JP7347503B2 - 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
JP7347503B2
JP7347503B2 JP2021519331A JP2021519331A JP7347503B2 JP 7347503 B2 JP7347503 B2 JP 7347503B2 JP 2021519331 A JP2021519331 A JP 2021519331A JP 2021519331 A JP2021519331 A JP 2021519331A JP 7347503 B2 JP7347503 B2 JP 7347503B2
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vehicle
control
autonomous
target point
information
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JPWO2020230551A1 (https=
JPWO2020230551A5 (https=
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洋平 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
    • 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
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B60W2050/0096—Control during transition between modes
    • 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
    • B60W2552/53—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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2021519331A 2019-05-15 2020-04-21 車両の走行制御方法及び走行制御装置 Active JP7347503B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019092431 2019-05-15
JP2019092431 2019-05-15
PCT/JP2020/017234 WO2020230551A1 (ja) 2019-05-15 2020-04-21 車両の走行制御方法及び走行制御装置

Publications (3)

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JPWO2020230551A1 JPWO2020230551A1 (https=) 2020-11-19
JPWO2020230551A5 JPWO2020230551A5 (https=) 2022-02-08
JP7347503B2 true JP7347503B2 (ja) 2023-09-20

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US (1) US11926320B2 (https=)
EP (1) EP3971866B1 (https=)
JP (1) JP7347503B2 (https=)
CN (1) CN113826153B (https=)
WO (1) WO2020230551A1 (https=)

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EP4707983A1 (en) 2024-09-06 2026-03-11 Honda Motor Co., Ltd. Mobile object control device, mobile object control method, and program

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CN110018632B (zh) * 2018-06-22 2020-10-09 长城汽车股份有限公司 一种车辆变道控制方法和装置
JP7238707B2 (ja) * 2019-09-09 2023-03-14 トヨタ自動車株式会社 車両運転支援装置
DE102019132006A1 (de) * 2019-11-26 2021-05-27 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Erkennen eines abbiegenden Objekts
KR102899259B1 (ko) * 2020-03-11 2025-12-12 주식회사 에이치엘클레무브 차량 및 그 제어 방법
JP7557327B2 (ja) * 2020-10-02 2024-09-27 株式会社Subaru 自動操舵制御装置
JP7225185B2 (ja) * 2020-11-26 2023-02-20 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
FR3120041B1 (fr) * 2021-02-23 2023-01-06 Psa Automobiles Sa Procede et dispositif de determination d’une consigne de deceleration d’un vehicule autonome
CN117241973B (zh) * 2021-09-02 2024-03-19 本田技研工业株式会社 车辆控制装置、车辆控制方法
US12214785B2 (en) * 2021-09-13 2025-02-04 Aptiv Technologies AG Vehicle localization to map data
KR20230056080A (ko) * 2021-10-19 2023-04-27 현대모비스 주식회사 차로변경 제어 장치 및 방법
US20230150494A1 (en) * 2021-11-16 2023-05-18 GM Global Technology Operations LLC System and methods for engagement in hands-off lane centering applications
MX2024005923A (es) * 2021-11-17 2024-06-03 Nissan Motor Metodo de control de vehiculo y dispositivo de control de vehiculo.
JP7444156B2 (ja) * 2021-12-22 2024-03-06 トヨタ自動車株式会社 運転支援装置、車両、運転支援方法及び運転支援プログラム
CN114312838B (zh) * 2021-12-29 2023-07-28 上海洛轲智能科技有限公司 一种车辆的控制方法、装置及存储介质
JP7376634B2 (ja) 2022-03-22 2023-11-08 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
CN116834825B (zh) * 2022-03-24 2026-01-16 本田技研工业株式会社 电动助力转向装置及其辅助方法
JP7449971B2 (ja) * 2022-03-25 2024-03-14 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
JP7474279B2 (ja) * 2022-03-29 2024-04-24 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
JP7433382B1 (ja) * 2022-08-12 2024-02-19 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
JP7561800B2 (ja) * 2022-09-08 2024-10-04 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
JP7533653B1 (ja) 2023-03-01 2024-08-14 いすゞ自動車株式会社 操舵制御装置
JP2024171863A (ja) * 2023-05-30 2024-12-12 トヨタ自動車株式会社 自走搬送システム
JP2025018293A (ja) * 2023-07-26 2025-02-06 トヨタ自動車株式会社 車両制御装置を備えた車両

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Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2010083312A (ja) 2008-09-30 2010-04-15 Fuji Heavy Ind Ltd 車両の運転支援装置
JP2017041070A (ja) 2015-08-19 2017-02-23 ソニー株式会社 車両制御装置と車両制御方法と情報処理装置および交通情報提供システム
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4707983A1 (en) 2024-09-06 2026-03-11 Honda Motor Co., Ltd. Mobile object control device, mobile object control method, and program

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Publication number Publication date
JPWO2020230551A1 (https=) 2020-11-19
EP3971866A4 (en) 2022-07-06
CN113826153B (zh) 2024-01-02
CN113826153A (zh) 2021-12-21
EP3971866A1 (en) 2022-03-23
US20220219692A1 (en) 2022-07-14
WO2020230551A1 (ja) 2020-11-19
US11926320B2 (en) 2024-03-12
EP3971866B1 (en) 2024-02-28

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