JP7109709B1 - 車両制御装置、車両制御方法、及びプログラム - Google Patents

車両制御装置、車両制御方法、及びプログラム Download PDF

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JP7109709B1
JP7109709B1 JP2022525192A JP2022525192A JP7109709B1 JP 7109709 B1 JP7109709 B1 JP 7109709B1 JP 2022525192 A JP2022525192 A JP 2022525192A JP 2022525192 A JP2022525192 A JP 2022525192A JP 7109709 B1 JP7109709 B1 JP 7109709B1
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vehicle
driving mode
driving
mode
coordinate points
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JPWO2022144974A1 (https=
JPWO2022144974A5 (https=
Inventor
翔 比田勝
利和 諏訪
巨樹 中島
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • 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
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • 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
    • B60W2556/40—High definition maps
    • 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
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)
JP2022525192A 2020-12-28 2020-12-28 車両制御装置、車両制御方法、及びプログラム Active JP7109709B1 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/049140 WO2022144974A1 (ja) 2020-12-28 2020-12-28 車両制御装置、車両制御方法、及びプログラム

Publications (3)

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JPWO2022144974A1 JPWO2022144974A1 (https=) 2022-07-07
JP7109709B1 true JP7109709B1 (ja) 2022-07-29
JPWO2022144974A5 JPWO2022144974A5 (https=) 2022-12-08

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Country Link
US (1) US12269513B2 (https=)
JP (1) JP7109709B1 (https=)
CN (1) CN115996870B (https=)
WO (1) WO2022144974A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024162456A (ja) * 2023-05-10 2024-11-21 ウーブン・バイ・トヨタ株式会社 地図情報記憶装置、地図情報記憶用コンピュータプログラム及び地図情報記憶方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115042820A (zh) * 2022-07-11 2022-09-13 北京主线科技有限公司 自动驾驶车辆控制方法、装置、设备及存储介质
JP7666483B2 (ja) * 2022-10-17 2025-04-22 トヨタ自動車株式会社 移動体制御システム及び移動体制御方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005340975A (ja) * 2004-05-24 2005-12-08 Clarion Co Ltd 移動体用電子機器
JP2012002983A (ja) * 2010-06-16 2012-01-05 Mitsubishi Electric Corp 地図情報処理装置
WO2017203691A1 (ja) * 2016-05-27 2017-11-30 日産自動車株式会社 運転制御方法及び運転制御装置
JP2017215653A (ja) * 2016-05-30 2017-12-07 株式会社デンソー 詳細経路作成装置、車両用自動運転システム及び詳細経路作成プログラム
JP2019167116A (ja) * 2014-11-19 2019-10-03 エイディシーテクノロジー株式会社 自動運転制御装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6411956B2 (ja) 2015-06-24 2018-10-24 本田技研工業株式会社 車両制御装置、および車両制御方法
JP6696273B2 (ja) * 2016-04-08 2020-05-20 株式会社デンソー 地図データ提供装置
KR20180112949A (ko) 2017-04-05 2018-10-15 현대자동차주식회사 차량의 자율 주행 제어 시스템 및 그를 이용한 자율 주행 제어방법
JP6925713B2 (ja) 2017-05-11 2021-08-25 アルパイン株式会社 自動運転可否通知システム
WO2020045322A1 (ja) * 2018-08-31 2020-03-05 株式会社デンソー 地図システム、車両側装置、方法および記憶媒体
US20200278684A1 (en) * 2019-03-01 2020-09-03 GM Global Technology Operations LLC Methods and systems for controlling lateral position of vehicle through intersection

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005340975A (ja) * 2004-05-24 2005-12-08 Clarion Co Ltd 移動体用電子機器
JP2012002983A (ja) * 2010-06-16 2012-01-05 Mitsubishi Electric Corp 地図情報処理装置
JP2019167116A (ja) * 2014-11-19 2019-10-03 エイディシーテクノロジー株式会社 自動運転制御装置
WO2017203691A1 (ja) * 2016-05-27 2017-11-30 日産自動車株式会社 運転制御方法及び運転制御装置
JP2017215653A (ja) * 2016-05-30 2017-12-07 株式会社デンソー 詳細経路作成装置、車両用自動運転システム及び詳細経路作成プログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024162456A (ja) * 2023-05-10 2024-11-21 ウーブン・バイ・トヨタ株式会社 地図情報記憶装置、地図情報記憶用コンピュータプログラム及び地図情報記憶方法
JP7754879B2 (ja) 2023-05-10 2025-10-15 ウーブン・バイ・トヨタ株式会社 地図情報記憶装置、地図情報記憶用コンピュータプログラム及び地図情報記憶方法

Also Published As

Publication number Publication date
JPWO2022144974A1 (https=) 2022-07-07
CN115996870A (zh) 2023-04-21
US20230331260A1 (en) 2023-10-19
CN115996870B (zh) 2025-08-08
US12269513B2 (en) 2025-04-08
WO2022144974A1 (ja) 2022-07-07

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