JP6822309B2 - 自動運転支援装置および自動運転支援方法 - Google Patents

自動運転支援装置および自動運転支援方法 Download PDF

Info

Publication number
JP6822309B2
JP6822309B2 JP2017096910A JP2017096910A JP6822309B2 JP 6822309 B2 JP6822309 B2 JP 6822309B2 JP 2017096910 A JP2017096910 A JP 2017096910A JP 2017096910 A JP2017096910 A JP 2017096910A JP 6822309 B2 JP6822309 B2 JP 6822309B2
Authority
JP
Japan
Prior art keywords
vehicle
automatic driving
abnormality
sensor
automatic
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
JP2017096910A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018192865A5 (enExample
JP2018192865A (ja
Inventor
幸一 枡田
幸一 枡田
石川　浩
石川　　浩
横山　隆久
横山　　隆久
丈仁 藤井
丈仁 藤井
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 JP2017096910A priority Critical patent/JP6822309B2/ja
Priority to CN201880028406.7A priority patent/CN110612241B/zh
Priority to DE112018002537.3T priority patent/DE112018002537T5/de
Priority to PCT/JP2018/009967 priority patent/WO2018211802A1/ja
Publication of JP2018192865A publication Critical patent/JP2018192865A/ja
Publication of JP2018192865A5 publication Critical patent/JP2018192865A5/ja
Priority to US16/682,356 priority patent/US11338818B2/en
Application granted granted Critical
Publication of JP6822309B2 publication Critical patent/JP6822309B2/ja
Priority to US17/646,273 priority patent/US11897488B2/en
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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • 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
    • 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
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • 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
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • 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
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/226—Communication links with the remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/228—Command input arrangements located on-board unmanned vehicles
    • 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
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0072—Controller asks driver to take over
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2017096910A 2017-05-16 2017-05-16 自動運転支援装置および自動運転支援方法 Active JP6822309B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2017096910A JP6822309B2 (ja) 2017-05-16 2017-05-16 自動運転支援装置および自動運転支援方法
CN201880028406.7A CN110612241B (zh) 2017-05-16 2018-03-14 自动驾驶辅助装置以及自动驾驶辅助方法
DE112018002537.3T DE112018002537T5 (de) 2017-05-16 2018-03-14 Assistenzverfahren und-vorrichtung für autonomes Fahren
PCT/JP2018/009967 WO2018211802A1 (ja) 2017-05-16 2018-03-14 自動運転支援装置および自動運転支援方法
US16/682,356 US11338818B2 (en) 2017-05-16 2019-11-13 Autonomous driving assistance method and device
US17/646,273 US11897488B2 (en) 2017-05-16 2021-12-28 Autonomous driving assistance method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017096910A JP6822309B2 (ja) 2017-05-16 2017-05-16 自動運転支援装置および自動運転支援方法

Publications (3)

Publication Number Publication Date
JP2018192865A JP2018192865A (ja) 2018-12-06
JP2018192865A5 JP2018192865A5 (enExample) 2019-08-15
JP6822309B2 true JP6822309B2 (ja) 2021-01-27

Family

ID=64274433

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017096910A Active JP6822309B2 (ja) 2017-05-16 2017-05-16 自動運転支援装置および自動運転支援方法

Country Status (5)

Country Link
US (2) US11338818B2 (enExample)
JP (1) JP6822309B2 (enExample)
CN (1) CN110612241B (enExample)
DE (1) DE112018002537T5 (enExample)
WO (1) WO2018211802A1 (enExample)

