WO2005020182A1 - 先行車選択装置及び先行車選択方法 - Google Patents
先行車選択装置及び先行車選択方法 Download PDFInfo
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- WO2005020182A1 WO2005020182A1 PCT/JP2003/010514 JP0310514W WO2005020182A1 WO 2005020182 A1 WO2005020182 A1 WO 2005020182A1 JP 0310514 W JP0310514 W JP 0310514W WO 2005020182 A1 WO2005020182 A1 WO 2005020182A1
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- Prior art keywords
- vehicle
- preceding vehicle
- function
- distance
- road
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Definitions
- the present invention relates to a device and a method for detecting a preceding vehicle with respect to a host vehicle, and more particularly, to a method and a device for selecting a detected preceding vehicle as a preceding vehicle.
- Japanese Patent Application Laid-Open Publication No. 2001-319929 discloses a technology relating to a preceding vehicle selection in which the curvature of a road is estimated and a preceding vehicle on the own lane is selected from the detected vehicles.
- This technology calculates the curvature of the power road ahead of the host vehicle when the host vehicle is running straight and the front of the host vehicle is on the power road.
- the preceding vehicle is selected based on the calculated curvature of the curved road.
- the rate of change of the lateral position of the object is calculated from the history of the lateral position of the object over time.
- the curvature of the road ahead of the own vehicle is calculated based on the change rate.
- the probability that the object is in the same lane as the own vehicle is determined, and the preceding vehicle is selected.
- the road curvature is calculated based on the magnitude relationship between those road curvatures and the road curvature obtained based on the moving object. Then, the possibility that the moving object is in the same lane as the own vehicle is determined, and the preceding vehicle is selected.
- the curvature of the curve is calculated from the change in the relative position between the vehicle and the target.
- the curvature of a curved road cannot be calculated correctly.
- the road curvature is calculated as constant from the position of the vehicle to the position of the vehicle ahead, so the calculated road curvature differs from the actual road curvature, and the selection of the preceding vehicle is correct. In some cases, you cannot.
- the present invention estimates the course of the own vehicle and the course of the preceding vehicle, and determines that the difference between the estimated own vehicle position and the preceding vehicle position is equal to or less than a predetermined value.
- One of them is to select it as a leading vehicle.
- it is intended to use it for running control of the own vehicle based on the selected result.
- FIG. 1 is a configuration diagram of a first embodiment of a preceding vehicle selection function.
- Fig. 2 is an explanatory diagram of the own vehicle route estimation function.
- FIG. 3 is a configuration diagram of a first embodiment of a preceding vehicle determination function.
- FIG. 4 is an explanatory diagram of a first embodiment of a vehicle lane inside / outside determination function.
- Fig. 5 is a flowchart of the preceding vehicle identification function.
- FIG. 6 is a configuration diagram of a second embodiment of a preceding vehicle determination function.
- FIG. 7 is a state transition diagram of the first embodiment of the judgment method switching function.
- FIG. 8 is a configuration diagram of a second embodiment of the preceding vehicle selection function.
- Fig. 9 is an explanatory diagram of the forward vehicle route estimation function.
- FIG. 10 is a configuration diagram of a third embodiment of a preceding vehicle determination function.
- FIG. 11 is an explanatory view of a second embodiment of the own lane inside / outside determination function.
- FIG. 12 is a state transition diagram of a second embodiment of the judgment method switching function.
- FIG. 13 is a configuration diagram of a fourth embodiment of the preceding vehicle determination function.
- FIG. 14 is a state transition diagram of the third embodiment of the judgment method switching function.
- Fig. 15 shows the configuration of the vehicle.
- the feature of the present invention is a self-vehicle behavior measurement function for measuring the behavior of the own vehicle, a self-vehicle course estimation function for estimating the course of the self-vehicle based on the self-vehicle behavior measured by the self-vehicle behavior measurement function, Equipped with a front vehicle position measurement function that measures the position of at least one vehicle ahead, estimates the position of the vehicle after a predetermined time, and when the estimated distance between the vehicle position and the vehicle ahead is less than or equal to a predetermined value.
- a predetermined value of the distance is to be increased from when no preceding vehicle is selected.
