JPWO2010122639A1 - 走行支援装置 - Google Patents
走行支援装置 Download PDFInfo
- Publication number
- JPWO2010122639A1 JPWO2010122639A1 JP2010544108A JP2010544108A JPWO2010122639A1 JP WO2010122639 A1 JPWO2010122639 A1 JP WO2010122639A1 JP 2010544108 A JP2010544108 A JP 2010544108A JP 2010544108 A JP2010544108 A JP 2010544108A JP WO2010122639 A1 JPWO2010122639 A1 JP WO2010122639A1
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- Prior art keywords
- vehicle
- target course
- parallel
- parallel running
- driver
- 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.)
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Links
- 238000012937 correction Methods 0.000 claims abstract description 20
- 208000019901 Anxiety disease Diseases 0.000 abstract description 16
- 230000036506 anxiety Effects 0.000 abstract description 16
- 238000000034 method Methods 0.000 description 40
- 230000001133 acceleration Effects 0.000 description 4
- 230000001953 sensory effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- 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
-
- 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
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
2 車両制御ECU
3 カメラ
4 画像ECU
21 並走車軌跡予測部
23 目標コース修正部。
Claims (6)
- 設定された目標コースに沿って車両が走行するように車両を制御する走行支援装置であって、
隣接車線を走行する並走車の軌跡を予測する予測手段と、
前記予測手段により予測される前記並走車の軌跡に基づいて、自車両の目標コースを修正する修正手段と、
を備えることを特徴とする走行支援装置。 - 前記修正手段は、前記並走車の横方向速度に基づいて自車両の目標コースを修正することを特徴とする請求項1に記載の走行支援装置。
- 前記修正手段は、前記並走車の走行負荷に基づいて自車両の目標コースを修正することを特徴とする請求項1に記載の走行支援装置。
- 前記走行負荷は、前記並走車前方の道路曲率の大きさ及び方向に基づいて求められるものであることを特徴とする請求項3に記載の走行支援装置。
- 前記修正手段は、前記並走車の運動エネルギに基づいて自車両の目標コースを修正することを特徴とする請求項1に記載の走行支援装置。
- 前記修正手段は、前記並走車が存在しない場合に、自車両のドライバの操舵入力に基づいて、自車両の目標コースを修正することを特徴とする請求項1に記載の走行支援装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/057921 WO2010122639A1 (ja) | 2009-04-21 | 2009-04-21 | 走行支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2010122639A1 true JPWO2010122639A1 (ja) | 2012-10-22 |
JP5310745B2 JP5310745B2 (ja) | 2013-10-09 |
Family
ID=43010777
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010544108A Active JP5310745B2 (ja) | 2009-04-21 | 2009-04-21 | 走行支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8682500B2 (ja) |
JP (1) | JP5310745B2 (ja) |
CN (1) | CN102348592B (ja) |
DE (1) | DE112009004683B4 (ja) |
WO (1) | WO2010122639A1 (ja) |
Families Citing this family (28)
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JP4582052B2 (ja) * | 2006-06-07 | 2010-11-17 | トヨタ自動車株式会社 | 走行支援装置 |
JP5752266B2 (ja) * | 2011-12-05 | 2015-07-22 | 三菱電機株式会社 | 電源電圧監視機能を有する電子制御装置及びそれを備えた車両ステアリング制御装置 |
JP5578331B2 (ja) * | 2011-12-26 | 2014-08-27 | トヨタ自動車株式会社 | 車両の走行軌跡制御装置 |
US20130204518A1 (en) * | 2012-02-02 | 2013-08-08 | Michael George Melville | Minimal infrastructure system and method for determining lane |
DE112012006679B4 (de) * | 2012-07-09 | 2017-07-06 | Toyota Jidosha Kabushiki Kaisha | Fahrzeuglenksteuerungsvorrichtung |
US8473144B1 (en) * | 2012-10-30 | 2013-06-25 | Google Inc. | Controlling vehicle lateral lane positioning |
JP6321373B2 (ja) * | 2013-12-25 | 2018-05-09 | 株式会社デンソー | 進路推定装置,及びプログラム |
