JP6809890B2 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

Info

Publication number
JP6809890B2
JP6809890B2 JP2016243209A JP2016243209A JP6809890B2 JP 6809890 B2 JP6809890 B2 JP 6809890B2 JP 2016243209 A JP2016243209 A JP 2016243209A JP 2016243209 A JP2016243209 A JP 2016243209A JP 6809890 B2 JP6809890 B2 JP 6809890B2
Authority
JP
Japan
Prior art keywords
vehicle
course
control device
vehicle control
branch point
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
JP2016243209A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018095143A5 (enExample
JP2018095143A (ja
Inventor
今井　正人
正人 今井
児島　隆生
隆生 児島
吉村　健太郎
健太郎 吉村
潔 萬谷
潔 萬谷
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.)
Hitachi Astemo Ltd
Original Assignee
Hitachi Automotive Systems Ltd
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 Hitachi Automotive Systems Ltd filed Critical Hitachi Automotive Systems Ltd
Priority to JP2016243209A priority Critical patent/JP6809890B2/ja
Priority to PCT/JP2017/043932 priority patent/WO2018110400A1/ja
Priority to US16/463,042 priority patent/US11163310B2/en
Publication of JP2018095143A publication Critical patent/JP2018095143A/ja
Publication of JP2018095143A5 publication Critical patent/JP2018095143A5/ja
Application granted granted Critical
Publication of JP6809890B2 publication Critical patent/JP6809890B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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
    • B60W30/08—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
    • B60W30/10—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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • 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
    • B60T2201/08—Lane monitoring; Lane Keeping 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4026—Cycles
    • 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
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians
    • 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
    • B60W2554/60—Traversable objects, e.g. speed bumps or curbs
    • 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
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (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)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
JP2016243209A 2016-12-15 2016-12-15 車両制御装置 Active JP6809890B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016243209A JP6809890B2 (ja) 2016-12-15 2016-12-15 車両制御装置
PCT/JP2017/043932 WO2018110400A1 (ja) 2016-12-15 2017-12-07 車両制御装置
US16/463,042 US11163310B2 (en) 2016-12-15 2017-12-07 Vehicle control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016243209A JP6809890B2 (ja) 2016-12-15 2016-12-15 車両制御装置

Publications (3)

Publication Number Publication Date
JP2018095143A JP2018095143A (ja) 2018-06-21
JP2018095143A5 JP2018095143A5 (enExample) 2019-10-24
JP6809890B2 true JP6809890B2 (ja) 2021-01-06

Family

ID=62558591

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016243209A Active JP6809890B2 (ja) 2016-12-15 2016-12-15 車両制御装置

Country Status (3)