- Another feature of the present invention is a self-vehicle behavior measurement function for measuring the behavior of the self-vehicle, and a self-vehicle course estimation for estimating the course of the self-vehicle based on the self-vehicle behavior measured by the self-vehicle behavior measurement function. It has a function and a front vehicle position measurement function that measures the position of at least one vehicle ahead, estimates the position of the vehicle after a predetermined time, and sets the distance between the estimated vehicle position and the vehicle ahead to a predetermined value.
- the preceding vehicle is selected as the preceding vehicle. Once the vehicle is selected as the preceding vehicle, the preceding vehicle is to be continuously selected as the preceding vehicle.
- Another feature of the present invention is a vehicle behavior measurement function for measuring the behavior of the vehicle,
- a self-vehicle course estimation function for estimating the course of the self-vehicle based on the self-vehicle behavior measured by the self-vehicle behavior measurement function;
- a front car position measurement function for measuring a front car position; and the front car position measurement function.
- a forward vehicle path estimating function for estimating the path of the forward vehicle based on the position of the forward vehicle measured in step 1 and the behavior of the own vehicle measured by the own vehicle behavior measuring function.
- a vehicle path change measurement function for measuring a change in the path of the own vehicle, and a front vehicle path change measurement function for measuring a change in the path of the front vehicle estimated by the front vehicle path estimation function.
- the own vehicle position after a predetermined time is estimated and estimated.
- Distance between your vehicle and the vehicle ahead Is less than or equal to the predetermined value, the preceding vehicle is selected as the preceding vehicle, and even if the path of the own vehicle and the preceding vehicle is the same or the conditions of both the own vehicle and the preceding car do not change, the condition is not satisfied. The point is to select the preceding vehicle as the preceding vehicle.
- a function such as a preceding vehicle selecting function is used.
- this may be a device such as a preceding vehicle selecting device or a preceding vehicle selecting device. It may be a process or step such as a vehicle selection process.
- FIG. 1 shows a configuration diagram of the first embodiment of the preceding vehicle selection function 103.
- the preceding vehicle selecting function 103 includes a host vehicle route estimating function 104 and a preceding vehicle determining function 105.
- the own vehicle route estimation function 104 estimates the own vehicle route based on the own vehicle behavior measured by the own vehicle behavior measurement function 101.
- the vehicle behavior measured by the vehicle behavior measurement function 101 is the vehicle speed V, the vehicle angular velocity ⁇ , or the vehicle steering angle H.
- the vehicle speed V can be measured by measuring the ground speed of the vehicle based on the radio waves or light transmitted from the vehicle reflected from the road surface and returning, or based on the rotation speed of the wheels or the propeller shaft. Measure.
- the number of revolutions of the wheel or propeller shaft may be measured by the own vehicle behavior measurement function 101, and the number of revolutions of the wheel or propeller shaft may be input to the preceding vehicle selection function 103.
- the preceding vehicle determination function 105 is based on the relative position between the own vehicle and the preceding vehicle measured by the own vehicle route estimation function 104 and the own vehicle's course and the preceding vehicle position measurement function 102.
- Forward vehicle position measurement function Measures with 102, and outputs information on the preceding vehicle from the multiple front vehicles.
- the own vehicle route estimation function 104 will be described with reference to FIG.
- the own-vehicle-path estimation function 104 uses the own-vehicle position when the preceding-vehicle selection function 103 is activated as the origin ⁇ , and changes the moving direction of the own vehicle based on The vehicle position ⁇ is calculated from the moving distance of the vehicle calculated from V.
- the past two points P (t-1) and P (t-2) of the own vehicle position are set based on the time before the predetermined time or the traveling distance of the own vehicle.
- the own vehicle curve radius R may be calculated by the equation (1) based on the own vehicle angular velocity ⁇ and the own vehicle speed V.
- R V / ⁇ ... (1)
- it may be calculated by the formula (2) based on the vehicle steering angle ⁇ , the vehicle speed V, the stability factor A, the wheel base L, and the steering gear ratio N. .
- the preceding vehicle determination function 105 includes a vehicle lane inside / outside determination function 201 and a preceding vehicle identification function 206.
