JP6575612B2 - 運転支援方法及び装置 - Google Patents
運転支援方法及び装置 Download PDFInfo
- Publication number
- JP6575612B2 JP6575612B2 JP2017562468A JP2017562468A JP6575612B2 JP 6575612 B2 JP6575612 B2 JP 6575612B2 JP 2017562468 A JP2017562468 A JP 2017562468A JP 2017562468 A JP2017562468 A JP 2017562468A JP 6575612 B2 JP6575612 B2 JP 6575612B2
- Authority
- JP
- Japan
- Prior art keywords
- flow line
- vehicle
- interference flow
- traffic
- interference
- 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
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- 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
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/823—Obstacle sensing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/824—Travel path sensing; Track monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/16—GPS track data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/704—Estimating or calculating vehicle parameters or state variables predicting unorthodox driving conditions for safe or optimal driving
-
- 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
- B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering 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
- 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
- B60W2050/146—Display means
-
- 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
- B60W2540/30—Driving style
-
- 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
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
Description
(1)自車両の現在位置と目標経路とを取得する処理(自車両情報取得処理)、
(2)自車両の周辺の外界情報を取得する処理(外界情報取得処理)、
(3)自車両の走行予定経路と交点(干渉点)を有する他車両の動線(以下、干渉動線という)を抽出する処理(干渉動線抽出処理)、
(4)抽出した干渉動線の中から、運転行動を決定するのに必要な干渉動線(以下、必要動線という)を選択する処理(必要動線選択処理)。
|L2 /VV2 − L1 / VV1 | < Tthreshold (1)
|L2 / VV2 − L1 / VV1 | ≧ Tthreshold (2)
|L3 /VV3 − L1 / VV1 | < Tthreshold (3)
|L3 / VV3 − L1 / VV1 | ≧ Tthreshold (4)
2…干渉動線
3A〜D…信号機
4…走行予定経路
7…踏切
100…運転支援装置
21…運転計画プロセッサ
V1…自車両
V2…並走車両
V3…他車両
Claims (7)
- 自車両の走行予定経路と干渉する他車両の移動可能経路である干渉動線を抽出し、
道路形状、交通規則、及び、交通状況の少なくとも一つに基づいて、抽出された前記干渉動線の中から、自車両の運転行動を決定するのに必要な干渉動線を選択し、
選択された前記干渉動線に沿って移動する他車両に対応する自車両の運転行動を決定し、
選択された他車両の前記干渉動線に対応する信号機の状態が通行可から通行不可に変化した場合に、選択された前記干渉動線を、長さを減少させて非選択に切換える運転支援方法。 - 選択された前記干渉動線に対応する前記信号機の状態が通行可から通行不可に変化した場合に、選択された前記干渉動線に沿って移動する他車両の車速に応じた単位時間当たりの減少量で、選択された前記干渉動線の長さを減少させる請求項1に記載の運転支援方法。
- 自車両の走行予定経路と干渉する他車両の移動可能経路である干渉動線を抽出し、
道路形状、交通規則、及び、交通状況の少なくとも一つに基づいて、抽出された前記干渉動線の中から、自車両の運転行動を決定するのに必要な干渉動線を選択し、
選択された前記干渉動線に沿って移動する他車両に対応する自車両の運転行動を決定し、
選択された前記干渉動線に対応する信号機の状態が通行可から通行不可に変化した時点から所定の遅延時間が経過した後に、選択された前記干渉動線を非選択に切換え、
非選択の前記干渉動線に対応する信号機の状態が通行不可から通行可に変化した時点から遅延時間を設けることなく直ちに、非選択の前記干渉動線を選択に切換える運転支援方法。 - 自車両と並走する並走車両が存在し、前記並走車両の動線と干渉する干渉動線が存在し、当該干渉動線に沿って移動する他車両に対して、前記並走車両が、交通規則上優先される場合に、当該干渉動線を非選択とする請求項1〜3の何れか1項に記載の運転支援方法。
- 交通規則上、他車両の移動が制限される干渉動線を、非選択とする請求項1〜4の何れか1項に記載の運転支援方法。
- 前記交通規則は、一方通行、指定方向外通行禁止、又は踏切による通行規制である請求項5に記載の運転支援方法。
- 走行予定経路に沿って走行する自車両の運転行動を決定するプロセッサを備え、
前記プロセッサは、
自車両の走行予定経路と干渉する他車両の移動可能経路である干渉動線を抽出し、
道路形状、交通規則、及び、交通状況の少なくとも一つに基づいて、抽出された前記干渉動線の中から、自車両の運転行動を決定するのに必要な干渉動線を選択し、
