WO2008126474A1 - 車両の走行安全装置 - Google Patents

車両の走行安全装置 Download PDF

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Publication number
WO2008126474A1
WO2008126474A1 PCT/JP2008/052813 JP2008052813W WO2008126474A1 WO 2008126474 A1 WO2008126474 A1 WO 2008126474A1 JP 2008052813 W JP2008052813 W JP 2008052813W WO 2008126474 A1 WO2008126474 A1 WO 2008126474A1
Authority
WO
WIPO (PCT)
Prior art keywords
alarm
driver
vehicle
variation
recognized
Prior art date
Application number
PCT/JP2008/052813
Other languages
English (en)
French (fr)
Inventor
Yoshihiro Urai
Jun Ochida
Original Assignee
Honda Motor Co., Ltd.
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.)
Filing date
Publication date
Application filed by Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Priority to AT08711619T priority Critical patent/ATE495074T1/de
Priority to EP08711619A priority patent/EP2135789B1/en
Priority to DE602008004481T priority patent/DE602008004481D1/de
Priority to US12/532,778 priority patent/US8521414B2/en
Publication of WO2008126474A1 publication Critical patent/WO2008126474A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B62D15/0265—Automatic obstacle avoidance by steering
    • 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
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • 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
    • 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
    • B60W40/08—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 drivers or passengers
    • B60W40/09—Driving style or behaviour

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Power Steering Mechanism (AREA)
  • Heat Treatment Of Sheet Steel (AREA)
  • Superstructure Of Vehicle (AREA)
  • Vehicle Body Suspensions (AREA)
  • Eye Examination Apparatus (AREA)
  • Harvester Elements (AREA)

Abstract

　車両の走行安全装置において、警報として所定の操舵トルクを付与し（Ｓ２４）、付与された所定の操舵トルクに対するドライバの操舵力変化量を算出する（Ｓ１００，Ｓ２００）と共に、算出されたドライバの操舵力変化量が設定値未満の場合（Ｓ１０２,Ｓ２０４）、所定の操舵トルクの付与に代わる接触回避支援動作を行う（Ｓ１０４,Ｓ２０６）如く構成、即ち、算出されたドライバの操舵力変化量が設定値未満か否か判断することでドライバが警報を認知したか否か推定し、警報が認知されていないと推定される場合、それに代わる接触回避支援動作を行うように構成した。これにより、認知されていないと推定される場合、より効果の高い警報あるいは車両制御を行うことが可能となり、よって適切に接触回避を支援することができる。
PCT/JP2008/052813 2007-03-30 2008-02-20 車両の走行安全装置 WO2008126474A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
AT08711619T ATE495074T1 (de) 2007-03-30 2008-02-20 Fahrsicherheitsvorrichtung für fahrzeug
EP08711619A EP2135789B1 (en) 2007-03-30 2008-02-20 Traveling safety device of vehicle
DE602008004481T DE602008004481D1 (de) 2007-03-30 2008-02-20 Fahrsicherheitsvorrichtung für fahrzeug
US12/532,778 US8521414B2 (en) 2007-03-30 2008-02-20 Vehicle safety driving apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007094283A JP4918389B2 (ja) 2007-03-30 2007-03-30 車両の走行安全装置
JP2007-094283 2007-03-30

Publications (1)

Publication Number Publication Date
WO2008126474A1 true WO2008126474A1 (ja) 2008-10-23

Family

ID=39863631

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/052813 WO2008126474A1 (ja) 2007-03-30 2008-02-20 車両の走行安全装置

Country Status (6)

Country Link
US (1) US8521414B2 (ja)
EP (1) EP2135789B1 (ja)
JP (1) JP4918389B2 (ja)
AT (1) ATE495074T1 (ja)
DE (1) DE602008004481D1 (ja)
WO (1) WO2008126474A1 (ja)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120179333A1 (en) * 2009-06-17 2012-07-12 Adrian Thomys Method for Influencing the Steering Torque in a Vehicle Steering System
JPWO2017199575A1 (ja) * 2016-05-19 2019-02-14 日立オートモティブシステムズ株式会社 操舵制御装置及び操舵制御装置の制御方法
US10452049B2 (en) * 2017-03-13 2019-10-22 Fanuc Corporation Servomotor control device, and servomotor control system
JP2020032828A (ja) * 2018-08-29 2020-03-05 三菱電機株式会社 車両用操舵装置