- the own lane inside / outside judgment function 201 sets the own lane area based on the own vehicle path estimated by the own vehicle path estimation function 104, and the forward direction measured by the front vehicle position measurement function 102. It is determined whether the vehicle position is within the set own lane area. If the position of the preceding vehicle is within the own lane area, the preceding vehicle is determined to be the preceding vehicle, and if not, the preceding vehicle is determined not to be the preceding vehicle.
- the preceding vehicle specifying function 206 determines the plurality of preceding vehicles as the preceding vehicle by the own lane inside / outside determination function 201 when a plurality of preceding vehicles are traveling in the own lane. Identify one of the preceding vehicles that is closest to your vehicle.
- a first embodiment of the own lane inside / outside determination function 201 will be described with reference to FIG.
- the host vehicle travels with the host vehicle curve radius R calculated by the host vehicle route estimation function 104. If the distance between the estimated vehicle position and the preceding vehicle position Q in the case of continuing is calculated as the forward vehicle running position Rdiff and the radius of the own vehicle curve is R ⁇ 0, the equation (3) is used. If the radius R ⁇ 0, calculate using equation (4).
- Rdiff R + ⁇ ((R-x q) "2 + y q ⁇ 2)-(4)
- the preceding vehicle traveling position R diff is smaller than half the lane width W1
- the preceding vehicle is determined to be the preceding vehicle, and if it is larger, it is determined not to be the preceding vehicle.
- the lane width W1 is made wider when the preceding vehicle, which is not the preceding vehicle, becomes the preceding vehicle last time than when it is not the preceding vehicle.
- the preceding vehicle By increasing the lane width W1 when there is a preceding vehicle, if the preceding vehicle enters a curved road from a straight road while the own vehicle is traveling on a straight road, the preceding vehicle is traveling on a carp road. If a vehicle enters a straight road from a curved road, it can be selected as the preceding vehicle.
- the preceding vehicle changes lanes while the vehicle and the preceding vehicle are traveling on a straight road or a curved road, it can be determined that the lane change has been completed because the preceding vehicle has left the own lane area.
- the front vehicle traveling position R diff may be calculated by Expression (3) or Expression (4).
- the preceding vehicle changes lanes while the vehicle and the preceding vehicle are traveling on a straight road or a curved road, it can be determined that the lane change has been completed because the preceding vehicle has left the own lane area.
- FIG. 5 shows a flowchart of the preceding vehicle specifying function 206.
- the preceding vehicle is set to no preceding vehicle.
- the process proceeds to S104. If it is not determined that the vehicle is the preceding vehicle, the process proceeds to S106.
- S104 it is determined whether or not the inter-vehicle distance of the nth preceding vehicle is smaller than the set inter-vehicle distance of the preceding vehicle. If the inter-vehicle distance of the nth preceding vehicle is smaller than the set inter-vehicle distance of the preceding vehicle, the flow proceeds to S105, and if not, to S106. In S105, the nth preceding vehicle is set as the preceding vehicle. In S106, n is incremented.
- the preceding vehicle judgment function 105 is the own lane inside / outside judgment function 201, the judgment result holding function 202, the front vehicle traveling position change calculation function 203, the judgment method switching function 204, the holding time measurement It consists of function 205 and preceding vehicle identification function 206.
- the vehicle lane inside / outside judgment function 201 is a force that performs the same processing as the vehicle lane inside / outside judgment function 201 of the first embodiment of the preceding vehicle judgment function 105.
- the vehicle lane width W1 is fixed and the position of the vehicle ahead is fixed. The processing may be performed without passing through the low-pass fill.
- the judgment result holding function 202 holds the previous judgment result.
- the front vehicle traveling position change calculation function 203 calculates the change in the traveling position R diff of the front vehicle calculated by the own lane inside / outside determination function 201.
- the judgment method switching function 203 is based on the judgment result of the own lane inside / outside judgment function 201, the calculation result of the front vehicle traveling position change calculation function 203, and the holding time measured by the holding time measurement function 205. Select the output of either the own lane inside / outside judgment function 201 or the judgment result holding function 202.
- the holding time measurement function 205 measures the elapsed time from the selection of the judgment result holding function 202 in the judgment method switching function 204.
- the preceding vehicle specifying function 206 performs the same processing as the preceding vehicle specifying function 206 of the first embodiment of the preceding vehicle determining function 105.
