JPWO2021094802A1 - - Google Patents

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Publication number
JPWO2021094802A1
JPWO2021094802A1 JP2021555895A JP2021555895A JPWO2021094802A1 JP WO2021094802 A1 JPWO2021094802 A1 JP WO2021094802A1 JP 2021555895 A JP2021555895 A JP 2021555895A JP 2021555895 A JP2021555895 A JP 2021555895A JP WO2021094802 A1 JPWO2021094802 A1 JP WO2021094802A1
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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
JP2021555895A
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Japanese (ja)
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JP7334795B2 (ja
JPWO2021094802A5 (https=
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Publication of JPWO2021094802A1 publication Critical patent/JPWO2021094802A1/ja
Publication of JPWO2021094802A5 publication Critical patent/JPWO2021094802A5/ja
Application granted granted Critical
Publication of JP7334795B2 publication Critical patent/JP7334795B2/ja
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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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • 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
    • B60W2554/4048—Field of view, e.g. obstructed view or direction of gaze
    • 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
    • B60W2555/60—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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2021555895A 2019-11-15 2019-11-15 車両制御方法及び車両制御装置 Active JP7334795B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/001272 WO2021094802A1 (ja) 2019-11-15 2019-11-15 車両制御方法及び車両制御装置

Publications (3)

Publication Number Publication Date
JPWO2021094802A1 true JPWO2021094802A1 (https=) 2021-05-20
JPWO2021094802A5 JPWO2021094802A5 (https=) 2022-07-29
JP7334795B2 JP7334795B2 (ja) 2023-08-29

Family

ID=75912060

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021555895A Active JP7334795B2 (ja) 2019-11-15 2019-11-15 車両制御方法及び車両制御装置

Country Status (7)

Country Link
US (1) US11987245B2 (https=)
EP (1) EP4059795B1 (https=)
JP (1) JP7334795B2 (https=)
CN (1) CN114728657B (https=)
BR (1) BR112022009416A2 (https=)
MX (1) MX2022005699A (https=)
WO (1) WO2021094802A1 (https=)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7431108B2 (ja) * 2020-06-02 2024-02-14 株式会社Soken 画像認識装置
US12005926B2 (en) * 2020-12-31 2024-06-11 Waymo Llc Traffic light viewsheds
DE102021003918A1 (de) * 2021-07-30 2023-02-02 Mercedes-Benz Group AG Verfahren zur Bestimmung einer Aktionsstrategie eines im automatisierten Fahrbetrieb fahrenden Fahrzeuges
DE102021209977A1 (de) * 2021-09-09 2023-03-09 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Steuergerät
JP7442948B2 (ja) * 2021-10-18 2024-03-05 矢崎総業株式会社 車外表示装置
US12248325B2 (en) * 2021-10-18 2025-03-11 Y.E. Hub Armenia LLC Mobile robot and a method for controlling the mobile robot
DE102021005311A1 (de) * 2021-10-26 2023-04-27 Mercedes-Benz Group AG Verfahren zur automatischen Regelung einer Längsbewegung eines Fahrzeuges
KR20230168859A (ko) * 2022-06-08 2023-12-15 현대모비스 주식회사 자동차 조명 장치 및 그 작동 방법
US12526517B2 (en) * 2022-07-28 2026-01-13 Ricoh Company, Ltd. Method for capturing image, method for processing image, image capturing system, and information processing system
KR20240068861A (ko) * 2022-11-09 2024-05-20 삼성전자주식회사 자율 주행 계획 장치 및 방법
JP7611950B2 (ja) * 2023-01-31 2025-01-10 ダイハツ工業株式会社 運転支援装置
US12260749B2 (en) * 2023-01-31 2025-03-25 GM Global Technology Operations LLC Methods and systems for sensor fusion for traffic intersection assist
JP7614239B2 (ja) * 2023-01-31 2025-01-15 ダイハツ工業株式会社 運転支援装置
DE102023130485B3 (de) * 2023-11-03 2025-01-23 Bayerische Motoren Werke Aktiengesellschaft Fahrassistenzsystem und Fahrassistenzverfahren für ein Fahrzeug

