JP7151185B2 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

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Publication number
JP7151185B2
JP7151185B2 JP2018108523A JP2018108523A JP7151185B2 JP 7151185 B2 JP7151185 B2 JP 7151185B2 JP 2018108523 A JP2018108523 A JP 2018108523A JP 2018108523 A JP2018108523 A JP 2018108523A JP 7151185 B2 JP7151185 B2 JP 7151185B2
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Japan
Prior art keywords
vehicle
mode
entry
control device
follow
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JP2018108523A
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English (en)
Japanese (ja)
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JP2019209871A (ja
JP2019209871A5 (https=
Inventor
巧 植松
光宏 時政
理宏 黒木
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Denso Corp
Original Assignee
Denso Corp
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Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2018108523A priority Critical patent/JP7151185B2/ja
Priority to PCT/JP2019/020821 priority patent/WO2019235278A1/ja
Priority to CN201980037573.2A priority patent/CN112236345A/zh
Publication of JP2019209871A publication Critical patent/JP2019209871A/ja
Publication of JP2019209871A5 publication Critical patent/JP2019209871A5/ja
Priority to US17/111,450 priority patent/US11878688B2/en
Application granted granted Critical
Publication of JP7151185B2 publication Critical patent/JP7151185B2/ja
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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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/08—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
    • 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
    • B60W30/08—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
    • B60W30/14—Adaptive cruise control
    • 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
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/18—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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—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
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2018108523A 2018-06-06 2018-06-06 車両制御装置 Active JP7151185B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2018108523A JP7151185B2 (ja) 2018-06-06 2018-06-06 車両制御装置
PCT/JP2019/020821 WO2019235278A1 (ja) 2018-06-06 2019-05-27 車両制御装置
CN201980037573.2A CN112236345A (zh) 2018-06-06 2019-05-27 车辆控制装置
US17/111,450 US11878688B2 (en) 2018-06-06 2020-12-03 Vehicle control apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018108523A JP7151185B2 (ja) 2018-06-06 2018-06-06 車両制御装置

Publications (3)

Publication Number Publication Date
JP2019209871A JP2019209871A (ja) 2019-12-12
JP2019209871A5 JP2019209871A5 (https=) 2020-07-27
JP7151185B2 true JP7151185B2 (ja) 2022-10-12

Family

ID=68770236

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018108523A Active JP7151185B2 (ja) 2018-06-06 2018-06-06 車両制御装置

Country Status (4)

Country Link
US (1) US11878688B2 (https=)
JP (1) JP7151185B2 (https=)
CN (1) CN112236345A (https=)
WO (1) WO2019235278A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020249993A1 (ja) * 2019-06-14 2020-12-17 日産自動車株式会社 車両の走行制御方法及び走行制御装置
KR20230093834A (ko) * 2021-12-20 2023-06-27 현대자동차주식회사 자율 주행 차량, 그와 정보를 공유하는 관제 시스템 및 그 방법
CN116279491B (zh) * 2023-03-14 2024-02-02 上海知而行科技有限公司 切换自动驾驶和自动跟随的系统及方法
US20250299581A1 (en) * 2024-03-22 2025-09-25 Honda Motor Co., Ltd. Vehicle-to-vehicle communications for blind spot notification

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013046300A1 (ja) 2011-09-26 2013-04-04 トヨタ自動車株式会社 車両の運転支援システム
JP2016207022A (ja) 2015-04-24 2016-12-08 マツダ株式会社 車両の制御装置
JP2017222317A (ja) 2016-06-17 2017-12-21 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
JP2017224064A (ja) 2016-06-14 2017-12-21 本田技研工業株式会社 車両操作支援装置
WO2018021463A1 (ja) 2016-07-29 2018-02-01 パナソニックＩｐマネジメント株式会社 自動運転車輌の制御装置、及び制御プログラム

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0624271A (ja) 1992-07-03 1994-02-01 Katsushige Kumabe 並進走行中の車両等への対向割込車、或は左折変向等の他の自動車等への警告装置
JP2940345B2 (ja) 1993-04-09 1999-08-25 トヨタ自動車株式会社 車両接近感知警報装置
JP3885500B2 (ja) * 2001-01-30 2007-02-21 日産自動車株式会社 先行車追従走行制御装置
JP4541609B2 (ja) * 2001-09-06 2010-09-08 富士重工業株式会社 停止線認識装置、及び、その停止線認識装置を用いた車両用運転支援装置
JP3928571B2 (ja) * 2003-03-14 2007-06-13 トヨタ自動車株式会社 車両用運転補助装置
WO2016042882A1 (ja) * 2014-09-19 2016-03-24 日立オートモティブシステムズ株式会社 車両制御装置及び車両制御方法
JP6046190B2 (ja) * 2015-03-31 2016-12-14 本田技研工業株式会社 運転支援装置
JP6361567B2 (ja) * 2015-04-27 2018-07-25 トヨタ自動車株式会社 自動運転車両システム
JP6188175B2 (ja) * 2016-12-08 2017-08-30 みこらった株式会社 自動運転車及び自動運転車用プログラム
JP7030573B2 (ja) * 2018-03-15 2022-03-07 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7085371B2 (ja) * 2018-03-15 2022-06-16 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013046300A1 (ja) 2011-09-26 2013-04-04 トヨタ自動車株式会社 車両の運転支援システム
JP2016207022A (ja) 2015-04-24 2016-12-08 マツダ株式会社 車両の制御装置
JP2017224064A (ja) 2016-06-14 2017-12-21 本田技研工業株式会社 車両操作支援装置
JP2017222317A (ja) 2016-06-17 2017-12-21 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
WO2018021463A1 (ja) 2016-07-29 2018-02-01 パナソニックＩｐマネジメント株式会社 自動運転車輌の制御装置、及び制御プログラム

Also Published As

Publication number Publication date
US20210114595A1 (en) 2021-04-22
JP2019209871A (ja) 2019-12-12
WO2019235278A1 (ja) 2019-12-12
CN112236345A (zh) 2021-01-15
US11878688B2 (en) 2024-01-23

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