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109715920B (zh) * 2016-09-28 2021-10-22 日立安斯泰莫株式会社 车辆控制装置
JP7210906B2 (ja) * 2018-05-31 2023-01-24 株式会社デンソー 車両の自動運転制御装置及びプログラム
JP7202112B2 (ja) * 2018-09-11 2023-01-11 本田技研工業株式会社 車両用制御システムおよび車両の制御方法
US10960894B2 (en) * 2018-12-13 2021-03-30 Waymo Llc Automated performance checks for autonomous vehicles
JP6982564B2 (ja) * 2018-12-27 2021-12-17 本田技研工業株式会社 車両制御装置
WO2020191708A1 (en) * 2019-03-28 2020-10-01 Baidu.Com Times Technology (Beijing) Co., Ltd. An automatic driving safety interaction system
JP7247786B2 (ja) * 2019-06-28 2023-03-29 トヨタ自動車株式会社 自動運転車両
US11380147B2 (en) * 2019-09-04 2022-07-05 Pony Ai Inc. System and method for determining vehicle navigation in response to broken or uncalibrated sensors
CN112572465A (zh) * 2019-09-12 2021-03-30 中车时代电动汽车股份有限公司 一种智能驾驶汽车感知系统故障处理方法
WO2021111626A1 (ja) * 2019-12-06 2021-06-10 本田技研工業株式会社 車両及びその制御装置
JP6932213B2 (ja) * 2020-01-16 2021-09-08 本田技研工業株式会社 車両及びその制御装置
JP7268612B2 (ja) * 2020-01-20 2023-05-08 トヨタ自動車株式会社 運転支援装置
CN113264057B (zh) * 2020-02-14 2022-10-11 宁波吉利汽车研究开发有限公司 一种车辆传感器状态监测方法、装置及汽车
JP2021133891A (ja) * 2020-02-28 2021-09-13 いすゞ自動車株式会社 運転支援装置及び運転支援方法
US11554783B2 (en) * 2020-04-15 2023-01-17 Baidu Usa Llc Systems and methods to enhance early detection of performance induced risks for an autonomous driving vehicle
KR102872971B1 (ko) * 2020-08-10 2025-10-17 현대자동차주식회사 통합조작장치를 구비한 자율주행 차량의 주행 제어방법
BR112023003418A2 (pt) * 2020-08-28 2023-03-21 Nissan Motor Método de assistência à condução e dispositivo de assistência à condução
KR102789572B1 (ko) * 2020-08-31 2025-03-31 현대모비스 주식회사 차량용 주행 제어방법 및 시스템
US11577725B2 (en) * 2020-09-02 2023-02-14 Ford Global Technologies, Llc Vehicle speed and steering control
JP7461268B2 (ja) * 2020-10-05 2024-04-03 株式会社Subaru 車両の自己診断装置
JP6936380B1 (ja) * 2020-12-28 2021-09-15 本田技研工業株式会社 車両制御システム、および車両制御方法
JP7428272B2 (ja) * 2021-01-22 2024-02-06 株式会社デンソー 処理方法、処理システム、処理プログラム、処理装置
JP7631073B2 (ja) 2021-03-31 2025-02-18 本田技研工業株式会社 車両制御装置及び車両、並びに、車両制御装置の制御方法及びプログラム
JP7705265B2 (ja) * 2021-03-31 2025-07-09 本田技研工業株式会社 車両制御装置及び車両、並びに、車両制御装置の制御方法及びプログラム
US11897562B2 (en) * 2021-05-05 2024-02-13 Zf Friedrichshafen Ag Methods and systems for controlling a steering system of a vehicle
JP7655075B2 (ja) * 2021-05-19 2025-04-02 トヨタ自動車株式会社 車両制御装置
JP7433530B2 (ja) 2021-06-28 2024-02-19 三菱電機株式会社 自動運転支援装置
JP7617817B2 (ja) * 2021-06-29 2025-01-20 本田技研工業株式会社 運転支援装置、監視装置、運転支援方法、およびプログラム
JP2023117055A (ja) * 2022-02-10 2023-08-23 トヨタ自動車株式会社 車両管理システム、及び車両管理方法
CN114537440A (zh) * 2022-03-17 2022-05-27 重庆长安汽车股份有限公司 一种针对辅助驾驶功能定位失效的处理方法
JP7702037B2 (ja) * 2022-03-29 2025-07-02 Ａｓｔｅｍｏ株式会社 演算処理装置、演算処理方法
CN114954534B (zh) * 2022-07-13 2025-04-04 北京百度网讯科技有限公司 用于检测自动驾驶车辆的异常运行状态的方法与装置
JP7593424B2 (ja) 2023-01-12 2024-12-03 いすゞ自動車株式会社 自動運転装置
US20240270288A1 (en) * 2023-02-10 2024-08-15 Apple Inc. Obtaining User Input
US12391308B2 (en) * 2023-08-23 2025-08-19 Toyota Jidosha Kabushiki Kaisha False positive request detection
FR3157323B1 (fr) * 2023-12-21 2025-11-07 Ampere Sas Procédé et système de gestion du fonctionnement d’un véhicule automobile en modes de conduite mixtes

