JP7147569B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP7147569B2 JP7147569B2 JP2019004190A JP2019004190A JP7147569B2 JP 7147569 B2 JP7147569 B2 JP 7147569B2 JP 2019004190 A JP2019004190 A JP 2019004190A JP 2019004190 A JP2019004190 A JP 2019004190A JP 7147569 B2 JP7147569 B2 JP 7147569B2
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- 230000001133 acceleration Effects 0.000 claims description 54
- 230000036461 convulsion Effects 0.000 claims description 41
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 230000002040 relaxant effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 11
- 210000004556 brain Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000881 depressing effect Effects 0.000 description 2
- 230000002542 deteriorative effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
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Classifications
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
-
- 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
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- 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
-
- 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
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/12—Brake pedal position
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Description
実施形態に係る運転支援装置の構成について図1を参照して説明する。図1は、実施形態に係る運転支援装置の構成を示すブロック図である。
加速シーン判定部13は、減速支援制御が実行されているときに、外界情報認識部11から出力された周辺情報に基づいて、車両1の周辺状況が、車両1の加速が要求され得る状況(以降、適宜“加速シーン”と称する)であるか否かを判定する。具体的には例えば、加速シーン判定部13は、減速支援制御が実行されているときに、周辺情報に基づいて認識された車両1の周辺状況が、予め定められた加速シーンに該当する場合に、加速シーンであると判定し、周辺情報に基づいて認識された車両1の周辺状況が、予め定められた加速シーンに該当しない場合に、加速シーンではないと判定する。
次に、運転支援装置100の動作について図2のフローチャートを参照して説明する。
車両1の周辺状況が加速シーンである場合、周辺状況が加速シーンではない場合に比べて、ドライバがアクセルペダルを踏み込む可能性が高い。このとき、減速支援制御の解除に要する時間が比較的長いと、ドライバがアクセルペダルを踏み込んだとしても、ドライバの期待通りに車両1が加速しない可能性がある。この結果、ドライバが加速のもたつき感を覚える可能性がある。
加加速度制限部16は、車両1の周辺状況が加速シーンであると判定された場合であって、減速支援制御に係る減速対象が、車両1の前方を走行する他車両(即ち、先行車)である場合、加速シーンでないと判定された場合に比べて加加速度の制限を緩和する程度を、車両1と上記他車両との間の距離が大きい場合は、該距離が小さい場合に比べて、大きくしてよい(即ち、より緩和してよい)。
加加速度制限部16は、車両1の周辺状況が加速シーンであると判定された場合、車両1が加速する(言い換えれば、ドライバがアクセルペダルを踏み込む)確率に応じて、加加速度の制限を緩和する程度を変更してよい。
Claims (3)
- 運転者の操作とは無関係に自車両を減速させる減速支援を実行可能な運転支援装置であって、
前記自車両の周辺状況に係る周辺情報を取得する取得手段と、
実行されている前記減速支援が解除される際に、前記減速支援に係る減速支援量を低減する制御手段と、
を備え、
前記制御手段は、前記取得された周辺情報により示される周辺状況が、前記自車両の加速が要求され得る第1の状況である場合は、前記自車両の加速が要求され得ない第2の状況である場合に比べて、前記減速支援が解除される際に前記減速支援量を速やかに低減する
ことを特徴とする運転支援装置。 - 前記制御手段は、
実行されている前記減速支援が解除される際に、所定のジャーク制約を満たすように、前記減速支援量を徐々に低減し、
前記取得された周辺情報により示される周辺状況が前記第1の状況である場合は、前記第2の状況である場合に比べて、前記所定のジャーク制約を緩和することによって、前記減速支援が解除される際に前記減速支援量を速やかに低減する
ことを特徴とする請求項1に記載の運転支援装置。 - 前記制御手段は、前記自車両の減速又は停止を要求する前記減速支援に係る減速対象が、前記自車両の前方を走行する他車両である場合に、前記所定のジャーク制約を緩和する程度を、前記自車両と前記他車両との間の距離が大きい場合は、前記距離が小さい場合に比べて、大きくすることを特徴とする請求項2に記載の運転支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019004190A JP7147569B2 (ja) | 2019-01-15 | 2019-01-15 | 運転支援装置 |
EP19220253.9A EP3683114B1 (en) | 2019-01-15 | 2019-12-31 | Driving assistance apparatus |
