JP7415990B2 - 走行制御装置および走行制御方法 - Google Patents
走行制御装置および走行制御方法 Download PDFInfo
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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
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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
- B60W40/02—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
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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
- B60W40/08—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 drivers or passengers
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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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
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- G—PHYSICS
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- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
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- G—PHYSICS
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- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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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
- 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
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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
- 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
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2540/00—Input parameters relating to occupants
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
Description
4 走行制御装置
431 検出部
432 記録部
433 提案部
434 実行部
Claims (5)
- 車両の運転者の顔を表す画像から、前記運転者が前記車両の周辺を確認する周辺確認行動を検出する検出部と、
前記周辺確認行動が検出された時刻を記録する記録部と、
前記運転者に前記車両が走行する車線を隣接する車線に変更する車線変更の提案を通知する提案部と、
前記車線変更の提案が通知された時刻より前の事前確認期間に前記周辺確認行動が検出されている場合、前記車線変更の提案が通知された時刻より後の提案後確認期間に前記周辺確認行動が検出されるか否かにかかわらず前記車両に前記車線変更を実行させる実行部と、
を備える走行制御装置。 - 前記実行部は、前記事前確認期間に前記周辺確認行動が検出されていない場合、前記提案後確認期間に前記周辺確認行動が検出されることを条件として前記車両に前記車線変更を実行させる、請求項1に記載の走行制御装置。
- 前記検出部は、前記周辺確認行動において運転者が確認する車両の周囲の方向を検出し、
前記記録部は、前記周辺確認行動における前記方向をさらに記録し、
前記実行部は、前記周辺確認行動のうち記録された前記方向が走行する車線から変更先の車線に向かう方向に対応する周辺確認行動が前記事前確認期間に検出された場合、前記車両に車線変更を実行させる、請求項1または2に記載の走行制御装置。 - 前記提案部は、前記事前確認期間に前記周辺確認行動が検出されている場合、前記提案後確認期間に前記周辺確認行動が検出されるか否かにかかわらず車線変更が実行されることを運転者に通知する、請求項1-3のいずれか一項に記載の走行制御装置。
- 車両の運転者の顔を表す画像から、前記運転者が前記車両の周辺を確認する周辺確認行動を検出し、
前記周辺確認行動が検出された時刻を記録し、
前記運転者に前記車両が走行する車線を隣接する車線に変更する車線変更の提案を通知し、
前記車線変更の提案が通知された時刻より前の事前確認期間に前記周辺確認行動が検出されている場合、前記車線変更の提案が通知された時刻より後の提案後確認期間に前記周辺確認行動が検出されるか否かにかかわらず前記車両に前記車線変更を実行させる、
ことを含む走行制御方法。
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JP2021044544A JP7415990B2 (ja) | 2021-03-18 | 2021-03-18 | 走行制御装置および走行制御方法 |
CN202210217899.7A CN115158317A (zh) | 2021-03-18 | 2022-03-08 | 行驶控制装置以及行驶控制方法 |
US17/695,018 US11702095B2 (en) | 2021-03-18 | 2022-03-15 | Travel controller and method for travel control |
DE102022106098.5A DE102022106098A1 (de) | 2021-03-18 | 2022-03-16 | Fahrsteuergerät und fahrsteuerungsverfahren |
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JP (1) | JP7415990B2 (ja) |
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Citations (5)
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JP2009280015A (ja) | 2008-05-20 | 2009-12-03 | Toyota Motor Corp | 操舵制御装置 |
JP2017074918A (ja) | 2015-10-16 | 2017-04-20 | 株式会社デンソー | 報知管理装置及び報知管理方法 |
JP2017102519A5 (ja) | 2015-11-30 | 2017-10-12 | ||
US20190367038A1 (en) | 2018-06-04 | 2019-12-05 | Sharp Kabushiki Kaisha | Driver monitoring device |
JP2021015344A (ja) | 2019-07-10 | 2021-02-12 | 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 |
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US20100131148A1 (en) * | 2008-11-26 | 2010-05-27 | Jaime Camhi | System and method for estimated driver intention for driver assistance system control |
US20170088165A1 (en) * | 2015-09-29 | 2017-03-30 | GM Global Technology Operations LLC | Driver monitoring |
JP6617534B2 (ja) * | 2015-11-30 | 2019-12-11 | 株式会社デンソー | 運転支援装置 |
JP2018177064A (ja) | 2017-04-17 | 2018-11-15 | 株式会社デンソーテン | コンテンツ再生装置及びコンテンツ再生方法 |
US10011216B1 (en) * | 2017-04-27 | 2018-07-03 | Toyota Motor Engineering & Manufacturing North America, Inc. | Auto turn signal initiation based on lane change and driver history |
JP6966489B2 (ja) * | 2019-01-17 | 2021-11-17 | 本田技研工業株式会社 | 車両の制御システム、車両の制御方法、およびプログラム |
JP2020135195A (ja) | 2019-02-15 | 2020-08-31 | 本田技研工業株式会社 | 車両制御装置、車両および車両制御方法 |
US11267483B2 (en) * | 2019-08-26 | 2022-03-08 | GM Global Technology Operations LLC | Method and apparatus for prevention of unintended lane change maneuver in an assisted driving system |
JP7014214B2 (ja) | 2019-11-12 | 2022-02-01 | 株式会社デンソー | 運転支援装置 |
US11535253B2 (en) * | 2020-09-18 | 2022-12-27 | GM Global Technology Operations LLC | Lane change maneuver intention detection systems and methods |
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- 2021-03-18 JP JP2021044544A patent/JP7415990B2/ja active Active
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- 2022-03-08 CN CN202210217899.7A patent/CN115158317A/zh active Pending
- 2022-03-15 US US17/695,018 patent/US11702095B2/en active Active
- 2022-03-16 DE DE102022106098.5A patent/DE102022106098A1/de active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009280015A (ja) | 2008-05-20 | 2009-12-03 | Toyota Motor Corp | 操舵制御装置 |
JP2017074918A (ja) | 2015-10-16 | 2017-04-20 | 株式会社デンソー | 報知管理装置及び報知管理方法 |
JP2017102519A5 (ja) | 2015-11-30 | 2017-10-12 | ||
US20190367038A1 (en) | 2018-06-04 | 2019-12-05 | Sharp Kabushiki Kaisha | Driver monitoring device |
JP2021015344A (ja) | 2019-07-10 | 2021-02-12 | 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 |
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JP2022143822A (ja) | 2022-10-03 |
DE102022106098A1 (de) | 2022-09-22 |
US20220297714A1 (en) | 2022-09-22 |
CN115158317A (zh) | 2022-10-11 |
US11702095B2 (en) | 2023-07-18 |
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