JPH02291100A - Travel controller for mobile vehicle - Google Patents
Travel controller for mobile vehicleInfo
- Publication number
- JPH02291100A JPH02291100A JP1109069A JP10906989A JPH02291100A JP H02291100 A JPH02291100 A JP H02291100A JP 1109069 A JP1109069 A JP 1109069A JP 10906989 A JP10906989 A JP 10906989A JP H02291100 A JPH02291100 A JP H02291100A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- ahead
- recognition
- travel
- travel control
- 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.)
- Granted
Links
- 238000012937 correction Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、移動車たる自車が前方の他の移動車に追従走
行を行なう場合における移動車の走行制御装置に関する
。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a travel control device for a moving vehicle when the own vehicle, which is a moving vehicle, follows another moving vehicle in front.
（従来の技術）
従来、追従走行を行なう場合の制御方法として、一般に
、特開昭６１−６０３１号のように直前方車との車間距
離を制御するようにしている。(Prior Art) Conventionally, as a control method for performing follow-up travel, the distance between the vehicle and the preceding vehicle is generally controlled as disclosed in Japanese Patent Application Laid-Open No. 61-6031.
この場合において、前車と自車の車両中心を一致させる
ようにするのか一般的である。In this case, it is common practice to align the vehicle centers of the vehicle in front and the own vehicle.
（発明が解決しようとする課題）
このような従来の追従走行制御によれば、自軍の直前方
車は、その１つ前の車両（即ち、直前方車）に車両中心
を一致させて追従走行することになる。即ち、例えば、
３台の車両が追従走行を行なえば、先頭車の後に２台の
車両が一列に並ぶことになる。(Problem to be Solved by the Invention) According to such conventional tracking control, the vehicle in front of the own army follows the vehicle with its center aligned with the vehicle immediately in front of it (i.e., the vehicle in front of it). I will do it. That is, for example,
If three vehicles follow each other, two vehicles will line up in a line behind the lead vehicle.
すると、このように一列に並んだ走行では、白車は直前
方車の誤った行動にそのまま追従してしまう可能性かあ
る。人間か行なう運転では、直前方車のみならず、自軍
から例えば２つ前の車両をも監視して走行制御するよう
にしているのであるが、自律型の走行制御装置による縦
の一列走行では、直前方車よりもさらに前方を走行する
車両を監視することが困難であるからである。Then, when driving in a line like this, there is a possibility that the white car will simply follow the wrong actions of the car in front. In human-driven driving, not only the vehicle in front, but also the vehicle in front of you, for example, two vehicles ahead of you, is monitored and controlled. This is because it is difficult to monitor a vehicle traveling further ahead than the vehicle directly ahead.
そこで、本発明は」二述従来例の欠点を除去するために
提案されたものでその目的は、直前方車に対し車両中心
が所定量ずれるように走行制御することにより、直前方
車以外の走行環境、例えば自軍から２つ前の車両をも監
視した走行制御を可能ならしめる移動車の走行制御装置
を提案ずるところにある。Therefore, the present invention was proposed in order to eliminate the drawbacks of the conventional example mentioned above.The purpose of the present invention is to control the vehicle so that the center of the vehicle is shifted by a predetermined amount with respect to the vehicle directly ahead. We are proposing a travel control device for mobile vehicles that can monitor the traveling environment, for example, the vehicle two cars ahead of your own army.
（課題を達成するための手段及び作用）」二記課題を達
成するだめの本発明の構成は、第１図に示すように、外
界を認識するだめの外界認識手段と、この手段の認識結
果に基ついて走行制御する走行制御手段と、同じく外界
認識手段の認識結果に基ついて直前前方車を判別する判
別手段と、該判別手段による直前前方車の判別時、該前
方車の中心に対し自車を所定量１゛らして走行するよう
前記走行制御手段を補正する補正手段とを備えたことを
特徴とする。(Means and operations for achieving the object) The configuration of the present invention to achieve the second object is, as shown in FIG. a travel control means for controlling travel based on the recognition result of the external world recognition means; a discrimination means for determining the vehicle immediately ahead based on the recognition result of the external world recognition means; The present invention is characterized by comprising a correction means for correcting the travel control means so that the vehicle travels with a predetermined amount of 1.
（実施例）
以下添イ」図面を参照して、本発明を乗用車の走行制御
に適用した実施例を説明する。(Embodiment) An embodiment in which the present invention is applied to travel control of a passenger car will be described below with reference to the accompanying drawings.