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0558323A (ja) 1991-09-04 1993-03-09 Nissan Motor Co Ltd 車両の補助操舵装置
JPH06307989A (ja) 1993-04-26 1994-11-04 Toyota Motor Corp 車両用センサのための異常検出装置
JPH09226696A (ja) * 1996-02-22 1997-09-02 Toshiba Corp 人工衛星姿勢制御装置
JP3424449B2 (ja) * 1996-07-05 2003-07-07 トヨタ自動車株式会社 車輌の挙動制御装置
JP3731258B2 (ja) * 1996-09-03 2006-01-05 日産自動車株式会社 車両用走行制御装置
US6198988B1 (en) * 1998-08-10 2001-03-06 Ford Global Technologies, Inc. Method for detecting an erroneous direction of travel signal
DE10040511A1 (de) * 2000-03-09 2001-09-20 Continental Teves Ag & Co Ohg Anordnung und Vorrichtung zur Erfassung von Gierbewegungen
WO2001066395A1 (de) 2000-03-09 2001-09-13 Continental Teves Ag & Co. Ohg Anordnung und vorrichtung zur erfassung von gierbewegungen mittels redundanter messkanäle
JP4543599B2 (ja) * 2001-08-27 2010-09-15 トヨタ自動車株式会社 車両の自動退避装置
JP4432885B2 (ja) * 2005-11-25 2010-03-17 トヨタ自動車株式会社 ヨーレート検出装置及びこれを備えた車両
JP2008116339A (ja) * 2006-11-06 2008-05-22 Denso Corp センサ装置およびセンサ装置を備えた車両制御システム
US7917270B2 (en) * 2007-06-19 2011-03-29 GM Global Technology Operations LLC Operation of electronic stability control systems using data from a plurality of sources
JP4985450B2 (ja) * 2008-02-14 2012-07-25 住友電気工業株式会社 情報提供装置、情報提供システム、車両及び情報提供方法
JP5228815B2 (ja) * 2008-11-11 2013-07-03 株式会社アドヴィックス ブレーキ制御装置
US8494708B2 (en) * 2009-08-24 2013-07-23 Robert Bosch Gmbh Good checking for vehicle yaw rate sensor
US8694224B2 (en) * 2012-03-01 2014-04-08 Magna Electronics Inc. Vehicle yaw rate correction
JP5885693B2 (ja) * 2013-03-22 2016-03-15 株式会社アドヴィックス ブレーキ制御装置
JP2015075899A (ja) * 2013-10-08 2015-04-20 本田技研工業株式会社 駐車支援システム
JP6212409B2 (ja) 2014-02-26 2017-10-11 株式会社Ｓｕｂａｒｕ 自動運転システム
JP6354424B2 (ja) * 2014-07-29 2018-07-11 日産自動車株式会社 車両制御装置
JP5898746B1 (ja) * 2014-09-29 2016-04-06 富士重工業株式会社 車両の走行制御装置
JP2016084092A (ja) * 2014-10-28 2016-05-19 富士重工業株式会社 車両の走行制御装置
JP6025268B2 (ja) * 2014-10-31 2016-11-16 富士重工業株式会社 車両の走行制御装置
US10940868B2 (en) * 2015-07-10 2021-03-09 Honda Motor Co., Ltd. Vehicle control device, vehicle control method, and vehicle control program
DE102015220355A1 (de) * 2015-10-20 2017-04-20 Robert Bosch Gmbh Substitution von Sensormessdaten

Also Published As

Publication number Publication date
CN110612241B (zh) 2022-11-29
DE112018002537T5 (de) 2020-02-20
US11338818B2 (en) 2022-05-24
US11897488B2 (en) 2024-02-13
WO2018211802A1 (ja) 2018-11-22
CN110612241A (zh) 2019-12-24
US20200079394A1 (en) 2020-03-12
US20220135056A1 (en) 2022-05-05
JP2018192865A (ja) 2018-12-06

Similar Documents

Publication Publication Date Title
JP6822309B2 (ja) 自動運転支援装置および自動運転支援方法
US10747220B2 (en) Autonomous driving control apparatus
JP7099970B2 (ja) 車両制御装置
US10501122B2 (en) Driving assistance device
JP5888407B2 (ja) 運転支援装置
US8086406B2 (en) Safety system for a means of transportation and a method relating to the same
JP6137194B2 (ja) 運転支援装置及び運転支援方法
JP6593607B2 (ja) 車両制御装置
US20200231159A1 (en) Control system of vehicle, control method of the same, and non-transitory computer-readable storage medium
JP2016199262A (ja) 後退走行中の前輪軌道逸脱に基づく衝突の回避
CN106965807A (zh) 车辆的驾驶辅助装置
CN107817791A (zh) 车辆控制装置
KR20170054186A (ko) 자율주행차량 제어 장치 및 그 방법
KR20200018715A (ko) 운전 지원 차량의 주행 제어 방법 및 주행 제어 장치
US20220032959A1 (en) Driving takeover control apparatus
CN111661042A (zh) 车辆控制装置
JP7138133B2 (ja) 車両制御装置、車両、車両制御装置の動作方法およびプログラム
US11130490B2 (en) Vehicle control device
CN113353097B (zh) 车辆控制装置、车辆及车辆控制方法
JP2020100258A (ja) 車両制御装置
US11097729B2 (en) Vehicle control device
JP2012212271A (ja) 運転支援装置
US20240208491A1 (en) Vehicle control device
JP6604368B2 (ja) 車両制御装置
JP4730833B2 (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: 20190702

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190702

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200519

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200716

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: 20201208

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20201221

R151 Written notification of patent or utility model registration

Ref document number: 6822309

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