JP6613223B2 - 走行制御装置 - Google Patents
走行制御装置 Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 7
- 238000013213 extrapolation Methods 0.000 description 4
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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
- 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
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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
- B60W30/143—Speed 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
- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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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- 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
- B60K2031/0016—Identification of obstacles; Selection of a target 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/60—Doppler effect
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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
- 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
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/20—Data confidence level
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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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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- Engineering & Computer Science (AREA)
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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- Medical Informatics (AREA)
- Game Theory and Decision Science (AREA)
- Evolutionary Computation (AREA)
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- Business, Economics & Management (AREA)
- Regulating Braking Force (AREA)
Description
Claims (5)
- 自車両の進行方向前方に存在する物標を検出する物標検出部(12)を備える車両に適用され、前記物標検出部により検出された前記物標のうち、前記自車両が走行する走行車線としての自車線内を先行して走行する前記物標を追従対象物標として認識し、前記追従対象物標を対象として追従走行制御を実施する追従走行制御部(10)を備える走行制御装置(10)であって、
前記追従対象物標が前記自車線内に存在する確率を算出する確率算出部と、
前記追従走行制御部により認識された前記追従対象物標に対する前記物標検出部の認識度合いが所定度合いよりも弱い弱認識状態であるか否かを判定する判定部と、
前記確率算出部により算出される前記確率と、前記判定部による判定結果と、に基づいて、前記追従走行制御部により認識された前記追従対象物標の信頼度を設定する信頼度設定部と、
前記追従走行制御部による前記追従走行制御を実施期間中に、前記信頼度設定部により設定された前記追従対象物標の前記信頼度が低いほど、加速度の微分値である加加速度が小さくなるように前記自車両の前記加速度を制御する加速度制御部と、を備える走行制御装置。 - 前記加速度制御部は、前記自車両と前記追従対象物標との距離が所定距離よりも離れていることを条件として、前記信頼度設定部により設定された前記追従対象物標の前記信頼度が低いほど、前記加加速度が小さくなるように前記加速度を制御する請求項1に記載の走行制御装置。
- 前記判定部は、前記追従走行制御部により認識された前記追従対象物標が前記物標検出部により検出されなくなってから所定時間が経過するまでの期間中、前記追従走行制御部により認識された前記追従対象物標に対する前記物標検出部の認識度合いが前記弱認識状態であると判定する請求項1又は2に記載の走行制御装置。
- 前記物標検出部は、前記物標を検出するためのパラメータとしての反射波の強度が第一所定値よりも大きい情報を取得することで、前記情報が出力された位置に存在する前記物標を検出し、
前記判定部は、前記追従対象物標を検出する際に前記物標検出部により取得された前記情報に含まれる前記反射波の強度が、前記第一所定値よりも大きく設定された第二所定値よりも小さい場合に、前記追従走行制御部により認識された前記追従対象物標に対する前記物標検出部の認識度合いが前記弱認識状態であると判定する請求項1乃至3のいずれか1項に記載の走行制御装置。 - 前記信頼度設定部は、前記確率算出部により算出された前記確率が第一閾値よりも大きい場合に前記信頼度を第一信頼度に設定し、前記確率算出部により算出された前記確率が前記第一閾値よりも小さく設定された第二閾値よりも大きく、且つ、第一閾値よりも小さい状態であり、加えて、前記判定部により前記追従対象物標に対する前記物標検出部の認識度合いが前記弱認識状態ではないと判定された場合に前記信頼度を前記第一信頼度よりも低い第二信頼度に設定し、前記確率算出部により算出された前記確率が前記第二閾値よりも大きく、且つ、第一閾値よりも小さい状態であり、加えて、前記判定部により前記追従対象物標に対する前記物標検出部の認識度合いが前記弱認識状態であると判定された場合に前記信頼度を前記第二信頼度よりも低い第三信頼度に設定し、前記確率算出部により算出された前記確率が前記第二閾値よりも小さい状態であり、加えて、前記判定部により前記追従対象物標に対する前記物標検出部の認識度合いが前記弱認識状態ではないと判定された場合に前記信頼度を前記第三信頼度よりも低い第四信頼度に設定し、前記確率算出部により算出された前記確率が前記第二閾値よりも小さい状態であり、加えて、前記判定部により前記追従対象物標に対する前記物標検出部の認識度合いが前記弱認識状態であると判定された場合に前記信頼度を前記第四信頼度よりも低い第五信頼度に設定される請求項1乃至4のいずれか1項に記載の走行制御装置。
