JP6950318B2 - 車両制御システム - Google Patents
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- JP6950318B2 JP6950318B2 JP2017138759A JP2017138759A JP6950318B2 JP 6950318 B2 JP6950318 B2 JP 6950318B2 JP 2017138759 A JP2017138759 A JP 2017138759A JP 2017138759 A JP2017138759 A JP 2017138759A JP 6950318 B2 JP6950318 B2 JP 6950318B2
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- 230000005540 biological transmission Effects 0.000 claims description 40
- 238000000034 method Methods 0.000 claims description 33
- 238000003384 imaging method Methods 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 4
- 238000007688 edging Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000003044 adaptive 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
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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
- B60W30/08—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
- 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
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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
- 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
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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
- 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
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2554/801—Lateral distance
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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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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- 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
- G01S2013/9323—Alternative operation using light waves
-
- 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
- G01S2013/9324—Alternative operation using ultrasonic waves
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
Claims (6)
- 自車両(MA)の挙動検出、及び前記自車両周囲の物体検出の少なくともいずれかを実施可能とする複数のセンサ装置(20,30,40,45)と、前記複数のセンサ装置による検出情報に基づいて、前記自車両の運転支援制御を実施する車両制御装置(50)とを備え、前記複数のセンサ装置と前記車両制御装置との間で通信可能になっている車両制御システム(10)であって、
前記複数のセンサ装置は、センサ装置ごとに、所定の検出タイミングで前記自車両の挙動検出又は前記物体検出を実施し、その検出情報を送信するものであり、少なくとも1つの第1センサ装置(20)と、第1センサ装置以外である第2センサ装置(30,40,45)とからなっており、
前記第1センサ装置と前記第2センサ装置との間で通信可能になっており、
前記第1センサ装置は、前記第1センサ装置による第1検出情報の送信に先立ち、前記第1センサ装置の前記検出タイミングで通信により取得した前記第2センサ装置による第2検出情報を前記第1検出情報に紐付け、紐付けた前記第1検出情報及び前記第2検出情報を前記車両制御装置に送信する車両制御システム。 - 前記第1センサ装置は、前記検出タイミングごとの検出結果に基づいて演算処理を実施する演算部(22)を有しており、前記演算部による演算処理の完了後において、その演算結果を前記第1検出情報として前記車両制御装置に送信する前に、前記第2検出情報を、前記第1センサ装置の演算結果と紐付ける請求項1に記載の車両制御システム。
- 前記複数のセンサ装置では、それぞれ所定周期で送信タイミングが定められており、
前記複数のセンサ装置のうち前記所定周期が最も長いセンサ装置が前記第1センサ装置となっている請求項1または請求項2に記載の車両制御システム。 - 前記車両制御装置は、前記第1センサ装置から、互いに紐付けられた前記第1検出情報及び前記第2検出情報を取得するとともに、前記第2センサ装置から前記第2検出情報を取得する請求項1から請求項3のいずれか一項に記載の車両制御システム。
- 前記複数のセンサ装置では、それぞれ所定周期で送信タイミングが定められており、
前記複数のセンサ装置のうち前記所定周期が最も長いセンサ装置が前記第1センサ装置となっており、
前記車両制御装置は、前記第1センサ装置から、互いに紐付けられた前記第1検出情報及び前記第2検出情報を受信するとともに、前記第2センサ装置から前記第2検出情報を取得し、前記紐付けられた各検出情報に基づいて、前記自車両の目標走行状態を設定する一方、前記第2センサ装置から取得した前記第2検出情報に基づいて、前記自車両の実走行状態を認識し、その実走行状態と前記目標走行状態とに基づいて、前記自車両の走行制御を実施する請求項1または請求項2に記載の車両制御システム。 - 前記センサ装置は、前記自車両周囲の物体検出を実施可能とするものであり、撮像センサ(20)とレーダ(30)とを含んでおり、
前記撮像センサと前記レーダとのいずれかを前記第1センサ装置としており、
前記第1センサ装置で紐付けられた前記撮像センサと前記レーダとの検出情報は、検出された物体同士の統合を行う統合処理をされる請求項1から請求項5のいずれか一項に記載の車両制御システム。
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JP2017138759A JP6950318B2 (ja) | 2017-07-18 | 2017-07-18 | 車両制御システム |
US16/037,419 US10442428B2 (en) | 2017-07-18 | 2018-07-17 | Vehicle control system |
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JP2017138759A JP6950318B2 (ja) | 2017-07-18 | 2017-07-18 | 車両制御システム |
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JP2019021013A JP2019021013A (ja) | 2019-02-07 |
JP6950318B2 true JP6950318B2 (ja) | 2021-10-13 |
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Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US11585672B1 (en) * | 2018-04-11 | 2023-02-21 | Palantir Technologies Inc. | Three-dimensional representations of routes |
EP3891474B1 (en) * | 2019-08-30 | 2023-12-20 | Baidu.com Times Technology (Beijing) Co., Ltd. | Synchronizing sensors of autonomous driving vehicles |
WO2021161712A1 (ja) * | 2020-02-14 | 2021-08-19 | ソニーグループ株式会社 | 撮像装置及び車両制御システム |
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JP3766909B2 (ja) | 2001-11-30 | 2006-04-19 | 株式会社日立製作所 | 走行環境認識方法および装置 |
EP1881450A1 (en) * | 2005-05-10 | 2008-01-23 | Olympus Corporation | Image processing apparatus, image processing method, and image processing program |
JP2011152865A (ja) | 2010-01-27 | 2011-08-11 | Kyocera Corp | 車載撮像装置 |
JP2012014553A (ja) | 2010-07-02 | 2012-01-19 | Honda Motor Co Ltd | 車両の周辺監視装置 |
EP2637149B1 (en) * | 2010-11-01 | 2018-10-24 | Hitachi, Ltd. | Onboard device and control method |
EP2747056B1 (en) * | 2011-12-27 | 2017-12-06 | Honda Motor Co., Ltd. | Driving assistance system |
CN104583041A (zh) | 2012-09-07 | 2015-04-29 | 丰田自动车株式会社 | 车间距离控制装置 |
US9633564B2 (en) * | 2012-09-27 | 2017-04-25 | Google Inc. | Determining changes in a driving environment based on vehicle behavior |
JP6151670B2 (ja) * | 2014-06-30 | 2017-06-21 | 本田技研工業株式会社 | 移動支援装置 |
JP6350428B2 (ja) * | 2015-07-22 | 2018-07-04 | トヨタ自動車株式会社 | 車載記録システム |
JP6432468B2 (ja) * | 2015-08-28 | 2018-12-05 | 株式会社デンソー | 車両制御装置及び走路推定方法 |
JP6809331B2 (ja) * | 2017-03-28 | 2021-01-06 | トヨタ自動車株式会社 | 車両制御装置 |
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US10442428B2 (en) | 2019-10-15 |
US20190023270A1 (en) | 2019-01-24 |
JP2019021013A (ja) | 2019-02-07 |
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