JPWO2021020311A1 - - Google Patents

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Publication number
JPWO2021020311A1
JPWO2021020311A1 JP2021537010A JP2021537010A JPWO2021020311A1 JP WO2021020311 A1 JPWO2021020311 A1 JP WO2021020311A1 JP 2021537010 A JP2021537010 A JP 2021537010A JP 2021537010 A JP2021537010 A JP 2021537010A JP WO2021020311 A1 JPWO2021020311 A1 JP WO2021020311A1
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JP
Japan
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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Application number
JP2021537010A
Other versions
JP7268740B2 (ja
JPWO2021020311A5 (ja
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.)
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Publication of JPWO2021020311A1 publication Critical patent/JPWO2021020311A1/ja
Publication of JPWO2021020311A5 publication Critical patent/JPWO2021020311A5/ja
Priority to JP2022210347A priority Critical patent/JP2023040117A/ja
Application granted granted Critical
Publication of JP7268740B2 publication Critical patent/JP7268740B2/ja
Priority to JP2024038066A priority patent/JP2024073530A/ja
Active legal-status Critical Current
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
    • 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
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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
    • B60W2554/4046—Behavior, e.g. aggressive or erratic
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering 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
    • 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
    • B60W2720/12—Lateral speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2021537010A 2019-07-26 2020-07-23 車両制御装置、及び車両制御方法 Active JP7268740B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2022210347A JP2023040117A (ja) 2019-07-26 2022-12-27 自動運転装置及び自動運転方法
JP2024038066A JP2024073530A (ja) 2019-07-26 2024-03-12 自動運転装置、自動運転方法及びプログラム

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019138146 2019-07-26
JP2019138146 2019-07-26
PCT/JP2020/028590 WO2021020311A1 (ja) 2019-07-26 2020-07-23 車両制御装置、車両制御方法、自動運転装置及び自動運転方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2022210347A Division JP2023040117A (ja) 2019-07-26 2022-12-27 自動運転装置及び自動運転方法

Publications (3)

Publication Number Publication Date
JPWO2021020311A1 true JPWO2021020311A1 (ja) 2021-02-04
JPWO2021020311A5 JPWO2021020311A5 (ja) 2022-02-17
JP7268740B2 JP7268740B2 (ja) 2023-05-08

Family

ID=74230424

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2021537010A Active JP7268740B2 (ja) 2019-07-26 2020-07-23 車両制御装置、及び車両制御方法
JP2022210347A Pending JP2023040117A (ja) 2019-07-26 2022-12-27 自動運転装置及び自動運転方法
JP2024038066A Pending JP2024073530A (ja) 2019-07-26 2024-03-12 自動運転装置、自動運転方法及びプログラム

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2022210347A Pending JP2023040117A (ja) 2019-07-26 2022-12-27 自動運転装置及び自動運転方法
JP2024038066A Pending JP2024073530A (ja) 2019-07-26 2024-03-12 自動運転装置、自動運転方法及びプログラム

Country Status (3)

Country Link
US (1) US20220144257A1 (ja)
JP (3) JP7268740B2 (ja)
WO (1) WO2021020311A1 (ja)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
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NL2023628B9 (nl) * 2019-08-09 2021-08-20 Wilhelmus Maria Van Bentum Johannes Systeem voor het aansturen van een op basis van stuur- en versnellingswaarden bestuurbaar autonoom rijdend voer- of (lucht)vaartuig, autonoom rijdend voer- of (lucht)vaartuig voorzien van een dergelijk systeem.
US20210197846A1 (en) * 2019-12-30 2021-07-01 Gm Cruise Holdings Llc Dynamic inter-vehicle communication regarding risk detected based on vehicle sensor measurements
US20220055629A1 (en) * 2020-08-24 2022-02-24 Clinton L. Schumann Surface Detection Via a Directed Autonomous Vehicle
KR20220026656A (ko) * 2020-08-25 2022-03-07 현대모비스 주식회사 차량의 주행 제어 시스템 및 방법
KR20220039903A (ko) * 2020-09-21 2022-03-30 현대자동차주식회사 자율주행 제어 장치 및 방법
US11975612B2 (en) * 2020-09-25 2024-05-07 Ford Global Technologies, Llc Torque control for a hybrid or electric vehicle
KR20220056922A (ko) * 2020-10-28 2022-05-09 현대자동차주식회사 자율주행 제어 장치 및 방법
US20220227358A1 (en) * 2021-01-20 2022-07-21 GM Global Technology Operations LLC Map-based target heading disambiguation
KR102477587B1 (ko) * 2021-06-28 2022-12-14 재단법인대구경북과학기술원 Ugv 모니터링 방법 및 장치
TWI790825B (zh) * 2021-11-19 2023-01-21 財團法人工業技術研究院 安全距離估算系統及其估算方法
CN113990107A (zh) * 2021-11-26 2022-01-28 格林美股份有限公司 一种汽车自动驾驶调度系统
CN114274975A (zh) * 2021-12-16 2022-04-05 武汉路特斯汽车有限公司 端对端自动驾驶控制方法、装置、电子设备及存储介质
JP2024030429A (ja) * 2022-08-24 2024-03-07 株式会社日立製作所 自律制御システム

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JP2010198552A (ja) * 2009-02-27 2010-09-09 Konica Minolta Holdings Inc 運転状況監視装置
JP2012053564A (ja) * 2010-08-31 2012-03-15 Denso Corp 挙動異常判定器，挙動異常判定方法および情報記録分析装置

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JP2004118330A (ja) * 2002-09-24 2004-04-15 Fuji Heavy Ind Ltd 車両監視装置および車両監視方法
JP2004117257A (ja) * 2002-09-27 2004-04-15 Fuji Photo Film Co Ltd 車間距離測定装置
US20110190972A1 (en) * 2010-02-02 2011-08-04 Gm Global Technology Operations, Inc. Grid unlock
JP6270227B2 (ja) * 2016-03-14 2018-01-31 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
EP3418151B1 (en) * 2016-08-29 2023-04-19 Mazda Motor Corporation Vehicle control device
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KR20200075915A (ko) * 2018-12-07 2020-06-29 현대자동차주식회사 차량의 주행 제어 장치 및 그 방법

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010198552A (ja) * 2009-02-27 2010-09-09 Konica Minolta Holdings Inc 運転状況監視装置
JP2012053564A (ja) * 2010-08-31 2012-03-15 Denso Corp 挙動異常判定器，挙動異常判定方法および情報記録分析装置

Also Published As

Publication number Publication date
JP7268740B2 (ja) 2023-05-08
JP2024073530A (ja) 2024-05-29
US20220144257A1 (en) 2022-05-12
WO2021020311A1 (ja) 2021-02-04
JP2023040117A (ja) 2023-03-22

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