Priority Applications (3)
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JP2016224532A JP6613223B2 (ja) | 2016-11-17 | 2016-11-17 | 走行制御装置 |
PCT/JP2017/039082 WO2018092567A1 (ja) | 2016-11-17 | 2017-10-30 | 走行制御装置 |
US16/412,782 US11603096B2 (en) | 2016-11-17 | 2019-05-15 | Traveling control apparatus |
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Families Citing this family (5)
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JP6962469B2 (ja) * | 2018-06-29 | 2021-11-05 | 日産自動車株式会社 | 走行支援方法および走行支援装置 |
JP7254421B2 (ja) * | 2019-03-22 | 2023-04-10 | ダイハツ工業株式会社 | 追従走行制御装置 |
CN110509921B (zh) * | 2019-08-14 | 2021-02-19 | 广州小鹏汽车科技有限公司 | 自适应巡航方法及系统、车辆、可读存储介质 |
DE102020110671A1 (de) * | 2020-04-20 | 2021-04-15 | Daimler Ag | Verfahren zur automatisierten Längsregelung |
FR3114288A1 (fr) * | 2020-09-24 | 2022-03-25 | Psa Automobiles Sa | Procédé et dispositif de conduite autonome d’un véhicule terrestre à moteur, appelé égo-véhicule, par régulation de vitesse adaptative fondée sur une accélération consigne. |
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JP3470453B2 (ja) * | 1995-04-06 | 2003-11-25 | 株式会社デンソー | 車間距離制御装置 |
JP3235458B2 (ja) * | 1996-04-12 | 2001-12-04 | 日産自動車株式会社 | 車間距離制御装置および車間距離警報装置 |
JP3903856B2 (ja) * | 2002-06-14 | 2007-04-11 | 株式会社デンソー | 車両制御装置,プログラム |
JP3841047B2 (ja) * | 2002-12-05 | 2006-11-01 | 株式会社デンソー | 車間制御装置 |
US7136753B2 (en) * | 2002-12-05 | 2006-11-14 | Denso Corporation | Object recognition apparatus for vehicle, inter-vehicle control apparatus, and distance measurement apparatus |
JP2006038697A (ja) | 2004-07-28 | 2006-02-09 | Nissan Motor Co Ltd | 他車両検出装置及び車間距離制御装置 |
DE102006056629A1 (de) * | 2006-11-30 | 2008-06-05 | Bayerische Motoren Werke Ag | Verfahren zur Geschwindigkeits- und/oder Abstandsregelung bei Kraftfahrzeugen |
JP5838547B2 (ja) | 2010-12-02 | 2016-01-06 | トヨタ自動車株式会社 | 運転支援装置 |
DE102011102429A1 (de) * | 2011-05-25 | 2012-11-29 | Audi Ag | Verfahren zum Betrieb eines längsführenden Fahrassistenzsystems eines Kraftfahrzeugs und Kraftfahrzeug |
JP5994757B2 (ja) | 2013-09-17 | 2016-09-21 | トヨタ自動車株式会社 | 車両の制御装置 |
JP5929885B2 (ja) * | 2013-12-20 | 2016-06-08 | 株式会社デンソー | 車間制御装置 |
JP6040945B2 (ja) * | 2014-02-14 | 2016-12-07 | 株式会社デンソー | 先行車選択装置 |
US10289113B2 (en) * | 2016-02-25 | 2019-05-14 | Ford Global Technologies, Llc | Autonomous occupant attention-based control |
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US20190263402A1 (en) | 2019-08-29 |
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JP2018079848A (ja) | 2018-05-24 |
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