JP7646017B2 - 車両を操作するための方法、コンピュータプログラム、制御システム、および車両 - Google Patents

車両を操作するための方法、コンピュータプログラム、制御システム、および車両 Download PDF

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JP7646017B2
JP7646017B2 JP2023557818A JP2023557818A JP7646017B2 JP 7646017 B2 JP7646017 B2 JP 7646017B2 JP 2023557818 A JP2023557818 A JP 2023557818A JP 2023557818 A JP2023557818 A JP 2023557818A JP 7646017 B2 JP7646017 B2 JP 7646017B2
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vehicle
radius
determined
acceleration
jerk
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JP2024510676A (ja
JP2024510676A5 (https=
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グラツィアーノ、ナルデリ
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ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー
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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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • B60W40/072—Curvature 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
    • B60W50/0097—Predicting future conditions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/30—Road curve radius
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/205—Steering 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/1815—Cornering

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2023557818A 2021-12-10 2022-12-06 車両を操作するための方法、コンピュータプログラム、制御システム、および車両 Active JP7646017B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102021132711.3A DE102021132711A1 (de) 2021-12-10 2021-12-10 Verfahren zum betreiben eines fahrzeugs, computerprogramm, steuerungssystem sowie fahrzeug
DE102021132711.3 2021-12-10
PCT/EP2022/084511 WO2023104764A1 (en) 2021-12-10 2022-12-06 Method for operating a vehicle, computer program, control system and vehicle

Publications (3)

Publication Number Publication Date
JP2024510676A JP2024510676A (ja) 2024-03-08
JP2024510676A5 JP2024510676A5 (https=) 2024-03-19
JP7646017B2 true JP7646017B2 (ja) 2025-03-14

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JP2023557818A Active JP7646017B2 (ja) 2021-12-10 2022-12-06 車両を操作するための方法、コンピュータプログラム、制御システム、および車両

Country Status (7)

Country Link
US (1) US12472948B2 (https=)
EP (1) EP4444592B1 (https=)
JP (1) JP7646017B2 (https=)
KR (1) KR20230158091A (https=)
CN (1) CN117203109A (https=)
DE (1) DE102021132711A1 (https=)
WO (1) WO2023104764A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023201879A1 (de) * 2023-03-02 2024-09-05 Zf Friedrichshafen Ag Trajektorieplanungssystem für ein Fahrzeug und Fahrzeug
DE102024131630A1 (de) * 2024-10-30 2026-04-30 Valeo Schalter Und Sensoren Gmbh Verfahren zum anpassen einer steuereinrichtung in einem fahrzeug

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010084591A1 (ja) 2009-01-22 2010-07-29 トヨタ自動車株式会社 カーブ半径推定装置
JP2012252406A (ja) 2011-05-31 2012-12-20 Nissan Motor Co Ltd 道路形状予測装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4427953B2 (ja) * 2003-01-29 2010-03-10 株式会社豊田自動織機 駐車支援装置
US8126642B2 (en) * 2008-10-24 2012-02-28 Gray & Company, Inc. Control and systems for autonomously driven vehicles
US8988524B2 (en) * 2013-03-11 2015-03-24 The United States Of America As Represented By The Secretary Of The Army Apparatus and method for estimating and using a predicted vehicle speed in an indirect vision driving task
KR101504252B1 (ko) 2013-11-28 2015-03-19 현대모비스 주식회사 곡선 도로에서 차량의 속도를 제어하기 위한 시스템 및 그 방법
JP6600446B2 (ja) 2014-05-14 2019-10-30 株式会社豊田中央研究所 車両制御装置、及びプログラム
KR102159360B1 (ko) 2014-09-26 2020-09-23 현대모비스 주식회사 곡률 추정 장치 및 방법
KR102239010B1 (ko) 2014-10-29 2021-04-13 현대모비스 주식회사 차량의 지능형 순항제어 장치 및 방법
JP2017090339A (ja) 2015-11-13 2017-05-25 株式会社デンソー 位置記録装置
JP6428671B2 (ja) 2016-02-17 2018-11-28 株式会社デンソー 推定装置
JP2018106589A (ja) 2016-12-28 2018-07-05 パナソニックＩｐマネジメント株式会社 車両軌道予測装置、方法、プログラム及び記録媒体、並びに、警報装置
JP6642522B2 (ja) * 2017-06-06 2020-02-05 トヨタ自動車株式会社 車線変更支援装置
CN110654320A (zh) 2018-06-29 2020-01-07 比亚迪股份有限公司 探测装置探测角度的调整方法、装置及具有其的车辆
JP6738377B2 (ja) 2018-07-31 2020-08-12 ヤマハ発動機株式会社 曲率情報算出装置およびそれを備える自動走行車両
DE102020216470A1 (de) 2019-12-26 2021-07-01 Mando Corporation Fahrerassistenzsystem, damit ausgestattetes fahrzeug und verfahren zum steuern des fahrzeugs
IL272216B (en) 2020-01-20 2021-05-31 Elbit Systems Land Ltd Device and method for automatically controlled steering of a continuous track vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010084591A1 (ja) 2009-01-22 2010-07-29 トヨタ自動車株式会社 カーブ半径推定装置
JP2012252406A (ja) 2011-05-31 2012-12-20 Nissan Motor Co Ltd 道路形状予測装置

Also Published As

Publication number Publication date
JP2024510676A (ja) 2024-03-08
EP4444592A1 (en) 2024-10-16
DE102021132711A1 (de) 2023-06-15
US12472948B2 (en) 2025-11-18
US20240217517A1 (en) 2024-07-04
EP4444592B1 (en) 2026-01-28
CN117203109A (zh) 2023-12-08
WO2023104764A1 (en) 2023-06-15
KR20230158091A (ko) 2023-11-17

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