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JP5254688B2 (ja) * 2008-07-17 2013-08-07 富士重工業株式会社 車線逸脱防止装置
JP5018733B2 (ja) * 2008-10-22 2012-09-05 トヨタ自動車株式会社 運転支援装置
EP2393703A1 (de) * 2009-02-03 2011-12-14 Continental Teves AG & Co. oHG Verfahren und vorrichtung zum durchführen eines ausweichmanövers
JP2010179741A (ja) * 2009-02-04 2010-08-19 Honda Motor Co Ltd 車両の接触回避支援装置
US9180908B2 (en) 2010-11-19 2015-11-10 Magna Electronics Inc. Lane keeping system and lane centering system
EP2748052B1 (de) 2011-08-22 2016-03-23 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem eines nicht spurgebundenen fahrzeugs
DE102011081320B4 (de) 2011-08-22 2022-02-24 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem eines nicht spurgebundenen Fahrzeugs
DE102011081321B4 (de) 2011-08-22 2022-01-27 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem eines nicht spurgebundenen Fahrzeugs
KR101811435B1 (ko) * 2011-08-24 2018-01-26 현대모비스 주식회사 제어 개입 기준 변경 가능한 충돌회피 보조 장치 및 그 방법
RU2570982C2 (ru) * 2011-09-26 2015-12-20 Тойота Дзидося Кабусики Кайся Вспомогательная система управления транспортным средством
JP5903003B2 (ja) * 2012-06-26 2016-04-13 本田技研工業株式会社 車両周辺監視装置
SE536693C2 (sv) * 2012-09-25 2014-05-27 Scania Cv Ab Säkerhetssystem för ett fordon för att undvika kollision medobjekt, och en metod i samband med säkerhetssystemet
DE102012222245B4 (de) 2012-12-04 2021-12-09 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Abgabe einer Lenkempfehlung
EP2979956B1 (en) 2013-03-28 2018-04-25 Toyota Jidosha Kabushiki Kaisha Collision avoidance assistance device and collision avoidance assistance method
US9358925B2 (en) * 2013-10-23 2016-06-07 Jtekt Corporation Warning device for vehicle
DE102014212047A1 (de) * 2014-06-24 2015-12-24 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
US9946940B2 (en) 2014-12-18 2018-04-17 Magna Electronics Inc. Vehicle vision system with adaptive lane marker detection
US10713506B2 (en) 2014-12-18 2020-07-14 Magna Electronics Inc. Vehicle vision system with 3D registration for distance estimation
US10449899B2 (en) 2015-05-08 2019-10-22 Magna Electronics Inc. Vehicle vision system with road line sensing algorithm and lane departure warning
CN105365824A (zh) * 2015-10-27 2016-03-02 东莞酷派软件技术有限公司 车辆的控制方法、信息处理方法及相关装置
JP6661214B2 (ja) * 2015-12-21 2020-03-11 株式会社Ｓｕｂａｒｕ 車両の運転支援制御装置
US10055651B2 (en) 2016-03-08 2018-08-21 Magna Electronics Inc. Vehicle vision system with enhanced lane tracking
CN107244290A (zh) * 2017-05-17 2017-10-13 吉利汽车研究院（宁波）有限公司 汽车脱手驾驶监控、自动接管系统及方法
JP6647681B2 (ja) * 2017-08-30 2020-02-14 マツダ株式会社 車両制御装置
JP7194085B2 (ja) * 2019-07-09 2022-12-21 日立Astemo株式会社 操舵制御装置、操舵制御方法、及び操舵制御システム
JP7149918B2 (ja) * 2019-10-16 2022-10-07 本田技研工業株式会社 車両用接触回避支援装置
CN111923749A (zh) * 2020-08-20 2020-11-13 洛阳智能农业装备研究院有限公司 一种四轮毂电机驱动无人电动拖拉机控制系统
US20230026400A1 (en) * 2021-07-21 2023-01-26 Toyota Research Institute, Inc. Directional vehicle steering cues

