JP6866934B2 - 車両の制御方法及び制御装置 - Google Patents
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- 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
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
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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
- 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
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- B60W60/0023—Planning or execution of driving tasks in response to energy consumption
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- 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
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- 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
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- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
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- B60W2554/80—Spatial relation or speed relative to objects
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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
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- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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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
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- 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
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- G01S2013/9321—Velocity regulation, e.g. cruise control
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- 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
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- G01S2013/9323—Alternative operation using light waves
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- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Multimedia (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
Claims (7)
- 自動運転で走行中に、車両進行方向にある信号機の点灯している信号の色に基づいて駆動源の出力を制御する車両の制御方法において、
前記車両進行方向にある信号機の点灯している信号の色を車載カメラで取得できない場合には、
対向車情報に基づいて前記車両進行方向にある信号機の現在点灯している信号の色を推定し、
推定結果に基づいて前記駆動源の出力を制御し、
前記車両進行方向にある信号機の点灯している信号の色が赤であると推定した場合には、前記駆動源の出力制限を行なうことにより、車速を現在の第1車速から前記第1車速より燃費性能に優れる第2車速まで低下させ、前記第2車速で定速走行を行なう、
車両の制御方法。 - 請求項1に記載の車両の制御方法において、
前記第2車速での定速走行を、停車位置と前記第2車速と予め設定した目標減速度とに基づいて定まる減速開始位置まで行う、車両の制御方法。 - 請求項1または2に記載の車両の制御方法において、
前記対向車情報は、対向車線を走る車両の台数、車速、加速度または車間距離の少なくとも一つである、車両の制御方法。 - 請求項1から3のいずれか一項に記載の車両の制御方法において、
前記車両進行方向にある信号機の点灯している信号の色を前記車載カメラで取得できない場合には、進路上に先を見通せないカーブがある場合と、前方を大型車両が走行している場合と、前記車載カメラの撮影状況が逆光の場合と、登坂走行中で頂上より先に信号機がある場合と、前記車載カメラの画像からは信号機の点灯している信号の色が判定不能な場合と、が含まれる、車両の制御方法。 - 請求項1から4のいずれかに記載の車両の制御方法において、
前記車両進行方向にある信号機の点灯している信号の色が赤であるとはいえないと推定した場合には前記駆動源の出力制限を行なわない、車両の制御方法。 - 請求項5に記載の車両の制御方法において、
前記車両進行方向にある信号機の点灯している信号の色が赤であるとはいえないと推定した場合でも、直前まで赤であったときには前記駆動源の出力制限を行なう、車両の制御方法。 - 車両前方を撮影する車載カメラと、
自動運転で走行中に、車両進行方向にある信号機の点灯している信号の色に基づいて駆動源の出力を制御する制御部と、
を備える車両の制御装置において、
前記制御部は、
前記車両進行方向にある信号機の点灯している信号の色を車載カメラで取得できない場合には、対向車情報に基づいて前記車両進行方向にある信号機の現在点灯している信号の色を推定し、推定結果に基づいて前記駆動源の出力を制御し、前記車両進行方向にある信号機の点灯している信号の色が赤であると推定した場合には、前記駆動源の出力制限を行なうことにより、車速を現在の第1車速から前記第1車速より燃費性能に優れる第2車速まで低下させ、前記第2車速で定速走行を行なう、車両の制御装置。
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PCT/JP2017/043586 WO2019111309A1 (ja) | 2017-12-05 | 2017-12-05 | 車両の制御方法及び制御装置 |
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US (1) | US11731658B2 (ja) |
EP (1) | EP3723064A4 (ja) |
JP (1) | JP6866934B2 (ja) |
CN (1) | CN111448598A (ja) |
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JP7180565B2 (ja) * | 2019-07-23 | 2022-11-30 | トヨタ自動車株式会社 | 信号解釈システム及び車両制御システム |
JP7379033B2 (ja) * | 2019-09-12 | 2023-11-14 | 日産自動車株式会社 | 運転支援方法及び運転支援装置 |
US20210155241A1 (en) * | 2019-11-22 | 2021-05-27 | Magna Electronics Inc. | Vehicular control system with controlled vehicle stopping and starting at intersection |
CN112373473A (zh) * | 2020-11-17 | 2021-02-19 | 江苏众星摩托有限公司 | 一种自动驾驶的电动车 |
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JP6658691B2 (ja) * | 2017-07-26 | 2020-03-04 | トヨタ自動車株式会社 | 走行支援装置 |
-
2017
- 2017-12-05 WO PCT/JP2017/043586 patent/WO2019111309A1/ja unknown
- 2017-12-05 JP JP2019557728A patent/JP6866934B2/ja active Active
- 2017-12-05 EP EP17934145.8A patent/EP3723064A4/en active Pending
- 2017-12-05 CN CN201780097471.0A patent/CN111448598A/zh active Pending
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WO2019111309A1 (ja) | 2019-06-13 |
EP3723064A4 (en) | 2020-12-16 |
US11731658B2 (en) | 2023-08-22 |
US20200317224A1 (en) | 2020-10-08 |
EP3723064A1 (en) | 2020-10-14 |
CN111448598A (zh) | 2020-07-24 |
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