- a first embodiment of the judgment method switching function 204 will be described with reference to the state transition diagram of FIG.
- the processing transits to the determination result holding function 202.
- the holding time measured by the holding time measurement function 205 becomes longer than the predetermined value T or the preceding vehicle traveling position R diff is the predetermined value. If the change in the forward vehicle traveling position calculated by the forward vehicle traveling position change computing function 203, which is larger than Wa, becomes smaller than the predetermined value ⁇ a, the flow transits to the own lane inside / outside judgment function 201.
- Judgment result holding function By transitioning to 202, when the preceding vehicle enters a curved road from a straight road while the own vehicle is traveling on a straight road, the preceding vehicle moves harder while the own vehicle is traveling on a curved road. Even if you enter the straight road from the road, you can select it as the preceding vehicle. '
- the selection result of the preceding vehicle can be switched after the lane change.
- FIG. 8 shows a second embodiment of the preceding vehicle selection function 103.
- the preceding vehicle selection function 103 includes a host vehicle route estimation function 104, a forward vehicle route estimation function 106, and a preceding vehicle determination function 105.
- the own vehicle route estimation function 104 performs the same processing as the processing described in the first embodiment of the preceding vehicle selection function 103.
- the forward vehicle path estimation function 106 uses the own vehicle behavior measurement function 101 to determine the path of the forward vehicle based on the behavior of the own vehicle and the position of the forward vehicle measured by the forward vehicle position measurement function 102. presume.
- the preceding vehicle determination function 105 is a forward vehicle position measurement function based on the own vehicle path estimated by the own vehicle path estimation function 104 and the forward vehicle path estimation function 106 estimated by the front vehicle path estimation function 106. Outputs the information of the preceding vehicle from among the preceding vehicles measured in.
- the forward vehicle route estimation function will be described with reference to FIG.
- the forward vehicle route estimation function 106 uses the own vehicle position at the time of starting the preceding vehicle selection function 103 as the origin ⁇ ,
- the front vehicle position Q is calculated based on the calculated own vehicle position P and the relative position between the own vehicle and the front vehicle measured by the front vehicle position measurement function 102.
- the preceding vehicle judgment function 105 is the inside / outside judgment of the own lane 200, the judgment result holding function 202, the front vehicle traveling position change calculation function 203, the holding time measurement function 205, the judgment method switching function It consists of 204, the preceding vehicle identification function 206.
- the vehicle lane inside / outside determination function 201 sets the vehicle lane area based on the vehicle lane estimated by the vehicle lane estimation function 104, and calculates the forward vehicle position calculated by the vehicle lane estimation function 106 ahead. It is determined whether the vehicle is within the set lane area. + If the position of the preceding vehicle is within the own lane area, the preceding vehicle is determined to be the preceding vehicle. If not, the preceding vehicle is determined not to be the preceding vehicle.
- the forward vehicle traveling position change calculation function 203, the holding time measurement function 205, the judgment result holding function 202, and the preceding vehicle identification function 206 perform the same processing as in the second embodiment.
- the vehicle When the vehicle position when starting c preceding vehicle selecting function 1 0 3 illustrating a second embodiment of the self lane outside judgment function 2 0 1 with first 1 FIG as the origin 0, the vehicle is self You are at the vehicle position P calculated by the vehicle route estimation function 104.
- the preceding vehicle is located at the forward vehicle position ⁇ Q calculated by the forward vehicle route estimation function 106. Yes.
- the preceding vehicle traveling position Rdiff is smaller than half of the own lane width W1
- the processing transits to the judgment result holding function 202.
- the holding function is 202
- the own vehicle power / radius R is equal to the forward vehicle power / radius Rq, or the holding time measured by the holding time measurement function 205 is larger than the predetermined value T.
- the vehicle traveling position Rdiff becomes larger than the predetermined value Wa. Transition to function 201.
- the preceding vehicle enters a curved road from a straight road while the own vehicle is running on a straight road by transitioning to the judgment result holding function 202, the own vehicle is running on a strong road Even if the preceding vehicle enters the straight road from the power road, it can be selected as the preceding vehicle.
- the selection result of the preceding vehicle can be switched after the lane change.
