WO2013011619A1 - Dispositif de calcul de données d'itinéraire de déplacement, dispositif de commande de déplacement pour véhicule et procédé de calcul de données d'itinéraire de déplacement - Google Patents

Dispositif de calcul de données d'itinéraire de déplacement, dispositif de commande de déplacement pour véhicule et procédé de calcul de données d'itinéraire de déplacement Download PDF

Info

Publication number
WO2013011619A1
WO2013011619A1 PCT/JP2012/003649 JP2012003649W WO2013011619A1 WO 2013011619 A1 WO2013011619 A1 WO 2013011619A1 JP 2012003649 W JP2012003649 W JP 2012003649W WO 2013011619 A1 WO2013011619 A1 WO 2013011619A1
Authority
WO
WIPO (PCT)
Prior art keywords
road
curvature
radius
curvature radius
positions
Prior art date
Application number
PCT/JP2012/003649
Other languages
English (en)
Japanese (ja)
Inventor
真史 安原
Original Assignee
日産自動車株式会社
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 日産自動車株式会社 filed Critical 日産自動車株式会社
Priority to JP2013524580A priority Critical patent/JP5821959B2/ja
Publication of WO2013011619A1 publication Critical patent/WO2013011619A1/fr

Links

Images

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
    • 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
    • B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle
    • B60T7/18—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on vehicle operated by wayside apparatus
    • 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
    • B60W30/143—Speed control
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
    • B60K2026/023—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics with electrical means to generate counter force or torque
    • 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
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/20—Road shapes
    • B60T2210/24—Curve radius
    • 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
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Une unité de calcul de rayon de courbure (16) extrait d'une pluralité de points de réglage de données routières se situant sur un itinéraire de déplacement, un point de réglage de données routières auquel la différence entre les rayons de courbure d'une position avant et d'une position arrière est supérieure ou égale à une valeur de seuil préétablie. L'unité de calcul de rayon de courbure (16) produit ensuite les données de courbure d'une position en excluant le point de réglage de données routières extrait de la pluralité des points de réglage de données routières.
PCT/JP2012/003649 2011-07-21 2012-06-04 Dispositif de calcul de données d'itinéraire de déplacement, dispositif de commande de déplacement pour véhicule et procédé de calcul de données d'itinéraire de déplacement WO2013011619A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2013524580A JP5821959B2 (ja) 2011-07-21 2012-06-04 車両用走行制御装置、および走行路情報演算方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011-159962 2011-07-21
JP2011159962 2011-07-21

Publications (1)

Publication Number Publication Date
WO2013011619A1 true WO2013011619A1 (fr) 2013-01-24

Family

ID=47557823

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2012/003649 WO2013011619A1 (fr) 2011-07-21 2012-06-04 Dispositif de calcul de données d'itinéraire de déplacement, dispositif de commande de déplacement pour véhicule et procédé de calcul de données d'itinéraire de déplacement

Country Status (2)

Country Link
JP (1) JP5821959B2 (fr)
WO (1) WO2013011619A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110271547A (zh) * 2018-03-15 2019-09-24 本田技研工业株式会社 车辆控制装置、车辆控制方法以及存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11232600A (ja) * 1998-02-13 1999-08-27 Nissan Motor Co Ltd カーブ検出装置
JP2001093095A (ja) * 1999-09-21 2001-04-06 Fuji Heavy Ind Ltd 道路形状推定装置及びそれを用いたカーブ進入制御装置
JP2001093090A (ja) * 1999-09-21 2001-04-06 Fuji Heavy Ind Ltd カーブ進入速度制御装置
JP2002329299A (ja) * 2001-04-26 2002-11-15 Fuji Heavy Ind Ltd カーブ進入制御装置
JP2004272426A (ja) * 2003-03-06 2004-09-30 Nissan Motor Co Ltd 道路形状認識装置
JP2004280138A (ja) * 2003-03-12 2004-10-07 Nissan Motor Co Ltd 道路形状認識装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3228240B2 (ja) * 1998-10-12 2001-11-12 住友電気工業株式会社 ナビゲーション装置
DE10343944A1 (de) * 2003-09-23 2005-04-14 Robert Bosch Gmbh Verfahren zur Darstellung von Strassendaten in digitalen Karten sowie Verfahren zur Bestimmung der Position eines Fahrzeuges
JP4363640B2 (ja) * 2004-04-30 2009-11-11 株式会社小糸製作所 車両用照明装置
JP2007017266A (ja) * 2005-07-07 2007-01-25 Denso Corp カーナビゲーション装置
DK2431712T3 (da) * 2010-09-17 2013-08-05 Kapsch Trafficcom Ag Fremgangsmåde til beregning af længden af den vej, som et køretøj har tilbagelagt