Country Link
US (1) US11163310B2 (enExample)
JP (1) JP6809890B2 (enExample)
WO (1) WO2018110400A1 (enExample)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016121523A1 (de) * 2015-11-17 2017-05-18 Lacos Computerservice Gmbh Verfahren zum prädikativen Erzeugen von Daten zur Steuerung eines Fahrweges und eines Betriebsablaufes für landwirtschaftliche Fahrzeuge und Maschinen
JP6704890B2 (ja) * 2017-11-08 2020-06-03 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
US10583839B2 (en) * 2017-12-28 2020-03-10 Automotive Research & Testing Center Method of lane change decision-making and path planning
JP7136043B2 (ja) * 2018-08-31 2022-09-13 株式会社デンソー 交差点内の走行軌道データ生成装置及び走行軌道データ生成プログラム
US11001256B2 (en) 2018-09-19 2021-05-11 Zoox, Inc. Collision prediction and avoidance for vehicles
US12179798B2 (en) * 2018-12-05 2024-12-31 Waymo Llc Tree policy planning for autonomous vehicle driving solutions
US11192545B1 (en) 2018-12-05 2021-12-07 Waymo Llc Risk mitigation in speed planning
US11276304B2 (en) * 2018-12-20 2022-03-15 Denso International America, Inc. Systems and methods for addressing a moving vehicle response to a stationary vehicle
KR102678198B1 (ko) * 2019-05-20 2024-06-26 현대모비스 주식회사 자율 주행 장치 및 방법
KR102678197B1 (ko) * 2019-05-20 2024-06-26 현대모비스 주식회사 자율 주행 장치 및 방법
CN110780602B (zh) * 2019-09-09 2022-02-18 腾讯科技（深圳）有限公司 一种仿真车辆换道轨迹的构建方法、装置及设备
CN110750052A (zh) * 2019-09-30 2020-02-04 奇点汽车研发中心有限公司 驾驶模型的训练方法和装置、电子设备和介质
US11834045B2 (en) 2019-10-08 2023-12-05 Motional Ad Llc Navigating multi-way stop intersections with an autonomous vehicle
CN110794839B (zh) * 2019-11-07 2022-04-29 中国第一汽车股份有限公司 一种异形路口的自动驾驶控制方法及车辆
JP7163934B2 (ja) * 2020-01-17 2022-11-01 株式会社デンソー 先行車判別装置、先行車判別方法、および先行車判別プログラム
JP7400508B2 (ja) * 2020-02-03 2023-12-19 株式会社デンソー 軌道生成装置、軌道生成方法、軌道生成プログラム
KR102318113B1 (ko) * 2020-03-25 2021-10-27 충북대학교 산학협력단 자율주행차의 센서 커버리지 초과 위험 대응 시스템 및 방법
JP7517227B2 (ja) * 2021-03-31 2024-07-17 トヨタ自動車株式会社 交通管制システム、交通管制方法及びプログラム
CN115246416B (zh) * 2021-05-13 2023-09-26 上海仙途智能科技有限公司 轨迹预测方法、装置、设备及计算机可读存储介质
CN113928312B (zh) * 2021-09-16 2024-03-26 联想(北京)有限公司 一种数据处理方法及装置
FR3129648A1 (fr) * 2021-11-30 2023-06-02 Psa Automobiles Sa Procédé et dispositif de contrôle d’un système d’aide au positionnement d’un véhicule dans une file de circulation
US12172668B2 (en) * 2021-12-20 2024-12-24 Toyota Motor Engineering & Manufacturing North America, Inc. Vehicles and methods for sharing sensor data based on criticality
KR102663150B1 (ko) * 2021-12-21 2024-05-03 주식회사 현대케피코 자율 주행 차량의 제어 장치 및 방법
CN114889639B (zh) * 2022-04-25 2025-04-04 苏州轻棹科技有限公司 一种基于规划分支时间进行规划轨迹查询的处理方法
JP2024162004A (ja) * 2023-05-09 2024-11-21 トヨタ自動車株式会社 情報処理装置
DE102023119851A1 (de) * 2023-07-26 2025-01-30 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Annäherung eines Kraftfahrzeugs an eine Blockadesituation
JP2025024550A (ja) * 2023-08-07 2025-02-20 トヨタ自動車株式会社 車両の制御装置、車両の制御方法及びコンピュータプログラム

