JP7120260B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
- Publication number
- JP7120260B2 JP7120260B2 JP2020013677A JP2020013677A JP7120260B2 JP 7120260 B2 JP7120260 B2 JP 7120260B2 JP 2020013677 A JP2020013677 A JP 2020013677A JP 2020013677 A JP2020013677 A JP 2020013677A JP 7120260 B2 JP7120260 B2 JP 7120260B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- driver
- lane
- information
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000008859 change Effects 0.000 claims description 147
- 230000004397 blinking Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 4
- 230000000977 initiatory effect Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 22
- 238000012545 processing Methods 0.000 description 21
- 230000001133 acceleration Effects 0.000 description 15
- 238000004891 communication Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 238000012508 change request Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012706 support-vector machine Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/04—Traffic conditions
-
- 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
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
-
- 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
- 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
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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 or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B60W2420/408—
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/225—Direction of gaze
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- 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
- B60W2554/4045—Intention, e.g. lane change or imminent movement
-
- 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
- B60W2554/4049—Relationship among other objects, e.g. converging dynamic 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
Description
10 車両
11 カメラ
12a~12d LiDARセンサ
13 測位情報受信機
13a 測位情報受信部
13b プロセッサ
14 地図情報記憶装置
15 ユーザインターフェース(UI)
16 操作装置
17a~17d 方向指示器
18 ナビゲーション装置
19 電子制御装置(ECU)
21 通信インターフェース
22 メモリ
23 プロセッサ
31 位置推定部
32 物体検出部
33 走行車線計画部
331 判定部
34 時間決定部
35 運転計画部
36 通知制御部
37 車両制御部
37 車両制御部
38 環境判定部
39 認識判定部
Claims (6)
- 駆動、制動及び操舵の中で少なくとも操舵を自動制御可能な車両の情報をドライバへ通知する通知部と、
前記車両の走行予定経路と、前記車両の現在位置と、前記車両の周辺環境情報とに基づいて、前記車両が走行車線から隣接車線へ移動する車線変更を含む所定の時間先までの前記車両の運転計画を生成する運転計画部と、
前記車両が走行車線から隣接車線へ移動する車線変更を実施する場合に、ドライバが前記車両の制御に関与する度合いを示す第1情報、及び、ドライバが前記車両を手動で制御することが可能な程度を表す第2情報の何れかに基づいて、前記車両が車線変更に関する動作を開始するまでに待機する待機時間を、前記第1情報により表されるドライバが前記車両の制御に関与する度合いか又は前記第2情報により表されるドライバが前記車両を手動で制御することが可能な程度が大きい程、短くなるように決定する時間決定部と、
を有し、
前記待機時間は、前記運転計画部が車線変更を含む前記運転計画を生成して、前記通知部を用いて車線変更に関する前記車両の動作の開始がドライバへ通知された後に、方向指示器の点滅を開始する時点までの間に待機する第1待機時間と、前記方向指示器の点滅を開始した後に、前記車両が車線変更に関する動作を開始する時点までの間に待機する第2待機時間とを含む、車両制御装置。 - さらに、前記車両の現在位置と走行予定経路とに基づいて、車線変更の要否を判定する判定部を有し、
前記第1情報は、ドライバが車線変更の必要性を判断する第1モード、及び、前記判定部が必要であると判定した車線変更をドライバが承認する第2モード、及び、前記判定部が必要であると判定した車線変更を実施することの通知をドライバが受ける第3モードの中からドライバにより選択されたモードを示す選択モード情報を含む請求項1に記載の車両制御装置。 - 前記時間決定部は、ドライバが前記車両の制御に関与する度合いを、前記第3モード、前記第2モード、前記第1モードの順番に、ドライバが前記車両の制御に関与する度合いが大きくなると判定して、前記選択モード情報により示されるモードに対して、前記待機時間を前記第3モード、前記第2モード、前記第1モードの順番に短くなるように決定する請求項2に記載の車両制御装置。
- 前記第2情報は、ドライバが前記車両を操作する操作部を操作していることを示す情報、又は、ドライバの顔の向きを示す情報、又は、ドライバが運転操作以外の作業をしていることを示す情報を含む請求項1~3の何れか一項に記載の車両制御装置。
- ドライバが前記車両の周囲の環境を把握することの困難度を判定する環境判定部を有し、
前記環境判定部は、前記車両の周辺環境情報に基づいて、前記困難度が高い程長くなるように前記待機時間を補正する請求項1~4の何れか一項に記載の車両制御装置。 - 駆動、制動及び操舵の中で少なくとも操舵が自動制御可能な車両の走行予定経路と、前記車両の現在位置と、前記車両の周辺環境情報とに基づいて、前記車両が走行車線から隣接車線へ移動する車線変更を含む所定の時間先までの前記車両の運転計画を生成することと、
前記車両が走行車線から隣接車線へ移動する車線変更を実施する場合に、ドライバが前記車両の制御に関与するモードを表す第1情報、及び、ドライバが前記車両を手動で制御することが可能な程度を表す第2情報の中の何れかに基づいて、前記車両が車線変更に関する動作を開始するまでに待機する待機時間を、前記第1情報により表されるドライバが前記車両の制御に関与する度合いか又は前記第2情報により表されるドライバが前記車両を手動で制御することが可能な程度が大きい程、短くなるように決定することと、
