JP7211551B1 - 運転制御方法及び運転制御装置 - Google Patents

運転制御方法及び運転制御装置 Download PDF

Info

Publication number
JP7211551B1
JP7211551B1 JP2022503571A JP2022503571A JP7211551B1 JP 7211551 B1 JP7211551 B1 JP 7211551B1 JP 2022503571 A JP2022503571 A JP 2022503571A JP 2022503571 A JP2022503571 A JP 2022503571A JP 7211551 B1 JP7211551 B1 JP 7211551B1
Authority
JP
Japan
Prior art keywords
upper limit
acceleration
limit value
vehicle
control device
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
Application number
JP2022503571A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022249490A5 (https=
JPWO2022249490A1 (https=
Inventor
信弥 齋藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of JPWO2022249490A1 publication Critical patent/JPWO2022249490A1/ja
Application granted granted Critical
Publication of JP7211551B1 publication Critical patent/JP7211551B1/ja
Publication of JPWO2022249490A5 publication Critical patent/JPWO2022249490A5/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • 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
    • B60W30/18145—Cornering
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
JP2022503571A 2021-05-28 2021-05-28 運転制御方法及び運転制御装置 Active JP7211551B1 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/020563 WO2022249490A1 (ja) 2021-05-28 2021-05-28 運転制御方法及び運転制御装置

Publications (3)

Publication Number Publication Date
JPWO2022249490A1 JPWO2022249490A1 (https=) 2022-12-01
JP7211551B1 true JP7211551B1 (ja) 2023-01-24
JPWO2022249490A5 JPWO2022249490A5 (https=) 2023-05-02

Family

ID=84229589

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022503571A Active JP7211551B1 (ja) 2021-05-28 2021-05-28 運転制御方法及び運転制御装置

Country Status (5)

Country Link
US (1) US12012104B2 (https=)
EP (1) EP4349674B1 (https=)
JP (1) JP7211551B1 (https=)
CN (1) CN115707333B (https=)
WO (1) WO2022249490A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11520338B2 (en) * 2020-02-27 2022-12-06 Uatc, Llc Systems and methods for vehicle spatial path sampling
JP7505448B2 (ja) * 2021-06-08 2024-06-25 株式会社アイシン 運転支援装置
JP7613344B2 (ja) * 2021-11-17 2025-01-15 トヨタ自動車株式会社 先行車選定装置、先行車選定方法及び先行車選定用コンピュータプログラム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001030797A (ja) * 1999-07-26 2001-02-06 Mazda Motor Corp 車両の走行制御装置
WO2019008649A1 (ja) * 2017-07-03 2019-01-10 日産自動車株式会社 運転支援車両の目標車速生成方法及び目標車速生成装置
JP2019171965A (ja) * 2018-03-27 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の走行制御装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3413476B2 (ja) * 1997-07-16 2003-06-03 国土交通省国土技術政策総合研究所長 自動運転車両の自動合流システム
JPH1142955A (ja) * 1997-07-25 1999-02-16 Toyota Motor Corp 車両走行制御装置
US7092815B2 (en) * 2003-12-17 2006-08-15 Vrbia, Inc. Traffic control systems for vehicle spacing to dissipate traffic gridlock
JP4639951B2 (ja) * 2005-05-19 2011-02-23 トヨタ自動車株式会社 運転支援装置
JP5251216B2 (ja) * 2007-07-31 2013-07-31 日産自動車株式会社 車両用走行制御装置および車両用走行制御方法
JP5076852B2 (ja) * 2007-12-10 2012-11-21 トヨタ自動車株式会社 走行制御装置
JP2009262895A (ja) * 2008-04-30 2009-11-12 Nissan Motor Co Ltd 車両用走行制御装置
JP5026381B2 (ja) * 2008-09-25 2012-09-12 日立オートモティブシステムズ株式会社 加減速制御装置
JP6206120B2 (ja) * 2013-11-21 2017-10-04 日産自動車株式会社 合流支援システム
SE1450601A1 (sv) * 2014-05-21 2015-11-22 Scania Cv Ab Förfarande och system för anpassning av ett fordons framförande på en vägbana i samband med kurvkörning
JP2017001485A (ja) * 2015-06-09 2017-01-05 トヨタ自動車株式会社 車両の運転支援装置
JP6907554B2 (ja) * 2017-01-24 2021-07-21 スズキ株式会社 走行制御装置
JP6814710B2 (ja) * 2017-08-10 2021-01-20 日立オートモティブシステムズ株式会社 車両運動制御装置及びその方法、並びに、目標軌道生成装置及びその方法
DE102018002335A1 (de) * 2018-03-21 2019-09-26 Zf Active Safety Gmbh Steuerungssystem und Steuerungsverfahren zum vorausschauenden Begrenzen einer Fahrzeugbeschleunigung
JP2019175097A (ja) * 2018-03-28 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の運転支援システム
US11561548B2 (en) * 2020-09-11 2023-01-24 Uatc, Llc Systems and methods for generating basis paths for autonomous vehicle motion control

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001030797A (ja) * 1999-07-26 2001-02-06 Mazda Motor Corp 車両の走行制御装置
WO2019008649A1 (ja) * 2017-07-03 2019-01-10 日産自動車株式会社 運転支援車両の目標車速生成方法及び目標車速生成装置
JP2019171965A (ja) * 2018-03-27 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の走行制御装置

Also Published As

Publication number Publication date
CN115707333A (zh) 2023-02-17
WO2022249490A1 (ja) 2022-12-01
CN115707333B (zh) 2023-08-22
US12012104B2 (en) 2024-06-18
US20230382387A1 (en) 2023-11-30
EP4349674B1 (en) 2025-08-27
EP4349674A4 (en) 2024-07-24
JPWO2022249490A1 (https=) 2022-12-01
EP4349674A1 (en) 2024-04-10

Similar Documents

Publication Publication Date Title
US12447991B2 (en) Vehicle lane change control method and vehicle lane change control device
US11180143B2 (en) Vehicle control device
US11661065B2 (en) Vehicle travel control method and vehicle travel control apparatus
US10173680B2 (en) Vehicle speed control device
JP7156516B2 (ja) 車両の走行制御方法及び走行制御装置
JP7434866B2 (ja) 車両の走行制御方法および走行制御装置
JP7211551B1 (ja) 運転制御方法及び運転制御装置
US20240294188A1 (en) Vehicle control device
JP7211552B2 (ja) 車両の走行制御方法及び走行制御装置
JP7613575B2 (ja) 運転支援方法及び運転支援装置
JP7599965B2 (ja) 車両の走行制御方法及び走行制御装置
US12097858B2 (en) Travel control method and travel control device for vehicle
JP7471150B2 (ja) 走行支援方法、及び、走行支援装置
JP7524036B2 (ja) 車両の走行制御方法及び走行制御装置
JP7841585B2 (ja) 運転支援方法及び運転支援装置
JP2022072209A (ja) 車両の走行制御方法及び走行制御装置
JP7740504B2 (ja) 車両制御方法及び車両制御装置
JP7788045B2 (ja) 車両の走行制御方法及び走行制御装置
JP7811322B2 (ja) 車両の走行制御方法及び走行制御装置
JP7563216B2 (ja) 車両の走行制御方法及び走行制御装置
RU2792474C1 (ru) Способ управления вождением и устройство управления вождением
WO2023054197A1 (ja) 車両制御装置
JP2019209931A (ja) 自動運転システムおよび自動運転プログラム

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220118

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220118

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: 20221213

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20221226

R151 Written notification of patent or utility model registration

Ref document number: 7211551

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151