JP6657881B2 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

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Publication number
JP6657881B2
JP6657881B2 JP2015237547A JP2015237547A JP6657881B2 JP 6657881 B2 JP6657881 B2 JP 6657881B2 JP 2015237547 A JP2015237547 A JP 2015237547A JP 2015237547 A JP2015237547 A JP 2015237547A JP 6657881 B2 JP6657881 B2 JP 6657881B2
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Japan
Prior art keywords
vehicle
target
control amount
lane
control
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Active
Application number
JP2015237547A
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English (en)
Japanese (ja)
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JP2017102828A (ja
JP2017102828A5 (cg-RX-API-DMAC10.html
Inventor
寛 伊能
寛 伊能
稔 岡田
岡田　　稔
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Denso Corp
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Denso Corp
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Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2015237547A priority Critical patent/JP6657881B2/ja
Priority to PCT/JP2016/085759 priority patent/WO2017094849A1/ja
Priority to US15/780,558 priority patent/US10632997B2/en
Publication of JP2017102828A publication Critical patent/JP2017102828A/ja
Publication of JP2017102828A5 publication Critical patent/JP2017102828A5/ja
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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
    • B60W30/10—Path keeping
    • 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
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
    • 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
    • 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
    • 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
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
JP2015237547A 2015-12-04 2015-12-04 車両制御装置 Active JP6657881B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2015237547A JP6657881B2 (ja) 2015-12-04 2015-12-04 車両制御装置
PCT/JP2016/085759 WO2017094849A1 (ja) 2015-12-04 2016-12-01 車両制御装置
US15/780,558 US10632997B2 (en) 2015-12-04 2016-12-01 Vehicle control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015237547A JP6657881B2 (ja) 2015-12-04 2015-12-04 車両制御装置

Publications (3)

Publication Number Publication Date
JP2017102828A JP2017102828A (ja) 2017-06-08
JP2017102828A5 JP2017102828A5 (cg-RX-API-DMAC10.html) 2018-03-08
JP6657881B2 true JP6657881B2 (ja) 2020-03-04

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015237547A Active JP6657881B2 (ja) 2015-12-04 2015-12-04 車両制御装置

Country Status (3)

Country Link
US (1) US10632997B2 (cg-RX-API-DMAC10.html)
JP (1) JP6657881B2 (cg-RX-API-DMAC10.html)
WO (1) WO2017094849A1 (cg-RX-API-DMAC10.html)

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JP6446732B2 (ja) * 2015-08-06 2019-01-09 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム
JP6977343B2 (ja) * 2017-07-07 2021-12-08 いすゞ自動車株式会社 車速制御装置及び車速制御方法
US10649458B2 (en) 2017-09-07 2020-05-12 Tusimple, Inc. Data-driven prediction-based system and method for trajectory planning of autonomous vehicles
JP6859907B2 (ja) * 2017-09-08 2021-04-14 トヨタ自動車株式会社 車両制御装置
US11073400B2 (en) 2017-11-07 2021-07-27 Uatc, Llc Map creation from hybrid data
US10730521B2 (en) * 2017-12-21 2020-08-04 Denso International America, Inc. System for autonomous lane merging
JP6972294B2 (ja) * 2018-02-26 2021-11-24 本田技研工業株式会社 車両制御システム、車両制御方法、およびプログラム
JP7119428B2 (ja) * 2018-03-02 2022-08-17 株式会社デンソー 運転支援装置
EP3758998A4 (en) * 2018-04-05 2021-12-01 TuSimple, Inc. SYSTEM AND METHOD FOR AUTOMATIC LANE CHANGE CONTROL FOR AUTONOMOUS VEHICLES
JP6800914B2 (ja) * 2018-06-15 2020-12-16 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
RU2760241C1 (ru) * 2018-06-29 2021-11-23 Ниссан Мотор Ко., Лтд. Способ помощи при вождении и устройство управления транспортным средством
JP7256982B2 (ja) 2018-12-28 2023-04-13 スズキ株式会社 車両の走行制御装置
JP7074660B2 (ja) * 2018-12-28 2022-05-24 本田技研工業株式会社 自動運転車両システム
JP7189509B2 (ja) * 2019-03-27 2022-12-14 スズキ株式会社 車両の走行制御装置
WO2020201797A1 (ja) * 2019-03-29 2020-10-08 日産自動車株式会社 車両制御 方法及び車両制御装置
US20200327812A1 (en) * 2019-04-09 2020-10-15 Cavh Llc Systems and methods for connected and automated vehicle highway systems dedicated lane management and control
JP7316542B2 (ja) * 2019-05-21 2023-07-28 スズキ株式会社 車両の走行制御装置
JP7393730B2 (ja) 2019-09-26 2023-12-07 スズキ株式会社 車両の走行制御装置
DE102020000593B4 (de) * 2020-01-30 2026-01-15 Mercedes-Benz Group AG Verfahren zum Betrieb eines Assistenzsystems
JP7429555B2 (ja) * 2020-01-31 2024-02-08 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
JP6990458B2 (ja) * 2020-02-03 2022-02-03 テラスペース株式会社 地球周回軌道上の人工衛星を利用して複数のユーザにサービスを提供するコンピュータシステム、そのコンピュータシステムにおいて実行される方法およびプログラム
USD963666S1 (en) * 2020-03-25 2022-09-13 Denso International America, Inc. Display screen or portion thereof with graphical user interface for a remote control vehicle
JP7431081B2 (ja) * 2020-03-27 2024-02-14 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
JP7061148B2 (ja) * 2020-03-31 2022-04-27 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
KR20210130324A (ko) * 2020-04-21 2021-11-01 현대자동차주식회사 운전자 보조 장치, 그를 가지는 차량 및 그 제어 방법
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KR20230021457A (ko) * 2021-08-05 2023-02-14 현대모비스 주식회사 차량의 장애물 감지 시스템 및 방법
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Publication number Publication date
JP2017102828A (ja) 2017-06-08
WO2017094849A1 (ja) 2017-06-08
US10632997B2 (en) 2020-04-28
US20180354518A1 (en) 2018-12-13

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