JP7226544B2 - 車両の走行制御方法及び走行制御装置 - Google Patents

車両の走行制御方法及び走行制御装置 Download PDF

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Publication number
JP7226544B2
JP7226544B2 JP2021525388A JP2021525388A JP7226544B2 JP 7226544 B2 JP7226544 B2 JP 7226544B2 JP 2021525388 A JP2021525388 A JP 2021525388A JP 2021525388 A JP2021525388 A JP 2021525388A JP 7226544 B2 JP7226544 B2 JP 7226544B2
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vehicle
travel
lane
trajectory
override
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Japanese (ja)
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JPWO2020249989A1 (https=
JPWO2020249989A5 (https=
Inventor
弘樹 谷口
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • 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
    • B60W60/007—Emergency override
    • 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
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2520/06—Direction of travel
    • 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
    • B60W2520/10—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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
JP2021525388A 2019-06-13 2019-06-13 車両の走行制御方法及び走行制御装置 Active JP7226544B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/000590 WO2020249989A1 (ja) 2019-06-13 2019-06-13 車両の走行制御方法及び走行制御装置

Publications (3)

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JPWO2020249989A1 JPWO2020249989A1 (https=) 2020-12-17
JPWO2020249989A5 JPWO2020249989A5 (https=) 2022-05-26
JP7226544B2 true JP7226544B2 (ja) 2023-02-21

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JP2021525388A Active JP7226544B2 (ja) 2019-06-13 2019-06-13 車両の走行制御方法及び走行制御装置

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Country Link
US (1) US11780474B2 (https=)
EP (1) EP3985355A4 (https=)
JP (1) JP7226544B2 (https=)
CN (1) CN114207380B (https=)
WO (1) WO2020249989A1 (https=)

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CN110780602B (zh) * 2019-09-09 2022-02-18 腾讯科技（深圳）有限公司 一种仿真车辆换道轨迹的构建方法、装置及设备
EP4105108B1 (en) * 2021-06-15 2024-05-22 Ford Global Technologies, LLC A method and system for controlling a user-initiated vehicle-operation-command
CN113799797B (zh) * 2021-07-27 2022-07-12 北京三快在线科技有限公司 轨迹规划方法、装置、存储介质及电子设备
JP7626081B2 (ja) * 2022-02-16 2025-02-04 トヨタ自動車株式会社 車両制御装置
DE102023204457B3 (de) * 2023-05-12 2024-07-18 Volkswagen Aktiengesellschaft Verfahren zur Auswahl eines Zielobjekts für ein Längsführungssystem eines Kraftfahrzeugs, elektronisches Fahrzeugführungssystem für ein Kraftfahrzeug sowie Kraftfahrzeug mit einem elektronischen Fahrzeugführungssystem
DE102023113984B3 (de) * 2023-05-26 2024-09-12 Cariad Se Durchführen eines automatisierten Spurwechselmanövers für ein Kraftfahrzeug
US20250296567A1 (en) * 2024-03-21 2025-09-25 GM Global Technology Operations LLC Guided path plan

Citations (5)

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JP2016215790A (ja) 2015-05-19 2016-12-22 株式会社デンソー 車線変更計画生成装置、車線変更計画生成方法
JP2017165153A (ja) 2016-03-14 2017-09-21 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム
JP2018203120A (ja) 2017-06-06 2018-12-27 トヨタ自動車株式会社 操舵支援装置
JP2018202876A (ja) 2017-05-30 2018-12-27 日産自動車株式会社 先行車判定方法及び先行車判定装置
JP2019034627A (ja) 2017-08-14 2019-03-07 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。

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CN103646298B (zh) * 2013-12-13 2018-01-02 中国科学院深圳先进技术研究院 一种自动驾驶方法及系统
DE102015201878A1 (de) * 2015-02-04 2016-08-04 Continental Teves Ag & Co. Ohg Halbautomatisierter Spurwechsel
JP6376059B2 (ja) * 2015-07-06 2018-08-22 トヨタ自動車株式会社 自動運転車両の制御装置
JP6567056B2 (ja) * 2015-07-31 2019-08-28 日立オートモティブシステムズ株式会社 自車周辺情報管理装置
JP2017052486A (ja) 2015-09-11 2017-03-16 株式会社ジェイテクト ステアリング装置
JP6558239B2 (ja) * 2015-12-22 2019-08-14 アイシン・エィ・ダブリュ株式会社 自動運転支援システム、自動運転支援方法及びコンピュータプログラム
CN108778885B (zh) * 2016-03-15 2021-09-10 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
US20180188031A1 (en) * 2016-08-31 2018-07-05 Faraday&Future Inc. System and method for calibrating vehicle dynamics expectations for autonomous vehicle navigation and localization
DE102016117438A1 (de) * 2016-09-16 2018-03-22 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren und Vorrichtung zum Steuern einer Bewegung eines Fahrzeugs und Fahrzeugbewegungssteuersystem
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JP2016215790A (ja) 2015-05-19 2016-12-22 株式会社デンソー 車線変更計画生成装置、車線変更計画生成方法
JP2017165153A (ja) 2016-03-14 2017-09-21 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム
JP2018202876A (ja) 2017-05-30 2018-12-27 日産自動車株式会社 先行車判定方法及び先行車判定装置
JP2018203120A (ja) 2017-06-06 2018-12-27 トヨタ自動車株式会社 操舵支援装置
JP2019034627A (ja) 2017-08-14 2019-03-07 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。

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Publication number Publication date
EP3985355A1 (en) 2022-04-20
US20220266858A1 (en) 2022-08-25
JPWO2020249989A1 (https=) 2020-12-17
WO2020249989A1 (ja) 2020-12-17
CN114207380A (zh) 2022-03-18
CN114207380B (zh) 2024-01-16
US11780474B2 (en) 2023-10-10
EP3985355A4 (en) 2022-09-07

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