JP6550016B2 - 車両制御装置及び車両制御方法 - Google Patents
車両制御装置及び車両制御方法 Download PDFInfo
- Publication number
- JP6550016B2 JP6550016B2 JP2016127020A JP2016127020A JP6550016B2 JP 6550016 B2 JP6550016 B2 JP 6550016B2 JP 2016127020 A JP2016127020 A JP 2016127020A JP 2016127020 A JP2016127020 A JP 2016127020A JP 6550016 B2 JP6550016 B2 JP 6550016B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- adjacent
- lane
- lateral position
- recognized
- 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 title claims description 34
- 230000001133 acceleration Effects 0.000 claims description 63
- 238000003384 imaging method Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 description 11
- 238000005259 measurement Methods 0.000 description 7
- 238000000605 extraction Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000003287 optical effect 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- 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
- 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
- B60W30/14—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
- 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
- B60W30/18145—Cornering
-
- 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
- B60W40/02—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 ambient conditions
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/04—Traffic conditions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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 or light 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
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/801—Lateral 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Description
本発明は上記の実施形態に限定されず、例えば以下のように実施されてもよい。
Claims (6)
- 先行車(41)に追従走行しているときに自車(40)の方向指示器が作動された場合に、該作動に連動させて前記自車を加速させる追従時制御を行う車両制御装置であって、
道路を含む周辺環境を撮影する撮像装置(21)が前記自車に搭載されており、
前記撮像装置により撮影された画像に基づいて、前記道路の区画線を認識する区画線認識部と、
前記自車の進行方向に直交する方向における前記自車との相対位置である横位置と、前記自車の進行方向における前記自車との相対距離とに基づいて、前記自車の前方に存在する他車(41,42)の中から、前記自車の走行車線(51)に隣接する隣接車線(52)を走行する隣接車(42)を選択する隣接車選択部と、
前記追従走行しているときに前記方向指示器が作動された場合に、前記隣接車選択部によって前記隣接車が選択されているか否かに基づいて、前記追従時制御による前記自車の加速を実施する加速制御部と、
を備え、
前記隣接車選択部は、前記区画線認識部によって前記区画線が認識されている場合には、前記他車の中から、前記区画線を基準にして、前記自車が走行する道路の車線幅に基づき定めた横位置範囲内に存在している車両を前記隣接車として選択し、前記区画線認識部によって前記区画線が認識されていない場合には、前記他車の中から、前記自車を基準にして、前記車線幅に基づき定めた横位置範囲内に存在している車両を前記隣接車として選択することを特徴とする車両制御装置。 - 前記隣接車選択部は、前記区画線認識部によって前記区画線が認識されている状況から前記区画線が認識されない状況になった場合には、前記隣接車の選択範囲とする横位置範囲を、前記区画線を基準にして前記車線幅に基づき定めた横位置範囲から前記自車を基準にして前記車線幅に基づき定めた横位置範囲に徐々に変更する、請求項1に記載の車両制御装置。
- 前記隣接車選択部は、前記区画線認識部によって前記区画線が認識されていない状況から前記区画線が認識される状況になった場合には、前記隣接車の選択範囲とする横位置範囲を、前記自車を基準にして前記車線幅に基づき定めた横位置範囲から前記区画線を基準にして前記車線幅に基づき定めた横位置範囲に瞬時に変更する、請求項1又は2に記載の車両制御装置。
- 前記隣接車選択部は、前記方向指示器の作動開始後の所定時間は、前記方向指示器の作動開始に伴い前記隣接車として選択した車両を前記隣接車と選択したままにする、請求項1〜3のいずれか一項に記載の車両制御装置。
- 前記隣接車選択部は、前記他車の中から、前記相対距離が最小であって且つ前記先行車でない車両を前記隣接車として選択する、請求項1〜4のいずれか一項に記載の車両制御装置。
- 先行車(41)に追従走行しているときに自車(40)の方向指示器が作動された場合に、該作動に連動させて前記自車を加速させる追従時制御を行う車両制御方法であって、
道路を含む周辺環境を撮影する撮像装置(21)が前記自車に搭載されており、
前記撮像装置により撮影された画像に基づいて、前記道路の区画線を認識し、
