JP7314995B2 - 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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JP7314995B2
JP7314995B2 JP2021525391A JP2021525391A JP7314995B2 JP 7314995 B2 JP7314995 B2 JP 7314995B2 JP 2021525391 A JP2021525391 A JP 2021525391A JP 2021525391 A JP2021525391 A JP 2021525391A JP 7314995 B2 JP7314995 B2 JP 7314995B2
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vehicle
lane
target
space
travel
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JPWO2020249993A1 (https=
JPWO2020249993A5 (https=
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弘樹 谷口
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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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
    • 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
    • B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current 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
    • 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
    • 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
    • B60W30/18154—Approaching an intersection
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/114—Yaw 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
    • 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
    • B60W2552/10—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
    • 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
    • B60W2554/40—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
    • B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
    • 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
    • B60W2554/406—Traffic density

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
JP2021525391A 2019-06-14 2019-06-14 車両の走行制御方法及び走行制御装置 Active JP7314995B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/000625 WO2020249993A1 (ja) 2019-06-14 2019-06-14 車両の走行制御方法及び走行制御装置

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JPWO2020249993A1 JPWO2020249993A1 (https=) 2020-12-17
JPWO2020249993A5 JPWO2020249993A5 (https=) 2022-05-26
JP7314995B2 true JP7314995B2 (ja) 2023-07-26

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US (1) US11524704B2 (https=)
EP (1) EP3984848B1 (https=)
JP (1) JP7314995B2 (https=)
CN (1) CN114206699A (https=)
WO (1) WO2020249993A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7400508B2 (ja) * 2020-02-03 2023-12-19 株式会社デンソー 軌道生成装置、軌道生成方法、軌道生成プログラム
JP7388390B2 (ja) * 2021-04-14 2023-11-29 トヨタ自動車株式会社 位置情報取得システム、位置情報取得方法
US11925132B2 (en) * 2021-06-30 2024-03-12 Deere & Company Methods, apparatus, and articles of manufacture to generate acquisition paths
CN114771565A (zh) * 2022-04-08 2022-07-22 合众新能源汽车有限公司 自动驾驶车辆的右转控制方法、装置及车辆、存储介质
JP7838515B2 (ja) * 2023-05-09 2026-04-01 トヨタ自動車株式会社 情報処理装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006252533A (ja) 2005-02-08 2006-09-21 Matsushita Electric Ind Co Ltd ナビゲーションシステムおよびその端末装置、センタ装置、待ち行列検出方法、および、それを実行するプログラム、そのプログラムを記録した記録媒体
JP2016203745A (ja) 2015-04-20 2016-12-08 トヨタ自動車株式会社 車両走行制御装置
JP2017001596A (ja) 2015-06-15 2017-01-05 日産自動車株式会社 停車位置設定装置及び方法
WO2017047261A1 (ja) 2015-09-17 2017-03-23 日立オートモティブシステムズ株式会社 車線変更制御装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3520691B2 (ja) * 1996-09-30 2004-04-19 株式会社日立製作所 移動体制御システム
JP5551410B2 (ja) * 2009-10-26 2014-07-16 Ｉｈｉ運搬機械株式会社 自走機能付車両の乗り捨て駐車装置
WO2017208786A1 (ja) * 2016-05-31 2017-12-07 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
WO2018070015A1 (ja) * 2016-10-13 2018-04-19 日産自動車株式会社 車両はみ出し判断方法及び車両はみ出し判断装置
JP2018077565A (ja) * 2016-11-07 2018-05-17 本田技研工業株式会社 車両制御装置
JP2018094960A (ja) * 2016-12-08 2018-06-21 本田技研工業株式会社 車両制御装置
JP7043295B2 (ja) * 2018-03-07 2022-03-29 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
JP7151185B2 (ja) * 2018-06-06 2022-10-12 株式会社デンソー 車両制御装置
GB2579020B (en) * 2018-11-14 2021-05-12 Jaguar Land Rover Ltd Vehicle control system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006252533A (ja) 2005-02-08 2006-09-21 Matsushita Electric Ind Co Ltd ナビゲーションシステムおよびその端末装置、センタ装置、待ち行列検出方法、および、それを実行するプログラム、そのプログラムを記録した記録媒体
JP2016203745A (ja) 2015-04-20 2016-12-08 トヨタ自動車株式会社 車両走行制御装置
JP2017001596A (ja) 2015-06-15 2017-01-05 日産自動車株式会社 停車位置設定装置及び方法
WO2017047261A1 (ja) 2015-09-17 2017-03-23 日立オートモティブシステムズ株式会社 車線変更制御装置

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Publication number Publication date
WO2020249993A1 (ja) 2020-12-17
CN114206699A (zh) 2022-03-18
EP3984848B1 (en) 2023-04-26
JPWO2020249993A1 (https=) 2020-12-17
US20220204053A1 (en) 2022-06-30
EP3984848A1 (en) 2022-04-20
EP3984848A4 (en) 2022-08-03
US11524704B2 (en) 2022-12-13

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