JP7232100B2 - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
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- JP7232100B2 JP7232100B2 JP2019064498A JP2019064498A JP7232100B2 JP 7232100 B2 JP7232100 B2 JP 7232100B2 JP 2019064498 A JP2019064498 A JP 2019064498A JP 2019064498 A JP2019064498 A JP 2019064498A JP 7232100 B2 JP7232100 B2 JP 7232100B2
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- 238000004891 communication Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- 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
- B60W30/14—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
- 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
- B60W30/162—Speed limiting therefor
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative 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
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Description
11 … ロケータユニット
12 … ロケータ演算部
12a … 道路地図情報取得部
12b … 目標ルート作成演算部
13 … 加速度センサ
14 … 車輪速センサ
15 … ジャイロセンサ
16 … GNSS受信機
17 … 目的地情報入力装置
18 … 高精度道路地図データベース
21 … カメラユニット
21a … メインカメラ
21b … サブカメラ
21c … 画像処理ユニット(IPU)
21d … 前方走行環境認識部
22 … 自動運転制御部
22a … 渋滞情報取得部
22b … 車両制御演算部
31 … 警報装置
32 … 渋滞情報受信機
33 … 操舵制御部
34 … ブレーキ制御部
35 … 加減速制御部
100 … 自車両
V_vis … 視程内停止可能車速
V_acc … 自車速
Z_cloud … クラウド車間距離
Z_vis … 視程距離
Z_err … クラウド推定誤差
Z_predec … 予備減速距離
Z_req … 減速必要距離
Z_sensor … センサ車間距離
Z_acc … 追従停止距離
a_acc … 基本減速度
a_cloud … 予備減速度
Claims (2)
- 自車両に搭載した自律センサを用いて自車走行路前方の走行環境を認識する第1の走行環境認識手段と、
外部通信により車外から受信した情報に基づいて前記自車走行路前方の走行環境を認識する第2の走行環境認識手段と、
前記第1の走行環境認識手段で認識した前記走行環境に基づいて前記自律センサによる視程距離を算出する視程距離算出手段と、
前記第1の走行環境認識手段によって渋滞最後尾車両が認識されているとき、第1の減速度で前記渋滞最後尾車両の手前で停車するための第1の制御目標距離を算出し、前記第1の制御目標距離に基づく第1の減速制御を行う第1の減速制御手段と、
前記第2の走行環境認識手段のみによって前記渋滞最後尾車両が認識されているとき、前記第1の減速度よりも小さい減速度である第2の減速度で前記渋滞最後尾車両の手前で停車するための第2の制御目標距離を算出し、前記第2の制御目標距離に基づく第2の減速制御を行う第2の減速制御手段と、
前記第2の走行環境認識手段に設定された距離の推定誤差と前記視程距離の和が、前記第2の走行環境認識手段で認識した前記渋滞最後尾車両までの距離よりも大きいとき、減速制御を前記第2の減速制御から前記第1の減速制御に引き継ぐまでに必要な減速必要距離を算出し、前記第2の制御目標距離よりも手前から前記減速必要距離を加味したタイミングにて前記第2の減速制御を開始する開始タイミング変更手段と、
を備えたことを特徴とする車両の走行制御装置。 - 前記開始タイミング変更手段は、前記視程距離と前記推定誤差と前記減速必要距離の和が、前記第2の走行環境認識手段によって認識した前記渋滞最後尾車両までの距離よりも大きいとき、前記第2の減速制御を開始することを特徴とする請求項1に記載の車両の走行制御装置。
Priority Applications (2)
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JP2019064498A JP7232100B2 (ja) | 2019-03-28 | 2019-03-28 | 車両の走行制御装置 |
US16/744,965 US11204608B2 (en) | 2019-03-28 | 2020-01-16 | Vehicle traveling control apparatus |
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JP2019064498A JP7232100B2 (ja) | 2019-03-28 | 2019-03-28 | 車両の走行制御装置 |
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JP2020166392A JP2020166392A (ja) | 2020-10-08 |
JP7232100B2 true JP7232100B2 (ja) | 2023-03-02 |
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US (1) | US11204608B2 (ja) |
JP (1) | JP7232100B2 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11518384B2 (en) * | 2018-12-07 | 2022-12-06 | Thinkware Corporation | Method for displaying lane information and apparatus for executing the method |
JP7243392B2 (ja) * | 2019-03-29 | 2023-03-22 | マツダ株式会社 | 車両走行制御装置 |
CN112665538B (zh) * | 2020-12-09 | 2023-10-13 | 云南昆船电子设备有限公司 | 车辆自主导航横向测距系统及方法 |
CN112874521B (zh) * | 2021-01-22 | 2022-06-14 | 北京罗克维尔斯科技有限公司 | 一种车辆跟停的控制方法、装置及车辆 |
US12085944B2 (en) * | 2021-03-02 | 2024-09-10 | Yujin Robot Co., Ltd. | Moving path planning apparatus and method for robot |
JP7229314B1 (ja) | 2021-10-04 | 2023-02-27 | 三菱電機株式会社 | 運転支援装置、運転支援システム、運転支援プログラム、および、運転支援方法 |
CN115116025B (zh) * | 2022-05-25 | 2024-05-07 | 上海市城市建设设计研究总院(集团)有限公司 | 基于地下道路视距的行车风险评估系统 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004142686A (ja) | 2002-10-28 | 2004-05-20 | Hitachi Ltd | 自動車用走行制御装置および自動車の走行制御システム |
JP2013134535A (ja) | 2011-12-26 | 2013-07-08 | Nissan Motor Co Ltd | 車両用運転支援装置 |
JP2019098914A (ja) | 2017-12-01 | 2019-06-24 | 株式会社Subaru | 渋滞前減速報知装置 |
JP2019215730A (ja) | 2018-06-13 | 2019-12-19 | 株式会社Subaru | 車両の運転支援装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2001216599A (ja) | 2000-01-31 | 2001-08-10 | Matsushita Electric Ind Co Ltd | 追突防止装置 |
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2019
- 2019-03-28 JP JP2019064498A patent/JP7232100B2/ja active Active
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- 2020-01-16 US US16/744,965 patent/US11204608B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004142686A (ja) | 2002-10-28 | 2004-05-20 | Hitachi Ltd | 自動車用走行制御装置および自動車の走行制御システム |
JP2013134535A (ja) | 2011-12-26 | 2013-07-08 | Nissan Motor Co Ltd | 車両用運転支援装置 |
JP2019098914A (ja) | 2017-12-01 | 2019-06-24 | 株式会社Subaru | 渋滞前減速報知装置 |
JP2019215730A (ja) | 2018-06-13 | 2019-12-19 | 株式会社Subaru | 車両の運転支援装置 |
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Publication number | Publication date |
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JP2020166392A (ja) | 2020-10-08 |
US11204608B2 (en) | 2021-12-21 |
US20200310452A1 (en) | 2020-10-01 |
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