JP7402334B2 - 走行制御装置及び走行制御方法 - Google Patents

走行制御装置及び走行制御方法 Download PDF

Info

Publication number
JP7402334B2
JP7402334B2 JP2022530021A JP2022530021A JP7402334B2 JP 7402334 B2 JP7402334 B2 JP 7402334B2 JP 2022530021 A JP2022530021 A JP 2022530021A JP 2022530021 A JP2022530021 A JP 2022530021A JP 7402334 B2 JP7402334 B2 JP 7402334B2
Authority
JP
Japan
Prior art keywords
vehicle
oncoming vehicle
intersection
turn
travel control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022530021A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2021250936A5 (https=
JPWO2021250936A1 (https=
Inventor
健 伊波
徳之 小松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Astemo Ltd
Original Assignee
Hitachi Astemo Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Astemo Ltd filed Critical Hitachi Astemo Ltd
Publication of JPWO2021250936A1 publication Critical patent/JPWO2021250936A1/ja
Publication of JPWO2021250936A5 publication Critical patent/JPWO2021250936A5/ja
Application granted granted Critical
Publication of JP7402334B2 publication Critical patent/JP7402334B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/246—Change of direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/86—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration wherein the brakes are automatically applied in accordance with a speed condition and having means for overriding the automatic braking device when a skid condition occurs
    • 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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • 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
    • B60W30/18159—Traversing an intersection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/32—Vehicle surroundings
    • 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
    • B60W2554/4045—Intention, e.g. lane change or imminent movement

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2022530021A 2020-06-12 2021-02-05 走行制御装置及び走行制御方法 Active JP7402334B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020102573 2020-06-12
JP2020102573 2020-06-12
PCT/JP2021/004272 WO2021250936A1 (ja) 2020-06-12 2021-02-05 走行制御装置及び走行制御方法

Publications (3)

Publication Number Publication Date
JPWO2021250936A1 JPWO2021250936A1 (https=) 2021-12-16
JPWO2021250936A5 JPWO2021250936A5 (https=) 2023-02-03
JP7402334B2 true JP7402334B2 (ja) 2023-12-20

Family

ID=78847135

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022530021A Active JP7402334B2 (ja) 2020-06-12 2021-02-05 走行制御装置及び走行制御方法

Country Status (3)

Country Link
US (1) US12179733B2 (https=)
JP (1) JP7402334B2 (https=)
WO (1) WO2021250936A1 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022108049A (ja) * 2021-01-12 2022-07-25 本田技研工業株式会社 車両制御システム
JP7468375B2 (ja) * 2021-01-21 2024-04-16 トヨタ自動車株式会社 車両制御装置
JP2023106224A (ja) * 2022-01-20 2023-08-01 株式会社Subaru 運転支援装置
JP7795926B2 (ja) * 2022-01-20 2026-01-08 株式会社Subaru 運転支援装置
JP7770195B2 (ja) * 2022-01-25 2025-11-14 本田技研工業株式会社 移動体制御装置、移動体制御方法、およびプログラム
JP7770194B2 (ja) * 2022-01-25 2025-11-14 本田技研工業株式会社 移動体制御装置、移動体制御方法、およびプログラム
CN116935693A (zh) * 2022-03-31 2023-10-24 中兴终端有限公司 碰撞预警方法、车载终端及存储介质
JP7810128B2 (ja) * 2023-01-31 2026-02-03 トヨタ自動車株式会社 運転支援装置
JP2025038519A (ja) * 2023-09-07 2025-03-19 株式会社Subaru 車両の運転支援装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009096361A (ja) 2007-10-17 2009-05-07 Toyota Motor Corp 車両走行支援装置
JP2011215962A (ja) 2010-03-31 2011-10-27 Aisin Aw Co Ltd 安全運転支援装置、安全運転支援方法、コンピュータプログラム
JP2017222317A (ja) 2016-06-17 2017-12-21 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
JP2019014454A (ja) 2017-07-11 2019-01-31 株式会社デンソー 車両における制動支援装置および制動支援制御方法
WO2019073511A1 (ja) 2017-10-10 2019-04-18 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム
JP2019084924A (ja) 2017-11-06 2019-06-06 トヨタ自動車株式会社 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
JP5167016B2 (ja) 2008-07-30 2013-03-21 富士重工業株式会社 車両の運転支援装置
DE112018001106B4 (de) * 2017-03-02 2025-04-30 Panasonic Automotive Systems Co., Ltd. Fahrassistenzverfahren, Fahrassistenzvorrichtung und dieses Verfahren verwendendes Fahrassistenzsystem
JP7497789B2 (ja) * 2019-04-19 2024-06-11 マツダ株式会社 車両制御装置
US11312373B2 (en) * 2020-03-05 2022-04-26 Ford Global Technologies, Llc Vehicle detection and response
JP7125969B2 (ja) * 2020-10-28 2022-08-25 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
KR20220064470A (ko) * 2020-11-11 2022-05-19 현대자동차주식회사 교차로 대향차 충돌방지 보조 장치 및 그 방법
JP7413985B2 (ja) * 2020-11-24 2024-01-16 トヨタ自動車株式会社 車両制御装置
US20230278581A1 (en) * 2022-03-04 2023-09-07 Ford Global Technologies, Llc System, Method, and Computer Program Product for Detecting and Preventing an Autonomous Driving Action

