WO2017009898A1 - Dispositif et procédé de commande de suivi - Google Patents

Dispositif et procédé de commande de suivi Download PDF

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Publication number
WO2017009898A1
WO2017009898A1 PCT/JP2015/069904 JP2015069904W WO2017009898A1 WO 2017009898 A1 WO2017009898 A1 WO 2017009898A1 JP 2015069904 W JP2015069904 W JP 2015069904W WO 2017009898 A1 WO2017009898 A1 WO 2017009898A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
preceding vehicle
lateral position
follow
amount
Prior art date
Application number
PCT/JP2015/069904
Other languages
English (en)
Japanese (ja)
Inventor
明 森本
公大 矢野
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 JP2017528010A priority Critical patent/JP6436235B2/ja
Priority to PCT/JP2015/069904 priority patent/WO2017009898A1/fr
Publication of WO2017009898A1 publication Critical patent/WO2017009898A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • 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 follow-up control device and a method for controlling a lateral position of a host vehicle so as to follow a lateral position that is a position in a vehicle width direction of a preceding vehicle traveling in front of the host vehicle.
  • Patent Literature 1 is disclosed as a driving support device that performs steering support based on a traveling road or a preceding vehicle.
  • the host vehicle is controlled so as to follow a preceding vehicle traveling in front of the host vehicle.
  • the conventional driving support apparatus described above has a problem in that when the preceding vehicle to be tracked changes lanes, the host vehicle also follows and crosses the lane, which causes the driver to feel uncomfortable.
  • the present invention has been proposed in view of the above-described situation, and even if the preceding vehicle to be tracked changes lanes, the own vehicle is controlled so as not to cross the lane and gives the driver an uncomfortable feeling. It is an object of the present invention to provide a follow-up control apparatus and method that can be prevented.
  • a tracking control device and method detects a preceding vehicle traveling in front of the host vehicle, detects a change in the lateral position of the preceding vehicle, The degree of tracking of the lateral position of the host vehicle is suppressed according to the amount of change in the lateral position of the vehicle.
  • the degree of tracking is suppressed and the own vehicle is controlled so as not to cross the lane, so that it is possible to prevent the driver from feeling uncomfortable.
  • FIG. 1 is a block diagram showing the configuration of the tracking control system according to the first embodiment of the present invention.
  • FIG. 2 is a diagram for explaining the arrangement of the tracking control system according to the first embodiment of the present invention on the vehicle.
  • FIG. 3 is a flowchart showing the processing procedure of the tracking control process by the tracking control device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram for explaining a method of determining whether or not the preceding vehicle is moving outside the lane by the tracking control device according to the first embodiment of the present invention.
  • FIG. 5 is a diagram for explaining a method of determining whether or not a preceding vehicle is traveling on a curve by the tracking control device according to the first embodiment of the present invention.
  • FIG. 1 is a block diagram showing the configuration of the tracking control system according to the first embodiment of the present invention.
  • FIG. 2 is a diagram for explaining the arrangement of the tracking control system according to the first embodiment of the present invention on the vehicle.
  • FIG. 3 is a flowchart showing
  • FIG. 6 is a diagram for explaining a method of determining whether or not a preceding vehicle is traveling on a curve by the tracking control device according to the first embodiment of the present invention.
  • FIG. 7 is a diagram for explaining a method of determining whether or not the preceding vehicle is moving outside the lane by the tracking control device according to the second embodiment of the present invention.
  • FIG. 1 is a block diagram illustrating a configuration of a tracking control system including a tracking control device according to the present embodiment.
  • FIG. 2 is a diagram illustrating an arrangement on the vehicle of the tracking control system according to the present embodiment.
  • the tracking control system 1 includes a vehicle drive controller 3, an engine controller 5, a front camera 7, a communication unit 9, a GPS receiver 11, a navigation device 13, A front radar 15 and a vehicle speed sensor 17 are provided.
  • the tracking control system 1 includes a driving support controller 19, a display 21, a speaker 23, a steering actuator 25, and a tracking control device 100.
  • the follow-up control system 1 having such a configuration is mounted on a vehicle, and the mounted vehicle is equipped with a system that follows a preceding vehicle ahead of the host vehicle, such as adaptive cruise control.
  • the vehicle drive controller 3 includes a system for controlling the drive of the vehicle such as an anti-lock brake system, a traction control system, and a vehicle dynamics control.
  • the engine controller 5 is a controller that controls the engine.
  • the front camera 7 images the front of the host vehicle and acquires an image in which the preceding vehicle is captured. The image captured by the front camera 7 is used for acquiring information such as the inter-vehicle distance and relative speed with the preceding vehicle, the lateral position of the host vehicle or the white line, and the like.