第２図はこの実施例の追従走行システムのブロック図で
ある。図中、■はカメラであり外界の画像を取り込む。FIG. 2 is a block diagram of the tracking system of this embodiment. In the figure, ■ is a camera that captures images of the outside world.
また、９は測距センサてあり、自車から対象（例えば直
前方車）までの距離を測定する。２は、取り込んだ画像
を記憶するフレームメモリであり、３ぱフレームメモリ
２に取り込まれた画像から所定の処理を行なって外界を
認識するための認識部であり、この外界認識のためには
知識ヘース４を用いる。５ぱ走行制御部であり、認識部
３による認識結果に基ついて後述の制御手順により、ス
ロツ［・ルアクチュエーク６，ステアリングアクチュエ
ータ７及びブレーキアクチュエク８を制御して前車若し
くは２つ前の車を対象とした追従制御を行なう。Further, a distance measuring sensor 9 measures the distance from the own vehicle to an object (for example, a vehicle directly ahead). 2 is a frame memory that stores the captured image; 3 is a recognition unit that performs predetermined processing on the image captured in the frame memory 2 to recognize the external world; Use Heath 4. 5 is a driving control unit, which controls the slot actuator 6, steering actuator 7, and brake actuator 8 to move the car in front or two cars ahead according to the control procedure described later based on the recognition result by the recognition unit 3. Perform targeted follow-up control.
この実施例の追従走行の特徴は、
■．通常は、直前方車を目標とした追従走行を行なって
いる。The features of the follow-up running in this embodiment are as follows: ■. Normally, the vehicle follows the vehicle directly ahead.
■・そして、この直前方車を目標とした追従走行を行な
いながら、更に前方の外界を認識するために、自軍を直
前方車に対してずらずように制御する。このずらし制御
により、更なる外界認識範囲を確保しようとする。-Then, while following the vehicle in front of you as a target, in order to further recognize the outside world in front of you, control your own troops so that they are not offset from the vehicle in front of you. This shift control attempts to secure a further external world recognition range.
■．自軍を直前方車にずらしたらならば、白車から２つ
前の車両をも含んだ範囲の画像を取り込み、その範囲の
外界認識に基づいて追従走行を行なう。■． If you shift your own troops to the front vehicle, it will capture an image of the range that includes the white vehicle and the vehicle two vehicles ahead, and follow it based on the recognition of the outside world in that range.
第３図は、走行制御部５における制御手順を示したフロ
ーヂャートである。先ず、ステップＳ４において、カメ
ラ１から外界の画像を取り込み外界認識を行なう。ここ
で言う外界認識とは、路端検出若しくは消失点検出、セ
ンタライン検出等である。また、ステップＳ４では、同
様に、直前方車両の認識も行なう。この認識は、輪郭形
状及びテールランプの色形等に基ついて知識ヘース４を
用いて行なう。また、必要なら、測距センサ９を用いて
前方車両までの距離測定を行なう。FIG. 3 is a flowchart showing the control procedure in the travel control section 5. First, in step S4, an image of the outside world is taken in from the camera 1 and recognition of the outside world is performed. The external world recognition referred to here includes road edge detection, vanishing point detection, center line detection, and the like. Furthermore, in step S4, the vehicle immediately ahead is also recognized. This recognition is performed using the knowledge base 4 based on the contour shape, color shape of the tail lamp, etc. Furthermore, if necessary, the distance measurement sensor 9 is used to measure the distance to the vehicle ahead.
ステップ８６では、自車を直前方車の車両中心から左右
のどちらかに、また、ずらずこと自体が可能であるかを
判断ずる。直前方車が走行車線のどちらかに偏って走行
している場合は、場合によっては、自車をずらすことの
できる方向は左右のいずれか一方になる。この判断を必
要とする場合を、第４Ａ図及び第４Ｂ図に示して更に説
明する。In step 86, it is determined whether it is possible to move the vehicle to the left or right from the center of the vehicle directly ahead. If the vehicle in front of you is traveling biased to either side of the lane, depending on the situation, the direction in which your vehicle can be shifted is either left or right. A case in which this judgment is necessary will be further explained with reference to FIGS. 4A and 4B.
