO2017145845A1/ja active Application Filing
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Publication number | Publication date |
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JP2017151726A (ja) | 2017-08-31 |
WO2017145845A1 (ja) | 2017-08-31 |
US20190061748A1 (en) | 2019-02-28 |
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