WO2012098667A1 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- WO2012098667A1 WO2012098667A1 PCT/JP2011/050993 JP2011050993W WO2012098667A1 WO 2012098667 A1 WO2012098667 A1 WO 2012098667A1 JP 2011050993 W JP2011050993 W JP 2011050993W WO 2012098667 A1 WO2012098667 A1 WO 2012098667A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- driver
- deceleration
- unit
- steering
- Prior art date
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Classifications
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
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- 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
Definitions
- the present invention relates to a driving support device.
- Patent Document 1 a device that performs deceleration control when approaching a preceding vehicle is known (see, for example, Patent Document 1).
- the device described in Patent Document 1 suppresses changes in the engine speed when the inter-vehicle distance of the preceding vehicle is equal to or less than the threshold value and the accelerator opening change has not increased during constant speed traveling. Deceleration control is performed.
- the driver may feel troublesome. For example, even when the vehicle approaches the preceding vehicle in order to pass the preceding vehicle, the deceleration control may be executed.
- the present invention has been made to solve such a technical problem, and an object thereof is to provide a driving support device capable of executing deceleration control based on a driver's will.
- the driving support apparatus is a driving support apparatus that supports driving, and executes an inter-vehicle information acquisition unit that acquires an inter-vehicle distance between the host vehicle and a preceding vehicle, and executes deceleration control based on the inter-vehicle distance. And a steering detection unit that detects steering by the driver, and the deceleration unit stops the deceleration control when the steering is detected.
- the speed reduction control is executed by the speed reduction unit based on the inter-vehicle distance from the preceding vehicle, and the speed reduction control is stopped when steering by the driver is detected.
- the deceleration control is stopped when the driver is about to pass the vehicle ahead, it is possible to provide assistance that matches the driver's intention. Therefore, it is possible to execute deceleration control based on the driver's will.
- the driving support device includes an operation information acquisition unit that acquires operation information related to the operation of the direction indicator by the driver, and the deceleration unit temporarily suppresses the deceleration control based on the operation information. Also good.
- Such a configuration makes it possible to avoid performing unnecessary deceleration control when, for example, steering is attempted after a certain period after the operation of the direction indicator.
- the deceleration unit may temporarily suppress the deceleration control when the direction indicator is operating and the steering angle is not equal to or greater than a predetermined threshold. By comprising in this way, the time which corrects operation of a direction indicator, or the time which performs steering can be given to a driver
- the deceleration unit may stop the deceleration control when the steering angle is equal to or larger than a predetermined threshold and no vehicle is present in the overtaking lane.
- the deceleration unit may execute the deceleration control based on the vehicle in the overtaking lane.
- the driving support apparatus According to the driving support apparatus according to the present invention, it is possible to execute deceleration control based on the driver's will.
- FIG. 1 is a schematic configuration diagram of a vehicle equipped with a driving assistance apparatus according to a first embodiment of the present invention. It is a flowchart which shows operation
- the driving support device is a device that controls the traveling of the vehicle.
- automatic driving such as follow-up driving that keeps the inter-vehicle distance constant, rear-end collision prevention that prevents a rear-end collision based on the inter-vehicle distance, or lane keeping.
- the present invention is suitably employed in a vehicle equipped with a function or a vehicle equipped with a driver support system that improves driving safety.
- FIG. 1 is a block diagram showing a configuration of a vehicle 5 having a driving support apparatus 1 according to the embodiment.
- a vehicle 5 shown in FIG. 1 includes a millimeter wave sensor 31, a rudder angle sensor 32, a direction indicator operation unit 33, an ECU 2, an engine 40, and a brake actuator 41.
- the ECU Electronic Control Unit
- the ECU is a computer of electronically controlled automobile devices, and includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and an input / output interface. Configured.
- the millimeter wave sensor 31 has a function of detecting an object existing around the vehicle 5. For example, the millimeter wave sensor 31 transmits a millimeter wave around the vehicle 5 and receives a reflected wave. Thereby, the millimeter wave sensor 31 detects the presence or absence of an object around the vehicle 5.
- the millimeter wave sensor 31 has a function of acquiring distance information and position information to the detected object based on the transmitted millimeter wave and the received reflected wave. Furthermore, the millimeter wave sensor 31 has a function of outputting the acquired information to the ECU 2.