- the preceding vehicle judgment function 105 is the inside / outside judgment of the own lane 200, the judgment result holding function 202, the front vehicle traveling position change calculation function 203, the holding time measurement function 205, the judgment method switching function It consists of 204, preceding vehicle identification function 206, own vehicle course change measurement function 206, and forward car course change measurement function 208.
- the lane inside / outside judgment function 201, the front vehicle traveling position change calculation function 203, the holding time measurement function 205, the judgment result holding function 202, the preceding vehicle identification function 206 The same processing as in the third embodiment of the function 105 is performed.
- the own-vehicle-path-change measuring function 207 calculates a rate of change of the own-vehicle power radius R while the own-vehicle travels a predetermined distance.
- the forward vehicle course change measurement function 208 calculates the rate of change of the forward vehicle curve radius RQ while the forward vehicle travels a predetermined distance.
- the own-vehicle-path-change measuring function 2 07 and the forward-vehicle-path-change measuring function 2 08 may calculate the rate of change of the curve radius at a predetermined time.
- the judgment result holding function 2 0 Transitions to 2.
- the preceding vehicle By switching to the judgment result holding function 202, if the preceding vehicle enters the curved road from the straight road while the own vehicle is traveling on a straight road, the preceding vehicle moves from the curved road while the own vehicle is traveling on the curved road. Even if you enter a straight road, you can select it as the preceding vehicle.
- the selection result of the preceding vehicle can be switched after the lane change.
- FIG. 15 shows a configuration of a vehicle to which the present invention is applied.
- Front vehicle position measuring device 410 own vehicle angular velocity measuring device 402, own vehicle steering angle measuring device 400, ground speed measuring device 400, preceding vehicle selecting device 400, inter-vehicle distance control device 406, transmission 407, throttle 408, brake 409, engine 411, approach warning device 411, preceding vehicle display device 412, wheel speed measurement device 413,
- the propeller shaft speed measuring device 414 is connected to the in-vehicle LAN 415.
- the front vehicle position measurement device 401 has a front vehicle position measurement function 102 using a millimeter wave radar or a laser radar. Millimeter-wave radar or laser radar can measure the relative position and relative speed with the vehicle ahead.
- the host vehicle angular velocity measuring device 402 has a function of the host vehicle behavior measurement function 101, and measures the host vehicle angle ⁇ using a vehicle angle sensor.
- the own-vehicle steering angle measuring device 4003 has a function of own-vehicle behavior measuring function 101, and measures the own-vehicle steering angle ⁇ ⁇ ⁇ ⁇ ⁇ using a steering angle sensor.
- the ground speed measuring device 400 has the function of the own vehicle behavior measuring function 101, and measures the own vehicle speed V based on the received wave returned by the radio wave or light transmitted from the own vehicle reflected from the road surface. measure.
- the wheel rotation speed measuring device 4 13 has the function of the vehicle behavior measurement function 101 and measures the vehicle speed V based on the wheel rotation speed of the driven wheel or the front and rear wheels.
- the propeller shaft rotation speed measuring device 4 1 4 has a function of own vehicle behavior measurement 101 and measures the own vehicle speed V based on the number of rotations of the propeller shaft.
- the preceding vehicle selection device 405 has the function of the preceding vehicle selection function 103, and measures the position of the front vehicle measured by the front vehicle position measurement device 401 and the own vehicle angle measurement device 402. One corner of the vehicle, the vehicle steering angle measured by the vehicle steering angle measuring device 400, the vehicle speed V measured by the ground speed measuring device 104, and the vehicle speed V measured by the wheel rotation speed measuring device 410 Based on the vehicle speed V and the vehicle speed V measured by the propeller shaft speed measuring device 4 14, the preceding vehicle is selected from the preceding vehicles measured by the preceding vehicle position measuring device 401.
- the inter-vehicle distance control device 406 sends commands to the transmission 407, throttle 408, brake 409, and engine 410, and selects the preceding vehicle with the preceding vehicle selection device 405. If so, the vehicle is accelerated or decelerated so that the distance between the vehicle and the preceding vehicle is appropriate.
- the driver runs at a preset speed on a straight road, and runs at a preset speed on a curved road or at the speed at which the driver enters a forced road. Drive while decelerating based on the radius of the curve.
