JP7386345B2 - 走行支援方法、及び、走行支援装置 - Google Patents

走行支援方法、及び、走行支援装置 Download PDF

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Publication number
JP7386345B2
JP7386345B2 JP2022531082A JP2022531082A JP7386345B2 JP 7386345 B2 JP7386345 B2 JP 7386345B2 JP 2022531082 A JP2022531082 A JP 2022531082A JP 2022531082 A JP2022531082 A JP 2022531082A JP 7386345 B2 JP7386345 B2 JP 7386345B2
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Prior art keywords
vehicle
driving
range
driving support
lane
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Japanese (ja)
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JPWO2021255488A1 (https=
JPWO2021255488A5 (https=
Inventor
真知子 平松
裕史 高田
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Renault SAS
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Renault SAS
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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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • 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
    • 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
    • B60W40/04—Traffic conditions
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • 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
    • B60W2554/20—Static 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
    • B60W2554/404—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
    • B60W2554/4042—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards
    • 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
    • B60W2554/801—Lateral distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2022531082A 2020-06-17 2020-06-17 走行支援方法、及び、走行支援装置 Active JP7386345B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2020/000547 WO2021255488A1 (ja) 2020-06-17 2020-06-17 走行支援方法、及び、走行支援装置

Publications (3)

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JPWO2021255488A1 JPWO2021255488A1 (https=) 2021-12-23
JPWO2021255488A5 JPWO2021255488A5 (https=) 2023-03-16
JP7386345B2 true JP7386345B2 (ja) 2023-11-24

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US (1) US20230264689A1 (https=)
EP (1) EP4169787B1 (https=)
JP (1) JP7386345B2 (https=)
CN (1) CN115884909B (https=)
WO (1) WO2021255488A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7472807B2 (ja) * 2021-01-26 2024-04-23 トヨタ自動車株式会社 車両制御システム及び衝突回避支援装置
JP7435513B2 (ja) * 2021-03-15 2024-02-21 トヨタ自動車株式会社 車両制御装置及び車両制御方法
JP7442948B2 (ja) * 2021-10-18 2024-03-05 矢崎総業株式会社 車外表示装置
DE112023002192T5 (de) * 2022-06-24 2025-04-30 Hitachi Astemo, Ltd. Routenerzeugungsvorrichtung, fahrzeugsteuervorrichtung und fahrzeugroutenweiterleitungssystem

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016027349A1 (ja) 2014-08-21 2016-02-25 日産自動車株式会社 走行制御装置および走行制御方法
WO2018193535A1 (ja) 2017-04-19 2018-10-25 日産自動車株式会社 走行支援方法及び走行支援装置
WO2018220807A1 (ja) 2017-06-02 2018-12-06 本田技研工業株式会社 予測装置、車両、予測方法およびプログラム

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Publication number Priority date Publication date Assignee Title
JP4941059B2 (ja) * 2007-04-02 2012-05-30 株式会社豊田中央研究所 運転支援装置
JP5630583B2 (ja) * 2011-08-31 2014-11-26 日産自動車株式会社 車両運転支援装置
JP5757900B2 (ja) * 2012-03-07 2015-08-05 日立オートモティブシステムズ株式会社 車両走行制御装置
RU2633041C1 (ru) * 2014-06-25 2017-10-11 Ниссан Мотор Ко., Лтд. Устройство управления транспортным средством
JP6323246B2 (ja) * 2014-08-11 2018-05-16 日産自動車株式会社 車両の走行制御装置及び方法
CN105414145B (zh) 2015-10-30 2017-12-29 青岛迈迪科孵化器有限公司 一种医疗机构专用的医疗废物环保处理设备及方法
JP6665831B2 (ja) * 2017-05-19 2020-03-13 トヨタ自動車株式会社 退避走行支援装置
JP6904849B2 (ja) * 2017-08-14 2021-07-21 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム。
JP6637537B2 (ja) * 2018-03-14 2020-01-29 本田技研工業株式会社 車両制御装置および車両制御方法
US11001256B2 (en) * 2018-09-19 2021-05-11 Zoox, Inc. Collision prediction and avoidance for vehicles
US11745733B2 (en) * 2020-01-27 2023-09-05 Mazda Motor Corporation Travel control apparatus for vehicle, vehicle controlling method and computer program therefor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016027349A1 (ja) 2014-08-21 2016-02-25 日産自動車株式会社 走行制御装置および走行制御方法
WO2018193535A1 (ja) 2017-04-19 2018-10-25 日産自動車株式会社 走行支援方法及び走行支援装置
WO2018220807A1 (ja) 2017-06-02 2018-12-06 本田技研工業株式会社 予測装置、車両、予測方法およびプログラム

Also Published As

Publication number Publication date
CN115884909A (zh) 2023-03-31
JPWO2021255488A1 (https=) 2021-12-23
CN115884909B (zh) 2025-11-14
EP4169787A1 (en) 2023-04-26
EP4169787A4 (en) 2023-08-30
EP4169787B1 (en) 2025-11-19
WO2021255488A1 (ja) 2021-12-23
US20230264689A1 (en) 2023-08-24

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