- the steering angle sensor 32 has a function of detecting driver's steering (steering).
- the rudder angle sensor 32 has a function of outputting the detected information to the ECU 2.
- the direction indicator operation unit 33 has a function of accepting the operation of the driver's direction indicator. Moreover, the direction indicator operation unit 33 has a function of outputting information related to the accepted operation to the ECU 2.
- the ECU 2 includes an inter-vehicle information acquisition unit 10, a proximity determination unit 11, a deceleration unit 12, a vehicle presence information acquisition unit 13, a steering information acquisition unit (steering detection unit) 14, an operation information acquisition unit 15, and a driver intention determination unit 16. ing.
- the inter-vehicle information acquisition unit 10 has a function of acquiring the inter-vehicle distance between the host vehicle 5 and the preceding vehicle.
- the inter-vehicle information acquisition unit 10 acquires the inter-vehicle distance based on information output by the millimeter wave sensor 31, for example.
- the inter-vehicle information acquisition unit 10 has a function of outputting the inter-vehicle distance to the proximity determination unit 11.
- the proximity determination unit 11 has a function of determining whether or not the host vehicle 5 is approaching a preceding vehicle based on the inter-vehicle distance information. For example, the proximity determination unit 11 determines whether the inter-vehicle distance output by the inter-vehicle information acquisition unit 10 is equal to or less than a predetermined threshold. As this threshold value, for example, a distance that requires brake control intervention is used. The distance that requires brake control intervention is calculated in advance by simulation or the like. The proximity determination unit 11 has a function of outputting the determination result to the deceleration unit 12.
- the vehicle presence information acquisition unit 13 has a function of acquiring whether or not a vehicle is present in a travel lane (passing lane) adjacent to the travel lane in which the host vehicle 5 is traveling.
- the vehicle presence information acquisition part 13 acquires the presence or absence of a vehicle based on the information output by the millimeter wave sensor 31, for example.
- the vehicle presence information acquisition unit 13 has a function of outputting the acquired information to the deceleration unit 12.
- the steering information acquisition unit 14 has a function of acquiring information related to the driver's steering.
- the steering information acquisition unit 14 inputs, for example, information output by the steering angle sensor 32 as steering information.
- the steering information acquisition unit 14 has a function of outputting steering information to the driver intention determination unit 16.
- the operation information acquisition unit 15 has a function of acquiring information related to the operation of the driver's direction indicator.
- the operation information acquisition unit 15 acquires, for example, information output from the direction indicator operation unit 33 as operation information.
- the operation information acquisition unit 15 has a function of outputting operation information to the driver intention determination unit 16.
- the driver intention determination unit 16 has a function of determining the driver's intention based on the steering information output by the steering information acquisition unit 14 and the operation information output by the operation information acquisition unit 15. For example, when the direction indicator is operated, the driver intention determination unit 16 determines that there is a possibility that the driver has an intention to overtake the preceding vehicle. When the direction indicator is operated and a steering angle greater than or equal to the threshold value is detected, the driver intention determination unit 16 does not indicate that the driver has misoperated or forgot to turn off the direction indicator. It is determined that the person intends to overtake the preceding vehicle.
- the threshold value is set in advance by, for example, simulation.
- the driver intention determination unit 16 has a function of outputting the determination result to the deceleration unit 12.
- the deceleration unit 12 has a function of controlling the engine 40 or the brake actuator 41 to perform deceleration control.
- the deceleration unit 12 has a function of intervening brake control when the vehicle 5 and the preceding vehicle are close to each other based on the determination result output by the proximity determination unit 11.
- the deceleration unit 12 has a function of intervening brake control based on the vehicle traveling in the overtaking lane when the vehicle exists in the overtaking lane based on the presence / absence of the vehicle output by the vehicle presence information acquiring unit 13. Have.
- the deceleration unit 12 has a function of not executing or canceling the brake control when the driver intends to overtake the preceding vehicle based on the determination result output by the driver intention determination unit 16. ing.
- the deceleration unit 12 has a function of delaying the intervention of the brake control when there is a possibility that the driver intends to overtake the preceding vehicle.