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007320458A (ja) * 2006-06-01 2007-12-13 Toyota Motor Corp 車間距離制御装置
JP2009001245A (ja) * 2007-06-25 2009-01-08 Hitachi Ltd 車両走行支援制御装置
JP2015125708A (ja) * 2013-12-27 2015-07-06 富士重工業株式会社 信号機認識装置
JP2016501408A (ja) * 2012-12-03 2016-01-18 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミットベシュレンクテル ハフツングＣｏｎｔｉ Ｔｅｍｉｃ ｍｉｃｒｏｅｌｅｃｔｒｏｎｉｃ ＧｍｂＨ 信号を認識する車両の信号フェーズ・アシスタントをサポートするための方法
JP2016049933A (ja) * 2014-09-02 2016-04-11 アイシン・エィ・ダブリュ株式会社 走行支援システム、走行支援方法及びコンピュータプログラム
WO2016194228A1 (ja) * 2015-06-05 2016-12-08 日産自動車株式会社 信号機検出装置及び信号機検出方法
JP2017154512A (ja) * 2016-02-29 2017-09-07 日立オートモティブシステムズ株式会社 車両制御装置
JP2019046136A (ja) * 2017-09-01 2019-03-22 株式会社デンソー 衝突回避支援装置
JP2019079398A (ja) * 2017-10-26 2019-05-23 トヨタ自動車株式会社 走行制御装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5970858B2 (ja) * 2012-02-29 2016-08-17 日産自動車株式会社 車両制御装置及び車両制御方法
US8793046B2 (en) * 2012-06-01 2014-07-29 Google Inc. Inferring state of traffic signal and other aspects of a vehicle's environment based on surrogate data
CN110325421B (zh) * 2017-03-03 2022-07-15 日立安斯泰莫株式会社 移动体行驶辅助装置及方法
JP2019079126A (ja) 2017-10-20 2019-05-23 トヨタ自動車株式会社 車両
JP7067067B2 (ja) * 2018-01-11 2022-05-16 トヨタ自動車株式会社 信号機認識装置、及び自動運転システム

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007320458A (ja) * 2006-06-01 2007-12-13 Toyota Motor Corp 車間距離制御装置
JP2009001245A (ja) * 2007-06-25 2009-01-08 Hitachi Ltd 車両走行支援制御装置
JP2016501408A (ja) * 2012-12-03 2016-01-18 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミットベシュレンクテル ハフツングＣｏｎｔｉ Ｔｅｍｉｃ ｍｉｃｒｏｅｌｅｃｔｒｏｎｉｃ ＧｍｂＨ 信号を認識する車両の信号フェーズ・アシスタントをサポートするための方法
JP2015125708A (ja) * 2013-12-27 2015-07-06 富士重工業株式会社 信号機認識装置
JP2016049933A (ja) * 2014-09-02 2016-04-11 アイシン・エィ・ダブリュ株式会社 走行支援システム、走行支援方法及びコンピュータプログラム
WO2016194228A1 (ja) * 2015-06-05 2016-12-08 日産自動車株式会社 信号機検出装置及び信号機検出方法
JP2017154512A (ja) * 2016-02-29 2017-09-07 日立オートモティブシステムズ株式会社 車両制御装置
JP2019046136A (ja) * 2017-09-01 2019-03-22 株式会社デンソー 衝突回避支援装置
JP2019079398A (ja) * 2017-10-26 2019-05-23 トヨタ自動車株式会社 走行制御装置

Also Published As

Publication number Publication date
EP4059795A1 (en) 2022-09-21
MX2022005699A (es) 2022-06-08
CN114728657B (zh) 2025-07-01
BR112022009416A2 (pt) 2022-08-09
US20220402492A1 (en) 2022-12-22
US11987245B2 (en) 2024-05-21
WO2021094802A1 (ja) 2021-05-20
EP4059795A4 (en) 2022-12-21
EP4059795B1 (en) 2024-01-10
CN114728657A (zh) 2022-07-08
JP7334795B2 (ja) 2023-08-29

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