JP7334677B2 - 電動車両 - Google Patents
電動車両 Download PDFInfo
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- JP7334677B2 JP7334677B2 JP2020096427A JP2020096427A JP7334677B2 JP 7334677 B2 JP7334677 B2 JP 7334677B2 JP 2020096427 A JP2020096427 A JP 2020096427A JP 2020096427 A JP2020096427 A JP 2020096427A JP 7334677 B2 JP7334677 B2 JP 7334677B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J27/00—Safety equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0007—Measures or means for preventing or attenuating collisions
- B60L3/0015—Prevention of collisions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/08—Means for preventing excessive speed of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/20—Cycle computers as cycle accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/62—Vehicle position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/62—Vehicle position
- B60L2240/622—Vehicle position by satellite navigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/80—Time limits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K3/00—Bicycles
- B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Description
12 :障害物センサ
14 :モータ
16 :モード切換スイッチ
18 :アクセル
20 :ブレーキ
22 :制御装置
Claims (5)
- 電動車両であって、
障害物を検知し、検知した障害物に対する距離を検出する障害物検知装置と、
第1モードと第2モードとを切り換えるモード切換装置と、
前記第1モードでは前記距離が第1基準値よりも短い場合に前記電動車両の最高速度を前記距離が前記第1基準値よりも長い場合の値よりも低い値に制限し、前記第2モードでは前記距離が第2基準値よりも短い場合に前記最高速度を前記距離が前記第2基準値よりも長い場合の値よりも低い値に制限する最高速度制限装置と、
前記電動車両の位置を検出する位置検出装置と、
前記第1モードを適用する第1領域と前記第2モードを適用する第2領域とを特定したマップを記憶しているマップ記憶装置、
を有し、
前記モード切換装置が、前記位置検出装置で検出される前記位置と前記マップに基づいて前記第1モードと前記第2モードとを切り換え、
前記距離が前記第1基準値と前記第2基準値のいずれよりも短い値から前記第1基準値と前記第2基準値のいずれよりも長い値に変化する場合に、前記最高速度制限装置が前記第2モードでは前記第1モードよりも早いタイミングで前記最高速度を上昇させる、
電動車両。 - 走行中に前記制限の実行と前記制限の解除の頻度が閾値よりも高い場合に前記位置検出装置で検出される前記位置を含む領域を前記マップにおいて前記第1領域に設定し、走行中に前記制限の実行と前記制限の解除の頻度が前記閾値よりも低い場合に前記位置検出装置で検出される前記位置を含む領域を前記マップにおいて前記第2領域に設定するマップ更新装置をさらに有する請求項1の電動車両。
- 現在時刻を特定する現在時刻特定装置をさらに有し、
前記マップにおいて、前記第1領域と前記第2領域が時刻ごとに特定されており、
前記モード切換装置が、前記位置検出装置で検出される前記位置と前記マップと前記現在時刻特定装置で特定される前記現在時刻に基づいて前記第1モードと前記第2モードとを切り換える、
請求項1または2の電動車両。 - 電動車両であって、
障害物を検知し、検知した障害物に対する距離を検出する障害物検知装置と、
第1モードと第2モードとを切り換えるモード切換装置と、
前記第1モードでは前記距離が第1基準値よりも短い場合に前記電動車両の最高速度を前記距離が前記第1基準値よりも長い場合の値よりも低い値に制限し、前記第2モードでは前記距離が第2基準値よりも短い場合に前記最高速度を前記距離が前記第2基準値よりも長い場合の値よりも低い値に制限する最高速度制限装置と、
アクセル、
を有し、
前記距離が前記第1基準値と前記第2基準値のいずれよりも短い値から前記第1基準値と前記第2基準値のいずれよりも長い値に変化する場合に、前記最高速度制限装置が前記第2モードでは前記第1モードよりも早いタイミングで前記最高速度を上昇させ、
前記第1モードにおいて前記アクセルの操作頻度が第1所定値よりも高い場合に、前記最高速度制限装置を制御するパラメータを、前記第1モードにおいて前記距離が前記第1基準値よりも短い値から前記第1基準値よりも長い値に変化する場合に前記最高速度を上昇させるタイミングがより早くなるように書き換える、
電動車両。 - 電動車両であって、
障害物を検知し、検知した障害物に対する距離を検出する障害物検知装置と、
第1モードと第2モードとを切り換えるモード切換装置と、
