JP7119405B2 - 鞍乗型車両の運転支援装置 - Google Patents
鞍乗型車両の運転支援装置 Download PDFInfo
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- JP7119405B2 JP7119405B2 JP2018023060A JP2018023060A JP7119405B2 JP 7119405 B2 JP7119405 B2 JP 7119405B2 JP 2018023060 A JP2018023060 A JP 2018023060A JP 2018023060 A JP2018023060 A JP 2018023060A JP 7119405 B2 JP7119405 B2 JP 7119405B2
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
-
- 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
-
- 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
- B60W2556/65—Data transmitted between vehicles
-
- 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
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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
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
-
- 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
- G01S2013/9319—Controlling the accelerator
-
- 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
Description
11 自車両
12 後続車両
13 側方車両
21 運転支援装置
31 演算処理装置
41 ゲート通過認識部(第1のゲート通過認識部、第2のゲート通過認識部)
42 車間距離認識部
43 警報出力部
44 側方車両認識部
45 加速支援部
C 車線合流地点
Claims (4)
- 鞍乗型車両の運転を支援する鞍乗型車両の運転支援装置であって、
鞍乗型車両である自車両が道路に設けられたゲートを通過している最中であること、および前記自車両が前記ゲートを通過したことをそれぞれ認識するゲート通過認識部と、
前記自車両の側方を並走している側方車両を認識し、かつ前記側方車両が鞍乗型車両であるか、鞍乗型車両ではない四輪以上の自動車であるかを認識する側方車両認識部と、
前記自車両が前記ゲートを通過したことが前記ゲート通過認識部により認識され、前記自車両が前記ゲートを通過した時点において前記側方車両が前記側方車両認識部により認識され、かつ前記側方車両が鞍乗型車両ではない四輪以上の自動車であることが前記側方車両認識部により認識されたときには、前記自車両の運転者による前記自車両のアクセル操作に応じて前記自車両を通常よりも加速させる加速支援を行い、前記自車両が前記ゲートを通過したことが前記ゲート通過認識部により認識され、前記自車両が前記ゲートを通過した時点において前記側方車両が前記側方車両認識部により認識され、かつ前記側方車両が鞍乗型車両であることが前記側方車両認識部により認識されたときには、前記加速支援を行わない加速支援部と、
前記自車両と前記自車両の直後を走行する後続車両との距離が所定の距離未満となったか否かを認識する車間距離認識部と、
前記自車両が前記ゲートを通過している最中であることが前記ゲート通過認識部により認識され、かつ前記自車両が前記ゲートを通過している最中に前記自車両と前記後続車両との距離が前記所定の距離未満になったことが前記車間距離認識部により認識されたときに、前記後続車両に向けて警報を発する警報出力部とを備えていることを特徴とする鞍乗型車両の運転支援装置。 - 前記加速支援部は、前記道路に設けられた複数の前記ゲートにそれぞれ対応する複数の車線がゲートを通過した先で合流する地点まで前記加速支援を行うことを特徴とする請求項1に記載の鞍乗型車両の運転支援装置。
- 前記加速支援部は、前記自車両におけるスロットル開度、燃料噴射量、または走行の動力源として用いられる電動モータの回転速度を制御して前記加速支援を行うことを特徴とする請求項1または2に記載の鞍乗型車両の運転支援装置。
- 前記警報出力部は、前記自車両と前記後続車両との間の車車間通信を用いて前記警報を前記後続車両に向けて送信することを特徴とする請求項1ないし3のいずれかに記載の鞍乗型車両の運転支援装置。
Priority Applications (3)
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JP2018023060A JP7119405B2 (ja) | 2018-02-13 | 2018-02-13 | 鞍乗型車両の運転支援装置 |
US16/256,741 US20190248368A1 (en) | 2018-02-13 | 2019-01-24 | Driving assistance device |
DE102019001062.0A DE102019001062A1 (de) | 2018-02-13 | 2019-02-13 | Fahrassistenzvorrichtung |
Applications Claiming Priority (1)
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JP2018023060A JP7119405B2 (ja) | 2018-02-13 | 2018-02-13 | 鞍乗型車両の運転支援装置 |
Publications (2)