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3301386B2 (ja) * 1998-07-03 2002-07-15 株式会社デンソー 車載用ナビゲーション装置
DE102005048398B4 (de) * 2005-10-10 2007-07-05 Sassin, Wolfgang, Dr. Assistenzsystem für den Fahrer eines Fahrzeugs, insbesondere eines Kraftfahrzeugs für den öffentlichen Straßenverkehr
JP4572822B2 (ja) * 2005-11-30 2010-11-04 アイシン・エィ・ダブリュ株式会社 経路案内システム及び経路案内方法
JP2011162132A (ja) 2010-02-12 2011-08-25 Toyota Motor Corp 自動運転装置
US8996254B2 (en) * 2010-12-01 2015-03-31 Toyota Jidosha Kabushiki Kaisha Vehicle steering control apparatus
CN102893130B (zh) * 2011-05-06 2015-09-02 丰田自动车株式会社 车辆行进路线推断装置
JP5964609B2 (ja) 2012-02-23 2016-08-03 株式会社日本自動車部品総合研究所 車両用追従制御装置
US9988047B2 (en) * 2013-12-12 2018-06-05 Magna Electronics Inc. Vehicle control system with traffic driving control
US9079587B1 (en) * 2014-02-14 2015-07-14 Ford Global Technologies, Llc Autonomous control in a dense vehicle environment
EP3187389B1 (en) * 2014-08-29 2019-11-06 Nissan Motor Co., Ltd Travel control device and travel control method
US20160084661A1 (en) * 2014-09-23 2016-03-24 GM Global Technology Operations LLC Performance driving system and method
MX364574B (es) * 2015-01-05 2019-05-02 Nissan Motor Dispositivo de generacion de ruta objetivo y dispositivo de control de conduccion.
WO2016110732A1 (ja) * 2015-01-05 2016-07-14 日産自動車株式会社 目標経路生成装置および走行制御装置
US11167753B2 (en) * 2017-01-11 2021-11-09 Honda Motor Co., Ltd. Vehicle control device, vehicle control method, and vehicle control program
US11767012B2 (en) * 2017-01-19 2023-09-26 Hl Klemove Corp. Camera system for intelligent driver assistance system, and driver assistance system and method
WO2018147066A1 (ja) * 2017-02-08 2018-08-16 株式会社デンソー 車両用表示制御装置
JP6897340B2 (ja) * 2017-06-02 2021-06-30 株式会社アイシン 周辺監視装置
JP6838525B2 (ja) * 2017-08-23 2021-03-03 日立Astemo株式会社 車両制御装置
JP6627152B2 (ja) * 2017-09-08 2020-01-08 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
JP6802778B2 (ja) * 2017-12-01 2020-12-23 本田技研工業株式会社 車両、経路算出装置及び経路算出方法
US10824153B2 (en) * 2018-04-16 2020-11-03 Baidu Usa Llc Cost design for path selection in autonomous driving technology
US10921135B2 (en) * 2018-10-12 2021-02-16 Baidu Usa Llc Real-time map generation scheme for autonomous vehicles based on prior driving trajectories
US10908613B2 (en) * 2018-10-15 2021-02-02 Baidu Usa Llc Optimal longitudinal trajectory generation under varied lateral acceleration constraints
US11048252B2 (en) * 2018-10-19 2021-06-29 Baidu Usa Llc Optimal path generation for static obstacle avoidance
US11077878B2 (en) * 2018-11-02 2021-08-03 Zoox, Inc. Dynamic lane biasing
EP3700796B1 (en) * 2018-12-26 2021-04-14 Baidu.com Times Technology (Beijing) Co., Ltd. Methods for obstacle filtering for non-nudge planning system in autonomous driving vehicle
JP7091291B2 (ja) * 2019-08-09 2022-06-27 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
JP7198176B2 (ja) * 2019-08-09 2022-12-28 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

Also Published As

Publication number Publication date
US20190278280A1 (en) 2019-09-12
JP2018095143A (ja) 2018-06-21
US11163310B2 (en) 2021-11-02
WO2018110400A1 (ja) 2018-06-21

Similar Documents

Publication Publication Date Title
JP6809890B2 (ja) 車両制御装置
US10845809B2 (en) Automatic driving device
JP6951271B2 (ja) 車両制御装置
JP7003423B2 (ja) 車両の走行制御装置
JP6747597B2 (ja) 運転支援車両の走行制御方法及び走行制御装置
CN105774806B (zh) 车辆行驶控制装置
RU2760046C1 (ru) Способ помощи при вождении и устройство помощи при вождении
CN103380033B (zh) 车辆控制装置
CN110799403B (zh) 车辆控制装置
US10902729B2 (en) Vehicle, travel control device, and travel control method
WO2016104198A1 (ja) 車両制御装置
CN109917783B (zh) 驾驶辅助装置
JP7156252B2 (ja) 運転支援装置
CN106062852A (zh) 与多个移动体的碰撞回避系统
JP5146482B2 (ja) 交錯点マップ作成装置および交錯点マップ作成装置用のプログラム
JP7379033B2 (ja) 運転支援方法及び運転支援装置
JP2017068461A (ja) 車両の運転支援装置
US20190120634A1 (en) Vehicle control device
CN112985435A (zh) 用于操作自主驾驶车辆的方法及系统
WO2022162909A1 (ja) 表示制御装置及び表示制御方法
JPH04304600A (ja) 移動車の走行状態判断装置
JP6330868B2 (ja) 車両制御装置
CN114261391A (zh) 用于控制本车辆的转弯操作的方法和设备
JP7782682B2 (ja) 情報提供装置及び情報提供方法
JP7753270B2 (ja) 運転支援装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190912

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190912

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200421

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20200622

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200819

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: 20201117

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20201210

R150 Certificate of patent or registration of utility model

Ref document number: 6809890

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

S533 Written request for registration of change of name

Free format text: JAPANESE INTERMEDIATE CODE: R313533

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

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