JP6841330B2 - 車両走行制御方法及び車両走行制御装置 - Google Patents
車両走行制御方法及び車両走行制御装置 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 27
- 238000001514 detection method Methods 0.000 description 12
- 238000004891 communication Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 238000013459 approach Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0255—Automatic changing of lane, e.g. for passing another 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative 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
- 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
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- 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
-
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/22—Display screens
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
2 外部センサ部
3 内部センサ部
4 GPS電波受信部
5 地図データベース
6 ナビゲーションシステム
7 アクチュエータ部
8 アクセルペダル
9 ブレーキペダル
10 ステアリングホイール
11 走行車線判定部
12 目標車両位置検出部
13 目標経路算出部
14 走行制御部
100 マニュアルゲート車線
101、102 料金徴収装置
103 アイランド
104 屋根
105 看板
106 信号機
107 停止バー
120、121 目標車両位置
122 制御開始位置
200 自車両
201 自車両の先端
202 自車両の側面
300 目標経路
1001 マニュアルゲート車線の入口
1002 マニュアルゲート車線の出口
1003 進行方向
1004 マニュアルゲート車線の中央
Claims (11)
- 車両を自動的に操舵する車両走行制御装置の車両走行制御方法であって、
料金所が設置された車線に車両が進入したか否かを判定し、
前記車線に車両が進入したと判定した後、前記料金所に到達するまでの間に、前記車両を車線幅方向において前記車線の中央よりも前記料金所側に寄せることを特徴とする車両走行制御方法。 - 前記車両を前記料金所より前記車両の進行方向において手前側に停車することを特徴とする請求項1記載の車両走行制御方法。
- 前記車両を停車させる目標車両位置を、前記料金所より前記車両の進行方向において手前側に設定し、
前記車線に進入後の前記車両の位置から前記目標車両位置までの目標経路を算出し、
前記目標経路に沿って自動的に操舵制御及び制動力制御を実施することを特徴とする請求項1又は2記載の車両走行制御方法。 - 前記車両が前記車線に進入したことを契機に前記目標経路を算出することを特徴とする請求項3記載の車両走行制御方法。
- 前記車両を前記料金所側に寄せる前に、前記車線の車線幅方向の中央を走行させるように前記目標経路を算出することを特徴とする請求項3記載の車両走行制御方法。
- 前記車両を前記車線の車線幅方向の中央を走行させ、前記車両の減速後、前記料金所側に寄せることを特徴とする請求項5記載の車両走行制御方法。
- 前記車両を前記料金所側に寄せることを前記車両の乗員に対して事前に報知することを特徴とする請求項1乃至6のいずれかに記載の車両走行制御方法。
- 前記料金所の手前で音又は表示により停車を促すことを特徴とする請求項1乃至7のいずれかに記載の車両走行制御方法。
- 前記車両を前記料金所側に寄せない場合に前記車両の乗員に対して報知することを特徴とする請求項1乃至8のいずれかに記載の車両走行制御方法。
- 前記車線がマニュアルゲート車線か自動料金ゲート車線かを判断し、前記車線が前記自動料金ゲート車線の場合は前記車両を前記自動料金ゲート車線の中央を走行させることを特徴とする請求項1乃至9のいずれかに記載の車両走行制御方法。
- 車線を検知するカメラと、車線情報に基づき車両を自動的に操舵するアクチュエータと、を備えた車両走行制御装置であって、
料金所が設置された車線に車両が進入したか否かを判定する走行車線判定部と、
前記車線に車両が進入したと判定した後、前記車両を車線幅方向において前記車線の中央よりも前記料金所側に寄せる走行制御部と
を備えることを特徴とする車両走行制御装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/026284 WO2019016917A1 (ja) | 2017-07-20 | 2017-07-20 | 車両走行制御方法及び車両走行制御装置 |
Publications (2)
Publication Number | Publication Date |
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JPWO2019016917A1 JPWO2019016917A1 (ja) | 2020-08-06 |
JP6841330B2 true JP6841330B2 (ja) | 2021-03-10 |
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JP2019530307A Active JP6841330B2 (ja) | 2017-07-20 | 2017-07-20 | 車両走行制御方法及び車両走行制御装置 |
Country Status (9)
Country | Link |
---|---|
US (1) | US11077879B2 (ja) |
EP (1) | EP3657462A4 (ja) |
JP (1) | JP6841330B2 (ja) |
KR (1) | KR20200014922A (ja) |
CN (1) | CN110892465A (ja) |
BR (1) | BR112020001144A2 (ja) |
CA (1) | CA3070545A1 (ja) |
RU (1) | RU2735749C1 (ja) |
WO (1) | WO2019016917A1 (ja) |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3033284B2 (ja) * | 1991-10-14 | 2000-04-17 | 三菱電機株式会社 | 有料道路の料金収受装置 |