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11232600A (ja) * 1998-02-13 1999-08-27 Nissan Motor Co Ltd カーブ検出装置
JP2001093095A (ja) * 1999-09-21 2001-04-06 Fuji Heavy Ind Ltd 道路形状推定装置及びそれを用いたカーブ進入制御装置
JP2001093090A (ja) * 1999-09-21 2001-04-06 Fuji Heavy Ind Ltd カーブ進入速度制御装置
JP2002329299A (ja) * 2001-04-26 2002-11-15 Fuji Heavy Ind Ltd カーブ進入制御装置
JP2004272426A (ja) * 2003-03-06 2004-09-30 Nissan Motor Co Ltd 道路形状認識装置
JP2004280138A (ja) * 2003-03-12 2004-10-07 Nissan Motor Co Ltd 道路形状認識装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110271547A (zh) * 2018-03-15 2019-09-24 本田技研工业株式会社 车辆控制装置、车辆控制方法以及存储介质
CN110271547B (zh) * 2018-03-15 2022-07-01 本田技研工业株式会社 车辆控制装置、车辆控制方法以及存储介质

Also Published As

Publication number Publication date
JP5821959B2 (ja) 2015-11-24
JPWO2013011619A1 (ja) 2015-02-23

Similar Documents

Publication Publication Date Title
CN109318981B (zh) 车辆的行驶控制系统
US20140244142A1 (en) Driving assistance system for vehicle
US8798841B1 (en) System and method for improving sensor visibility of vehicle in autonomous driving mode
CN101327770B (zh) 行驶控制装置
KR100509773B1 (ko) 차량의 예상 주행 코스 범위를 결정하기 위한 방법 및 장치
JP4795069B2 (ja) 車両の走行安全装置
US10967864B2 (en) Vehicle control device
CN103935361A (zh) 用于自主的车道变换、经过和超越行为的有效数据流算法
JP2009053925A (ja) 行動予測装置
US7512491B2 (en) Navigation device for a vehicle
JP4860391B2 (ja) 車両の走行安全装置
WO2019171100A1 (fr) Procédé d'aide au déplacement d'un véhicule et dispositif d'aide au déplacement d'un véhicule
US11433882B2 (en) Method and device for performing an at least partially automated driving maneuver
JP5700126B2 (ja) 車両用走行制御装置
JP6446245B2 (ja) 自動運転制御装置
US20110264327A1 (en) Vehicle control device
KR20220004839A (ko) 자율주행차 입력신호 신뢰도를 이용한 차량 제어 시스템
JP4148125B2 (ja) 減速制御装置
JP7284299B2 (ja) 車両制御装置
JP5821959B2 (ja) 車両用走行制御装置、および走行路情報演算方法
JP4765666B2 (ja) 走行車線推定装置
JP4103869B2 (ja) 車両用減速制御装置
JP6649873B2 (ja) 減速制御装置、減速制御方法
JP5686189B2 (ja) 車両用走行制御装置
JP4818970B2 (ja) 車両の走行安全装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12815129

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2013524580

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 12815129

Country of ref document: EP

Kind code of ref document: A1