- the own vehicle When the own vehicle is performing inter-vehicle distance control based on the preceding vehicle, and the preceding vehicle travels at a constant speed or acceleration on the straight path, enters the power road, and then decelerates, Slow down. In addition, if the preceding vehicle travels on a straight path at a constant speed or deceleration and enters a curved road and then accelerates, the vehicle accelerates on the straight path. If the own vehicle is performing inter-vehicle distance control based on the preceding vehicle, and the preceding vehicle travels at a constant speed or acceleration on the power road and enters the straight path, and then decelerates, the vehicle Decelerate on the road.
- the vehicle accelerates on the power road.
- the preceding vehicle travels on the straight track at a constant speed or deceleration, and if the own vehicle or the preceding vehicle changes lanes, the The car accelerates at the specified acceleration until the driver reaches the speed set in advance.
- the own vehicle when the own vehicle is performing inter-vehicle distance control based on the preceding vehicle, when the preceding vehicle travels on a curved road at a constant speed, and when the own vehicle or the preceding vehicle changes lanes, the The vehicle accelerates at a predetermined acceleration to the speed set by the driver or decelerates based on the radius of the curve.
- the vehicle will travel at a constant speed at the current speed after the lane change is completed or the driver sets in advance.
- the vehicle accelerates at a predetermined acceleration to the speed, and decelerates at a deceleration based on the radius of the force that is smaller than the deceleration of the own vehicle during lane change.
- the approach warning device 411 provides an alarm when the driver needs to decelerate based on the relative position, relative speed, and own vehicle speed between the preceding vehicle and the own vehicle selected by the preceding vehicle selection device 4 05. Emit.
- the preceding vehicle When the approach warning is not issued while the own vehicle and the preceding vehicle are traveling on a straight road, the preceding vehicle enters a curved road, and the own vehicle approaches the preceding vehicle while traveling on a straight road. If it does, the proximity alarm will alert.
- the proximity alarm will generate an alarm.
- the preceding vehicle display device 4 12 displays the presence / absence and position information of the preceding vehicle selected by the preceding vehicle selecting device 4 05 on the LED or the liquid crystal display to inform the driver of the selection state of the preceding vehicle.
- the preceding vehicle display device 4 1 2 indicates that the own vehicle and the preceding vehicle are selecting the preceding vehicle while traveling on a straight road. Indicates that the preceding vehicle has been selected when entering.
- the host vehicle and the preceding vehicle are selecting the preceding vehicle while traveling on a curved road
- the preceding vehicle enters a straight road while the own vehicle is traveling on a curved road
- the preceding vehicle is selected while the own vehicle and the preceding vehicle are traveling on a straight road or a curved road
- the own vehicle or the preceding vehicle changes lanes, the own vehicle or the preceding vehicle After completing the lane change, change the display of the preceding vehicle to the selected state.
- the preceding vehicle selection device 405 may have a configuration in which a single angular velocity sensor is mounted in the preceding vehicle selection device 405, so that the device can be reduced in size and weight, and can be easily attached to the vehicle. Can be facilitated.
- the preceding vehicle position measuring device 401 includes at least one of a preceding vehicle selecting function or a vehicle angular velocity measuring function, a vehicle speed measuring function, an inter-vehicle distance control function, and an approach warning function.
- the functions can be housed in a single housing, which makes it possible to reduce the size and weight of the device and to make it easier to mount it on a vehicle.
- the inter-vehicle distance control device 406 may include at least one of a preceding vehicle selection function, a vehicle angular velocity measurement function, a preceding vehicle position measurement function, a preceding vehicle display function, and an approach warning function. It may be housed in a single housing, which makes it possible to reduce the size and weight of the device and to make it easier to mount it on a vehicle.
- the approach warning device has at least one of the preceding vehicle selection function or own vehicle angle measurement function, front vehicle position measurement function, inter-vehicle distance control function, and preceding vehicle display function in one housing. This allows the equipment to be smaller, lighter, and easier to mount on vehicles.
- one or more of the preceding vehicle display function, the preceding vehicle selection function, the vehicle's angular velocity measurement function, the approach warning function, and the inter-vehicle distance control function may be housed in a single housing. By doing so, it is possible to make the equipment smaller, lighter, and easier to mount on vehicles.