をプロセッサに実行させ、
前記待機時間は、車線変更を含む前記運転計画が生成された後、車両の情報をドライバへ通知する通知部を用いて車線変更に関する前記車両の動作の開始がドライバへ通知された後に、方向指示器の点滅を開始する時点までの間に待機する第1待機時間と、前記方向指示器の点滅を開始した後に、前記車両が車線変更に関する動作を開始する時点までの間に待機する第2待機時間とを含む、車両制御用コンピュータプログラム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020013677A JP7120260B2 (ja) | 2020-01-30 | 2020-01-30 | 車両制御装置 |
CN202110095024.XA CN113264047B (zh) | 2020-01-30 | 2021-01-25 | 车辆控制装置及存储车辆控制用程序的非易失性存储介质 |
US17/160,773 US11932252B2 (en) | 2020-01-30 | 2021-01-28 | Vehicle control device and storage medium storing computer program for vehicle control |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020013677A JP7120260B2 (ja) | 2020-01-30 | 2020-01-30 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021120248A JP2021120248A (ja) | 2021-08-19 |
JP7120260B2 true JP7120260B2 (ja) | 2022-08-17 |
Family
ID=77062786
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020013677A Active JP7120260B2 (ja) | 2020-01-30 | 2020-01-30 | 車両制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11932252B2 (ja) |
JP (1) | JP7120260B2 (ja) |
CN (1) | CN113264047B (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11273836B2 (en) * | 2017-12-18 | 2022-03-15 | Plusai, Inc. | Method and system for human-like driving lane planning in autonomous driving vehicles |
US20190185012A1 (en) | 2017-12-18 | 2019-06-20 | PlusAI Corp | Method and system for personalized motion planning in autonomous driving vehicles |
US11130497B2 (en) | 2017-12-18 | 2021-09-28 | Plusai Limited | Method and system for ensemble vehicle control prediction in autonomous driving vehicles |
JP7276435B2 (ja) * | 2019-05-13 | 2023-05-18 | 日本電信電話株式会社 | 交通流推定装置、交通流推定方法、交通流推定プログラムおよび交通流推定プログラムを記憶した記憶媒体 |
US11608067B2 (en) * | 2020-08-12 | 2023-03-21 | Honda Motor Co., Ltd. | Probabilistic-based lane-change decision making and motion planning system and method thereof |
JP2022121103A (ja) * | 2021-02-08 | 2022-08-19 | パナソニックIpマネジメント株式会社 | 合流支援装置、合流支援システム、及び合流支援方法 |
JP2022152694A (ja) * | 2021-03-29 | 2022-10-12 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、及びプログラム |
KR102344278B1 (ko) * | 2021-09-17 | 2021-12-27 | 이종석 | 차량 제어장치 |
WO2024058270A1 (ja) * | 2022-09-16 | 2024-03-21 | 国立大学法人東京農工大学 | 移動体制御装置、移動体制御方法及び移動体制御プログラム |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000020898A (ja) | 1998-06-30 | 2000-01-21 | Fujitsu Ltd | 走行支援装置、車線変更可否判断装置、その方法及び記録媒体 |
JP2008097446A (ja) | 2006-10-13 | 2008-04-24 | Toyota Motor Corp | 車載警告装置 |
JP2016207060A (ja) | 2015-04-27 | 2016-12-08 | トヨタ自動車株式会社 | 車線変更支援装置 |
JP2017074918A (ja) | 2015-10-16 | 2017-04-20 | 株式会社デンソー | 報知管理装置及び報知管理方法 |
WO2017085981A1 (ja) | 2015-11-19 | 2017-05-26 | ソニー株式会社 | 運転支援装置及び運転支援方法、並びに移動体 |
JP2018203118A (ja) | 2017-06-06 | 2018-12-27 | トヨタ自動車株式会社 | 車線変更支援装置 |
US20190315346A1 (en) | 2018-04-11 | 2019-10-17 | Hyundai Motor Company | Vehicle driving controller, system including the same, and method thereof |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6447481B2 (ja) * | 2015-04-03 | 2019-01-09 | 株式会社デンソー | 起動提案装置及び起動提案方法 |
JP6593695B2 (ja) | 2015-09-15 | 2019-10-23 | 日野自動車株式会社 | 車線変更操舵制御システム |
WO2017154396A1 (ja) * | 2016-03-08 | 2017-09-14 | 株式会社デンソー | 運転交代制御装置及び運転交代制御方法 |
JP6647389B2 (ja) * | 2016-03-29 | 2020-02-14 | 本田技研工業株式会社 | 自動運転制御装置 |
JP6654121B2 (ja) | 2016-09-23 | 2020-02-26 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置 |
JP6575492B2 (ja) * | 2016-11-29 | 2019-09-18 | トヨタ自動車株式会社 | 自動運転システム |
JP6624158B2 (ja) * | 2017-05-22 | 2019-12-25 | 株式会社デンソー | 電子制御装置 |
JP2018203120A (ja) | 2017-06-06 | 2018-12-27 | トヨタ自動車株式会社 | 操舵支援装置 |
JP2019128773A (ja) | 2018-01-24 | 2019-08-01 | トヨタ自動車株式会社 | 車両制御システム |