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009096361A (ja) 2007-10-17 2009-05-07 Toyota Motor Corp 車両走行支援装置
JP2011215962A (ja) 2010-03-31 2011-10-27 Aisin Aw Co Ltd 安全運転支援装置、安全運転支援方法、コンピュータプログラム
JP2017222317A (ja) 2016-06-17 2017-12-21 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
JP2019014454A (ja) 2017-07-11 2019-01-31 株式会社デンソー 車両における制動支援装置および制動支援制御方法
WO2019073511A1 (ja) 2017-10-10 2019-04-18 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム
JP2019084924A (ja) 2017-11-06 2019-06-06 トヨタ自動車株式会社 車両制御装置

Also Published As

Publication number Publication date
US12179733B2 (en) 2024-12-31
US20230286478A1 (en) 2023-09-14
JPWO2021250936A1 (https=) 2021-12-16
WO2021250936A1 (ja) 2021-12-16

Similar Documents

Publication Publication Date Title
JP7402334B2 (ja) 走行制御装置及び走行制御方法
JP7096350B2 (ja) 走行制御装置、車両及び走行制御方法
CN112477856B (zh) 一种紧急转向的仲裁方法及系统
JP2017534520A (ja) インテリジェントな車両のポジショニングによる衝撃緩和
CN113911111B (zh) 车辆碰撞检测方法、系统、电子设备以及存储介质
US20200242941A1 (en) Driver assistance system, and control method the same
CN112977475B (zh) 自动驾驶车辆及其控制方法
CN113272197A (zh) 用于改进用于横向车辆运动的辅助系统的装置和方法
KR20200129374A (ko) 차량 및 그 제어 방법
KR102287574B1 (ko) 차량 작동 방법 및 장치
CN118053321A (zh) 车辆碰撞威胁评估
CN116674548B (zh) 一种转向避撞路径确定方法和装置
JP7302582B2 (ja) 車両制御システム
JP6805767B2 (ja) 車両制御システム
JP7372367B2 (ja) 車両並びにその制御装置及び制御方法
KR102909019B1 (ko) 자율주행차량 및 그의 표시등 제어 방법
JP7444156B2 (ja) 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
KR20200094629A (ko) 운전자 보조 시스템 및 그 제어 방법
JP7282115B2 (ja) 運転支援装置
US12291201B2 (en) Travel control apparatus, vehicle, travel control method, and non-transitory computer-readable storage medium
JP7438393B2 (ja) 他車挙動予測診断装置および他車挙動予測診断方法
WO2024150476A1 (ja) 確認装置及び確認方法
JP2025010803A (ja) 制御システム
CN117734722A (zh) 一种车道偏离预警方法、系统、车辆及存储介质
CN117445909A (zh) 碰撞规避辅助装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20221114

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20221114

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230704

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230731

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20231114

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20231208

R150 Certificate of patent or registration of utility model

Ref document number: 7402334

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150