JP7435725B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP7435725B2 JP7435725B2 JP2022208187A JP2022208187A JP7435725B2 JP 7435725 B2 JP7435725 B2 JP 7435725B2 JP 2022208187 A JP2022208187 A JP 2022208187A JP 2022208187 A JP2022208187 A JP 2022208187A JP 7435725 B2 JP7435725 B2 JP 7435725B2
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- 238000010586 diagram Methods 0.000 description 5
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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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
-
- 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
- B60W2554/402—Type
- B60W2554/4026—Cycles
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- 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
- B60W2554/802—Longitudinal distance
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
Description
図1に示す運転支援装置100は、乗用車などの車両(自車両)に搭載され、運転者による自車両の運転を支援する装置である。運転支援装置100は、自車両の前方に先行車、信号機などの減速対象を検出した場合に、所定条件下で自車両の減速支援を行う。減速対象とは、減速支援の対象である。減速対象には、先行車、信号機、及び一時停止線が含まれる。減速対象には、先行車以外にも歩行者、自転車などの移動物が含まれてもよく、信号機及び一時停止線以外にも、横断歩道、落下物、工事用設置物、構造物などの静止物が含まれてもよい。減速対象には、赤信号又は黄信号の信号機のみを含み、青信号の信号機を含まなくてもよい。
第1実施形態に係る運転支援装置100の構成について図面を参照して説明する。図1に示すように、運転支援装置100は、装置を統括的に管理する運転支援ECU[Electronic Control Unit]10を備えている。運転支援ECU10は、CPU[Central Processing Unit]、ROM[Read Only Memory]、RAM[Random Access Memory]などを有する電子制御ユニットである。運転支援ECU10では、例えば、ROMに記憶されているプログラムをRAMにロードし、RAMにロードされたプログラムをCPUで実行することにより各種の機能を実現する。運転支援ECU10は、複数の電子ユニットから構成されていてもよい。
続いて、第1実施形態の運転支援装置100の処理について図面を参照して説明する。図4(a)は、第1の減速対象に対する減速開始処理の一例を示すフローチャートである。この減速開始処理は、運転支援機能が実行されている場合に行われる。
Claims (6)
- 自車両の前方の減速対象と前記自車両との相対状況に基づいて前記自車両の減速支援の開始と前記自車両の減速支援の終了を行い、前記減速支援の実行中に前記自車両の運転者に対して減速支援表示を表示する運転支援装置であって、
第1の減速対象に対する前記減速支援を終了する場合に、前記自車両の前方に第2の減速対象が検出されないときには前記減速支援表示の表示態様を変更し、前記第2の減速対象が検出されたときには前記減速支援表示の表示態様の変更を抑制する、運転支援装置。 - 前記減速支援の終了時における前記減速支援表示の表示態様として前記運転者に通知する減速支援終了通知を行い、
前記第1の減速対象に対する前記減速支援を終了する場合に、前記第2の減速対象が検出されたときには前記減速支援終了通知を行わない、請求項1に記載の運転支援装置。 - 前記第1の減速対象と前記第2の減速対象との少なくとも一方の種別が先行車である場合、前記自車両と前記先行車とのTTCに基づいて前記減速支援を開始する、請求項1又は2に記載の運転支援装置。
- 前記第1の減速対象と前記第2の減速対象との少なくとも一方の種別が静止物である場合、前記自車両の速度と、前記自車両及び前記静止物のTTC又は前記自車両及び前記静止物の距離とに基づいて前記減速支援を開始する、請求項1又は2に記載の運転支援装置。
- 前記第1の減速対象と前記第2の減速対象との少なくとも一方の種別が信号機である場合、前記信号機の点灯状態に応じて、前記減速支援の目標速度又は前記減速支援における前記自車両と前記信号機との目標相対速度を変更する、請求項1又は2に記載の運転支援装置。
- 前記第1の減速対象と前記第2の減速対象との少なくとも一方の種別が信号機である場合、前記信号機ではなく前記信号機の手前の一時停止線を対象として、前記自車両の速度と前記自車両及び前記一時停止線の相対状況とに基づいて前記減速支援を開始する、請求項1又は2に記載の運転支援装置。
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JP2022208187A JP7435725B2 (ja) | 2019-11-13 | 2022-12-26 | 運転支援装置 |
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JP2019205599A JP7205444B2 (ja) | 2019-11-13 | 2019-11-13 | 運転支援装置 |
JP2022208187A JP7435725B2 (ja) | 2019-11-13 | 2022-12-26 | 運転支援装置 |
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JP7222343B2 (ja) * | 2019-11-28 | 2023-02-15 | トヨタ自動車株式会社 | 運転支援装置 |
JP7439563B2 (ja) * | 2020-02-26 | 2024-02-28 | トヨタ自動車株式会社 | 走行支援装置 |
JP2022113287A (ja) * | 2021-01-25 | 2022-08-04 | トヨタ自動車株式会社 | 車両衝突回避支援装置 |
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CN112874514B (zh) | 2024-02-02 |
JP2021075240A (ja) | 2021-05-20 |
CN117644859A (zh) | 2024-03-05 |
US20210139020A1 (en) | 2021-05-13 |
US11667279B2 (en) | 2023-06-06 |
US20230256964A1 (en) | 2023-08-17 |
CN112874514A (zh) | 2021-06-01 |
DE102020129146A1 (de) | 2021-05-20 |
JP2023029457A (ja) | 2023-03-03 |
JP7205444B2 (ja) | 2023-01-17 |
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