- the driving support apparatus 1 includes the inter-vehicle information acquisition unit 10, the proximity determination unit 11, the deceleration unit 12, the vehicle presence information acquisition unit 13, the steering information acquisition unit 14, the operation information acquisition unit 15, and the driver intention determination unit 16 described above. Is configured.
- the driving support device 1 may not include the vehicle presence information acquisition unit 13 and the driver intention determination unit 16 according to the performance required for the vehicle.
- FIG. 2 is a flowchart showing the operation of the driving support apparatus 1 according to the present embodiment.
- the control process shown in FIG. 2 is repeatedly executed at predetermined intervals after, for example, an ignition is turned on or a travel control start button provided in the vehicle 5 is turned on.
- the driving assistance device 1 starts from the inter-vehicle distance acquisition process (S10).
- the inter-vehicle information acquisition unit 10 acquires information related to the inter-vehicle distance between the host vehicle 5 and the preceding vehicle.
- the process of S10 ends, the process proceeds to a proximity determination process (S12).
- the proximity determination unit 11 determines whether or not the host vehicle 5 is close to the preceding vehicle.
- the proximity determination unit 11 determines, for example, whether or not the inter-vehicle distance acquired in the process of S10 is equal to or less than a threshold at which intervention of brake control must be executed. If the proximity determination unit 11 determines that the inter-vehicle distance is not less than or equal to the threshold value, the proximity determination unit 11 does not execute the brake control intervention (S20). Then, the driving assistance device 1 ends the control process shown in FIG.
- the process of S12 when it is determined that the inter-vehicle distance is equal to or less than the threshold value, the process proceeds to a direction indicator operation determination process (S14).
- the driver intention determination unit 16 determines whether or not the direction indicator is activated based on the information related to the operation of the direction indicator output by the operation information acquisition unit 15. If the direction indicator is not activated, it can be assumed that the driver has no intention of overtaking the preceding vehicle. Therefore, the driver intention determination unit 16 proceeds to the brake control intervention process when the direction indicator is not operating (S26).
- the speed reduction part 12 operates the engine brake or the brake actuator 41 of the engine 40, and makes brake control intervene.
- the driving support device 1 ends the control process shown in FIG.
- the driver intention determination unit 16 proceeds to the steering angle determination process when the direction indicator is operating (S16).
- the driver intention determination unit 16 determines whether or not the steering angle is equal to or greater than a predetermined threshold based on the information regarding the steering output by the steering information acquisition unit 14. When the steering angle is not greater than or equal to a predetermined threshold value, it is assumed that the direction indicator is erroneously operated, or the time from the operation of the direction indicator to the steering operation is slow.
- the deceleration unit 12 executes the brake control intervention at a timing delayed from the normal timing.
- the driving support device 1 ends the control process shown in FIG.
- the process of S16 when it is determined that the steering angle is equal to or greater than the predetermined threshold, it can be determined that the driver has an intention of overtaking the preceding vehicle. Therefore, the process proceeds to the vehicle presence determination process in the overtaking lane (S18).
- the deceleration unit 12 determines whether or not there is a vehicle in the overtaking lane based on the information output by the vehicle presence information acquisition unit 13. If there is a vehicle on the overtaking lane in the process of S18, the process proceeds to a brake control intervention process (S22).
- the deceleration unit 12 executes a brake control intervention process based on the vehicle in order to ensure safety with the vehicle existing in the overtaking lane.
- the deceleration unit 12 has previously performed the brake control intervention process based on the preceding vehicle.
- the deceleration unit 12 changes the reference vehicle and executes the brake control intervention.
- the driver intention determination unit 16 determines whether or not the driver has an intention of overtaking based on the operation information and steering information of the direction indicator. Therefore, the driver's intention can be accurately estimated. Further, the deceleration control is executed by the deceleration unit 12 based on the inter-vehicle distance from the preceding vehicle, and the deceleration control is stopped when steering by the driver is detected. In the case of the conventional device, since the deceleration control is executed when the driver approaches the vehicle ahead and overtakes the vehicle, the vehicle changes lanes with unnecessary braking applied.
- the deceleration control is stopped when the driver's intention to pass is estimated even when the driver approaches the vehicle ahead. The For this reason, it is possible to provide assistance that matches the driver's intention. Therefore, it is possible to execute deceleration control based on the driver's will.
