JP7406635B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- JP7406635B2 JP7406635B2 JP2022532268A JP2022532268A JP7406635B2 JP 7406635 B2 JP7406635 B2 JP 7406635B2 JP 2022532268 A JP2022532268 A JP 2022532268A JP 2022532268 A JP2022532268 A JP 2022532268A JP 7406635 B2 JP7406635 B2 JP 7406635B2
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- vehicle
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- predicted
- lateral movement
- 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.)
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- 238000012545 processing Methods 0.000 description 35
- 230000008859 change Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 12
- 238000003384 imaging method Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
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- 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
- 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
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Description
(数1) D=b×f/d …(1)
(数2) R=V/r …(2)
(数3) x_s(t)=Rsin(r×t) …(3)
(数4) y_s(t)=R(1-cos(r×t)) …(4)
(数5) x_o(t)=x_o(0)+xv_o(0)×t …(5)
(数6) y_o(t)=y_o(0)+yv_o(0)×t …(6)
(数7) d(t)=√((x_s(t)-x_o(t))^2
+(y_s(t)-y_o(t))^2) …(7)
(数8) θ_o=π/2-atan(xv_o(0)/yv_o(0)) …(8)
(数9) y_so(t)=y_s(t)cos(θ_o)-x_s(t)sin(θ_o) …(9)
(数10) d_h=|y_so(t_hit-t_past)| …(10)
101 ステレオカメラ
102車両情報ユニット
103 ブレーキコントロールユニット
104 ブレーキアクチュエータ
105 CAN
201、202 カメラ
203、204 画像取得部
205 距離算出処理部
206 立体物抽出処理部
207 立体物追跡処理部
208 CAN情報取得部
209 自車進行路推定処理部
210 衝突判定処理部
211 横移動量判定処理部
212 制御処理部
Claims (4)
- 対向車の対地速度、自車と対向車との相対位置、および自車の状態に基づき、前記自車の予測進行路および前記対向車の予測進行路を算出し、
前記自車の右折時または左折時の前記対向車との衝突可能性を判定し、
前記自車と前記対向車とが衝突する衝突予想時刻を計算し、
前記衝突予想時刻から所定時間前までの間の前記自車の移動量に基づいて、前記自車のブレーキを制御する運転支援装置であって、
前記移動量は、少なくとも前記対向車から見た前記自車の横方向移動量を含み、
前記自車が横移動しているが前記自車の横方向移動量が所定の閾値以下の場合のみ、前記自車のブレーキを作動させ、前記自車が横移動しているが前記自車の横方向移動量が所定の閾値より大きい場合は、前記自車のブレーキを作動させないことを特徴とする、運転支援装置。 - 前記対向車から見た前記自車の横方向移動量は、前記衝突予想時刻から前記所定時間前までの間の前記対向車から見た前記自車の横方向移動量であり、前記衝突予想時刻から前記所定時間前の前記自車の位置から、前記衝突予想時刻から前記所定時間前の前記対向車の予測進行路への垂線もしくは法線の長さであることを特徴とする、請求項1に記載の運転支援装置。
- 前記所定の閾値は、車線幅1つ分以上かつ車線幅2つ分未満であることを特徴とする、請求項1に記載の運転支援装置。
- 前記自車の横方向移動量に応じて、前記自車のブレーキの作動タイミングを変更することを特徴とする、請求項1に記載の運転支援装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020105409 | 2020-06-18 | ||
JP2020105409 | 2020-06-18 | ||
PCT/JP2021/004259 WO2021255982A1 (ja) | 2020-06-18 | 2021-02-05 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2021255982A1 JPWO2021255982A1 (ja) | 2021-12-23 |
JP7406635B2 true JP7406635B2 (ja) | 2023-12-27 |
Family
ID=79267770
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022532268A Active JP7406635B2 (ja) | 2020-06-18 | 2021-02-05 | 運転支援装置 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP7406635B2 (ja) |
DE (1) | DE112021002185T5 (ja) |
WO (1) | WO2021255982A1 (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005157652A (ja) | 2003-11-25 | 2005-06-16 | Nissan Motor Co Ltd | 走行支援用車載情報提供装置 |
JP2018154174A (ja) | 2017-03-16 | 2018-10-04 | トヨタ自動車株式会社 | 衝突回避装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4873186B2 (ja) | 2008-03-03 | 2012-02-08 | トヨタ自動車株式会社 | 衝突軽減装置 |
-
2021
- 2021-02-05 JP JP2022532268A patent/JP7406635B2/ja active Active
- 2021-02-05 DE DE112021002185.0T patent/DE112021002185T5/de active Pending
- 2021-02-05 WO PCT/JP2021/004259 patent/WO2021255982A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005157652A (ja) | 2003-11-25 | 2005-06-16 | Nissan Motor Co Ltd | 走行支援用車載情報提供装置 |
JP2018154174A (ja) | 2017-03-16 | 2018-10-04 | トヨタ自動車株式会社 | 衝突回避装置 |
Also Published As
Publication number | Publication date |
---|---|
DE112021002185T5 (de) | 2023-04-06 |
JPWO2021255982A1 (ja) | 2021-12-23 |
WO2021255982A1 (ja) | 2021-12-23 |
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