JP6969124B2 - 運転制御装置 - Google Patents
運転制御装置 Download PDFInfo
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- JP6969124B2 JP6969124B2 JP2017055480A JP2017055480A JP6969124B2 JP 6969124 B2 JP6969124 B2 JP 6969124B2 JP 2017055480 A JP2017055480 A JP 2017055480A JP 2017055480 A JP2017055480 A JP 2017055480A JP 6969124 B2 JP6969124 B2 JP 6969124B2
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
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- 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
- B62D15/0265—Automatic obstacle avoidance by steering
-
- 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
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
-
- 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
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
- B62D6/005—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis treating sensor outputs to obtain the actual yaw rate
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid 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
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Acoustics & Sound (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
第1の実施形態において、運転制御装置(運転制御システム)を搭載する車両1は、例えば、不図示の内燃機関を駆動源とする自動車、すなわち内燃機関自動車であってもよいし、不図示の電動機を駆動源とする自動車、すなわち電気自動車や燃料電池自動車等であってもよい。また、それらの双方を駆動源とするハイブリッド自動車であってもよいし、他の駆動源を備えた自動車であってもよい。また、車両1は、種々の変速装置を搭載することができるし、内燃機関や電動機を駆動するのに必要な種々の装置、例えばシステムや部品等を搭載することができる。また、車両1における車輪3の駆動に関わる装置の方式や、数、レイアウト等は、種々に設定することができる。
Claims (4)
- 車両の移動先となる第1の目標位置までの移動軌跡が示された第1の移動経路に従って車両の移動制御を行う移動制御部と、
前記車両の現在の位置から前記第1の移動経路に従って所定の期間移動した後の位置から、第2の目標位置までの移動経路として、第2の移動経路を算出する移動経路算出部と、を備え、
前記移動制御部は、前記第1の移動経路に従って前記所定の期間移動させた後、前記第2の移動経路に従って前記第2の目標位置まで前記車両の移動制御を行う場合、前記車両における目標舵角の命令を出力してから、当該目標舵角に従った移動制御が行われるまでの期間を、前記所定の期間として、移動制御を行う、
運転制御装置。 - 車両の移動先となる第1の目標位置までの移動軌跡が示された第1の移動経路に従って車両の移動制御を行う移動制御部と、
前記車両の現在の位置から前記第1の移動経路に従って所定の期間移動した後の位置から、第2の目標位置までの移動経路として、第2の移動経路を算出する移動経路算出部と、
前記車両の速度を取得する取得部と、
を備え、
前記移動経路算出部は、前記所定の期間を、前記車両の速度に基づいて設定し、
前記移動制御部は、前記第1の移動経路に従って前記所定の期間移動させた後、前記第2の移動経路に従って前記第2の目標位置まで前記車両の移動制御を行う、
運転制御装置。 - 前記車両の速度を取得する取得部を、さらに備え、
前記移動経路算出部は、前記所定の期間を、前記車両の速度に基づいて設定する、
請求項1に記載の運転制御装置。 - 前記移動経路算出部は、前記車両の移動先が前記第1の目標位置から前記第2の目標位置に変更された場合に、前記第2の移動経路を算出する、
請求項1乃至3のいずれか1つに記載の運転制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017055480A JP6969124B2 (ja) | 2017-03-22 | 2017-03-22 | 運転制御装置 |
US15/912,665 US10676081B2 (en) | 2017-03-22 | 2018-03-06 | Driving control apparatus |
EP18163343.9A EP3378720B1 (en) | 2017-03-22 | 2018-03-22 | Driving control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017055480A JP6969124B2 (ja) | 2017-03-22 | 2017-03-22 | 運転制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2018158604A JP2018158604A (ja) | 2018-10-11 |
JP6969124B2 true JP6969124B2 (ja) | 2021-11-24 |
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JP2017055480A Active JP6969124B2 (ja) | 2017-03-22 | 2017-03-22 | 運転制御装置 |
Country Status (3)
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---|---|
US (1) | US10676081B2 (ja) |
EP (1) | EP3378720B1 (ja) |
JP (1) | JP6969124B2 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7253908B2 (ja) * | 2018-12-03 | 2023-04-07 | 日立Astemo株式会社 | 車両制御装置 |
CN113348120A (zh) * | 2019-01-21 | 2021-09-03 | 日立安斯泰莫株式会社 | 车辆控制装置、车辆控制方法以及车辆控制系统 |
JP7205773B2 (ja) | 2019-03-27 | 2023-01-17 | スズキ株式会社 | 車両の走行制御装置 |
JP7467202B2 (ja) | 2020-03-31 | 2024-04-15 | 本田技研工業株式会社 | 駐車支援システム |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04160609A (ja) | 1990-10-25 | 1992-06-03 | Toyota Motor Corp | 自動駐車装置 |
JP4097563B2 (ja) | 2003-05-16 | 2008-06-11 | トヨタ自動車株式会社 | 車両用走行支援装置 |
JP5262368B2 (ja) * | 2008-07-09 | 2013-08-14 | 日産自動車株式会社 | 駐車支援装置および駐車支援方法 |
DE102014213959A1 (de) | 2014-07-17 | 2016-01-21 | Continental Automotive Gmbh | Verfahren zum Überwachen eines automatisierten Fahrens |
JP6022517B2 (ja) | 2014-09-12 | 2016-11-09 | アイシン精機株式会社 | 車両の制御装置 |
JP6058603B2 (ja) * | 2014-09-12 | 2017-01-11 | アイシン精機株式会社 | 車両の制御装置 |
US10493985B2 (en) * | 2014-12-19 | 2019-12-03 | Hitachi, Ltd. | Travel control device |
JP6413902B2 (ja) * | 2015-04-07 | 2018-10-31 | 株式会社Soken | 駐車支援装置 |
EP3312057B1 (en) * | 2015-06-19 | 2020-08-05 | Nissan Motor Co., Ltd. | Parking assistance device and parking assistance method |
JP6547495B2 (ja) * | 2015-07-31 | 2019-07-24 | アイシン精機株式会社 | 駐車支援装置 |
DE102016211182A1 (de) * | 2015-09-08 | 2017-03-09 | Volkswagen Aktiengesellschaft | Verfahren, Vorrichtung und System zum Durchführen einer automatisierten Fahrt eines Fahrzeugs entlang einer aus einer Karte bereitgestellten Trajektorie |
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2017
- 2017-03-22 JP JP2017055480A patent/JP6969124B2/ja active Active
-
2018
- 2018-03-06 US US15/912,665 patent/US10676081B2/en active Active
- 2018-03-22 EP EP18163343.9A patent/EP3378720B1/en active Active
Also Published As
Publication number | Publication date |
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EP3378720B1 (en) | 2020-11-18 |
JP2018158604A (ja) | 2018-10-11 |
US10676081B2 (en) | 2020-06-09 |
EP3378720A1 (en) | 2018-09-26 |
US20180273027A1 (en) | 2018-09-27 |
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