JP6593354B2 - 衝突回避装置 - Google Patents

衝突回避装置 Download PDF

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Publication number
JP6593354B2
JP6593354B2 JP2017005112A JP2017005112A JP6593354B2 JP 6593354 B2 JP6593354 B2 JP 6593354B2 JP 2017005112 A JP2017005112 A JP 2017005112A JP 2017005112 A JP2017005112 A JP 2017005112A JP 6593354 B2 JP6593354 B2 JP 6593354B2
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Japan
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target
vehicle
collision avoidance
moving body
time
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JP2017005112A
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English (en)
Japanese (ja)
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JP2018114774A5 (enExample
JP2018114774A (ja
Inventor
洋介 伊東
慶 神谷
崇治 小栗
崇弘 馬場
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Denso Corp
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Denso Corp
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2017005112A priority Critical patent/JP6593354B2/ja
Priority to CN201880006837.3A priority patent/CN110191826B/zh
Priority to PCT/JP2018/000307 priority patent/WO2018131595A1/ja
Publication of JP2018114774A publication Critical patent/JP2018114774A/ja
Publication of JP2018114774A5 publication Critical patent/JP2018114774A5/ja
Priority to US16/508,717 priority patent/US11891034B2/en
Application granted granted Critical
Publication of JP6593354B2 publication Critical patent/JP6593354B2/ja
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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
    • 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
    • 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
    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W30/08—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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18159—Traversing an intersection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—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
    • 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
    • B60W2554/806—Relative heading

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2017005112A 2017-01-16 2017-01-16 衝突回避装置 Active JP6593354B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2017005112A JP6593354B2 (ja) 2017-01-16 2017-01-16 衝突回避装置
CN201880006837.3A CN110191826B (zh) 2017-01-16 2018-01-10 防碰撞装置
PCT/JP2018/000307 WO2018131595A1 (ja) 2017-01-16 2018-01-10 衝突回避装置
US16/508,717 US11891034B2 (en) 2017-01-16 2019-07-11 Collision avoidance apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017005112A JP6593354B2 (ja) 2017-01-16 2017-01-16 衝突回避装置

Publications (3)

Publication Number Publication Date
JP2018114774A JP2018114774A (ja) 2018-07-26
JP2018114774A5 JP2018114774A5 (enExample) 2019-01-17
JP6593354B2 true JP6593354B2 (ja) 2019-10-23

Family

ID=62839602

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017005112A Active JP6593354B2 (ja) 2017-01-16 2017-01-16 衝突回避装置

Country Status (4)

Country Link
US (1) US11891034B2 (enExample)
JP (1) JP6593354B2 (enExample)
CN (1) CN110191826B (enExample)
WO (1) WO2018131595A1 (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018159429A1 (ja) 2017-03-02 2018-09-07 パナソニックＩｐマネジメント株式会社 運転支援方法およびそれを利用した運転支援装置、運転支援システム
JP2020095635A (ja) * 2018-12-14 2020-06-18 パナソニックＩｐマネジメント株式会社 車両制御装置、車両制御方法、車両制御プログラム、非一時的記録媒体、および車両
JP7476495B2 (ja) 2019-08-20 2024-05-01 オムロン株式会社 自律走行車両の衝突回避装置、衝突回避方法、衝突回避プログラム
CN110647146B (zh) * 2019-09-09 2023-01-31 深圳一清创新科技有限公司 无人车控制方法、装置、计算机设备和存储介质
WO2021121581A1 (en) * 2019-12-18 2021-06-24 Volvo Truck Corporation A method for providing a positive decision signal for a vehicle
WO2024085040A1 (ja) * 2022-10-21 2024-04-25 ソフトバンクグループ株式会社 情報処理装置、車両、及びプログラム

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JPH11328598A (ja) * 1998-05-18 1999-11-30 Toyota Motor Corp 交差点警報システム
DE69941338D1 (de) * 1998-10-30 2009-10-08 Virnetx Inc Netzwerkprotokol zur sicheren kommunikation mit gesicherter systemverfügbarkeit
JP4824511B2 (ja) * 2006-09-11 2011-11-30 本田技研工業株式会社 車両の走行安全装置
JP4814928B2 (ja) * 2008-10-27 2011-11-16 三菱電機株式会社 車両用衝突回避装置
DE102009057836B4 (de) * 2009-12-10 2013-02-21 Continental Teves Ag & Co. Ohg Notbremsassistenzsystem zur Unterstützung eines Fahrers eines Fahrzeugs beim Anfahren
JP5321441B2 (ja) * 2009-12-17 2013-10-23 三菱自動車工業株式会社 運転支援装置
JP5677154B2 (ja) * 2011-03-18 2015-02-25 富士重工業株式会社 車両用運転支援装置
JP5796547B2 (ja) * 2012-06-13 2015-10-21 株式会社アドヴィックス 車両の走行支援装置
JP5870908B2 (ja) * 2012-12-11 2016-03-01 株式会社デンソー 車両の衝突判定装置
US9569968B2 (en) * 2012-12-20 2017-02-14 Continental Teves Ag & Co. Ohg Method and device for the automated braking and steering of a vehicle
CN105246755B (zh) * 2013-05-31 2017-11-21 日立汽车系统株式会社 车辆控制装置
JP6180968B2 (ja) 2014-03-10 2017-08-16 日立オートモティブシステムズ株式会社 車両制御装置
JP6174516B2 (ja) * 2014-04-24 2017-08-02 本田技研工業株式会社 衝突回避支援装置、衝突回避支援方法、及びプログラム
US9308914B1 (en) * 2015-01-23 2016-04-12 Denso International America, Inc. Advanced driver assistance system for vehicle
US9688255B2 (en) * 2015-06-23 2017-06-27 Aai Corporation Using an accelerometer to detect tire skid
JP6493087B2 (ja) * 2015-08-24 2019-04-03 株式会社デンソー 車載カメラ装置
JP6304220B2 (ja) * 2015-12-08 2018-04-04 トヨタ自動車株式会社 運転支援装置
JP2017139359A (ja) * 2016-02-04 2017-08-10 住友電装株式会社 ブラケット取付治具及びブラケット付金属布の製造方法
JP6569659B2 (ja) * 2016-12-22 2019-09-04 トヨタ自動車株式会社 衝突回避支援装置

Also Published As

Publication number Publication date
US11891034B2 (en) 2024-02-06
WO2018131595A1 (ja) 2018-07-19
JP2018114774A (ja) 2018-07-26
US20190329745A1 (en) 2019-10-31
CN110191826B (zh) 2022-05-10
CN110191826A (zh) 2019-08-30

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