JP7567758B2 - 自動運転制御装置、及び自動運転制御プログラム - Google Patents

自動運転制御装置、及び自動運転制御プログラム Download PDF

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Publication number
JP7567758B2
JP7567758B2 JP2021189632A JP2021189632A JP7567758B2 JP 7567758 B2 JP7567758 B2 JP 7567758B2 JP 2021189632 A JP2021189632 A JP 2021189632A JP 2021189632 A JP2021189632 A JP 2021189632A JP 7567758 B2 JP7567758 B2 JP 7567758B2
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Japan
Prior art keywords
control
vehicle
driving
vehicle distance
setting
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Japanese (ja)
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JP2022155463A (ja
JP2022155463A5 (https=
Inventor
拓弥 久米
一輝 和泉
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Denso Corp
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Denso Corp
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Priority to JP2021189632A priority Critical patent/JP7567758B2/ja
Priority to DE112022001805.4T priority patent/DE112022001805T5/de
Priority to CN202280026478.4A priority patent/CN117136157A/zh
Priority to PCT/JP2022/007563 priority patent/WO2022209459A1/ja
Publication of JP2022155463A publication Critical patent/JP2022155463A/ja
Publication of JP2022155463A5 publication Critical patent/JP2022155463A5/ja
Priority to US18/476,291 priority patent/US12539874B2/en
Priority to JP2024127772A priority patent/JP7831526B2/ja
Application granted granted Critical
Publication of JP7567758B2 publication Critical patent/JP7567758B2/ja
Priority to US19/428,448 priority patent/US20260109372A1/en
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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
    • 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
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60W40/04—Traffic conditions
    • 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
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • 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
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • 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
    • B60W2552/10—Number of lanes
    • 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
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • 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
    • B60W2554/406—Traffic density
    • 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
    • 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
    • B60W2554/804—Relative longitudinal speed
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2021189632A 2021-03-30 2021-11-22 自動運転制御装置、及び自動運転制御プログラム Active JP7567758B2 (ja)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2021189632A JP7567758B2 (ja) 2021-03-30 2021-11-22 自動運転制御装置、及び自動運転制御プログラム
CN202280026478.4A CN117136157A (zh) 2021-03-30 2022-02-24 自动驾驶控制装置、自动驾驶控制程序、提示控制装置以及提示控制程序
PCT/JP2022/007563 WO2022209459A1 (ja) 2021-03-30 2022-02-24 自動運転制御装置、自動運転制御プログラム、提示制御装置及び提示制御プログラム
DE112022001805.4T DE112022001805T5 (de) 2021-03-30 2022-02-24 Automatisiertes-Fahren-Steuerungsvorrichtung, Automatisiertes-Fahren-Steuerungsprogramm, Präsentationssteuerungsvorrichtung und Präsentationssteuerungsprogramm
US18/476,291 US12539874B2 (en) 2021-03-30 2023-09-27 Automated driving control device, non-transitory computer readable storage medium storing automated driving control program, presentation control device, and non-transitory computer readable storage medium storing presentation control program
JP2024127772A JP7831526B2 (ja) 2021-03-30 2024-08-02 自動運転制御装置、自動運転制御プログラム、提示制御装置及び提示制御プログラム
US19/428,448 US20260109372A1 (en) 2021-03-30 2025-12-22 Automated driving control device, non-transitory computer readable storage medium storing automated driving control program, presentation control device, and non-transitory computer readable storage medium storing presentation control program

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2021057769 2021-03-30
JP2021057769 2021-03-30
JP2021164998 2021-10-06
JP2021164998 2021-10-06
JP2021189632A JP7567758B2 (ja) 2021-03-30 2021-11-22 自動運転制御装置、及び自動運転制御プログラム

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JP2024127772A Division JP7831526B2 (ja) 2021-03-30 2024-08-02 自動運転制御装置、自動運転制御プログラム、提示制御装置及び提示制御プログラム

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JP2022155463A5 JP2022155463A5 (https=) 2023-04-04
JP7567758B2 true JP7567758B2 (ja) 2024-10-16