選択された前記干渉動線に沿って移動する他車両に対応する自車両の運転行動を決定し、
選択された前記干渉動線に対応する信号機の状態が通行可から通行不可に変化した場合に、選択された前記干渉動線を、長さを減少させて非選択に切換える運転支援装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016010540 | 2016-01-22 | ||
JP2016010540 | 2016-01-22 | ||
PCT/JP2016/086624 WO2017126249A1 (ja) | 2016-01-22 | 2016-12-08 | 運転支援方法及び装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2017126249A1 JPWO2017126249A1 (ja) | 2019-01-17 |
JP6575612B2 true JP6575612B2 (ja) | 2019-09-25 |
Family
ID=59362455
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017562468A Active JP6575612B2 (ja) | 2016-01-22 | 2016-12-08 | 運転支援方法及び装置 |
Country Status (10)
Country | Link |
---|---|
US (1) | US20190035278A1 (ja) |
EP (1) | EP3407328A4 (ja) |
JP (1) | JP6575612B2 (ja) |
KR (1) | KR20180104655A (ja) |
CN (1) | CN108496212B (ja) |
BR (1) | BR112018014737A2 (ja) |
CA (1) | CA3012094A1 (ja) |
MX (1) | MX2018008986A (ja) |
RU (1) | RU2719080C2 (ja) |
WO (1) | WO2017126249A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9678506B2 (en) | 2014-06-19 | 2017-06-13 | Skydio, Inc. | Magic wand interface and other user interaction paradigms for a flying digital assistant |
US9798322B2 (en) | 2014-06-19 | 2017-10-24 | Skydio, Inc. | Virtual camera interface and other user interaction paradigms for a flying digital assistant |
US10520943B2 (en) | 2016-08-12 | 2019-12-31 | Skydio, Inc. | Unmanned aerial image capture platform |
US11295458B2 (en) | 2016-12-01 | 2022-04-05 | Skydio, Inc. | Object tracking by an unmanned aerial vehicle using visual sensors |
US10319235B2 (en) * | 2017-03-10 | 2019-06-11 | Rovi Guides, Inc. | Systems and methods for resolving conflicts between paths of driverless vehicles based on time remaining in media assets being consumed in the driverless vehicles |
JP7054636B2 (ja) * | 2018-03-15 | 2022-04-14 | 本田技研工業株式会社 | 運転支援装置 |
CN110458055B (zh) * | 2019-07-29 | 2021-10-15 | 江苏必得科技股份有限公司 | 一种障碍物检测方法及系统 |
US11535249B2 (en) | 2019-08-13 | 2022-12-27 | Nissan Motor Co., Ltd. | Vehicle action determining method and vehicle action determining device |
JP2021092980A (ja) * | 2019-12-10 | 2021-06-17 | 本田技研工業株式会社 | 自動運転車用情報提示装置 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5075331B2 (ja) * | 2005-09-30 | 2012-11-21 | アイシン・エィ・ダブリュ株式会社 | 地図データベース生成システム |
US20080068146A1 (en) * | 2006-09-16 | 2008-03-20 | Cauldwell Jack D | Red light accident warning |
KR100911954B1 (ko) * | 2007-03-29 | 2009-08-13 | 에스케이씨앤씨 주식회사 | 자동차 네비게이션용 교차로 경로 안내 방법 |
US8762046B2 (en) * | 2008-10-01 | 2014-06-24 | Navteq B.V. | Creating geometry for advanced driver assistance systems |
JP5278021B2 (ja) * | 2009-02-17 | 2013-09-04 | トヨタ自動車株式会社 | 運転支援装置 |
JP5088349B2 (ja) * | 2009-06-01 | 2012-12-05 | トヨタ自動車株式会社 | 車両走行制御装置 |
DE102009058035A1 (de) * | 2009-12-11 | 2010-08-05 | Daimler Ag | Verfahren und Vorrichtung zum Betrieb eines Fahrerassistenzsystems eines Fahrzeuges |
US8738283B2 (en) * | 2010-09-24 | 2014-05-27 | Telenav, Inc. | Navigation system with parking lot integrated routing mechanism and method of operation thereof |
