JP6677134B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- 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
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- 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
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- 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
- 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
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- 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
- 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
- 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
- B60T2201/02—Active or adaptive cruise control system; Distance control
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- 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
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- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
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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
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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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
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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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
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0616—Position of fuel or air injector
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0616—Position of fuel or air injector
- B60W2710/0627—Fuel flow rate
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
また、本発明の運転支援装置の他の態様は、自車両の前方を走行する先行車両を検知すると共に前記先行車両との車間距離を測定する車両検知手段からの出力に基づいて前記自車両を減速させる運転支援装置であって、前記自車両に対して減速制御を行う減速制御手段と、前記自車両の周辺の天候が、前記車両検知手段の検知性能に影響を及ぼす可能性があるとき、前記自車両の位置及び前記自車両が走行する走行路上の道路構造物に関する情報に基づいてトンネル状道路構造物の入口又は出口から所定距離手前で、前記減速制御手段に一次減速制御を実施させ、その後、前記車両検知手段が前記先行車両を検知し、かつ、前記車間距離が所定値以下の場合に、前記減速制御手段に二次減速制御を実施させる減速制御支援手段と、を具備し、前記減速制御支援手段は、前記トンネル状道路構造物の出口側では、前記車両検知手段が前記トンネル状道路構造物内で前記先行車両を検出している場合に前記一次減速制御及び前記二次減速制御を実施させることを特徴とする。
2 道路
3 トンネル
4 自動二輪車(先行車両)
5 大型トラック(大型車両)
6 対向車両
100 運転支援装置
101 減速制御支援手段
102 運転制御手段(減速制御手段)
103 ミリ波レーダ(車両検知手段)
104 記憶手段
105 GPS受信部
106 ジャイロセンサ
107 加速度センサ
108 車速センサ
109 報知手段
110 減速手段
111 雨滴量センサ
Claims (6)
- 自車両の前方を走行する先行車両を検知すると共に前記先行車両との車間距離を測定する車両検知手段からの出力に基づいて前記自車両を減速させる運転支援装置であって、
前記自車両に対して減速制御を行う減速制御手段と、
前記自車両の周辺の天候が、前記車両検知手段の検知性能に影響を及ぼす可能性があるとき、前記自車両の位置及び前記自車両が走行する走行路上の道路構造物に関する情報に基づいてトンネル状道路構造物の入口又は出口から所定距離手前で、前記減速制御手段に一次減速制御を実施させ、その後、前記車両検知手段が前記先行車両を検知し、かつ、前記車間距離が所定値以下の場合に、前記減速制御手段に二次減速制御を実施させる減速制御支援手段と、を具備し、
前記減速制御支援手段は、前記トンネル状道路構造物の入口側では、前記車両検知手段が大型車両を検出している場合に前記一次減速制御及び前記二次減速制御を実施させることを特徴とする運転支援装置。 - 自車両の前方を走行する先行車両を検知すると共に前記先行車両との車間距離を測定する車両検知手段からの出力に基づいて前記自車両を減速させる運転支援装置であって、
前記自車両に対して減速制御を行う減速制御手段と、
前記自車両の周辺の天候が、前記車両検知手段の検知性能に影響を及ぼす可能性があるとき、前記自車両の位置及び前記自車両が走行する走行路上の道路構造物に関する情報に基づいてトンネル状道路構造物の入口又は出口から所定距離手前で、前記減速制御手段に一次減速制御を実施させ、その後、前記車両検知手段が前記先行車両を検知し、かつ、前記車間距離が所定値以下の場合に、前記減速制御手段に二次減速制御を実施させる減速制御支援手段と、を具備し、
前記減速制御支援手段は、前記トンネル状道路構造物の出口側では、前記車両検知手段が前記トンネル状道路構造物内で前記先行車両を検出している場合に前記一次減速制御及び前記二次減速制御を実施させることを特徴とする運転支援装置。 - 前記減速制御支援手段は、前記トンネル状道路構造物の出口側では、前記車両検知手段が前記トンネル状道路構造物内で前記先行車両を検出している場合に前記一次減速制御及び前記二次減速制御を実施させることを特徴とする請求項1に記載の運転支援装置。
- 前記一次減速制御の制御量は、前記二次減速制御の制御量よりも小さいことを特徴とする請求項1から請求項3のいずれかに記載の運転支援装置。
- 前記一次減速制御が燃料供給カットであり、前記二次減速制御がブレーキ制御であることを特徴とする請求項1から請求項4のいずれかに記載の運転支援装置。
- 前記減速制御支援手段が、前記減速制御手段に前記一次減速制御を実施させるときに、前記自車両より後方を走行する後方車両に前記自車両が減速状態であることを報知する報知手段をさらに具備することを特徴とする請求項1から請求項5のいずれかに記載の運転支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2016178673A JP6677134B2 (ja) | 2016-09-13 | 2016-09-13 | 運転支援装置 |
US15/671,839 US9932036B1 (en) | 2016-09-13 | 2017-08-08 | Driving assistance device |
DE102017007504.2A DE102017007504B4 (de) | 2016-09-13 | 2017-08-08 | Fahrassistenzvorrichtung |
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JP2016178673A JP6677134B2 (ja) | 2016-09-13 | 2016-09-13 | 運転支援装置 |
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JP6677134B2 true JP6677134B2 (ja) | 2020-04-08 |
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JP2020152222A (ja) * | 2019-03-20 | 2020-09-24 | 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 |
JP7038097B2 (ja) * | 2019-12-25 | 2022-03-17 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
JP7375678B2 (ja) * | 2020-06-02 | 2023-11-08 | トヨタ自動車株式会社 | 車両制御方法、車両制御プログラム、及び車両制御システム |
JP2022037448A (ja) * | 2020-08-25 | 2022-03-09 | スズキ株式会社 | 運転支援装置 |
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JP3173878B2 (ja) * | 1992-07-23 | 2001-06-04 | マツダ株式会社 | 車両の走行安全装置 |
JP3644149B2 (ja) | 1996-09-10 | 2005-04-27 | 日産自動車株式会社 | 車間距離制御型定速走行装置 |
JP4122639B2 (ja) * | 1999-07-19 | 2008-07-23 | マツダ株式会社 | 車両の走行制御装置 |
JP3960317B2 (ja) * | 2004-03-03 | 2007-08-15 | 日産自動車株式会社 | 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両 |
JP3982540B2 (ja) * | 2005-04-11 | 2007-09-26 | トヨタ自動車株式会社 | 車両の制御装置 |
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