JPWO2020201797A1 - - Google Patents

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Publication number
JPWO2020201797A1
JPWO2020201797A1 JP2021510558A JP2021510558A JPWO2020201797A1 JP WO2020201797 A1 JPWO2020201797 A1 JP WO2020201797A1 JP 2021510558 A JP2021510558 A JP 2021510558A JP 2021510558 A JP2021510558 A JP 2021510558A JP WO2020201797 A1 JPWO2020201797 A1 JP WO2020201797A1
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JP
Japan
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Application number
JP2021510558A
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Japanese (ja)
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JPWO2020201797A5 (https=
JP7184165B2 (ja
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Publication of JPWO2020201797A5 publication Critical patent/JPWO2020201797A5/ja
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4045—Intention, e.g. lane change or imminent movement
    • 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
    • B60W2554/801—Lateral 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
    • B60W2554/802—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
    • 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
    • B60W2720/106—Longitudinal acceleration
    • 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
    • B60W2720/12—Lateral speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2021510558A 2019-03-29 2019-03-29 車両制御方法及び車両制御装置 Active JP7184165B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/000398 WO2020201797A1 (ja) 2019-03-29 2019-03-29 車両制御 方法及び車両制御装置

Publications (3)

Publication Number Publication Date
JPWO2020201797A1 true JPWO2020201797A1 (https=) 2020-10-08
JPWO2020201797A5 JPWO2020201797A5 (https=) 2022-03-07
JP7184165B2 JP7184165B2 (ja) 2022-12-06

Family

ID=72667224

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021510558A Active JP7184165B2 (ja) 2019-03-29 2019-03-29 車両制御方法及び車両制御装置

Country Status (6)

Country Link
US (1) US11485365B2 (https=)
EP (1) EP3950447B1 (https=)
JP (1) JP7184165B2 (https=)
CN (1) CN113727895B (https=)
RU (1) RU2771332C1 (https=)
WO (1) WO2020201797A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7509491B2 (ja) * 2020-06-11 2024-07-02 株式会社Subaru 車両用運転支援装置
JP7677698B2 (ja) * 2021-03-08 2025-05-15 Ｎｅｃソリューションイノベータ株式会社 接近検知装置、接近検知方法、及びプログラム
US12214785B2 (en) * 2021-09-13 2025-02-04 Aptiv Technologies AG Vehicle localization to map data
JP2023093270A (ja) * 2021-12-22 2023-07-04 トヨタ自動車株式会社 車両制御装置、車両制御方法および車両制御プログラム
WO2023175917A1 (ja) * 2022-03-18 2023-09-21 本田技研工業株式会社 運転支援装置、運転支援方法、およびプログラム
KR20250056465A (ko) * 2023-10-19 2025-04-28 현대모비스 주식회사 자율주행 최소 위험 기동 방법 및 자율주행 최소 위험 기동 장치
WO2026023193A1 (ja) * 2024-07-26 2026-01-29 三菱電機株式会社 合流車両制御装置、被合流車両制御装置および合流車両制御方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5521579A (en) * 1993-04-26 1996-05-28 Mercedes-Benz Ag Method for providing guiding assistance for a vehicle in changing lane
JP2017016182A (ja) * 2015-06-26 2017-01-19 株式会社デンソー 運転支援装置
US20180293894A1 (en) * 2017-04-11 2018-10-11 Denso International America, Inc. Lane change system and lane change controller

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DE102007033887A1 (de) * 2007-07-20 2008-09-04 Vdo Automotive Ag Fahrerassistenzsystem mit Empfehlung für einen Fahrspurwechsel
JP4366419B2 (ja) * 2007-09-27 2009-11-18 株式会社日立製作所 走行支援装置
WO2016147623A1 (ja) * 2015-03-18 2016-09-22 日本電気株式会社 運転制御装置、運転制御方法および車車間通信システム
JP6323385B2 (ja) * 2015-04-20 2018-05-16 トヨタ自動車株式会社 車両走行制御装置
CA2990775C (en) * 2015-06-26 2018-07-17 Nissan Motor Co., Ltd. Vehicle position determination apparatus and vehicle position determination method
CN107848531B (zh) * 2015-07-15 2020-12-25 本田技研工业株式会社 车辆控制装置、车辆控制方法及存储车辆控制程序的介质
JP6555067B2 (ja) * 2015-10-13 2019-08-07 トヨタ自動車株式会社 車線変更支援装置
JP6657881B2 (ja) * 2015-12-04 2020-03-04 株式会社デンソー 車両制御装置
JP6569186B2 (ja) * 2016-02-18 2019-09-04 本田技研工業株式会社 車両制御装置、車両制御方法、および車両制御プログラム
CN108778879B (zh) * 2016-03-15 2021-07-27 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
US20190155293A1 (en) * 2016-05-16 2019-05-23 Honda Motor Co., Ltd. Vehicle control system, vehicle control method and vehicle control program
JP6310503B2 (ja) * 2016-06-06 2018-04-11 本田技研工業株式会社 車両及びレーン変更タイミング判定方法
JP6478415B2 (ja) * 2016-12-20 2019-03-06 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
JP6633606B2 (ja) * 2017-12-28 2020-01-22 本田技研工業株式会社 自動運転車両の走行制御装置
JP6900915B2 (ja) * 2018-01-24 2021-07-07 トヨタ自動車株式会社 自動運転システム
JP7075880B2 (ja) * 2018-12-28 2022-05-26 本田技研工業株式会社 自動運転車両システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5521579A (en) * 1993-04-26 1996-05-28 Mercedes-Benz Ag Method for providing guiding assistance for a vehicle in changing lane
JP2017016182A (ja) * 2015-06-26 2017-01-19 株式会社デンソー 運転支援装置
US20180293894A1 (en) * 2017-04-11 2018-10-11 Denso International America, Inc. Lane change system and lane change controller

Also Published As

Publication number Publication date
EP3950447A1 (en) 2022-02-09
US20220144277A1 (en) 2022-05-12
CN113727895A (zh) 2021-11-30
EP3950447B1 (en) 2022-12-07
WO2020201797A1 (ja) 2020-10-08
US11485365B2 (en) 2022-11-01
EP3950447A4 (en) 2022-04-27
RU2771332C1 (ru) 2022-04-29
CN113727895B (zh) 2022-10-28
JP7184165B2 (ja) 2022-12-06

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