US16/741,411 US11364888B2 (en) | 2019-01-15 | 2020-01-13 | Driving assistance apparatus |
Applications Claiming Priority (1)
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---|---|---|---|
JP2019004190A JP7147569B2 (ja) | 2019-01-15 | 2019-01-15 | 運転支援装置 |
Publications (2)
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JP2020111218A JP2020111218A (ja) | 2020-07-27 |
JP7147569B2 true JP7147569B2 (ja) | 2022-10-05 |
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JP2019004190A Active JP7147569B2 (ja) | 2019-01-15 | 2019-01-15 | 運転支援装置 |
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US (1) | US11364888B2 (ja) |
EP (1) | EP3683114B1 (ja) |
JP (1) | JP7147569B2 (ja) |
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KR20200057891A (ko) * | 2018-11-16 | 2020-05-27 | 현대자동차주식회사 | 차량 주행 보조 제어 장치, 그를 포함한 시스템 및 그 방법 |
KR20210051054A (ko) * | 2019-10-29 | 2021-05-10 | 현대자동차주식회사 | 뇌파 신호를 이용한 모빌리티 탑승자의 승차감 판단 장치 |
CN112057080B (zh) * | 2020-08-10 | 2021-07-02 | 华中科技大学 | 一种基于分阶段特征提取的冻结步态检测系统 |
JP7409281B2 (ja) * | 2020-10-15 | 2024-01-09 | トヨタ自動車株式会社 | 運転支援装置 |
JP2022147785A (ja) * | 2021-03-23 | 2022-10-06 | 本田技研工業株式会社 | 車両制御装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010111350A (ja) | 2008-11-10 | 2010-05-20 | Denso Corp | 加速度制御装置及び加速度制御プログラム |
JP2015120363A (ja) | 2013-12-20 | 2015-07-02 | 株式会社デンソー | 車間制御装置 |
JP2016147506A (ja) | 2015-02-10 | 2016-08-18 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
Family Cites Families (5)
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FR2821799B1 (fr) * | 2001-03-06 | 2003-06-20 | Renault | Procede de freinage assiste d'un vehicule automobile |
JP2017138740A (ja) * | 2016-02-02 | 2017-08-10 | トヨタ自動車株式会社 | 運転支援装置 |
US10040453B2 (en) * | 2016-11-17 | 2018-08-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for preemptively modifying vehicle parameters according to predicted accelerations upon a travel lane clearing |
JP6642413B2 (ja) | 2016-12-27 | 2020-02-05 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP2018131027A (ja) | 2017-02-14 | 2018-08-23 | 株式会社デンソーテン | 運転支援装置および運転支援方法 |
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2019
- 2019-01-15 JP JP2019004190A patent/JP7147569B2/ja active Active
- 2019-12-31 EP EP19220253.9A patent/EP3683114B1/en active Active
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2020
- 2020-01-13 US US16/741,411 patent/US11364888B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010111350A (ja) | 2008-11-10 | 2010-05-20 | Denso Corp | 加速度制御装置及び加速度制御プログラム |
JP2015120363A (ja) | 2013-12-20 | 2015-07-02 | 株式会社デンソー | 車間制御装置 |
JP2016147506A (ja) | 2015-02-10 | 2016-08-18 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
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Publication number | Publication date |
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JP2020111218A (ja) | 2020-07-27 |
EP3683114A1 (en) | 2020-07-22 |
US11364888B2 (en) | 2022-06-21 |
EP3683114B1 (en) | 2022-09-21 |
US20200223410A1 (en) | 2020-07-16 |
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