JP7216695B2 - 周囲車両監視装置及び周囲車両監視方法 - Google Patents
周囲車両監視装置及び周囲車両監視方法 Download PDFInfo
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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
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- G—PHYSICS
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- 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
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- Automation & Control Theory (AREA)
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Description
2 :車両システム
6 :外界センサ
16 :周辺車両監視部
17 :レーダ
18 :ライダ
19 :車外カメラ
35 :自動運転制御部
38 :走行制御部
40 :外界認識部
42 :行動計画部
51 :取得部
52 :推定部
Claims (8)
- 自車両の周囲を走行する他車両を監視する周囲車両監視装置であって、
前記他車両を検出するセンサからの信号に基づいて、所定の時間間隔毎に前記他車両の自車両に対する位置、速度及び横幅を取得する取得部と、
前記他車両の前記位置及び前記速度に基づいて前記他車両の挙動を推定する推定部とを有し、
前記取得部は、前記他車両の後部左端位置及び後部右端位置の中点を前記他車両の前記位置として取得すると共に、前記後部左端位置及び前記後部右端位置に基づいて前記他車両の前記横幅を取得し、前記横幅の所定の期間における変化量が所定の第1閾値以上である第1条件が成立した場合に、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が大きい方の今回位置を、前回位置から前記今回位置への変化量よりも小さくなるように予め設定された補正値だけ前記前回位置から変化させた補正位置に変更し、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が小さい方の前記今回位置と前記補正位置の中点を前記他車両の前記位置として取得し、前記条件に加えて、前記他車両の自車両に対する横速度の絶対値が所定の第2閾値以下である第2条件が成立するときに、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が大きい方の現在の位置を前記補正位置に変更する周囲車両監視装置。 - 前記推定部は、前記自車両が走行する基準車線に隣接する隣接車線において前記自車両の前方を走行する前記他車両に対して、前記他車両の前記基準車線側への横速度が所定の横速度閾値以上である場合に、前記他車両が前記基準車線への割込みを行っていると判定する請求項1に記載の周囲車両監視装置。
- 前記横速度閾値は、前記他車両と前記基準車線との距離が小さいほど、小さい値に設定される請求項2に記載の周囲車両監視装置。
- 前記取得部は、前記後部左端位置及び前記後部右端位置に基づいて前記他車両の前記自車両に対する傾斜角を取得し、前記条件に加えて、前記傾斜角の絶対値が所定の第3閾値以下である第3条件が成立するときに、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が大きい方の現在の位置を前記補正位置に変更する請求項1~請求項3のいずれか1つの項に記載の周囲車両監視装置。
- 前記取得部は、前記他車両と前記自車両との距離を取得し、前記条件に加えて、前記距離が所定の第4閾値以下である第4条件が成立するときに、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が大きい方の現在の位置を前記補正位置に変更する請求項1~請求項4のいずれか1つの項に記載の周囲車両監視装置。
- 前記取得部は、前記他車両の前記自車両に対する相対速度を取得し、前記条件に加えて、前記相対速度が所定の第5閾値以下である第5条件が成立するときに、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が大きい方の現在の位置を前記補正位置に変更する請求項1~請求項5のいずれか1つの項に記載の周囲車両監視装置。
- 前記取得部は、前記条件に加えて前記他車両の前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が小さい方の値が所定の第6閾値以下である第6条件が成立するときに、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が大きい方の現在の位置を前記補正位置に変更する請求項1~請求項6のいずれか1つの項に記載の周囲車両監視装置。
- 自車両の周囲を走行する他車両を監視するために、前記自車両に搭載された制御装置が実行する周囲車両監視方法であって、
前記他車両を検出するセンサからの信号に基づいて、前記他車両の後部左端位置及び後部右端位置の中点を前記他車両の位置として取得すると共に、前記後部左端位置及び前記後部右端位置に基づいて前記他車両の横幅を取得し、
前記横幅の所定の期間における変化量が所定の第1閾値以上である第1条件が成立した場合に、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が大きい方の今回位置を、前回位置から前記今回位置への変化量よりも小さくなるように予め設定された補正値だけ前記前回位置から変化させた補正位置に変更し、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が小さい方の前記今回位置と前記補正位置の中点を前記他車両の前記位置として取得し、
前記条件に加えて、前記他車両の自車両に対する横速度の絶対値が所定の第2閾値以下である第2条件が成立するときに、前記後部左端位置及び前記後部右端位置の内で所定の期間における変化量が大きい方の現在の位置を前記補正位置に変更し、
前記他車両の前記位置及び前記位置の所定の期間における変化量に基づいて前記他車両の挙動を推定する周囲車両監視方法。
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US17/514,925 US20220135042A1 (en) | 2020-11-04 | 2021-10-29 | Surrounding vehicle monitoring device and surrounding vehicle monitoring method |
CN202111271236.5A CN114523968B (zh) | 2020-11-04 | 2021-10-29 | 周围车辆监测装置和周围车辆监测方法 |
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JP2019128700A (ja) | 2018-01-23 | 2019-08-01 | トヨタ自動車株式会社 | 車両制御システム |
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JP4788798B2 (ja) * | 2009-04-23 | 2011-10-05 | トヨタ自動車株式会社 | 物体検出装置 |
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