JP7402323B2 - 逆走検出装置および逆走検出方法 - Google Patents

逆走検出装置および逆走検出方法 Download PDF

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Publication number
JP7402323B2
JP7402323B2 JP2022521830A JP2022521830A JP7402323B2 JP 7402323 B2 JP7402323 B2 JP 7402323B2 JP 2022521830 A JP2022521830 A JP 2022521830A JP 2022521830 A JP2022521830 A JP 2022521830A JP 7402323 B2 JP7402323 B2 JP 7402323B2
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Prior art keywords
road surface
surface profile
vehicle
degree
wrong
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Japanese (ja)
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JPWO2021230087A1 (https=
Inventor
康夫 大石
明 飯星
篤樹 柿沼
武雄 徳永
寛之 鬼丸
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Honda Motor Co Ltd
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Honda 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
    • 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
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2437—Extracting relative motion information
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2462—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using feature-based mapping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision 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
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • B60W2552/35—Road bumpiness, e.g. potholes
    • 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
    • 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
    • B60W2720/24—Direction of travel

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2022521830A 2020-05-12 2021-04-28 逆走検出装置および逆走検出方法 Active JP7402323B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020083544 2020-05-12
JP2020083544 2020-05-12
PCT/JP2021/016983 WO2021230087A1 (ja) 2020-05-12 2021-04-28 逆走検出装置および逆走検出方法

Publications (2)

Publication Number Publication Date
JPWO2021230087A1 JPWO2021230087A1 (https=) 2021-11-18
JP7402323B2 true JP7402323B2 (ja) 2023-12-20

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US (1) US20230211792A1 (https=)
JP (1) JP7402323B2 (https=)
WO (1) WO2021230087A1 (https=)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000235414A (ja) 1999-02-16 2000-08-29 Toyota Motor Corp 自動走行システム
JP2004234486A (ja) 2003-01-31 2004-08-19 Matsushita Electric Ind Co Ltd 車両逆走検知装置
JP2009286172A (ja) 2008-05-27 2009-12-10 Toyota Motor Corp 車両用制御装置、及び車両用制御方法
JP2015524364A (ja) 2012-07-06 2015-08-24 ジェイテクト ユーロップ 自動車の走行方向を検知するための方法
US20180365989A1 (en) 2017-06-20 2018-12-20 GM Global Technology Operations LLC System and method for wrong-way driving detection and mitigation
JP2019095852A (ja) 2017-11-17 2019-06-20 アイシン・エィ・ダブリュ株式会社 逆走警告システム、逆走警告方法、及び逆走警告プログラム
JP2020015443A (ja) 2018-07-26 2020-01-30 日産自動車株式会社 車両制御方法及び車両制御装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009294812A (ja) * 2008-06-04 2009-12-17 Sumitomo Electric Ind Ltd 危険走行情報提供システム及び危険走行判定方法
JP2010277127A (ja) * 2009-05-26 2010-12-09 Clarion Co Ltd 逆走検知装置、および、逆走通知方法
JP5291683B2 (ja) * 2010-09-17 2013-09-18 アイシン・エィ・ダブリュ株式会社 運転支援装置、運転支援方法及びコンピュータプログラム
JP7359085B2 (ja) * 2020-06-25 2023-10-11 トヨタ自動車株式会社 路面傾斜角算出装置
CN115803794B (zh) * 2020-07-14 2025-02-18 本田技研工业株式会社 路面评价装置以及路面评价方法
US12435992B2 (en) * 2021-09-02 2025-10-07 Patrick M. Moraca Vehicle safety apparatus and navigation system
US11807245B2 (en) * 2021-09-02 2023-11-07 Synesthesia Artificial Intelligence, LLC Vehicle safety apparatus
JP7358447B2 (ja) * 2021-12-28 2023-10-10 本田技研工業株式会社 道路管理装置および道路管理方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000235414A (ja) 1999-02-16 2000-08-29 Toyota Motor Corp 自動走行システム
JP2004234486A (ja) 2003-01-31 2004-08-19 Matsushita Electric Ind Co Ltd 車両逆走検知装置
JP2009286172A (ja) 2008-05-27 2009-12-10 Toyota Motor Corp 車両用制御装置、及び車両用制御方法
JP2015524364A (ja) 2012-07-06 2015-08-24 ジェイテクト ユーロップ 自動車の走行方向を検知するための方法
US20180365989A1 (en) 2017-06-20 2018-12-20 GM Global Technology Operations LLC System and method for wrong-way driving detection and mitigation
JP2019095852A (ja) 2017-11-17 2019-06-20 アイシン・エィ・ダブリュ株式会社 逆走警告システム、逆走警告方法、及び逆走警告プログラム
JP2020015443A (ja) 2018-07-26 2020-01-30 日産自動車株式会社 車両制御方法及び車両制御装置

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US20230211792A1 (en) 2023-07-06
WO2021230087A1 (ja) 2021-11-18
JPWO2021230087A1 (https=) 2021-11-18

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