- the driving support device 1 according to the second embodiment is configured in substantially the same manner as the driving support device 1 according to the first embodiment.
- the driving support device 1 according to the second embodiment is different from the driving support device 1 according to the first embodiment only in that the driving support device 1 includes an acquisition unit that acquires lane change area information, which is information related to the travel region of the lane change destination. To do.
- the description of the same parts as those in the first embodiment will be omitted, and the differences will be mainly described.
- the configuration of the vehicle 5 including the driving support device 1 according to the present embodiment is substantially the same as that of the vehicle 5 including the driving support device 1 according to the first embodiment.
- the vehicle 5 includes a lane change area information acquisition unit 17.
- the lane change area information acquisition unit 17 has a function of acquiring information indicating whether or not the travel area of the host vehicle that is the lane change destination is an empty space.
- the lane change area information acquisition unit 17 determines whether or not the travel area of the host vehicle that is the lane change destination is an empty space based on the front detection result and the rear detection result of the millimeter wave sensor 31.
- the lane change area information acquisition unit 17 has a function of outputting the acquired information to the driver intention determination unit 16.
- the deceleration unit 12 has a function of performing deceleration control based on the output result of the lane change area information acquisition unit 17. Other functions of the deceleration unit 12 are the same as those described in the first embodiment.
- FIG. 4 is a flowchart showing the operation of the driving support apparatus 1 according to the present embodiment.
- the control process shown in FIG. 4 is repeatedly executed at a predetermined interval after, for example, the ignition is turned on or the travel control start button provided in the vehicle 5 is turned on.
- movement of the driving assistance device 1 which concerns on 2nd Embodiment is substantially the same as the operation
- FIG. 5 is a schematic diagram illustrating details of the vehicle presence determination process.
- FIG. 5 shows a one-lane two-lane road having travel lanes 70 and 71. In the traveling lane 70, the own vehicle 5 is traveling following the preceding vehicle X1.
- the driving lane 71 becomes an overtaking lane with the own vehicle 5 as a reference.
- the vehicle X3 is present in front of the host vehicle 5, and the vehicle X2 is present behind.
- the millimeter wave sensor 31 provided in the host vehicle 5 includes a front millimeter wave sensor disposed on the front side of the vehicle 5 and a rear side millimeter wave sensor disposed on the rear side.
- the front sensor detects the presence / absence of the vehicle in front of the traveling lane 71 and position information by transmitting a millimeter wave to the detection range 80 and receiving a reflected wave.
- the rear side sensor detects the presence and position information of the vehicle behind the traveling lane 71 by transmitting a millimeter wave to the detection range 81 and receiving a reflected wave.
- the lane change area information acquisition unit 17 determines whether a vehicle is present in the region 72 of the travel lane 71 based on the detection result of the millimeter wave sensor 31.
- the area 72 is a traveling area of the host vehicle to which the lane is changed.
- the driver intention determination unit 16 determines the intention of overtaking the driver based on the operation information and steering information of the direction indicator. Can be accurately estimated. Furthermore, based on the presence information of the vehicle in the overtaking lane, it is possible to perform deceleration control by determining that the driver's operation of the direction indicator is not intentional. Further, the deceleration control is executed by the deceleration unit 12 based on the inter-vehicle distance from the preceding vehicle, and the deceleration control is stopped when steering by the driver is detected. In the case of the conventional device, since the deceleration control is executed when the driver approaches the vehicle ahead and overtakes the vehicle, the vehicle changes lanes with unnecessary braking applied.
- the deceleration control is stopped when the driver's intention to pass is estimated even when the driver approaches the vehicle ahead. Therefore, it is possible to provide assistance that matches the driver's intention. Therefore, it is possible to execute deceleration control based on the driver's will.
- each embodiment mentioned above shows an example of the driving assistance apparatus which concerns on this invention.
- the driving support device according to the present invention is not limited to the driving support device according to each embodiment. As long as the gist described in each claim is not changed, the driving support device according to each embodiment may be modified or applied to other devices.
- the steering angle determination process (S16) is performed after the direction indicator operation determination process (S14), but the direction indicator operation determination is performed after the steering angle determination process is performed. Processing may be executed.
