JP7740504B2 - 車両制御方法及び車両制御装置 - Google Patents

車両制御方法及び車両制御装置

Info

Publication number
JP7740504B2
JP7740504B2 JP2024505724A JP2024505724A JP7740504B2 JP 7740504 B2 JP7740504 B2 JP 7740504B2 JP 2024505724 A JP2024505724 A JP 2024505724A JP 2024505724 A JP2024505724 A JP 2024505724A JP 7740504 B2 JP7740504 B2 JP 7740504B2
Authority
JP
Japan
Prior art keywords
vehicle
lane
information
planned
road
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
JP2024505724A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2023170820A5 (https=
JPWO2023170820A1 (https=
Inventor
信弥 齋藤
靖久 平
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 JPWO2023170820A1 publication Critical patent/JPWO2023170820A1/ja
Publication of JPWO2023170820A5 publication Critical patent/JPWO2023170820A5/ja
Application granted granted Critical
Publication of JP7740504B2 publication Critical patent/JP7740504B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • 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
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • 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
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
    • B60W2050/0068—Giving intention of direction, e.g. by indicator lights, steering input
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—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
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • 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
    • B60W2540/215—Selection or confirmation of options
    • 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
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • 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
    • B60W2720/103—Speed profile
    • 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
    • B60W2720/106—Longitudinal acceleration

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)
JP2024505724A 2022-03-09 2022-03-09 車両制御方法及び車両制御装置 Active JP7740504B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/010301 WO2023170820A1 (ja) 2022-03-09 2022-03-09 車両制御方法及び車両制御装置

Publications (3)

Publication Number Publication Date
JPWO2023170820A1 JPWO2023170820A1 (https=) 2023-09-14
JPWO2023170820A5 JPWO2023170820A5 (https=) 2024-10-30
JP7740504B2 true JP7740504B2 (ja) 2025-09-17

Family

ID=87936302

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2024505724A Active JP7740504B2 (ja) 2022-03-09 2022-03-09 車両制御方法及び車両制御装置

Country Status (5)

Country Link
EP (1) EP4491480A4 (https=)
JP (1) JP7740504B2 (https=)
CN (1) CN118786061A (https=)
MX (1) MX2024010764A (https=)
WO (1) WO2023170820A1 (https=)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011088574A (ja) 2009-10-23 2011-05-06 Toyota Motor Corp 車両制御装置
JP2018203006A (ja) 2017-06-02 2018-12-27 本田技研工業株式会社 車両制御システムおよび車両制御方法
JP2020185929A (ja) 2019-05-15 2020-11-19 日産自動車株式会社 車両の走行制御方法及び走行制御装置
JP2022019244A (ja) 2020-07-17 2022-01-27 フォルシアクラリオン・エレクトロニクス株式会社 運転支援装置およびプログラム

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6939428B2 (ja) * 2017-11-01 2021-09-22 トヨタ自動車株式会社 車両制御装置
DE102018210649A1 (de) * 2018-06-28 2020-01-02 Bayerische Motoren Werke Aktiengesellschaft Längsführendes Fahrerassistenzsystem in einem Kraftfahrzeug
JP7131304B2 (ja) 2018-11-01 2022-09-06 トヨタ自動車株式会社 車両用運転支援装置
KR102540937B1 (ko) * 2018-12-14 2023-06-08 현대자동차주식회사 운전자 보조 장치 및 그 작동 방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011088574A (ja) 2009-10-23 2011-05-06 Toyota Motor Corp 車両制御装置
JP2018203006A (ja) 2017-06-02 2018-12-27 本田技研工業株式会社 車両制御システムおよび車両制御方法
JP2020185929A (ja) 2019-05-15 2020-11-19 日産自動車株式会社 車両の走行制御方法及び走行制御装置
JP2022019244A (ja) 2020-07-17 2022-01-27 フォルシアクラリオン・エレクトロニクス株式会社 運転支援装置およびプログラム

Also Published As

Publication number Publication date
WO2023170820A1 (ja) 2023-09-14
US20250171024A1 (en) 2025-05-29
EP4491480A1 (en) 2025-01-15
MX2024010764A (es) 2024-09-10
CN118786061A (zh) 2024-10-15
JPWO2023170820A1 (https=) 2023-09-14
EP4491480A4 (en) 2025-06-18

Similar Documents

Publication Publication Date Title
CN110356402B (zh) 车辆控制装置、车辆控制方法及存储介质
JP6380919B2 (ja) 車両制御装置
US12447991B2 (en) Vehicle lane change control method and vehicle lane change control device
US10173680B2 (en) Vehicle speed control device
US11541892B2 (en) Vehicle control method and vehicle control device
JP7152339B2 (ja) 走行制御装置、走行制御方法、およびプログラム
CN113727895B (zh) 车辆控制方法以及车辆控制装置
WO2020003366A1 (ja) 運転支援方法及び運転支援装置
JP6954469B2 (ja) 運転支援方法及び運転支援装置
JP7211551B1 (ja) 運転制御方法及び運転制御装置
JP7106409B2 (ja) 車両制御方法及び車両制御装置
CN112400096A (zh) 行驶辅助方法和行驶辅助装置
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
JP7330733B2 (ja) 車両制御方法及び車両制御装置
JP7740504B2 (ja) 車両制御方法及び車両制御装置
JP2021126991A (ja) 走行経路生成システム及び車両運転支援システム
US12319291B2 (en) Driving assistance method and driving assistance device for performing a lane change
JP7524036B2 (ja) 車両の走行制御方法及び走行制御装置
CN119947940A (zh) 行驶辅助方法以及行驶辅助装置
JP7204565B2 (ja) 車両制御方法及び車両制御装置
US12617402B2 (en) Vehicle control method and vehicle control device
US20260001553A1 (en) Driving Control Method and Driving Control Device
JP2021126990A (ja) 走行経路生成システム及び車両運転支援システム
WO2020201795A1 (ja) 車両制御方法及び車両制御装置
CN121532318A (zh) 车辆运动控制装置及车辆运动控制方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240826

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20240826

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: 20250805

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250818

R150 Certificate of patent or registration of utility model

Ref document number: 7740504

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150