前記自車の進行方向に直交する方向における前記自車との相対位置である横位置と、前記自車の進行方向における前記自車との相対距離とに基づいて、前記自車の前方に存在する他車(41,42)の中から、前記自車の走行車線(51)に隣接する隣接車線(52)を走行する隣接車(42)を選択し、
前記追従走行しているときに前記方向指示器が作動された場合に、前記隣接車が選択されているか否かに基づいて、前記追従時制御による前記自車の加速を実施し、
前記撮像装置により撮影された画像に基づいて前記区画線が認識されている場合には、前記他車の中から、前記区画線を基準にして、前記自車が走行する道路の車線幅に基づき定めた横位置範囲内に存在している車両を前記隣接車として選択し、
前記撮像装置により撮影された画像に基づいて前記区画線が認識されていない場合には、前記他車の中から、前記自車を基準にして、前記車線幅に基づき定めた横位置範囲内に存在している車両を前記隣接車として選択する、車両制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016127020A JP6550016B2 (ja) | 2016-06-27 | 2016-06-27 | 車両制御装置及び車両制御方法 |
PCT/JP2017/022199 WO2018003529A1 (ja) | 2016-06-27 | 2017-06-15 | 車両制御装置及び車両制御方法 |
US16/313,378 US11021155B2 (en) | 2016-06-27 | 2017-06-15 | Vehicle control apparatus and vehicle control method |
CN201780039612.3A CN109562761B (zh) | 2016-06-27 | 2017-06-15 | 车辆控制装置以及车辆控制方法 |
DE112017003200.8T DE112017003200T5 (de) | 2016-06-27 | 2017-06-15 | Fahrzeugsteuerungseinrichtung und fahrzeugsteuerungsverfahren |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016127020A JP6550016B2 (ja) | 2016-06-27 | 2016-06-27 | 車両制御装置及び車両制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018001800A JP2018001800A (ja) | 2018-01-11 |
JP6550016B2 true JP6550016B2 (ja) | 2019-07-24 |
Family
ID=60786335
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016127020A Active JP6550016B2 (ja) | 2016-06-27 | 2016-06-27 | 車両制御装置及び車両制御方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11021155B2 (ja) |
JP (1) | JP6550016B2 (ja) |
CN (1) | CN109562761B (ja) |
DE (1) | DE112017003200T5 (ja) |
WO (1) | WO2018003529A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6780461B2 (ja) * | 2016-11-14 | 2020-11-04 | いすゞ自動車株式会社 | 運転支援システム及び運転支援方法 |
JP6642413B2 (ja) * | 2016-12-27 | 2020-02-05 | トヨタ自動車株式会社 | 車両走行制御装置 |
KR102374916B1 (ko) * | 2017-09-29 | 2022-03-16 | 주식회사 만도모빌리티솔루션즈 | 차선 유지 제어장치 및 제어방법 |
JP6958385B2 (ja) * | 2018-01-24 | 2021-11-02 | トヨタ自動車株式会社 | 車両制御システム |
JP6910973B2 (ja) * | 2018-02-02 | 2021-07-28 | 日立Astemo株式会社 | 車両制御装置及びその制御方法並びに車両制御システム |
JP7152165B2 (ja) * | 2018-03-02 | 2022-10-12 | トヨタ自動車株式会社 | 車両制御装置 |
JP6930483B2 (ja) * | 2018-04-17 | 2021-09-01 | 株式会社デンソー | 走行制御装置 |
JP7160706B2 (ja) * | 2019-01-29 | 2022-10-25 | 株式会社Soken | 道路認識装置 |
CN111746383A (zh) * | 2019-03-26 | 2020-10-09 | 长城汽车股份有限公司 | 车辆转向安全控制系统、车辆 |
JP7303667B2 (ja) * | 2019-05-31 | 2023-07-05 | 株式会社Subaru | 自動運転支援装置 |
JP7165109B2 (ja) * | 2019-09-09 | 2022-11-02 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
CN113257036A (zh) * | 2020-02-13 | 2021-08-13 | 宁波吉利汽车研究开发有限公司 | 一种车辆碰撞预警方法、装置、设备和存储介质 |
KR20220026656A (ko) * | 2020-08-25 | 2022-03-07 | 현대모비스 주식회사 | 차량의 주행 제어 시스템 및 방법 |
JP7304334B2 (ja) * | 2020-12-03 | 2023-07-06 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005301603A (ja) * | 2004-04-09 | 2005-10-27 | Denso Corp | 走行車線検出装置 |
JP4379199B2 (ja) | 2004-05-17 | 2009-12-09 | 日産自動車株式会社 | 車線変更支援装置および方法 |
DE102004029369B4 (de) * | 2004-06-17 | 2016-09-15 | Robert Bosch Gmbh | Spurwechselassistent für Kraftfahrzeuge |
JP5045637B2 (ja) * | 2008-10-14 | 2012-10-10 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP5304735B2 (ja) * | 2010-06-15 | 2013-10-02 | 三菱自動車工業株式会社 | 追従制御装置 |