第４Ａ図は、外界認識のためのカメラが車両の一方にか
たよっているために、白車の移動方向が制限される事例
を説明する。同図において、自車１００ぱセンタライン
側である右側に寄っており、また外界認識のためのカメ
ラ１は車両の右側に設置されているとする。このため、
カメラ１による外界の認識可能な範囲は自車］． Ｏ
Ｏの右側に偏っている。直前方車１０１は自車１００よ
りも若干左側にずれているので、もし自軍１． Ｏ Ｏ
を右側にずらすことができれば、２つ前の車両１０２を
カメラ１の視界に入れることかできる。しかし、右側に
移動ずると自車１００かセンタラインを超えるので、移
動量は大きくなるけれとも左側に移動せざるを得ない。FIG. 4A explains a case in which the moving direction of a white vehicle is restricted because the camera for recognizing the outside world is biased to one side of the vehicle. In the figure, it is assumed that the own vehicle 100 is on the right side, which is the center line side, and that the camera 1 for recognizing the outside world is installed on the right side of the vehicle. For this reason,
The range that can be recognized by camera 1 is the vehicle]. O
It is biased to the right side of O. Since the front vehicle 101 is slightly to the left of the own vehicle 100, if the own vehicle 1. O O
If the vehicle 102 can be moved to the right side, the vehicle 102 two cars ahead can be brought into the field of view of the camera 1. However, if the vehicle moves to the right, it will cross the center line by 100 degrees, so the vehicle has no choice but to move to the left, even though the amount of movement becomes large.
第４Ｂ図は、外界認識部３の信頼性が低くトライハ１０
５の補助が必要であるために自車１００の移動方向が制
限される事例を説明する。この事例では、外界認識はド
ライバの補助を前提としているために、カメラ１の視界
は１・ライハ１０５の視界に一致するように設定されて
いる。従って、カメラ１による外界認識の可能範囲は自
軍＋− ０ ０の左側に寄っている。第４Ｂ図に示すよ
うに、もし自車１００か左路端に近付いて走行している
場合には、左に移動することはてきないので、移動量は
大きくなるけれとも右側に移動せざるを得ない。FIG. 4B shows that the reliability of the external world recognition unit 3 is low and that the
A case will be described in which the direction of movement of the own vehicle 100 is restricted due to the need for assistance in the example No. 5. In this case, the field of view of the camera 1 is set to match the field of view of the 1.Liha 105 because the recognition of the outside world is based on the assistance of the driver. Therefore, the range in which camera 1 can recognize the outside world is closer to the left side of the own army +-00. As shown in Figure 4B, if the own vehicle 100 is driving close to the left edge of the road, it cannot move to the left, so it has no choice but to move to the right, even though the amount of movement becomes larger. I don't get it.
以上のことから、第４Δ図，第４Ｂ図は、２つ前の前方
車を監視するために自軍を移動させることか、白車と直
前方車との相対的位置関係並びに道路環境のみならず、
外界認識装置のセッティグによっても制限されることが
分る。From the above, Figures 4Δ and 4B show whether the team is moving to monitor the vehicle two cars ahead, the relative positional relationship between the white vehicle and the vehicle directly ahead, and the road environment. ,
It can be seen that this is also limited by the settings of the external world recognition device.
第３図のフローチャ−１・に戻って説明する。もし、上
記種々の条件を考慮した結果、ステップＳ６で自車１０
０をずらずことできないと判断された場合は、ステップ
Ｓ２２に進み、直前方車を対象にした通常の追従走行を
行なう。ステップ８６で自車１００をすらずことが可能
と判断された場合は、ステップＳ８で、自車］． Ｏ
Ｏを左右に所定量だけずらすべく、ステアリングアクチ
ュエータ７を駆動する。この所定量とは、自軍が急激な
姿勢変化をもたらすことかない程度の量である。The explanation will be returned to flowchart 1 in FIG. 3. If, as a result of considering the above various conditions, the host vehicle 10
If it is determined that the vehicle cannot be shifted from 0, the process proceeds to step S22, and normal follow-up driving is performed targeting the vehicle immediately ahead. If it is determined in step S86 that it is possible to avoid the own vehicle 100, then in step S8, the own vehicle]. O
The steering actuator 7 is driven to shift O by a predetermined amount left and right. This predetermined amount is an amount that will not cause a sudden change in posture of the own military.