US9396653B2 (en) * | 2012-06-01 | 2016-07-19 | Aeio Group Inc. | Method and system for traffic resources allocation |
DE102013009860A1 (de) * | 2013-06-13 | 2014-12-18 | Audi Ag | Verfahren zur Koordination des Betriebs von Kraftfahrzeugen |
JP6253349B2 (ja) * | 2013-10-30 | 2017-12-27 | 三菱電機株式会社 | 走行支援装置および走行支援方法 |
JP6443122B2 (ja) * | 2015-02-24 | 2018-12-26 | 日本精機株式会社 | 車両用表示装置 |
US10507807B2 (en) * | 2015-04-28 | 2019-12-17 | Mobileye Vision Technologies Ltd. | Systems and methods for causing a vehicle response based on traffic light detection |
WO2017126250A1 (ja) * | 2016-01-22 | 2017-07-27 | 日産自動車株式会社 | 運転支援方法及び装置 |
-
2016
- 2016-12-08 US US16/071,695 patent/US20190035278A1/en not_active Abandoned
- 2016-12-08 EP EP16886488.2A patent/EP3407328A4/en not_active Ceased
- 2016-12-08 KR KR1020187023385A patent/KR20180104655A/ko not_active Application Discontinuation
- 2016-12-08 CN CN201680079682.7A patent/CN108496212B/zh active Active
- 2016-12-08 JP JP2017562468A patent/JP6575612B2/ja active Active
- 2016-12-08 CA CA3012094A patent/CA3012094A1/en not_active Abandoned
- 2016-12-08 RU RU2018130155A patent/RU2719080C2/ru active
- 2016-12-08 MX MX2018008986A patent/MX2018008986A/es unknown
- 2016-12-08 WO PCT/JP2016/086624 patent/WO2017126249A1/ja active Application Filing
- 2016-12-08 BR BR112018014737-0A patent/BR112018014737A2/ja unknown
Also Published As
Publication number | Publication date |
---|---|
RU2018130155A (ru) | 2020-02-26 |
RU2719080C2 (ru) | 2020-04-17 |
BR112018014737A2 (ja) | 2018-12-11 |
US20190035278A1 (en) | 2019-01-31 |
CN108496212A (zh) | 2018-09-04 |
CN108496212B (zh) | 2022-04-26 |
EP3407328A4 (en) | 2019-06-19 |
WO2017126249A1 (ja) | 2017-07-27 |
CA3012094A1 (en) | 2017-07-27 |
RU2018130155A3 (ja) | 2020-02-27 |
JPWO2017126249A1 (ja) | 2019-01-17 |
MX2018008986A (es) | 2018-11-19 |
EP3407328A1 (en) | 2018-11-28 |
KR20180104655A (ko) | 2018-09-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6575612B2 (ja) | 運転支援方法及び装置 | |
JP6544444B2 (ja) | 運転支援方法及び装置 | |
US10186150B2 (en) | Scene determination device, travel assistance apparatus, and scene determination method | |
KR102053552B1 (ko) | 운전 계획 장치, 주행 지원 장치, 운전 계획 방법 | |
EP3950453B1 (en) | Driving assistance method and driving assistance device | |
US10366608B2 (en) | Scene determination device, travel assistance apparatus, and scene determination method | |
JP6443551B2 (ja) | シーン評価装置、走行支援装置、シーン評価方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180720 |
|
A529 | Written submission of copy of amendment under article 34 pct |
Free format text: JAPANESE INTERMEDIATE CODE: A5211 Effective date: 20180720 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180720 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190514 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190625 |
|
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: 20190723 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190805 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6575612 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |