JP6589760B2 - 車両制御装置 - Google Patents
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- 238000013459 approach Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 description 18
- 238000000034 method Methods 0.000 description 12
- 238000000926 separation method Methods 0.000 description 5
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- 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
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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
- B60W30/14—Adaptive cruise control
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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
- 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"
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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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- 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
- B60K31/0008—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 including means for detecting potential obstacles in vehicle path
- B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
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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
- 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
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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
- 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
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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
-
- 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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4045—Intention, e.g. lane change or imminent movement
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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
- B60W2554/801—Lateral 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
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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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
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- Mechanical Engineering (AREA)
- Transportation (AREA)
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- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Controls For Constant Speed Travelling (AREA)
Description
Claims (6)
- 自車両の進行方向前方を撮影する車載カメラ(11)と、
前記車載カメラにより撮影された画像から、前記自車両が走行する走行車線としての自車線を区画する左右の走行区画線を検出する区画線検出部(10)と、
前記区画線検出部により検出された前記走行区画線に基づいて、前記自車線上を先行して走行する先行車両であると判断したことを条件として前記先行車両に追従して前記自車両を走行させる追従走行部(10,13)と、
前記自車両の挙動を検出する車載センサ(24,25)と、
前記車載センサにより検出された前記自車両の挙動から前記走行区画線を推定演算する推定演算部(10)と、
前記自車両と先行車両との車間距離を測定する測定部(10)と、
前記追従走行部により前記先行車両に対して前記自車両を追従走行させる追従走行制御が実施されている期間中に、前記測定部により測定された前記車間距離が、前記先行車両よりも前方に存在する前記走行区画線が前記先行車両に遮られる距離を示す所定距離よりも長いと判断した場合に、前記追従走行部に前記追従走行制御を継続させ、前記車間距離が前記所定距離よりも短く、且つ、前記区画線検出部により検出される前記走行区画線の内、少なくとも一方の前記走行区画線が検出できなくなったと判定した場合に、前記推定演算部により推定演算された前記走行区画線に基づいて、前記先行車両が前記自車線とは異なる走行車線に離脱したか否かを判定し、前記車間距離が前記所定距離よりも短く、且つ、前記区画線検出部により両側の前記走行区画線が検出できると判定した場合に、前記区画線検出部により検出される左右の前記走行区画線に基づいて、前記先行車両が前記自車線とは異なる走行車線に離脱したか否かを判定する離脱判定部(10)と、
を備え、
前記追従走行部は、前記追従走行制御を実施している期間中に、前記離脱判定部により前記先行車両が前記自車両とは異なる走行車線に離脱したと判定された場合に、前記追従走行制御を終了することを特徴とする車両制御装置。 - 前記先行車両の車幅に対する、前記推定演算部により推定演算された前記走行区画線を跨いだ分の前記先行車両の車幅の比率を算出する比率算出部(10)を備え、
前記離脱判定部は、前記比率算出部により算出された前記比率が所定値を超えて大きくなった場合に、前記先行車両が前記自車線とは異なる走行車線に離脱したと判定することを特徴とする請求項1に記載の車両制御装置。 - 前記先行車両が前記推定演算部により推定演算された前記走行区画線に接近する速度としての横速度を算出する横速度算出部(10)を備え、
前記離脱判定部は、前記横速度算出部により算出された前記横速度が所定速度よりも高くなった場合に、前記先行車両が前記自車線とは異なる走行車線に離脱したと判定することを特徴とする請求項1又は2に記載の車両制御装置。 - 前記先行車両が前記推定演算部により推定演算された前記走行区画線に接近する加速度としての横加速度を算出する横加速度算出部(10)を備え、