JP6442904B2 (ja) * | 2014-08-01 | 2018-12-26 | 株式会社デンソー | 運転支援装置 |
JP6430799B2 (ja) * | 2014-11-28 | 2018-11-28 | 株式会社デンソー | 車両の走行制御装置 |
US9902401B2 (en) * | 2015-05-10 | 2018-02-27 | Mobileye Vision Technologies Ltd. | Road profile along a predicted path |
JP6027659B1 (ja) * | 2015-08-27 | 2016-11-16 | 富士重工業株式会社 | 車両の走行制御装置 |
CN106910373A (zh) * | 2015-12-23 | 2017-06-30 | 上海博泰悦臻电子设备制造有限公司 | 一种适用于车路协同的车辆主动安全智能终端 |
US20170240171A1 (en) * | 2016-02-18 | 2017-08-24 | Delphi Technologies, Inc. | Method for modifying steering of an automated vehicle for improved passenger comfort |
KR101942230B1 (ko) * | 2016-03-24 | 2019-01-24 | 닛산 지도우샤 가부시키가이샤 | 주로 추정 방법 및 주로 추정 장치 |
US10019014B2 (en) * | 2016-05-13 | 2018-07-10 | Delphi Technologies, Inc. | Lane-keeping system for automated vehicles |
JP6898629B2 (ja) * | 2016-09-05 | 2021-07-07 | 株式会社Subaru | 車両の走行制御装置 |
CN106875746B (zh) * | 2017-02-27 | 2020-09-29 | 山东师范大学 | 一种汽车安全驾驶预警系统与方法 |
CN108715164B (zh) * | 2017-04-07 | 2021-10-01 | 奥迪股份公司 | 用于车辆的驾驶辅助设备和方法 |
MX2019012242A (es) * | 2017-04-14 | 2019-11-28 | Nissan Motor | Metodo de control de vehiculo y dispositivo de control de vehiculo. |
KR20190135051A (ko) * | 2017-05-16 | 2019-12-05 | 닛산 지도우샤 가부시키가이샤 | 주행 지원 장치의 동작 예측 방법 및 동작 예측 장치 |
JP6524144B2 (ja) * | 2017-06-02 | 2019-06-05 | 本田技研工業株式会社 | 車両制御システム及び方法、並びに走行支援サーバ |
RU2735746C1 (ru) | 2017-08-24 | 2020-11-06 | Ниссан Мотор Ко., Лтд. | Способ и устройство управления движением транспортного средства с содействием вождению |
JP7006093B2 (ja) * | 2017-09-28 | 2022-02-10 | トヨタ自動車株式会社 | 運転支援装置 |
JP7006146B2 (ja) * | 2017-11-06 | 2022-02-10 | いすゞ自動車株式会社 | 操舵制御装置及び操舵制御方法 |
CN110040138B (zh) * | 2019-04-18 | 2020-10-27 | 北京智行者科技有限公司 | 一种车辆并行辅助驾驶方法和系统 |
CN110825081B (zh) * | 2019-11-08 | 2021-10-29 | 禾多科技(北京)有限公司 | 应用于自动驾驶高速场景的避免平行驾驶的智能决策方法 |
JP7303153B2 (ja) * | 2020-05-18 | 2023-07-04 | トヨタ自動車株式会社 | 車両用運転支援装置 |
JP7235015B2 (ja) | 2020-07-17 | 2023-03-08 | トヨタ自動車株式会社 | 自動操舵システム |
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US6185492B1 (en) * | 1997-07-09 | 2001-02-06 | Toyota Jidosha Kabushiki Kaisha | Vehicle steering control apparatus for assisting a steering effort to move a vehicle along a line desired by a driver |
JP2000357299A (ja) * | 1999-06-16 | 2000-12-26 | Honda Motor Co Ltd | 車両の走行安全装置 |
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-
2009
- 2009-04-21 CN CN200980133989.0A patent/CN102348592B/zh active Active
- 2009-04-21 WO PCT/JP2009/057921 patent/WO2010122639A1/ja active Application Filing
- 2009-04-21 DE DE112009004683.5T patent/DE112009004683B4/de active Active
- 2009-04-21 US US13/059,431 patent/US8682500B2/en active Active
- 2009-04-21 JP JP2010544108A patent/JP5310745B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
CN102348592B (zh) | 2014-08-06 |
DE112009004683B4 (de) | 2016-05-19 |
US8682500B2 (en) | 2014-03-25 |
CN102348592A (zh) | 2012-02-08 |
JP5310745B2 (ja) | 2013-10-09 |
US20110137488A1 (en) | 2011-06-09 |
DE112009004683T5 (de) | 2012-10-25 |
WO2010122639A1 (ja) | 2010-10-28 |
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