前記第1モードでは前記距離が第1基準値よりも短い場合に前記電動車両の最高速度を前記距離が前記第1基準値よりも長い場合の値よりも低い値に制限し、前記第2モードでは前記距離が第2基準値よりも短い場合に前記最高速度を前記距離が前記第2基準値よりも長い場合の値よりも低い値に制限する最高速度制限装置と、
ブレーキ、
を有し、
前記距離が前記第1基準値と前記第2基準値のいずれよりも短い値から前記第1基準値と前記第2基準値のいずれよりも長い値に変化する場合に、前記最高速度制限装置が前記第2モードでは前記第1モードよりも早いタイミングで前記最高速度を上昇させ、
前記第1モードにおいて前記ブレーキの操作頻度が第2所定値よりも高い場合に、前記最高速度制限装置を制御するパラメータを、前記第1モードにおいて前記距離が前記第1基準値よりも短い値から前記第1基準値よりも長い値に変化する場合に前記最高速度を上昇させるタイミングがより遅くなるように書き換える、
電動車両。
Priority Applications (3)
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JP2020096427A JP7334677B2 (ja) | 2020-06-02 | 2020-06-02 | 電動車両 |
US17/238,973 US11760200B2 (en) | 2020-06-02 | 2021-04-23 | Electric powered vehicle with maximum speed limiting device |
CN202110608549.9A CN113753168B (zh) | 2020-06-02 | 2021-06-01 | 电动车辆 |
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JP2020096427A JP7334677B2 (ja) | 2020-06-02 | 2020-06-02 | 電動車両 |
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JP2021191170A JP2021191170A (ja) | 2021-12-13 |
JP7334677B2 true JP7334677B2 (ja) | 2023-08-29 |
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Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012011886A (ja) | 2010-06-30 | 2012-01-19 | Toyota Central R&D Labs Inc | 動力車 |
JP2017100490A (ja) | 2015-11-30 | 2017-06-08 | パイオニア株式会社 | 速度制御装置 |
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JP5321272B2 (ja) * | 2009-06-17 | 2013-10-23 | トヨタ自動車株式会社 | 走行支援装置 |
CN102612448B (zh) * | 2010-11-10 | 2014-12-10 | 本田技研工业株式会社 | 电动车辆 |
KR101518909B1 (ko) * | 2013-08-09 | 2015-05-15 | 현대자동차 주식회사 | 전방영상 및 네비게이션 기반 운행 장치 및 방법 |
US9731617B2 (en) * | 2014-12-04 | 2017-08-15 | Ford Global Technologies, Llc | Pattern based charge scheduling |
JP6115579B2 (ja) * | 2015-02-16 | 2017-04-19 | トヨタ自動車株式会社 | 衝突回避装置 |
JP6390686B2 (ja) * | 2016-10-13 | 2018-09-19 | マツダ株式会社 | 車両制御装置 |
JP2018062282A (ja) | 2016-10-13 | 2018-04-19 | トヨタ自動車株式会社 | 走行装置 |
JP6460580B2 (ja) * | 2017-03-17 | 2019-01-30 | マツダ株式会社 | 運転支援制御装置 |
WO2018175441A1 (en) * | 2017-03-20 | 2018-09-27 | Mobileye Vision Technologies Ltd. | Navigation by augmented path prediction |
CN109002041B (zh) * | 2018-08-09 | 2021-03-19 | 北京智行者科技有限公司 | 一种车辆避障方法 |
JP7406343B2 (ja) * | 2019-10-24 | 2023-12-27 | 株式会社Subaru | 車両 |
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- 2021-04-23 US US17/238,973 patent/US11760200B2/en active Active
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Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2012011886A (ja) | 2010-06-30 | 2012-01-19 | Toyota Central R&D Labs Inc | 動力車 |
JP2017100490A (ja) | 2015-11-30 | 2017-06-08 | パイオニア株式会社 | 速度制御装置 |
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