WO2012098667A1 (ja) * | 2011-01-20 | 2012-07-26 | トヨタ自動車株式会社 | 運転支援装置 |
US9254846B2 (en) * | 2013-05-03 | 2016-02-09 | Google Inc. | Predictive reasoning for controlling speed of a vehicle |
JP6119621B2 (ja) | 2014-01-24 | 2017-04-26 | トヨタ自動車株式会社 | 運転支援装置 |
EP3114574A4 (en) * | 2014-03-03 | 2018-03-07 | Inrix, Inc. | Traffic obstruction detection |
JP6325425B2 (ja) * | 2014-11-28 | 2018-05-16 | 株式会社デンソー | 車両制御装置 |
US10403879B2 (en) | 2014-12-25 | 2019-09-03 | Semiconductor Energy Laboratory Co., Ltd. | Electrolytic solution, secondary battery, electronic device, and method of manufacturing electrode |
JP6209232B2 (ja) * | 2016-02-19 | 2017-10-04 | 本田技研工業株式会社 | 車線変更支援装置 |
US10328935B2 (en) * | 2016-06-08 | 2019-06-25 | GM Global Technology Operations LLC | Adaptive cruise control system and method of operating the same |
-
2016
- 2016-06-27 JP JP2016127020A patent/JP6550016B2/ja active Active
-
2017
- 2017-06-15 CN CN201780039612.3A patent/CN109562761B/zh active Active
- 2017-06-15 US US16/313,378 patent/US11021155B2/en active Active
- 2017-06-15 WO PCT/JP2017/022199 patent/WO2018003529A1/ja active Application Filing
- 2017-06-15 DE DE112017003200.8T patent/DE112017003200T5/de active Pending
Also Published As
Publication number | Publication date |
---|---|
CN109562761B (zh) | 2022-01-14 |
US11021155B2 (en) | 2021-06-01 |
US20190193739A1 (en) | 2019-06-27 |
CN109562761A (zh) | 2019-04-02 |
JP2018001800A (ja) | 2018-01-11 |
WO2018003529A1 (ja) | 2018-01-04 |
DE112017003200T5 (de) | 2019-04-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6550016B2 (ja) | 車両制御装置及び車両制御方法 | |
JP6507839B2 (ja) | 車両の走行制御装置 | |
JP6363517B2 (ja) | 車両の走行制御装置 | |
US10000208B2 (en) | Vehicle control apparatus | |
US10503985B2 (en) | Pedestrian determination method and determination device | |
CN107004366B (zh) | 车辆控制装置以及车辆控制方法 | |
JP5952859B2 (ja) | 車両の運転支援装置 | |
WO2018003528A1 (ja) | 車両制御装置及び車両制御方法 | |
CN109204311B (zh) | 一种汽车速度控制方法和装置 | |
CN107209997B (zh) | 车辆的行驶控制装置以及行驶控制方法 | |
WO2016117467A1 (ja) | 車両の走行制御装置及び走行制御方法 | |
CN110678372B (zh) | 车辆控制装置 | |
JP2017052413A (ja) | 車両制御装置 | |
CN110446641B (zh) | 车辆控制装置和车辆控制方法 | |
JP7111454B2 (ja) | 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法 | |
US10611240B2 (en) | Vehicle cruise control apparatus and cruise control method | |
US11169526B2 (en) | Vehicle control device | |
JP6544168B2 (ja) | 車両制御装置、及び車両制御方法 | |
JP2008007062A (ja) | 走行支援装置 | |
JP7106408B2 (ja) | 車両制御方法及び車両制御装置 | |
JP6551214B2 (ja) | 車線逸脱警報装置及び車線逸脱警報方法 | |
JP7334107B2 (ja) | 車両制御方法及び車両制御装置 | |
JP2018116637A (ja) | 車両制御装置 | |
JP7421692B2 (ja) | 車両制御装置 | |
WO2023054195A1 (ja) | 車両制御装置及び車両制御プログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180614 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190305 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190425 |
|
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: 20190604 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190628 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6550016 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |