JP7501457B2 - 制御装置、制御方法、制御プログラム - Google Patents

制御装置、制御方法、制御プログラム Download PDF

Info

Publication number
JP7501457B2
JP7501457B2 JP2021100905A JP2021100905A JP7501457B2 JP 7501457 B2 JP7501457 B2 JP 7501457B2 JP 2021100905 A JP2021100905 A JP 2021100905A JP 2021100905 A JP2021100905 A JP 2021100905A JP 7501457 B2 JP7501457 B2 JP 7501457B2
Authority
JP
Japan
Prior art keywords
interference
control
host vehicle
change
vehicle
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
JP2021100905A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023000213A5 (enExample
JP2023000213A (ja
Inventor
理天 孫
清史 松尾
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.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Priority to JP2021100905A priority Critical patent/JP7501457B2/ja
Priority to CN202280042326.3A priority patent/CN117480402A/zh
Priority to PCT/JP2022/020647 priority patent/WO2022264740A1/ja
Publication of JP2023000213A publication Critical patent/JP2023000213A/ja
Publication of JP2023000213A5 publication Critical patent/JP2023000213A5/ja
Priority to US18/538,200 priority patent/US12459507B2/en
Application granted granted Critical
Publication of JP7501457B2 publication Critical patent/JP7501457B2/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
    • B60W30/143—Speed control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • 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
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/33—Driving situation
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • 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
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
JP2021100905A 2021-06-17 2021-06-17 制御装置、制御方法、制御プログラム Active JP7501457B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2021100905A JP7501457B2 (ja) 2021-06-17 2021-06-17 制御装置、制御方法、制御プログラム
CN202280042326.3A CN117480402A (zh) 2021-06-17 2022-05-18 控制装置、控制方法、控制程序
PCT/JP2022/020647 WO2022264740A1 (ja) 2021-06-17 2022-05-18 制御装置、制御方法、制御プログラム
US18/538,200 US12459507B2 (en) 2021-06-17 2023-12-13 Control device, control method, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2021100905A JP7501457B2 (ja) 2021-06-17 2021-06-17 制御装置、制御方法、制御プログラム

Publications (3)

Publication Number Publication Date
JP2023000213A JP2023000213A (ja) 2023-01-04
JP2023000213A5 JP2023000213A5 (enExample) 2023-04-07
JP7501457B2 true JP7501457B2 (ja) 2024-06-18

Family

ID=84526138

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021100905A Active JP7501457B2 (ja) 2021-06-17 2021-06-17 制御装置、制御方法、制御プログラム

Country Status (4)

Country Link
US (1) US12459507B2 (enExample)
JP (1) JP7501457B2 (enExample)
CN (1) CN117480402A (enExample)
WO (1) WO2022264740A1 (enExample)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2024157793A1 (enExample) * 2023-01-27 2024-08-02

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008026095A (ja) 2006-07-20 2008-02-07 Fujitsu Ten Ltd 車載レーダ制御方法及び車載レーダ制御装置
JP2008275400A (ja) 2007-04-27 2008-11-13 Fujitsu Ten Ltd レーダ装置、及び干渉防止方法
US20180128911A1 (en) 2016-11-07 2018-05-10 Mando Corporation Object-sensing system for vehicle and object-sensing method for vehicle
US20190056476A1 (en) 2017-08-18 2019-02-21 Nxp B.V. Radar unit, integrated circuit and methods for detecting and mitigating mutual interference

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4689813B2 (ja) 2000-11-20 2011-05-25 本田技研工業株式会社 距離測定装置
JP6282246B2 (ja) 2015-04-24 2018-02-21 オムロンオートモーティブエレクトロニクス株式会社 車載用距離計測装置
US10338201B2 (en) 2015-09-17 2019-07-02 Qualcomm Incorporated Timing synchronization of LIDAR system to reduce interference
JP6733495B2 (ja) 2016-10-26 2020-07-29 株式会社デンソー 距離測定装置
US10168418B1 (en) 2017-08-25 2019-01-01 Honda Motor Co., Ltd. System and method for avoiding sensor interference using vehicular communication

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008026095A (ja) 2006-07-20 2008-02-07 Fujitsu Ten Ltd 車載レーダ制御方法及び車載レーダ制御装置
JP2008275400A (ja) 2007-04-27 2008-11-13 Fujitsu Ten Ltd レーダ装置、及び干渉防止方法
US20180128911A1 (en) 2016-11-07 2018-05-10 Mando Corporation Object-sensing system for vehicle and object-sensing method for vehicle
US20190056476A1 (en) 2017-08-18 2019-02-21 Nxp B.V. Radar unit, integrated circuit and methods for detecting and mitigating mutual interference

Also Published As

Publication number Publication date
US12459507B2 (en) 2025-11-04
CN117480402A (zh) 2024-01-30
US20240123986A1 (en) 2024-04-18
WO2022264740A1 (ja) 2022-12-22
JP2023000213A (ja) 2023-01-04

Similar Documents

Publication Publication Date Title
JP7526795B2 (ja) 自動運転装置、車両制御方法
CN108136977B (zh) 自动驾驶系统、自动驾驶控制方法、数据ecu以及自动驾驶ecu
CN111559383B (zh) 用于基于车辆和边缘传感器数据确定自主车辆（av）动作的方法和系统
US11495131B2 (en) Vehicle to vehicle safety messaging congestion control for platooning vehicles
JP6841263B2 (ja) 走行計画生成装置、走行計画生成方法、及び制御プログラム
US11895566B2 (en) Methods of operating a wireless data bus in vehicle platoons
JP6809339B2 (ja) 自動走行制御装置
WO2021035722A1 (en) Verifying timing of sensors used in autonomous driving vehicles
US20170154531A1 (en) Drive support apparatus
WO2021149253A1 (ja) 制御装置、移動体、管理サーバ、基地局、通信システム及び通信方法
JP7501457B2 (ja) 制御装置、制御方法、制御プログラム
CN118730141A (zh) 用于具有自动驾驶系统的车辆的运行设计域管理
CN116255991A (zh) 车辆定位
JP7212708B2 (ja) 交通信号機の制御方法及び装置
JP2022532906A (ja) センサデータを処理するための方法および装置
CN116255973A (zh) 车辆定位
CN118351678A (zh) 信息提供装置和信息提供方法
WO2022249834A1 (ja) 車両運動制御装置、および、車両運動制御方法
JP7487844B2 (ja) 処理方法、処理システム、処理プログラム
CN114067607B (zh) 用于控制自动驾驶车辆的方法和装置、车辆及存储介质
US12384400B2 (en) Vehicle presentation control device, vehicle presentation control system, and vehicle presentation control method
US20230209523A1 (en) Communication management device, communication management method, and storage medium for communication management
US20230209409A1 (en) Communication control device, communication control method, and storage medium for communication control
JP7422894B2 (ja) サーバ選出装置およびサーバ選出システム
JP2025145536A (ja) 車両制御装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230324

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230324

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230327

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20240123

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240208

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240313

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: 20240507

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240520

R150 Certificate of patent or registration of utility model

Ref document number: 7501457

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150