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JP2024127772A Active JP7831526B2 (ja) 2021-03-30 2024-08-02 自動運転制御装置、自動運転制御プログラム、提示制御装置及び提示制御プログラム

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US (2) US12539874B2 (https=)
JP (2) JP7567758B2 (https=)
CN (1) CN117136157A (https=)
DE (1) DE112022001805T5 (https=)
WO (1) WO2022209459A1 (https=)

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JP7601017B2 (ja) * 2022-01-27 2024-12-17 トヨタ自動車株式会社 車両運転支援装置

Citations (6)

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Publication number Priority date Publication date Assignee Title
JP2007148788A (ja) 2005-11-28 2007-06-14 Toyota Motor Corp 運転支援装置
JP2016205971A (ja) 2015-04-21 2016-12-08 クラリオン株式会社 経路探索装置及び経路探索方法
JP2019006275A (ja) 2017-06-26 2019-01-17 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
JP2020050091A (ja) 2018-09-26 2020-04-02 株式会社Ｓｕｂａｒｕ 車両制御装置
JP2020075585A (ja) 2018-11-06 2020-05-21 日産自動車株式会社 自動発進制御方法及び自動発進制御装置
JP2020158021A (ja) 2019-03-27 2020-10-01 本田技研工業株式会社 車両制御装置及び車両

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JP6614025B2 (ja) * 2016-05-20 2019-12-04 アイシン・エィ・ダブリュ株式会社 自動運転支援装置及びコンピュータプログラム
JP6976089B2 (ja) * 2017-06-29 2021-12-08 株式会社デンソーテン 運転支援装置および運転支援方法
WO2019043847A1 (ja) 2017-08-30 2019-03-07 本田技研工業株式会社 走行制御装置、車両および走行制御方法
BR112020005793A2 (pt) * 2017-09-26 2020-09-24 Nissan Motor Co., Ltd. método de assistência de condução e dispositivo de assistência de condução
JP6693548B2 (ja) 2018-10-16 2020-05-13 三菱電機株式会社 運転支援装置
KR20200071840A (ko) * 2018-12-03 2020-06-22 현대자동차주식회사 자율주행차량을 지원하는 시스템 및 방법
JP7496677B2 (ja) 2019-09-30 2024-06-07 株式会社ソニー・インタラクティブエンタテインメント 画像データ転送装置、画像表示システム、および画像圧縮方法
JP7414605B2 (ja) * 2020-03-23 2024-01-16 株式会社アイシン 運転支援システム、運転支援プログラム
JP2021164998A (ja) 2020-04-06 2021-10-14 キヤノン株式会社 画像処理装置、画像処理方法、およびプログラム
JP7496242B2 (ja) 2020-05-28 2024-06-06 株式会社竹中工務店 管理システム、及び管理プログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007148788A (ja) 2005-11-28 2007-06-14 Toyota Motor Corp 運転支援装置
JP2016205971A (ja) 2015-04-21 2016-12-08 クラリオン株式会社 経路探索装置及び経路探索方法
JP2019006275A (ja) 2017-06-26 2019-01-17 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
JP2020050091A (ja) 2018-09-26 2020-04-02 株式会社Ｓｕｂａｒｕ 車両制御装置
JP2020075585A (ja) 2018-11-06 2020-05-21 日産自動車株式会社 自動発進制御方法及び自動発進制御装置
JP2020158021A (ja) 2019-03-27 2020-10-01 本田技研工業株式会社 車両制御装置及び車両

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Publication number Publication date
WO2022209459A1 (ja) 2022-10-06
US20260109372A1 (en) 2026-04-23
CN117136157A (zh) 2023-11-28
US12539874B2 (en) 2026-02-03
JP7831526B2 (ja) 2026-03-17
DE112022001805T5 (de) 2024-02-29
US20240034345A1 (en) 2024-02-01
JP2022155463A (ja) 2022-10-13
JP2024153878A (ja) 2024-10-29

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