JP7740345B2 - 運転制御方法及び運転制御装置 - Google Patents

運転制御方法及び運転制御装置

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Publication number
JP7740345B2
JP7740345B2 JP2023549187A JP2023549187A JP7740345B2 JP 7740345 B2 JP7740345 B2 JP 7740345B2 JP 2023549187 A JP2023549187 A JP 2023549187A JP 2023549187 A JP2023549187 A JP 2023549187A JP 7740345 B2 JP7740345 B2 JP 7740345B2
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JP
Japan
Prior art keywords
vehicle
host vehicle
driving
speed
evaluation value
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
JP2023549187A
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English (en)
Japanese (ja)
Other versions
JPWO2023047453A1 (https=
JPWO2023047453A5 (https=
Inventor
泰久 早川
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
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Nissan Motor Co Ltd
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Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of JPWO2023047453A1 publication Critical patent/JPWO2023047453A1/ja
Publication of JPWO2023047453A5 publication Critical patent/JPWO2023047453A5/ja
Application granted granted Critical
Publication of JP7740345B2 publication Critical patent/JP7740345B2/ja
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Anticipated expiration legal-status Critical

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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
    • 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
    • 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
    • B60W30/08—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
    • 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
    • B60W30/08—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
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • 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
    • 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
    • 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
    • B60W2554/802—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2023549187A 2021-09-21 2021-09-21 運転制御方法及び運転制御装置 Active JP7740345B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/034533 WO2023047453A1 (ja) 2021-09-21 2021-09-21 運転制御方法及び運転制御装置

Publications (3)

Publication Number Publication Date
JPWO2023047453A1 JPWO2023047453A1 (https=) 2023-03-30
JPWO2023047453A5 JPWO2023047453A5 (https=) 2024-05-30
JP7740345B2 true JP7740345B2 (ja) 2025-09-17

Family

ID=85720242

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023549187A Active JP7740345B2 (ja) 2021-09-21 2021-09-21 運転制御方法及び運転制御装置

Country Status (6)

Country Link
US (1) US12103524B1 (https=)
EP (1) EP4406801A4 (https=)
JP (1) JP7740345B2 (https=)
CN (1) CN117980207B (https=)
MX (1) MX2024003386A (https=)
WO (1) WO2023047453A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11024180B2 (en) * 2018-12-27 2021-06-01 Intel Corporation Methods and apparatus to validate data communicated by a vehicle

Citations (4)

* Cited by examiner, † Cited by third party
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JP2018203101A (ja) 2017-06-06 2018-12-27 トヨタ自動車株式会社 車線変更支援装置
WO2019150525A1 (ja) 2018-02-01 2019-08-08 本田技研工業株式会社 車両制御装置、車両、および車両制御方法
JP2019172239A (ja) 2018-03-27 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の運転支援装置
JP2020104802A (ja) 2018-12-28 2020-07-09 本田技研工業株式会社 車両制御装置、車両および車両制御方法

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JP4992959B2 (ja) * 2009-11-30 2012-08-08 株式会社デンソー 衝突回避支援装置、および衝突回避支援プログラム
JP2014149762A (ja) * 2013-02-04 2014-08-21 Toyota Motor Corp 運転支援装置及び運転支援方法
JP5977270B2 (ja) * 2014-01-14 2016-08-24 株式会社デンソー 車両制御装置、及びプログラム
JP2015194798A (ja) * 2014-03-31 2015-11-05 日産自動車株式会社 運転支援制御装置
JP6568759B2 (ja) * 2015-09-30 2019-08-28 日立オートモティブシステムズ株式会社 車線変更システム
JP6575818B2 (ja) * 2016-03-25 2019-09-18 パナソニックＩｐマネジメント株式会社 運転支援方法およびそれを利用した運転支援装置、自動運転制御装置、車両、運転支援システム、プログラム
US20180239352A1 (en) * 2016-08-31 2018-08-23 Faraday&Future Inc. System and method for operating vehicles at different degrees of automation
JP6552750B2 (ja) * 2016-09-01 2019-07-31 三菱電機株式会社 自動運転レベル低下可否判定装置、自動運転レベル低下可否判定方法
JP6780461B2 (ja) * 2016-11-14 2020-11-04 いすゞ自動車株式会社 運転支援システム及び運転支援方法
FR3073805A1 (fr) * 2017-11-22 2019-05-24 Valeo Schalter Und Sensoren Gmbh Procede et systeme d'assistance a la conduite pour un vehicule automobile en mode de fonctionnement autonome
WO2019163121A1 (ja) * 2018-02-26 2019-08-29 本田技研工業株式会社 車両制御システム、車両制御方法、およびプログラム
US10689033B2 (en) 2018-03-27 2020-06-23 Subaru Corporation Vehicle driving assist apparatus
JP2020026154A (ja) * 2018-08-09 2020-02-20 トヨタ自動車株式会社 運転支援装置
JP7268433B2 (ja) * 2019-03-22 2023-05-08 トヨタ自動車株式会社 車両用制御装置
JP2020158048A (ja) 2019-03-28 2020-10-01 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
JP7124784B2 (ja) * 2019-04-04 2022-08-24 トヨタ自動車株式会社 車両制御装置
US11175669B2 (en) * 2019-08-01 2021-11-16 Toyota Motor Engineering & Manufacturing North America, Inc. Increasing consumer confidence in autonomous vehicles
EP3822141B1 (en) * 2019-11-18 2023-07-12 Zenuity AB Operational design domain validation coverage for adjacent lane relative velocity

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018203101A (ja) 2017-06-06 2018-12-27 トヨタ自動車株式会社 車線変更支援装置
WO2019150525A1 (ja) 2018-02-01 2019-08-08 本田技研工業株式会社 車両制御装置、車両、および車両制御方法
JP2019172239A (ja) 2018-03-27 2019-10-10 株式会社Ｓｕｂａｒｕ 車両の運転支援装置
JP2020104802A (ja) 2018-12-28 2020-07-09 本田技研工業株式会社 車両制御装置、車両および車両制御方法

Also Published As

Publication number Publication date
JPWO2023047453A1 (https=) 2023-03-30
WO2023047453A1 (ja) 2023-03-30
EP4406801A1 (en) 2024-07-31
US12103524B1 (en) 2024-10-01
US20240326795A1 (en) 2024-10-03
EP4406801A4 (en) 2024-11-27
CN117980207A (zh) 2024-05-03
CN117980207B (zh) 2025-10-24
MX2024003386A (es) 2024-04-05

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