JP2003154872A (ja) * | 2001-11-20 | 2003-05-27 | Nissan Motor Co Ltd | 車両用走行制御装置 |
JP2004345571A (ja) * | 2003-05-23 | 2004-12-09 | Aisin Aw Co Ltd | 車両のサスペンション制御装置 |
JP2004355145A (ja) | 2003-05-27 | 2004-12-16 | Denso Corp | 車両制御装置 |
JP5258427B2 (ja) | 2007-07-17 | 2013-08-07 | クラリオン株式会社 | ナビゲーション装置、レーン案内方法 |
JP2013086580A (ja) | 2011-10-14 | 2013-05-13 | Clarion Co Ltd | 車両走行制御装置、および、車両走行制御方法 |
US9064251B2 (en) * | 2011-11-16 | 2015-06-23 | Microsoft Technology Licensing, Llc | Plug-in based chip card payments |
DE102011087791A1 (de) * | 2011-12-06 | 2013-06-06 | Robert Bosch Gmbh | Manövrierassistenzsystem zur assistierten Ausrichtung eines Fahrzeugs in einer Fahrzeugumgebung |
JP5796481B2 (ja) | 2011-12-21 | 2015-10-21 | トヨタ自動車株式会社 | 軌跡制御装置および軌跡制御方法 |
JP5846034B2 (ja) * | 2012-04-27 | 2016-01-20 | 株式会社デンソー | 境界線検出装置、逸脱検出装置および境界線検出プログラム |
CN103383779A (zh) * | 2012-05-03 | 2013-11-06 | 北京新岸线移动多媒体技术有限公司 | 一种用于电子不停车收费的方法、装置和系统 |
KR20140045212A (ko) * | 2012-10-08 | 2014-04-16 | 현대모비스 주식회사 | 톨게이트 정보 인지 시스템 및 방법 |
US9709984B2 (en) * | 2014-02-19 | 2017-07-18 | Lenovo Enterprise Solutions (Singapore) Pte. Ltd. | Administering a recall by an autonomous vehicle |
JP6406131B2 (ja) * | 2015-06-02 | 2018-10-17 | 株式会社デンソー | 運転支援装置 |
US10421491B2 (en) * | 2015-07-31 | 2019-09-24 | Hitachi Automotive Systems, Ltd. | Vehicular steering assistance control device |
US9721397B2 (en) * | 2015-08-11 | 2017-08-01 | International Business Machines Corporation | Automatic toll booth interaction with self-driving vehicles |
JP6455371B2 (ja) * | 2015-09-07 | 2019-01-23 | 株式会社デンソー | 運転支援装置 |
JP5981010B1 (ja) * | 2015-09-30 | 2016-08-31 | 先進モビリティ株式会社 | 車両の停車システム |
JP2017097695A (ja) * | 2015-11-26 | 2017-06-01 | 三菱電機株式会社 | 車両停車誘導システムおよび車両停車誘導方法 |
US10628819B2 (en) * | 2016-02-05 | 2020-04-21 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and methods for autonomous and semi-autonomous toll facility navigation |
-
2017
- 2017-07-20 BR BR112020001144-4A patent/BR112020001144A2/pt not_active IP Right Cessation
- 2017-07-20 EP EP17918626.7A patent/EP3657462A4/en not_active Withdrawn
- 2017-07-20 RU RU2020106586A patent/RU2735749C1/ru active
- 2017-07-20 JP JP2019530307A patent/JP6841330B2/ja active Active
- 2017-07-20 KR KR1020207000808A patent/KR20200014922A/ko not_active Application Discontinuation
- 2017-07-20 WO PCT/JP2017/026284 patent/WO2019016917A1/ja unknown
- 2017-07-20 CN CN201780093065.7A patent/CN110892465A/zh active Pending
- 2017-07-20 CA CA3070545A patent/CA3070545A1/en not_active Abandoned
- 2017-07-20 US US16/630,995 patent/US11077879B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2019016917A1 (ja) | 2019-01-24 |
CN110892465A (zh) | 2020-03-17 |
CA3070545A1 (en) | 2019-01-24 |
US20200223483A1 (en) | 2020-07-16 |
JPWO2019016917A1 (ja) | 2020-08-06 |
BR112020001144A2 (pt) | 2020-07-21 |
EP3657462A4 (en) | 2020-08-19 |
US11077879B2 (en) | 2021-08-03 |
EP3657462A1 (en) | 2020-05-27 |
RU2735749C1 (ru) | 2020-11-06 |
KR20200014922A (ko) | 2020-02-11 |
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