- the preceding vehicle selecting device and the control device using the same according to the present invention are useful as a device and a method for controlling the traveling of the own vehicle while estimating the relationship with other vehicles by means of transportation such as an automobile. It is.
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Abstract
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2003/010514 WO2005020182A1 (ja) | 2003-08-20 | 2003-08-20 | 先行車選択装置及び先行車選択方法 |
AU2003262253A AU2003262253A1 (en) | 2003-08-20 | 2003-08-20 | Device and method for selecting preceding vehicle |
PCT/JP2004/012037 WO2005020183A1 (ja) | 2003-08-20 | 2004-08-16 | 先行車選択装置及び先行車選択方法 |
JP2005513320A JP4120678B2 (ja) | 2003-08-20 | 2004-08-16 | 先行車選択装置及び先行車選択方法 |
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PCT/JP2003/010514 WO2005020182A1 (ja) | 2003-08-20 | 2003-08-20 | 先行車選択装置及び先行車選択方法 |
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PCT/JP2003/010514 WO2005020182A1 (ja) | 2003-08-20 | 2003-08-20 | 先行車選択装置及び先行車選択方法 |
PCT/JP2004/012037 WO2005020183A1 (ja) | 2003-08-20 | 2004-08-16 | 先行車選択装置及び先行車選択方法 |
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CN102171742A (zh) * | 2008-10-01 | 2011-08-31 | 罗伯特·博世有限公司 | 用于选取待采取的提高乘员安全性的安全措施的方法 |
CN110834626A (zh) * | 2019-08-09 | 2020-02-25 | 中国第一汽车股份有限公司 | 行车障碍预警方法、装置、车辆和存储介质 |
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JP4817854B2 (ja) * | 2006-01-27 | 2011-11-16 | アルパイン株式会社 | 周辺物体追尾装置及び周辺物体位置予測方法 |
US8510027B2 (en) | 2009-06-11 | 2013-08-13 | Toyota Jidosha Kabushiki Kaisha | Method for judging vehicle traveling position and vehicle traveling position judgment device |
JP5645103B2 (ja) * | 2010-05-17 | 2014-12-24 | いすゞ自動車株式会社 | 先行車検知装置 |
JP5429234B2 (ja) * | 2011-03-23 | 2014-02-26 | トヨタ自動車株式会社 | 車両用情報処理装置 |
JP6356584B2 (ja) * | 2014-11-28 | 2018-07-11 | 株式会社デンソー | 予測進路推定装置 |
JP6363519B2 (ja) * | 2015-01-21 | 2018-07-25 | 株式会社デンソー | 車両制御装置 |
JP6626293B2 (ja) * | 2015-09-02 | 2019-12-25 | 株式会社Subaru | 車両の運転支援装置 |
JP2018158689A (ja) * | 2017-03-23 | 2018-10-11 | 日野自動車株式会社 | 先行車判定装置及び車両制御システム |
CN109693669B (zh) * | 2018-12-29 | 2021-02-19 | 北京经纬恒润科技股份有限公司 | 一种确定最近在径前车的方法及系统 |
CN110239535B (zh) * | 2019-07-03 | 2020-12-04 | 国唐汽车有限公司 | 一种基于多传感器融合的弯道主动避撞控制方法 |
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- 2003-08-20 AU AU2003262253A patent/AU2003262253A1/en not_active Abandoned
-
2004
- 2004-08-16 WO PCT/JP2004/012037 patent/WO2005020183A1/ja active Application Filing
- 2004-08-16 JP JP2005513320A patent/JP4120678B2/ja not_active Expired - Fee Related
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CN102171742A (zh) * | 2008-10-01 | 2011-08-31 | 罗伯特·博世有限公司 | 用于选取待采取的提高乘员安全性的安全措施的方法 |
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CN110834626A (zh) * | 2019-08-09 | 2020-02-25 | 中国第一汽车股份有限公司 | 行车障碍预警方法、装置、车辆和存储介质 |
Also Published As
Publication number | Publication date |
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WO2005020183A1 (ja) | 2005-03-03 |
JP4120678B2 (ja) | 2008-07-16 |
AU2003262253A1 (en) | 2005-03-10 |
JPWO2005020183A1 (ja) | 2006-10-19 |
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