ステップＳ９では、自車１００を移動させた後における
外界認識を行なう。ステップＳＩＯでは、この認識に基
づいて自軍よりも２つ前の前方車を監視することができ
るかを判断する。この判断は、直前方車と２つ前の前方
車とを含む画像から、２つ前の前方車の輪郭がどの程度
認識範囲に入っているかを目安に判断ずる。第５図の例
のように、２つ前の前方車１０２がほとんど範囲内に入
っていない場合は、ステップＳＩＯで監視不能と判断さ
れる。In step S9, the external world is recognized after the vehicle 100 has been moved. In step SIO, based on this recognition, it is determined whether it is possible to monitor the vehicle two cars ahead of the own army. This judgment is made based on the image including the vehicle directly ahead and the vehicle two ahead, based on how far the contour of the vehicle two ahead is within the recognition range. As in the example shown in FIG. 5, if the vehicle 102 ahead is hardly within the range, it is determined in step SIO that monitoring is not possible.
もしステップＳ ］． ０で監視不能と判断されると、
ステップＳ６→ステップ８８−ステップ８１０のループ
を、ステップＳ１０て監視可能の判断が得られるまで繰
返す。If step S]. If it is determined that monitoring is impossible with 0,
The loop of step S6→step 88-step 810 is repeated until a determination that monitoring is possible is obtained in step S10.
もしステップＳＩＯで監視可能と判断されると、ステッ
プＳ１２で、車両をずらせたままの追従走行を行なう。If it is determined in step SIO that monitoring is possible, in step S12, the vehicle performs follow-up travel with the vehicle shifted.
即ち、このステップＳ１２の追従走行では、直前方車．
道路環境のみならず２つ前の前方車をも走行制御のため
の判断材料にした追従走行制御が行なわれる。ステップ
Ｓ２２の追従走行制御のみでは、例えば、直前方車１０
１か不必要な横方向の移動を行なうと、自車１００はそ
れに追随して横に移動してしまう。しかし、ステップＳ
１２の追従走行制御では、２つ前の前方車をも判断材料
にしているので、たとえ直前方車１０ｌか不必要な横方
向の移動を行なっても、この２つ前の前方車が横移動を
行なっていないことを認識できるので、自軍１００ば不
用な横移動は行なわなくなる。即ち、自軍１００の走行
軌跡は安定する。That is, in the follow-up run in step S12, the vehicle immediately ahead.
Follow-up driving control is performed that uses not only the road environment but also the vehicle two cars in front as a deciding factor for driving control. For example, if only the follow-up control in step S22 is used,
If the vehicle 100 makes an unnecessary lateral movement, the own vehicle 100 will follow the movement and move laterally. However, step S
12's follow-up control uses the vehicle two ahead ahead as a basis for judgment, so even if the vehicle directly ahead makes an unnecessary lateral movement, the vehicle two ahead will still move laterally. Since you can recognize that you are not doing it, if your army is 100, you will not make unnecessary lateral movements. That is, the traveling trajectory of the own army 100 is stabilized.
ステップ３１４以下は、ステップＳ１２の車両をずらせ
たままの追従走行制御を継続することが可能であるか、
または、ステップＳ２２の通常の追従走行制御に復帰し
なければならないかを判断ずる制御である。先ず、ステ
ップＳ１６で、外界認識を行なう。ステップ３１８では
、２つ前の前方車１０２を目標にした追従走行を行なう
のに必要となる右若しくは左方向へのすらしか可能かを
判断ずる。この判断が必要となるのは、互いの車両位置
に変動がなくとも、例えば、道路幅が狭くなる場合もあ
るからである。また、ステップＳ２０ては、２つ前の前
方車１０２を含む監視が可能かを判断ずる。ステップ３
１． ２の追従走行制御を継続するだめの条件は、ス
テップＳ１８とステップＳ２０の判断が共にＹＥＳであ
る場合であり、いずれかの判断かＮｏとなった場合はス
テップＳ２２の直前方車の追従走行に復帰する。From step 314 onward, whether it is possible to continue the follow-up driving control with the vehicle shifted in step S12,
Alternatively, this control determines whether it is necessary to return to the normal follow-up travel control in step S22. First, in step S16, external world recognition is performed. In step 318, it is determined whether it is possible to move only to the right or to the left, which is necessary to follow the vehicle 102 two cars ahead. This determination is necessary because, for example, the road width may become narrower even if there is no change in the positions of the vehicles. Furthermore, in step S20, it is determined whether monitoring including the vehicle 102 two ahead ahead is possible. Step 3
1. The condition for continuing the following driving control in step S22 is when the judgments in step S18 and step S20 are both YES, and if either judgment is NO, the following driving control of the preceding vehicle in step S22 is continued. Return.