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07117593A (ja) * 1993-10-21 1995-05-09 Mitsubishi Electric Corp 車両用警報装置
JP2000062635A (ja) * 1998-08-18 2000-02-29 Mitsubishi Motors Corp 衝突警報装置
JP2000067393A (ja) * 1998-08-25 2000-03-03 Honda Motor Co Ltd 車両の走行安全装置
JP2004030361A (ja) * 2002-06-27 2004-01-29 Koyo Seiko Co Ltd 車両用操舵装置
JP2004330972A (ja) * 2003-05-09 2004-11-25 Honda Motor Co Ltd 車両の走行安全装置
JP2005149021A (ja) * 2003-11-13 2005-06-09 Denso Corp 衝突可能性判定装置
WO2006037551A2 (de) 2004-10-01 2006-04-13 Daimlerchrysler Ag Verfahren und vorrichtung zur unterstützung des fahrers eines fahrzeugs bei der einhaltung einer fahrspur
WO2006092431A1 (de) 2005-03-03 2006-09-08 Continental Teves Ag & Co. Ohg Verfahren und vorrichtung zum vermeiden einer kollision bei einem spurwechsel eines fahrzeugs
JP2006298294A (ja) * 2005-04-25 2006-11-02 Honda Motor Co Ltd 車両の走行安全装置

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JP3647538B2 (ja) * 1996-02-12 2005-05-11 本田技研工業株式会社 車両操舵装置
US6366937B1 (en) 1999-03-11 2002-04-02 Hitachi America Ltd. System and method for performing a fast fourier transform using a matrix-vector multiply instruction
JP3723462B2 (ja) 2000-03-07 2005-12-07 三洋化成工業株式会社 無機繊維用集束剤
DE10232295A1 (de) * 2002-07-16 2004-02-05 Daimlerchrysler Ag Verfahren zur Unterstützung des Fahrers bei Fahrmanövern
JP4476781B2 (ja) 2004-11-05 2010-06-09 本田技研工業株式会社 車両の走行安全装置
US7734418B2 (en) * 2005-06-28 2010-06-08 Honda Motor Co., Ltd. Vehicle operation assisting system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07117593A (ja) * 1993-10-21 1995-05-09 Mitsubishi Electric Corp 車両用警報装置
JP2000062635A (ja) * 1998-08-18 2000-02-29 Mitsubishi Motors Corp 衝突警報装置
JP2000067393A (ja) * 1998-08-25 2000-03-03 Honda Motor Co Ltd 車両の走行安全装置
JP2004030361A (ja) * 2002-06-27 2004-01-29 Koyo Seiko Co Ltd 車両用操舵装置
JP2004330972A (ja) * 2003-05-09 2004-11-25 Honda Motor Co Ltd 車両の走行安全装置
JP2005149021A (ja) * 2003-11-13 2005-06-09 Denso Corp 衝突可能性判定装置
WO2006037551A2 (de) 2004-10-01 2006-04-13 Daimlerchrysler Ag Verfahren und vorrichtung zur unterstützung des fahrers eines fahrzeugs bei der einhaltung einer fahrspur
WO2006092431A1 (de) 2005-03-03 2006-09-08 Continental Teves Ag & Co. Ohg Verfahren und vorrichtung zum vermeiden einer kollision bei einem spurwechsel eines fahrzeugs
JP2006298294A (ja) * 2005-04-25 2006-11-02 Honda Motor Co Ltd 車両の走行安全装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120179333A1 (en) * 2009-06-17 2012-07-12 Adrian Thomys Method for Influencing the Steering Torque in a Vehicle Steering System
JPWO2017199575A1 (ja) * 2016-05-19 2019-02-14 日立オートモティブシステムズ株式会社 操舵制御装置及び操舵制御装置の制御方法
US10899381B2 (en) 2016-05-19 2021-01-26 Hitachi Automotive Systems, Ltd. Steering control device and control method for steering control device
US10452049B2 (en) * 2017-03-13 2019-10-22 Fanuc Corporation Servomotor control device, and servomotor control system
JP2020032828A (ja) * 2018-08-29 2020-03-05 三菱電機株式会社 車両用操舵装置

Also Published As

Publication number Publication date
EP2135789B1 (en) 2011-01-12
EP2135789A4 (en) 2010-03-24
US20100121532A1 (en) 2010-05-13
EP2135789A1 (en) 2009-12-23
US8521414B2 (en) 2013-08-27
JP2008247327A (ja) 2008-10-16
DE602008004481D1 (de) 2011-02-24
ATE495074T1 (de) 2011-01-15
JP4918389B2 (ja) 2012-04-18

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