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JP2019137263A JP2019137263A (ja) | 2019-08-22 |
JP7119405B2 true JP7119405B2 (ja) | 2022-08-17 |
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JP2018023060A Active JP7119405B2 (ja) | 2018-02-13 | 2018-02-13 | 鞍乗型車両の運転支援装置 |
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US (1) | US20190248368A1 (ja) |
JP (1) | JP7119405B2 (ja) |
DE (1) | DE102019001062A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109476306B (zh) * | 2016-07-06 | 2021-02-09 | 日产自动车株式会社 | 行驶控制方法及行驶控制装置 |
JP6695467B1 (ja) * | 2019-03-12 | 2020-05-20 | 三菱電機株式会社 | 車両制御装置 |
CN112455448A (zh) * | 2019-09-09 | 2021-03-09 | 大陆泰密克汽车系统(上海)有限公司 | 车辆的自动控制方法及车辆 |
Citations (7)
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JP2009237887A (ja) | 2008-03-27 | 2009-10-15 | Aisin Aw Co Ltd | 他車両検出装置、他車両検出方法及びコンピュータプログラム |
US20130158800A1 (en) | 2011-12-14 | 2013-06-20 | Robert Bosch Gmbh | Vehicle merge assistance system and method |
JP2015102893A (ja) | 2013-11-21 | 2015-06-04 | 日産自動車株式会社 | 合流支援システム |
JP2016222170A (ja) | 2015-06-02 | 2016-12-28 | 株式会社デンソー | 運転支援装置 |
JP2017091138A (ja) | 2015-11-09 | 2017-05-25 | スズキ株式会社 | 警報システム及びこれを備えた鞍乗型車両 |
JP2017200791A (ja) | 2016-05-02 | 2017-11-09 | 富士通テン株式会社 | 乗員保護装置及び乗員保護方法 |
JP2018101302A (ja) | 2016-12-20 | 2018-06-28 | 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 |
Family Cites Families (2)
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JP2006199264A (ja) | 2004-12-24 | 2006-08-03 | Nissan Motor Co Ltd | 合流支援装置及び合流支援方法 |
JP6567475B2 (ja) | 2016-08-05 | 2019-08-28 | 株式会社東芝 | 無線装置 |
-
2018
- 2018-02-13 JP JP2018023060A patent/JP7119405B2/ja active Active
-
2019
- 2019-01-24 US US16/256,741 patent/US20190248368A1/en not_active Abandoned
- 2019-02-13 DE DE102019001062.0A patent/DE102019001062A1/de active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009237887A (ja) | 2008-03-27 | 2009-10-15 | Aisin Aw Co Ltd | 他車両検出装置、他車両検出方法及びコンピュータプログラム |
US20130158800A1 (en) | 2011-12-14 | 2013-06-20 | Robert Bosch Gmbh | Vehicle merge assistance system and method |
JP2015102893A (ja) | 2013-11-21 | 2015-06-04 | 日産自動車株式会社 | 合流支援システム |
JP2016222170A (ja) | 2015-06-02 | 2016-12-28 | 株式会社デンソー | 運転支援装置 |
JP2017091138A (ja) | 2015-11-09 | 2017-05-25 | スズキ株式会社 | 警報システム及びこれを備えた鞍乗型車両 |
JP2017200791A (ja) | 2016-05-02 | 2017-11-09 | 富士通テン株式会社 | 乗員保護装置及び乗員保護方法 |
JP2018101302A (ja) | 2016-12-20 | 2018-06-28 | 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 |
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JP2019137263A (ja) | 2019-08-22 |
DE102019001062A1 (de) | 2019-08-14 |
US20190248368A1 (en) | 2019-08-15 |
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