JP6805105B2 - 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法 - Google Patents

制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法 Download PDF

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Publication number
JP6805105B2
JP6805105B2 JP2017187659A JP2017187659A JP6805105B2 JP 6805105 B2 JP6805105 B2 JP 6805105B2 JP 2017187659 A JP2017187659 A JP 2017187659A JP 2017187659 A JP2017187659 A JP 2017187659A JP 6805105 B2 JP6805105 B2 JP 6805105B2
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Prior art keywords
vehicle
controlled
setting
control target
setting device
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JP2017187659A
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English (en)
Japanese (ja)
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JP2019061613A (ja
JP2019061613A5 (enExample
Inventor
洋平 増井
洋平 増井
綾 水野
綾 水野
前田　貴史
貴史 前田
直紀 楠本
直紀 楠本
雄貴 手塚
雄貴 手塚
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Denso Corp
Toyota Motor Corp
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Denso Corp
Toyota Motor Corp
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Application filed by Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Priority to JP2017187659A priority Critical patent/JP6805105B2/ja
Priority to DE112018004361.4T priority patent/DE112018004361B4/de
Priority to CN201880062327.8A priority patent/CN111149142B/zh
Priority to PCT/JP2018/028242 priority patent/WO2019064875A1/ja
Publication of JP2019061613A publication Critical patent/JP2019061613A/ja
Publication of JP2019061613A5 publication Critical patent/JP2019061613A5/ja
Priority to US16/829,984 priority patent/US11235766B2/en
Application granted granted Critical
Publication of JP6805105B2 publication Critical patent/JP6805105B2/ja
Priority to US17/645,848 priority patent/US11975716B2/en
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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
    • 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
    • B60W30/162—Speed limiting therefor
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • 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
    • 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
    • B60K2031/0033—Detecting longitudinal speed or acceleration of target vehicle
    • 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
    • B60K2031/0041—Detecting lateral speed of target vehicle
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • 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
    • B60W2554/806—Relative heading
    • 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
    • B60W2556/10—Historical data

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2017187659A 2017-09-28 2017-09-28 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法 Active JP6805105B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2017187659A JP6805105B2 (ja) 2017-09-28 2017-09-28 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法
DE112018004361.4T DE112018004361B4 (de) 2017-09-28 2018-07-27 Vorrichtung zum festlegen eines zielfahrzeugs, system zum festlegen eines zielfahrzeugs und verfahren zum festlegen eines zielfahrzeugs
CN201880062327.8A CN111149142B (zh) 2017-09-28 2018-07-27 控制对象车辆设定装置及其系统、方法
PCT/JP2018/028242 WO2019064875A1 (ja) 2017-09-28 2018-07-27 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法
US16/829,984 US11235766B2 (en) 2017-09-28 2020-03-25 Device for setting target vehicle, system for setting target vehicle, and method for setting target vehicle
US17/645,848 US11975716B2 (en) 2017-09-28 2021-12-23 Device for setting target vehicle, system for setting target vehicle, and method for setting target vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017187659A JP6805105B2 (ja) 2017-09-28 2017-09-28 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法

Publications (3)

Publication Number Publication Date
JP2019061613A JP2019061613A (ja) 2019-04-18
JP2019061613A5 JP2019061613A5 (enExample) 2019-09-26
JP6805105B2 true JP6805105B2 (ja) 2020-12-23

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US (2) US11235766B2 (enExample)
JP (1) JP6805105B2 (enExample)
CN (1) CN111149142B (enExample)
DE (1) DE112018004361B4 (enExample)
WO (1) WO2019064875A1 (enExample)

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JP7264103B2 (ja) 2020-04-21 2023-04-25 トヨタ自動車株式会社 車両制御システム及び車両制御方法
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JP7355049B2 (ja) 2021-03-03 2023-10-03 トヨタ自動車株式会社 車両制御方法、車両制御システム、及び情報処理装置
KR102603672B1 (ko) * 2021-11-17 2023-11-21 한국생산기술연구원 농작업 차량의 자율주행장치, 시스템 및 그 방법
JP7600971B2 (ja) 2021-12-03 2024-12-17 トヨタ自動車株式会社 車載通知装置
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Publication number Publication date
DE112018004361B4 (de) 2024-11-14
JP2019061613A (ja) 2019-04-18
DE112018004361T5 (de) 2020-09-24
CN111149142B (zh) 2022-09-27
US11235766B2 (en) 2022-02-01
US20220111842A1 (en) 2022-04-14
CN111149142A (zh) 2020-05-12
US20200223438A1 (en) 2020-07-16
US11975716B2 (en) 2024-05-07
WO2019064875A1 (ja) 2019-04-04

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