JP6729282B2 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

Info

Publication number
JP6729282B2
JP6729282B2 JP2016204534A JP2016204534A JP6729282B2 JP 6729282 B2 JP6729282 B2 JP 6729282B2 JP 2016204534 A JP2016204534 A JP 2016204534A JP 2016204534 A JP2016204534 A JP 2016204534A JP 6729282 B2 JP6729282 B2 JP 6729282B2
Authority
JP
Japan
Prior art keywords
vehicle
lateral position
collision avoidance
acquired
avoidance control
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
JP2016204534A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018067102A5 (enExample
JP2018067102A (ja
Inventor
祐輔 横井
祐輔 横井
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
Original Assignee
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.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2016204534A priority Critical patent/JP6729282B2/ja
Priority to US16/342,326 priority patent/US10793096B2/en
Priority to PCT/JP2017/036715 priority patent/WO2018074287A1/ja
Publication of JP2018067102A publication Critical patent/JP2018067102A/ja
Publication of JP2018067102A5 publication Critical patent/JP2018067102A5/ja
Application granted granted Critical
Publication of JP6729282B2 publication Critical patent/JP6729282B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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
    • 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
    • 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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • 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
    • B60W30/08—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
    • 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
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
    • B60W30/08—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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • 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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60R2021/0002—Type of accident
    • 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
    • B60T2201/022—Collision avoidance systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)
JP2016204534A 2016-10-18 2016-10-18 車両制御装置 Active JP6729282B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016204534A JP6729282B2 (ja) 2016-10-18 2016-10-18 車両制御装置
US16/342,326 US10793096B2 (en) 2016-10-18 2017-10-10 Vehicle control device with object detection
PCT/JP2017/036715 WO2018074287A1 (ja) 2016-10-18 2017-10-10 車両制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016204534A JP6729282B2 (ja) 2016-10-18 2016-10-18 車両制御装置

Publications (3)

Publication Number Publication Date
JP2018067102A JP2018067102A (ja) 2018-04-26
JP2018067102A5 JP2018067102A5 (enExample) 2018-09-06
JP6729282B2 true JP6729282B2 (ja) 2020-07-22

Family

ID=62018699

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016204534A Active JP6729282B2 (ja) 2016-10-18 2016-10-18 車両制御装置

Country Status (3)

Country Link
US (1) US10793096B2 (enExample)
JP (1) JP6729282B2 (enExample)
WO (1) WO2018074287A1 (enExample)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7054327B2 (ja) * 2017-09-01 2022-04-13 株式会社デンソー 走行支援装置
KR102054926B1 (ko) * 2018-02-27 2019-12-12 주식회사 만도 Free Space 신호 기반 근거리 컷인 차량 검출 시스템 및 방법
US11518204B2 (en) * 2018-05-01 2022-12-06 Continental Autonomous Mobility US, LLC Trailer detection and autonomous hitching
JP7035862B2 (ja) * 2018-07-04 2022-03-15 株式会社デンソー 走行支援装置
JP7245006B2 (ja) 2018-07-05 2023-03-23 株式会社デンソー 車両の運転支援制御装置、車両の運転支援システムおよび車両の運転支援制御方法
JP7135808B2 (ja) * 2018-12-07 2022-09-13 トヨタ自動車株式会社 衝突回避支援装置
KR102673147B1 (ko) 2019-01-30 2024-06-07 주식회사 에이치엘클레무브 운전자 보조 시스템 및 그 제어방법
JP7261635B2 (ja) * 2019-03-28 2023-04-20 本田技研工業株式会社 車両制御装置
JP7275773B2 (ja) * 2019-04-02 2023-05-18 トヨタ自動車株式会社 車両制御装置
CN111169475B (zh) * 2020-01-15 2022-01-11 北京汽车集团有限公司 车辆碰撞预警装置、方法及车辆
EP4131207A4 (en) * 2020-03-31 2024-04-10 Pioneer Corporation INFORMATION PROCESSING DEVICE
KR20210150926A (ko) * 2020-06-03 2021-12-13 현대자동차주식회사 혼잡 교통 상황에서 저속 타겟 물체를 검출할 수 있는 자율 주행 제어 장치, 그를 포함한 시스템 및 그 방법
JP2022142510A (ja) * 2021-03-16 2022-09-30 パナソニックＩｐマネジメント株式会社 車両用周辺警戒装置および車両用周辺警戒方法
CN113232650A (zh) * 2021-05-31 2021-08-10 吉林大学 一种面对有前方车辆汇入的车辆避撞控制系统及控制方法
US12024162B2 (en) * 2021-08-19 2024-07-02 Aptiv Technologies AG Automatic emergency braking for a path-crossing target
US12275431B1 (en) * 2022-06-30 2025-04-15 Zoox, Inc. Identifying relevant objects within an environment
JP2024067217A (ja) * 2022-11-04 2024-05-17 トヨタ自動車株式会社 衝突被害軽減装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002148336A (ja) * 2000-11-15 2002-05-22 Fujitsu Ten Ltd 割り込み予測装置
JP2008117073A (ja) * 2006-11-01 2008-05-22 Fuji Heavy Ind Ltd 割り込み車両検出装置
JP5387531B2 (ja) 2010-08-26 2014-01-15 株式会社デンソー 走行支援装置
EP3007150A1 (en) * 2014-10-07 2016-04-13 Autoliv Development AB Lane change detection
JP6507839B2 (ja) * 2015-05-19 2019-05-08 株式会社デンソー 車両の走行制御装置
JP6477453B2 (ja) * 2015-12-17 2019-03-06 株式会社デンソー 物体検知装置、物体検知方法

Also Published As

Publication number Publication date
WO2018074287A1 (ja) 2018-04-26
JP2018067102A (ja) 2018-04-26
US20190263344A1 (en) 2019-08-29
US10793096B2 (en) 2020-10-06

Similar Documents

Publication Publication Date Title
JP6729282B2 (ja) 車両制御装置
JP6453695B2 (ja) 運転支援装置、及び運転支援方法
JP6561584B2 (ja) 車両制御装置、及び車両制御方法
JP5884771B2 (ja) 衝突緩和装置
US10446034B2 (en) Driving support system
CN109204311B (zh) 一种汽车速度控制方法和装置
US10787170B2 (en) Vehicle control method and apparatus
US20190061750A1 (en) Collision mitigation control device
WO2016159288A1 (ja) 物標存在判定方法及び装置
JP2016192166A (ja) 車両制御装置、及び車両制御方法
JP6669090B2 (ja) 車両制御装置
US20150336574A1 (en) Drive assist device
JP7035862B2 (ja) 走行支援装置
JP6358017B2 (ja) 運転支援装置
JP7054327B2 (ja) 走行支援装置
WO2017110703A1 (ja) 運転支援装置及び運転支援方法
US20210114591A1 (en) Driving assistance control apparatus for vehicle, driving assistance control system for vehicle, and driving assistance control method for vehicle
WO2017065212A1 (ja) 車両制御装置及び車両制御方法
JP6740970B2 (ja) 走行支援装置
JP6432538B2 (ja) 衝突予測装置
JP2017111684A (ja) 制御装置、制御方法
JP2019052920A (ja) 物体検出装置、物体検出方法及び車両制御システム
JP2016192167A (ja) 車両制御装置、及び車両制御方法
JP6520783B2 (ja) 車両検知装置
JP2022081350A (ja) 走行支援装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180726

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20180726

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20191008

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20191120

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20200602

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20200615

R151 Written notification of patent or utility model registration

Ref document number: 6729282

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250