前記離脱判定部は、前記横加速度算出部により算出された前記横加速度が所定加速度よりも高くなった場合に、前記先行車両が前記自車線とは異なる走行車線に離脱したと判定することを特徴とする請求項1〜3のいずれか1項に記載の車両制御装置。 - 前記追従走行部により前記追従走行制御が実施されている期間中に、前記測定部により測定された前記車間距離が所定距離よりも短く、且つ、前記区画線検出部により検出される前記走行区画線の内、少なくとも一方の前記走行区画線が検出できなくなったと判定した場合に、前記推定演算部により推定演算された前記走行区画線に基づいて、前記先行車両と前記自車両との間に車両が割り込んできたことを判定する割り込み判定部(10)を備えることを特徴とする請求項1乃至4のいずれか1項に記載の車両制御装置。
- 車両の進行方向前方に探査波を送信し、物標により反射された反射波を受信するレーダ装置(12)と、
前記レーダ装置から取得した前記反射波に基づく情報により検出した物標であるレーダ検出物標の位置を検出するレーダ検出物標位置検出部(10)と、
前記車載カメラから取得した前記画像により検出した物標である画像検出物標の位置を検出する画像検出物標位置検出部(10)と、
前記自車両の前方に存在する前記レーダ検出物標の位置から前記画像検出物標の位置までの距離である物標間距離が所定範囲内に収まることを条件として、先行車両を検出することを特徴とする請求項1乃至5のいずれか1項に記載の車両制御装置。
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JP2016135154A JP6589760B2 (ja) | 2016-07-07 | 2016-07-07 | 車両制御装置 |
PCT/JP2017/024264 WO2018008565A1 (ja) | 2016-07-07 | 2017-06-30 | 車両制御装置 |
US16/315,281 US10889298B2 (en) | 2016-07-07 | 2017-06-30 | Vehicle control apparatus |
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JP2018002083A JP2018002083A (ja) | 2018-01-11 |
JP2018002083A5 JP2018002083A5 (ja) | 2018-10-18 |
JP6589760B2 true JP6589760B2 (ja) | 2019-10-16 |
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WO2023054655A1 (ja) | 2021-09-30 | 2023-04-06 | 株式会社アイシン | 先行車両判定システム |
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KR102055156B1 (ko) * | 2018-02-05 | 2019-12-12 | 주식회사 만도 | 적응형 순항 제어 시스템의 제어 장치 및 제어 방법 |
KR102553247B1 (ko) * | 2018-04-27 | 2023-07-07 | 주식회사 에이치엘클레무브 | 전방 차량 추종 제어 시 안전성을 향상할 수 있는 차선 유지 보조 시스템 및 방법 |
KR102012271B1 (ko) | 2018-05-17 | 2019-08-20 | 주식회사 만도 | 차간 거리 제어 장치 및 이를 이용한 제어 방법 |
US11035686B2 (en) * | 2018-08-31 | 2021-06-15 | Here Global B.V. | Use of geographic database comprising lane level information for traffic parameter prediction |
US12055401B1 (en) | 2018-08-31 | 2024-08-06 | Here Global B.V. | Use of geographic database comprising lane level information for traffic parameter prediction |
US11016999B2 (en) | 2018-08-31 | 2021-05-25 | Here Global B.V. | Use of geographic database comprising lane level information for traffic parameter prediction |
JP7229710B2 (ja) * | 2018-09-26 | 2023-02-28 | 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 |
KR102006447B1 (ko) * | 2019-04-23 | 2019-10-01 | 주식회사 만도 | 차간 거리 제어 장치 및 이를 이용한 제어 방법 |
JP2022552411A (ja) * | 2019-10-16 | 2022-12-15 | ロコメーション・インコーポレーテッド | 自律型追従車両への要求を低減する動作 |
KR20210083459A (ko) | 2019-12-26 | 2021-07-07 | 주식회사 만도 | 운전자 보조 시스템, 그를 가지는 차량 및 그 제어 방법 |
CN111674394B (zh) * | 2020-06-09 | 2023-04-11 | 南京工业职业技术学院 | 一种能实现微观调控的自动驾驶跟驰保持方法 |
CN112141103A (zh) * | 2020-08-31 | 2020-12-29 | 恒大新能源汽车投资控股集团有限公司 | 一种控制车辆跟随前车行驶的方法和系统 |
JP7557327B2 (ja) * | 2020-10-02 | 2024-09-27 | 株式会社Subaru | 自動操舵制御装置 |
JP7132447B1 (ja) * | 2020-12-28 | 2022-09-06 | 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 |
JP7345515B2 (ja) * | 2021-03-29 | 2023-09-15 | 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 |
US12024204B2 (en) * | 2021-04-09 | 2024-07-02 | Direct Cursus Technology L.L.C | Method of and system for predicting a maneuver of an object |
FR3130234B1 (fr) * | 2021-12-09 | 2023-11-03 | Psa Automobiles Sa | Procédé et dispositif de contrôle d’un système de régulation adaptative de vitesse d’un véhicule |
FR3130233B1 (fr) * | 2021-12-09 | 2023-11-03 | Psa Automobiles Sa | Procédé et dispositif de contrôle d’un système de régulation adaptative de vitesse d’un véhicule |
US20240083430A1 (en) * | 2022-09-08 | 2024-03-14 | Bendix Commercial Vehicle Systems Llc | Adaptive cruise control system and method |
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WO2023054655A1 (ja) | 2021-09-30 | 2023-04-06 | 株式会社アイシン | 先行車両判定システム |
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