- the driving assistance apparatus 1 may be applied to a device having a rear-end collision prevention function that executes brake control when the distance between the vehicle and the vehicle ahead becomes short based on the vehicle-to-vehicle distance.
- SYMBOLS 1 Driving assistance device, 2 ... ECU, 5 ... Vehicle, 10 ... Inter-vehicle distance information acquisition part, 11 ... Proximity determination part, 12 ... Deceleration part, 13 ... Vehicle presence information acquisition part, 14 ... Steering information acquisition part (steering detection part) ), 15 ... Operation information acquisition unit, 16 ... Driver intention determination unit, 17 ... Lane change area information acquisition unit.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
本実施形態に係る運転支援装置は、車両の走行を制御する装置であって、例えば、車間距離を一定に保つ追従走行、車間距離に基づいて追突を防止する追突防止又は車線維持などの自動運転機能を備えた車両、又は、走行安全性を向上させる運転者支援システムを搭載した車両に好適に採用されるものである。
第2実施形態に係る運転支援装置1は、第1実施形態に係る運転支援装置1とほぼ同様に構成されるものである。第2実施形態に係る運転支援装置1は、第1実施形態に係る運転支援装置1と比べ、車線変更先の走行領域に関する情報である車線変更エリア情報を取得する取得部を備える点のみが相違する。なお、第2実施形態においては、第1実施形態と重複する部分は説明を省略し、相違点を中心に説明する。
Claims (5)
- 運転を支援する運転支援装置であって、
自車両と前方車両との車間距離を取得する車間情報取得部と、
前記車間距離に基づいて減速制御を実行する減速部と、
運転者による操舵を検知する操舵検知部と、
を備え、
前記減速部は、前記操舵を検知した場合には前記減速制御を中止すること、
を特徴とする運転支援装置。 - 運転者による方向指示器の操作に関する操作情報を取得する操作情報取得部を備え、
前記減速部は、前記操作情報に基づいて前記減速制御を一時的に抑制する請求項1に記載の運転支援装置。 - 前記減速部は、前記方向指示器が作動中であり、かつ、操舵角が所定の閾値以上でない場合には、前記減速制御を一時的に抑制する請求項2に記載の運転支援装置。
- 前記減速部は、操舵角が所定の閾値以上であり、かつ、追い越し車線に車両が存在しない場合には、前記減速制御を中止する請求項1に記載の運転支援装置。
- 前記減速部は、操舵角が所定の閾値以上であり、かつ、追い越し車線に車両が存在する場合には、追い越し車線の車両を基準に前記減速制御を実行する請求項1に記載の運転支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN201180057508.XA CN103229222B (zh) | 2011-01-20 | 2011-01-20 | 驾驶支援装置 |
JP2012553513A JP5776702B2 (ja) | 2011-01-20 | 2011-01-20 | 運転支援装置 |
US13/885,117 US9626869B2 (en) | 2011-01-20 | 2011-01-20 | Drive assisting apparatus |
PCT/JP2011/050993 WO2012098667A1 (ja) | 2011-01-20 | 2011-01-20 | 運転支援装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2011/050993 WO2012098667A1 (ja) | 2011-01-20 | 2011-01-20 | 運転支援装置 |
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WO2012098667A1 true WO2012098667A1 (ja) | 2012-07-26 |
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PCT/JP2011/050993 WO2012098667A1 (ja) | 2011-01-20 | 2011-01-20 | 運転支援装置 |
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US (1) | US9626869B2 (ja) |
JP (1) | JP5776702B2 (ja) |
CN (1) | CN103229222B (ja) |
WO (1) | WO2012098667A1 (ja) |
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JP2016207060A (ja) * | 2015-04-27 | 2016-12-08 | トヨタ自動車株式会社 | 車線変更支援装置 |
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Also Published As
Publication number | Publication date |
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JP5776702B2 (ja) | 2015-09-09 |
US9626869B2 (en) | 2017-04-18 |
CN103229222A (zh) | 2013-07-31 |
CN103229222B (zh) | 2015-09-16 |
JPWO2012098667A1 (ja) | 2014-06-09 |
US20130297172A1 (en) | 2013-11-07 |
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