以上説明した走行制御により、直前方車を目標とした追
従走行制御を行ないながら、可能な限り、２つ前の前方
車をも目標にした追従走行を行なうようにするので、直
前方車の誤った行動に影響されなくなり、運転が安定す
る。With the driving control described above, while performing follow-up driving control that targets the vehicle directly ahead, it also performs follow-up driving that targets the vehicle two cars ahead as much as possible, so that the vehicle directly ahead is not erroneously detected. Your driving will become more stable as you will no longer be affected by your actions.
第６図は、第２図に示したような走行制御システムを具
備した複数の車両（１ ００ａ〜１００ｄ）がまとまっ
て追従走行（編隊走行）を行なう場合を説明している。FIG. 6 illustrates a case in which a plurality of vehicles (100a to 100d) equipped with the travel control system shown in FIG. 2 collectively perform follow-up travel (formation travel).
図中、℃ぱ前方車との間の中心間距離である。このよう
な編隊走行を行なう場合には、各車両に走行順を割り当
てる必要かある。その上で各車の制御装置（第２図）に
対して、ずらず方向を設定する。第６図において、自動
車１ ００ｂは、その直前車１ ００ａの左側たけをず
らしが可能てある方向とする。また、例えば、１ ００
ｃはその直前車１００ｂの右側だけをすらしか可能であ
る方向とする。このようにずらし可能の方向を設定して
編隊走行を行なった場合には、各自動車の走行制御にお
いて、第３図に示したステップＳ６の判断が不用になり
、結果的にそのための外界認識が不用になるので、各車
における追従走行制御が高速化し、ひいては、信頼性が
高まる。In the figure, C indicates the center-to-center distance from the vehicle in front. When performing such formation driving, it is necessary to assign a driving order to each vehicle. Then, the shift direction is set for each car's control device (Fig. 2). In FIG. 6, the vehicle 100b can shift the left side of the vehicle 100a in front of it in a certain direction. Also, for example, 100
For c, the only direction in which smooth movement is possible is to the right of the vehicle 100b in front of it. When driving in formation with the possible shifting directions set in this way, the judgment in step S6 shown in FIG. Since it is no longer necessary, the following driving control in each vehicle becomes faster and reliability increases.
（発明の効果）
以上説明したように本発明の移動車の走行制御装置によ
れば、自車が直前方車に対してずれて走行するように制
御されるので、直前方車のみならず、その直前方車のさ
らなる前方をも走行制御のための考慮対象にすることが
可能となり、信頼性の高い追従走行制御が可能となる。(Effects of the Invention) As explained above, according to the travel control device for a moving vehicle of the present invention, since the own vehicle is controlled so as to travel with a deviation from the vehicle directly ahead, It becomes possible to consider the area further ahead of the vehicle directly ahead for the driving control, and highly reliable follow-up driving control becomes possible.
第１図は本発明の構成を示す図、
第２図は本発明を適用した実施例システムの構成をブロ
ック的に示す図、
第３図は第１図実施例の制御手順を示したフロチャ−１
・、
第４Ａ図，第４Ｂ図はともに、第３図手順において、１
゛らずことか可能かの判断か必要となる場合を説明する
図、
第５図は第３図手順において、２つ前の前方車を監視す
ることが可能かの判断が必要となる場合を説明する図、
第６図は第２図システムを編隊走行に適用した場合を説
明する図である。
図中、
１・・・カメラ、２・・・フレームメモリ、３・・・外
界認識部、４・・・知識ベース、５・・・走行制御部、
６・・・スロットルアクチュエー夕、７・・・ステアリ
ングアクチュエー夕、８・・・ブレーキアクチュエー夕
である。
第１図
第６図FIG. 1 is a diagram showing the configuration of the present invention, FIG. 2 is a block diagram showing the configuration of an embodiment system to which the present invention is applied, and FIG. 3 is a flow chart showing the control procedure of the embodiment shown in FIG. 1
・, Figures 4A and 4B both show 1 in the Figure 3 procedure.
