JP6711312B2 - 車両の自動運転制御システム - Google Patents

車両の自動運転制御システム Download PDF

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Publication number
JP6711312B2
JP6711312B2 JP2017095448A JP2017095448A JP6711312B2 JP 6711312 B2 JP6711312 B2 JP 6711312B2 JP 2017095448 A JP2017095448 A JP 2017095448A JP 2017095448 A JP2017095448 A JP 2017095448A JP 6711312 B2 JP6711312 B2 JP 6711312B2
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JP
Japan
Prior art keywords
vehicle
automatic driving
steering angle
driving control
collision
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Active
Application number
JP2017095448A
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English (en)
Japanese (ja)
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JP2018192826A (ja
JP2018192826A5 (enExample
Inventor
光晴 東谷
光晴 東谷
宣昭 池本
池本　　宣昭
長谷　智実
智実 長谷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
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Denso Corp
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Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2017095448A priority Critical patent/JP6711312B2/ja
Priority to CN201880031369.5A priority patent/CN110621551A/zh
Priority to PCT/JP2018/006184 priority patent/WO2018207425A1/ja
Publication of JP2018192826A publication Critical patent/JP2018192826A/ja
Publication of JP2018192826A5 publication Critical patent/JP2018192826A5/ja
Priority to US16/681,011 priority patent/US20200079366A1/en
Application granted granted Critical
Publication of JP6711312B2 publication Critical patent/JP6711312B2/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
    • B60W30/08—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
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B60R16/033—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for characterised by the use of electrical cells or batteries
    • 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
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/017—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including arrangements for providing electric power to safety arrangements or their actuating means, e.g. to pyrotechnic fuses or electro-mechanic valves
    • 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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W30/18154—Approaching an intersection
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • 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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Power Engineering (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Regulating Braking Force (AREA)
JP2017095448A 2017-05-12 2017-05-12 車両の自動運転制御システム Active JP6711312B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2017095448A JP6711312B2 (ja) 2017-05-12 2017-05-12 車両の自動運転制御システム
CN201880031369.5A CN110621551A (zh) 2017-05-12 2018-02-21 车辆的自动驾驶控制系统
PCT/JP2018/006184 WO2018207425A1 (ja) 2017-05-12 2018-02-21 車両の自動運転制御システム
US16/681,011 US20200079366A1 (en) 2017-05-12 2019-11-12 Automatic driving control system for vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017095448A JP6711312B2 (ja) 2017-05-12 2017-05-12 車両の自動運転制御システム

Publications (3)

Publication Number Publication Date
JP2018192826A JP2018192826A (ja) 2018-12-06
JP2018192826A5 JP2018192826A5 (enExample) 2019-09-19
JP6711312B2 true JP6711312B2 (ja) 2020-06-17

Family

ID=64104943

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017095448A Active JP6711312B2 (ja) 2017-05-12 2017-05-12 車両の自動運転制御システム

Country Status (4)

Country Link
US (1) US20200079366A1 (enExample)
JP (1) JP6711312B2 (enExample)
CN (1) CN110621551A (enExample)
WO (1) WO2018207425A1 (enExample)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7024667B2 (ja) * 2018-08-30 2022-02-24 トヨタ自動車株式会社 車両用電源システム
JP7247499B2 (ja) * 2018-09-20 2023-03-29 いすゞ自動車株式会社 車両用監視装置
CN111086508B (zh) * 2018-10-24 2024-11-22 罗伯特·博世有限公司 自动躲避或减轻碰撞的方法及控制系统、存储介质和汽车
CN111376854A (zh) * 2018-12-28 2020-07-07 观致汽车有限公司 用于机动车的高级驾驶辅助系统的供电装置
JP7190946B2 (ja) * 2019-03-20 2022-12-16 三菱重工エンジニアリング株式会社 電源装置、自動操舵車両、及び電力供給方法
US11351987B2 (en) * 2019-09-13 2022-06-07 Intel Corporation Proactive vehicle safety system
JP7268612B2 (ja) * 2020-01-20 2023-05-08 トヨタ自動車株式会社 運転支援装置
US11719821B2 (en) * 2020-02-21 2023-08-08 BlueSpace.ai, Inc. Method for object avoidance during autonomous navigation
US12222720B2 (en) * 2020-04-29 2025-02-11 Gm Cruise Holdings Llc Dynamic tire rotation during collision
KR20220022381A (ko) * 2020-08-18 2022-02-25 현대자동차주식회사 차량 및 그 제어 방법
JP7552284B2 (ja) * 2020-11-19 2024-09-18 株式会社ジェイテクト 異常検出装置
JP7400754B2 (ja) * 2021-02-24 2023-12-19 トヨタ自動車株式会社 遠隔支援システム及び遠隔支援方法
CN114771652B (zh) * 2022-04-15 2024-11-26 江铃汽车股份有限公司 一种自动驾驶转向控制方法及系统
US12472984B2 (en) * 2023-09-26 2025-11-18 Honda Motor Co., Ltd. Method, program, storage medium and assistance system for assisting ego-agent and vehicle
CN119239583A (zh) * 2024-09-27 2025-01-03 赛力斯汽车有限公司 车辆防追尾夹击系统及车辆

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* Cited by examiner, † Cited by third party
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JP2006062419A (ja) * 2004-08-24 2006-03-09 Toyota Motor Corp 車両制御装置
JP2006199134A (ja) * 2005-01-20 2006-08-03 Mazda Motor Corp 車両のステアリング装置
JP2006306270A (ja) * 2005-04-28 2006-11-09 Nissan Motor Co Ltd 車両の衝突制御装置
JP2007190977A (ja) * 2006-01-17 2007-08-02 Toyota Motor Corp 車両制御装置
JP4245059B2 (ja) * 2007-02-27 2009-03-25 株式会社デンソー 車載緊急通報装置
JP2012045984A (ja) * 2010-08-24 2012-03-08 Mitsubishi Motors Corp 衝突軽減装置
US8698639B2 (en) * 2011-02-18 2014-04-15 Honda Motor Co., Ltd. System and method for responding to driver behavior
CN102275557B (zh) * 2011-04-27 2013-05-22 奇瑞汽车股份有限公司 一种车辆碰撞安全控制系统及其控制方法
JP5590231B2 (ja) * 2011-05-12 2014-09-17 トヨタ自動車株式会社 車両用衝突検知装置
JP6135491B2 (ja) * 2013-12-16 2017-05-31 株式会社オートネットワーク技術研究所 自動車用電源装置
JP6451211B2 (ja) * 2014-10-30 2019-01-16 日産自動車株式会社 走行制御装置
JP6115579B2 (ja) * 2015-02-16 2017-04-19 トヨタ自動車株式会社 衝突回避装置
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Also Published As

Publication number Publication date
JP2018192826A (ja) 2018-12-06
WO2018207425A1 (ja) 2018-11-15
US20200079366A1 (en) 2020-03-12
CN110621551A (zh) 2019-12-27

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