JP6933638B2 - 車両制御装置、車両および車両制御方法 - Google Patents

車両制御装置、車両および車両制御方法 Download PDF

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Publication number
JP6933638B2
JP6933638B2 JP2018247961A JP2018247961A JP6933638B2 JP 6933638 B2 JP6933638 B2 JP 6933638B2 JP 2018247961 A JP2018247961 A JP 2018247961A JP 2018247961 A JP2018247961 A JP 2018247961A JP 6933638 B2 JP6933638 B2 JP 6933638B2
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Japan
Prior art keywords
vehicle
control device
threshold value
lane
vehicle control
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JP2018247961A
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English (en)
Japanese (ja)
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JP2020104802A (ja
JP2020104802A5 (enExample
Inventor
完太 辻
完太 辻
淳之 石岡
淳之 石岡
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Priority to JP2018247961A priority Critical patent/JP6933638B2/ja
Priority to US16/675,586 priority patent/US11472409B2/en
Priority to CN201911081245.0A priority patent/CN111391834B/zh
Publication of JP2020104802A publication Critical patent/JP2020104802A/ja
Publication of JP2020104802A5 publication Critical patent/JP2020104802A5/ja
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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
    • 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
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • 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
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2554/404—Characteristics
    • B60W2554/4046—Behavior, e.g. aggressive or erratic
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2018247961A 2018-12-28 2018-12-28 車両制御装置、車両および車両制御方法 Active JP6933638B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018247961A JP6933638B2 (ja) 2018-12-28 2018-12-28 車両制御装置、車両および車両制御方法
US16/675,586 US11472409B2 (en) 2018-12-28 2019-11-06 Vehicle control apparatus
CN201911081245.0A CN111391834B (zh) 2018-12-28 2019-11-07 车辆控制装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018247961A JP6933638B2 (ja) 2018-12-28 2018-12-28 車両制御装置、車両および車両制御方法

Publications (3)

Publication Number Publication Date
JP2020104802A JP2020104802A (ja) 2020-07-09
JP2020104802A5 JP2020104802A5 (enExample) 2021-05-20
JP6933638B2 true JP6933638B2 (ja) 2021-09-08

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US (1) US11472409B2 (enExample)
JP (1) JP6933638B2 (enExample)
CN (1) CN111391834B (enExample)

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* Cited by examiner, † Cited by third party
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JP7229710B2 (ja) * 2018-09-26 2023-02-28 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
JP2021105813A (ja) * 2019-12-26 2021-07-26 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 制御装置及び制御方法
JP2021152780A (ja) * 2020-03-24 2021-09-30 本田技研工業株式会社 鞍乗型車両及び制御装置
US20230234599A1 (en) * 2020-06-26 2023-07-27 Sony Group Corporation Information processing system, information processing device, and information processing method
CN114115209B (zh) * 2020-08-11 2023-08-18 宇通客车股份有限公司 一种车辆、车辆避障方法及装置
JP7456329B2 (ja) * 2020-08-21 2024-03-27 株式会社デンソー 車両用表示制御装置、車両用表示制御システム、及び車両用表示制御方法
CN112455439B (zh) * 2020-11-25 2022-07-08 重庆长安汽车股份有限公司 基无人驾驶车辆环境认知及决策控制方法、系统及车辆
CN116075691B (zh) * 2020-12-28 2024-04-26 本田技研工业株式会社 车辆控制装置及车辆控制方法
JP7112479B2 (ja) * 2020-12-28 2022-08-03 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
JP7186210B2 (ja) * 2020-12-28 2022-12-08 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
CN112937557B (zh) * 2021-03-09 2022-08-12 东风汽车集团股份有限公司 一种基于曲率控制的代客泊车路径规划方法及系统
US11794737B2 (en) * 2021-04-07 2023-10-24 Ford Global Technologies, Llc Vehicle operation
CN112960001A (zh) * 2021-04-19 2021-06-15 北京七鑫易维信息技术有限公司 驾驶模式的切换方法、装置、车辆及存储介质
JP7752980B2 (ja) * 2021-06-30 2025-10-14 株式会社ブロードリーフ 車両走行制御装置、車両走行制御方法および車両走行制御プログラム
CN117940329B (zh) * 2021-09-14 2024-10-18 日产自动车株式会社 驾驶控制方法及驾驶控制装置
US12103524B1 (en) 2021-09-21 2024-10-01 Nissan Motor Co., Ltd. Driving control method and driving control device
JP2023057931A (ja) * 2021-10-12 2023-04-24 トヨタ自動車株式会社 車両の自動運転装置、自動運転プログラム、及び自動運転方法
JP7425143B1 (ja) 2022-09-20 2024-01-30 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
US12187309B2 (en) * 2023-02-01 2025-01-07 Toyota Motor Engineering & Manufacturing North America, Inc. Stationary vehicle on a shoulder of a road notification
JP7655335B2 (ja) 2023-02-28 2025-04-02 トヨタ自動車株式会社 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム
JP7781134B2 (ja) * 2023-12-27 2025-12-05 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
JP7781135B2 (ja) * 2023-12-27 2025-12-05 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

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JP4400316B2 (ja) * 2004-06-02 2010-01-20 日産自動車株式会社 運転意図推定装置、車両用運転操作補助装置および車両用運転操作補助装置を備えた車両
US8615352B2 (en) * 2010-03-30 2013-12-24 Fuji Jukogyo Kabushiki Kaisha Driving support apparatus for vehicle
JP6285809B2 (ja) * 2014-06-17 2018-02-28 株式会社Ｓｕｂａｒｕ 車両用運転支援装置
JP6550795B2 (ja) * 2015-03-02 2019-07-31 株式会社Ｓｏｋｅｎ 車両制御装置
US10234859B2 (en) * 2015-08-20 2019-03-19 Harman International Industries, Incorporated Systems and methods for driver assistance
US20180093675A1 (en) * 2016-09-30 2018-04-05 Ford Global Technologies, Llc Wake Alarm For Vehicles With An Autonomous Mode
JP2018076012A (ja) * 2016-11-11 2018-05-17 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
JP6885462B2 (ja) * 2017-05-19 2021-06-16 日産自動車株式会社 運転支援装置及び運転支援方法
JP6822365B2 (ja) * 2017-09-28 2021-01-27 トヨタ自動車株式会社 車両運転支援装置
JP6525413B1 (ja) * 2017-12-28 2019-06-05 マツダ株式会社 車両制御装置

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Publication number Publication date
US20200207346A1 (en) 2020-07-02
JP2020104802A (ja) 2020-07-09
CN111391834A (zh) 2020-07-10
CN111391834B (zh) 2023-03-17
US11472409B2 (en) 2022-10-18

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