Figure 5 shows a case in which it is necessary to determine whether it is possible to monitor the vehicle two cars ahead in the procedure shown in Figure 3. Figure 6 is a diagram illustrating the case where the system shown in Figure 2 is applied to formation running. In the figure, 1... Camera, 2... Frame memory, 3... External world recognition unit, 4... Knowledge base, 5... Travel control unit,
6... Throttle actuator, 7... Steering actuator, 8... Brake actuator. Figure 1 Figure 6
Claims (1)
の認識結果に基づいて走行制御する走行制御手段と、 同じく外界認識手段の認識結果に基づいて直前前方車を
判別する判別手段と、 該判別手段による直前前方車の判別時、該前方車の中心
に対し自車を所定量ずらして走行するよう前記走行制御
手段を補正する補正手段とを備えた移動車の走行制御装
置。(1) An external world recognition means for recognizing the outside world, a travel control means for controlling travel based on the recognition result of this means, and a discrimination means for determining the vehicle immediately ahead based on the recognition result of the outside world recognition means, A travel control device for a moving vehicle, comprising: a correction means for correcting the travel control means so that when the determination means determines a vehicle immediately ahead, the vehicle is shifted by a predetermined amount with respect to the center of the vehicle ahead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1109069A JP2871718B2 (en) | 1989-05-01 | 1989-05-01 | Travel control device for mobile vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1109069A JP2871718B2 (en) | 1989-05-01 | 1989-05-01 | Travel control device for mobile vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02291100A true JPH02291100A (en) | 1990-11-30 |
| JP2871718B2 JP2871718B2 (en) | 1999-03-17 |
Family
ID=14500810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1109069A Expired - Fee Related JP2871718B2 (en) | 1989-05-01 | 1989-05-01 | Travel control device for mobile vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2871718B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05238367A (en) * | 1992-02-28 | 1993-09-17 | Mazda Motor Corp | Safety device for vehicle |
| JP2000057500A (en) * | 1998-08-05 | 2000-02-25 | Mitsubishi Motors Corp | Method for controlling drive of vehicle |
| JP2001199257A (en) * | 2000-01-17 | 2001-07-24 | Denso Corp | Travel controller for vehicle |
| DE4434698B4 (en) * | 1993-09-28 | 2004-11-25 | Hitachi, Ltd. | Vehicle operation support system |
| JP2007199784A (en) * | 2006-01-23 | 2007-08-09 | Toyota Motor Corp | Information providing device for vehicle and lane maintenance controller |
| WO2018055773A1 (en) * | 2016-09-26 | 2018-03-29 | 日産自動車株式会社 | Route setting method and route setting device |
| WO2021259000A1 (en) * | 2020-06-24 | 2021-12-30 | 中国第一汽车股份有限公司 | Method and apparatus for controlling vehicle following, vehicle, and storage medium |
-
1989
- 1989-05-01 JP JP1109069A patent/JP2871718B2/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05238367A (en) * | 1992-02-28 | 1993-09-17 | Mazda Motor Corp | Safety device for vehicle |
| DE4434698B4 (en) * | 1993-09-28 | 2004-11-25 | Hitachi, Ltd. | Vehicle operation support system |
| JP2000057500A (en) * | 1998-08-05 | 2000-02-25 | Mitsubishi Motors Corp | Method for controlling drive of vehicle |
| JP2001199257A (en) * | 2000-01-17 | 2001-07-24 | Denso Corp | Travel controller for vehicle |
| JP2007199784A (en) * | 2006-01-23 | 2007-08-09 | Toyota Motor Corp | Information providing device for vehicle and lane maintenance controller |
| WO2018055773A1 (en) * | 2016-09-26 | 2018-03-29 | 日産自動車株式会社 | Route setting method and route setting device |
| JPWO2018055773A1 (en) * | 2016-09-26 | 2019-04-18 | 日産自動車株式会社 | Runway setting method and runway setting device |
| CN109789875A (en) * | 2016-09-26 | 2019-05-21 | 日产自动车株式会社 | Driving path setting method and driving path setting device |
| CN109789875B (en) * | 2016-09-26 | 2020-04-14 | 日产自动车株式会社 | Travel route setting method and travel route setting device |
| US10845813B2 (en) | 2016-09-26 | 2020-11-24 | Nissan Motor Co., Ltd. | Route setting method and route setting device |
| WO2021259000A1 (en) * | 2020-06-24 | 2021-12-30 | 中国第一汽车股份有限公司 | Method and apparatus for controlling vehicle following, vehicle, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2871718B2 (en) | 1999-03-17 |
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