JP2019156175A (ja) * | 2018-03-13 | 2019-09-19 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、及びプログラム |
JP6841854B2 (ja) * | 2019-02-05 | 2021-03-10 | 本田技研工業株式会社 | 車両並びにその制御装置及び制御方法 |
US11518414B2 (en) * | 2019-05-15 | 2022-12-06 | Nissan Motor Co., Ltd. | Traveling control method and traveling control device for vehicle |
-
2020
- 2020-01-30 JP JP2020013677A patent/JP7120260B2/ja active Active
-
2021
- 2021-01-25 CN CN202110095024.XA patent/CN113264047B/zh active Active
- 2021-01-28 US US17/160,773 patent/US11932252B2/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000020898A (ja) | 1998-06-30 | 2000-01-21 | Fujitsu Ltd | 走行支援装置、車線変更可否判断装置、その方法及び記録媒体 |
JP2008097446A (ja) | 2006-10-13 | 2008-04-24 | Toyota Motor Corp | 車載警告装置 |
JP2016207060A (ja) | 2015-04-27 | 2016-12-08 | トヨタ自動車株式会社 | 車線変更支援装置 |
JP2017074918A (ja) | 2015-10-16 | 2017-04-20 | 株式会社デンソー | 報知管理装置及び報知管理方法 |
WO2017085981A1 (ja) | 2015-11-19 | 2017-05-26 | ソニー株式会社 | 運転支援装置及び運転支援方法、並びに移動体 |
JP2018203118A (ja) | 2017-06-06 | 2018-12-27 | トヨタ自動車株式会社 | 車線変更支援装置 |
US20190315346A1 (en) | 2018-04-11 | 2019-10-17 | Hyundai Motor Company | Vehicle driving controller, system including the same, and method thereof |
Also Published As
Publication number | Publication date |
---|---|
CN113264047A (zh) | 2021-08-17 |
JP2021120248A (ja) | 2021-08-19 |
US20210237776A1 (en) | 2021-08-05 |
CN113264047B (zh) | 2023-09-19 |
US11932252B2 (en) | 2024-03-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7120260B2 (ja) | 車両制御装置 | |
US11900812B2 (en) | Vehicle control device | |
JP7047824B2 (ja) | 車両制御装置 | |
JP7078909B2 (ja) | 車両制御装置及び車両制御用コンピュータプログラム | |
JP2021115983A (ja) | 自動運転装置 | |
JP7167963B2 (ja) | 車線変更計画装置及び車線変更計画用コンピュータプログラム | |
US20230264698A1 (en) | Drive planning device, storage medium storing computer program for drive planning and drive planning method | |
US11753034B2 (en) | Vehicle control device, medium for storing computer program for vehicle control, and method for controlling vehicle | |
JP7200970B2 (ja) | 車両制御装置 | |
JP2020152161A (ja) | 車両用表示制御装置、車両用表示制御方法、車両用表示制御プログラム | |
JP2021043047A (ja) | 走行予定経路通知装置 | |
US20220315028A1 (en) | Vehicle control device, storage medium for storing computer program for vehicle control, and method for controlling vehicle | |
JP7276112B2 (ja) | 車線変更決定装置 | |
JP7318479B2 (ja) | 車両制御装置 | |
JP7272257B2 (ja) | 車両制御装置 | |
JP7251577B2 (ja) | 運転計画装置及び運転計画用コンピュータプログラム | |
JP7251576B2 (ja) | 運転計画装置及び運転計画用コンピュータプログラム | |
US20240067227A1 (en) | Vehicle control device, storage medium storing computer program for vehicle control, and method for controlling vehicle | |
US11892316B2 (en) | Map information assessment device, medium storing computer program for map information assessment, and map information assessment method | |
US20230080630A1 (en) | Traveling lane planning device, storage medium storing computer program for traveling lane planning, and traveling lane planning method | |
US20230177843A1 (en) | Object assessment device, storage medium storing computer program for object assessment, and object assessment method | |
US20220203989A1 (en) | Vehicle control device, vehicle control method, and storage medium |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210408 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220303 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220405 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220603 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220705 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220718 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7120260 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |