JP7439951B2 - 自動運転制御方法及び自動運転制御装置 - Google Patents

自動運転制御方法及び自動運転制御装置 Download PDF

Info

Publication number
JP7439951B2
JP7439951B2 JP2022561695A JP2022561695A JP7439951B2 JP 7439951 B2 JP7439951 B2 JP 7439951B2 JP 2022561695 A JP2022561695 A JP 2022561695A JP 2022561695 A JP2022561695 A JP 2022561695A JP 7439951 B2 JP7439951 B2 JP 7439951B2
Authority
JP
Japan
Prior art keywords
vehicle
stop
distance
inter
stopped
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
JP2022561695A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022101653A5 (enExample
JPWO2022101653A1 (enExample
Inventor
真知子 平松
裕史 高田
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.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co 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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of JPWO2022101653A1 publication Critical patent/JPWO2022101653A1/ja
Publication of JPWO2022101653A5 publication Critical patent/JPWO2022101653A5/ja
Application granted granted Critical
Publication of JP7439951B2 publication Critical patent/JP7439951B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • 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
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • 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
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
JP2022561695A 2020-11-16 2020-11-16 自動運転制御方法及び自動運転制御装置 Active JP7439951B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2020/000957 WO2022101653A1 (ja) 2020-11-16 2020-11-16 自動運転制御方法及び自動運転制御装置

Publications (3)

Publication Number Publication Date
JPWO2022101653A1 JPWO2022101653A1 (enExample) 2022-05-19
JPWO2022101653A5 JPWO2022101653A5 (enExample) 2023-08-03
JP7439951B2 true JP7439951B2 (ja) 2024-02-28

Family

ID=81600819

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022561695A Active JP7439951B2 (ja) 2020-11-16 2020-11-16 自動運転制御方法及び自動運転制御装置

Country Status (5)

Country Link
US (1) US11912275B2 (enExample)
EP (1) EP4245625A4 (enExample)
JP (1) JP7439951B2 (enExample)
CN (1) CN116547182B (enExample)
WO (1) WO2022101653A1 (enExample)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7472807B2 (ja) * 2021-01-26 2024-04-23 トヨタ自動車株式会社 車両制御システム及び衝突回避支援装置
CN118025232B (zh) * 2024-03-25 2025-09-05 广州文远知行科技有限公司 自动驾驶避障方法、装置、存储介质及车辆

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017038173A1 (ja) 2015-09-04 2017-03-09 三菱自動車工業株式会社 追従制御装置
WO2018173175A1 (ja) 2017-03-22 2018-09-27 本田技研工業株式会社 車両制御装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4877773B2 (ja) * 2006-10-02 2012-02-15 クラリオン株式会社 車両の走行制御システム
JP6291884B2 (ja) * 2014-02-07 2018-03-14 日産自動車株式会社 運転支援装置
DE102014220685A1 (de) * 2014-10-13 2016-04-14 Bayerische Motoren Werke Aktiengesellschaft Bereitstellen einer Mindestabstandsangabe in einem Kraftfahrzeug
JP6788634B2 (ja) * 2018-06-21 2020-11-25 株式会社Ｓｕｂａｒｕ 自動運転支援システム
JP6754416B2 (ja) * 2018-11-16 2020-09-09 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
US20210276551A1 (en) * 2020-03-03 2021-09-09 Honda Motor Co., Ltd. Information processing system for movable objects and information processing method for movable objects

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017038173A1 (ja) 2015-09-04 2017-03-09 三菱自動車工業株式会社 追従制御装置
WO2018173175A1 (ja) 2017-03-22 2018-09-27 本田技研工業株式会社 車両制御装置

Also Published As

Publication number Publication date
CN116547182A (zh) 2023-08-04
EP4245625A1 (en) 2023-09-20
WO2022101653A1 (ja) 2022-05-19
CN116547182B (zh) 2024-06-18
EP4245625A4 (en) 2023-12-27
US20230347891A1 (en) 2023-11-02
US11912275B2 (en) 2024-02-27
JPWO2022101653A1 (enExample) 2022-05-19

Similar Documents

Publication Publication Date Title
US11142203B2 (en) Cooperative vehicle navigation
US12447991B2 (en) Vehicle lane change control method and vehicle lane change control device
JP7156516B2 (ja) 車両の走行制御方法及び走行制御装置
JP6817413B2 (ja) 車両制御装置
JP7434866B2 (ja) 車両の走行制御方法および走行制御装置
CN110799403B (zh) 车辆控制装置
CN112601690A (zh) 车辆的行驶控制方法及行驶控制装置
CN111587206B (zh) 车辆控制装置、具有该车辆控制装置的车辆以及控制方法
US10821980B2 (en) Vehicle control device
JP7572266B2 (ja) 車両制御装置、車両制御方法およびプログラム
JP6898388B2 (ja) 車両の制御システム、車両の制御方法、およびプログラム
JP7439951B2 (ja) 自動運転制御方法及び自動運転制御装置
JP7211552B2 (ja) 車両の走行制御方法及び走行制御装置
JP7356926B2 (ja) 停止位置設定方法、自動運転制御方法及び停止位置設定装置
JP2007293388A (ja) 交差点交通管制システム
JP2020045039A (ja) 車両制御方法及び車両制御装置
JP7285179B2 (ja) 車両運転支援方法及び車両運転支援システム
JP2020199810A (ja) 車両制御装置、車両、車両制御装置の動作方法およびプログラム
JP2021193007A (ja) 走行支援方法、及び、走行支援装置
JP7393258B2 (ja) 制御装置及び車両
JP7591410B2 (ja) 自動運転制御方法及び自動運転制御装置
JP7765222B2 (ja) 車両制御装置
JP7138132B2 (ja) 制御装置及び車両
JP7516232B2 (ja) 車両の走行制御方法及び走行制御装置
JP7307660B2 (ja) 運転支援方法及び運転支援装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230508

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230508

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: 20240116

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240129

R151 Written notification of patent or utility model registration

Ref document number: 7439951

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151