  • the communication unit 9 performs transmission / reception of an information communication service using road-to-vehicle communication or a mobile phone line.
  • the GPS receiver 11 receives information on the latitude, longitude, and altitude of the host vehicle from a satellite.
  • the navigation device 13 stores the map information electronically and calculates a guidance route to the destination of the host vehicle.
  • the front radar 15 measures the inter-vehicle distance and relative speed between the preceding vehicle and the host vehicle using millimeter waves.
  • the vehicle speed sensor 17 measures the vehicle speed of the host vehicle.
  • the driving support controller 19 controls driving support systems such as adaptive cruise control, emergency brakes, and auto hold brakes, and automatic driving systems. Furthermore, you may provide the system which added the steering control function to adaptive cruise control.
  • the driving support controller 19 uses the front camera 7 and the front radar 15 to measure the presence / absence of a preceding vehicle, white line detection (lane detection), inter-vehicle distance, the own vehicle or the lateral position of the preceding vehicle with respect to the white line, and the engine controller 5 and the like. Sends commands to perform acceleration / deceleration and lateral position control of the vehicle.
  • the driving support controller 19 performs vehicle speed control for traveling while keeping the set vehicle speed constant.
  • the driving support controller 19 performs inter-vehicle maintenance control for traveling while keeping the distance between the preceding vehicle constant. Do.
  • the host vehicle also stops and performs stop holding control.
  • Display 21 displays system status such as adaptive cruise control, emergency brake, and auto hold brake.
  • the speaker 23 outputs a sound together with a display at the time of information presentation or warning from adaptive cruise control, emergency brake, auto hold brake or the like.
  • the steering actuator 25 receives a command from the driving support controller 19 and the tracking control device 100 and performs a steering operation for controlling the lateral position of the host vehicle.
  • the tracking control device 100 is mounted on the host vehicle as a controller integrated with the vehicle drive controller 3, and cooperates with the driving support controller 19 to track the lateral position of a preceding vehicle traveling in front of the host vehicle. Controls the horizontal position of.
  • the lateral position is a position in the vehicle width direction of the vehicle, and the lateral position of the preceding vehicle is the lateral position of the preceding vehicle with respect to the host vehicle. However, the lateral position of the preceding vehicle may be the lateral position from the white line.
  • the tracking control device 100 controls the lateral position of the host vehicle according to the lateral position of the preceding vehicle, and when the preceding vehicle moves to the right side in the lane, the host vehicle also follows and moves to the right side.
  • This lateral position tracking function is turned on / off or variable in accordance with the vehicle speed.
  • the follow-up control device 100 gives priority to the normal lane keeping function rather than the lateral position control as the vehicle speed of the host vehicle increases, and actively follows the lateral position of the preceding vehicle at a low speed.
  • the tracking control device 100 having such a function includes a preceding vehicle detection unit 110, a lateral position change amount detection unit 120, and a tracking control unit 130.
  • the preceding vehicle detection unit 110 detects a preceding vehicle to be followed that is traveling in front of the host vehicle. Specifically, the preceding vehicle detection unit 110 detects the preceding vehicle to be followed from the image ahead of the host vehicle imaged by the front camera 7, the measurement result by the front radar 15, and the like.
  • the lateral position change amount detection unit 120 detects the amount of change in the lateral position of the preceding vehicle detected by the preceding vehicle detection unit 110. In this embodiment, the amount of movement of the preceding vehicle in the vehicle width direction within a predetermined time is detected as the amount of change in the lateral position of the preceding vehicle.
  • the lateral position change amount detection unit 120 detects the movement of the preceding vehicle in the vehicle width direction on the image by analyzing the image captured by the front camera 7. Then, the amount of movement of the preceding vehicle in the vehicle width direction relative to the host vehicle is detected by determining how much the preceding vehicle has moved in the vehicle width direction within a predetermined time. Alternatively, a white line may be detected by the front camera 7, and the amount of movement of the preceding vehicle from the white line in the vehicle width direction may be detected.
  • the follow-up control unit 130 performs control to suppress the degree of follow-up of the lateral position of the host vehicle in accordance with the amount of change in the lateral position of the preceding vehicle detected by the lateral position change amount detection unit 120.
  • the follow-up control unit 130 performs control to suppress the follow-up degree so that the host vehicle does not follow the preceding vehicle and change the lane.
  • the follow-up control unit 130 performs control so that the host vehicle continues to follow the preceding vehicle.
  • the follow-up control unit 130 determines the lateral position of the preceding vehicle relative to the own vehicle when it is determined that the preceding vehicle is moving outside the lane and the degree of following of the lateral position of the own vehicle is suppressed. If the amount of change is greater than a predetermined threshold, it is determined that the preceding vehicle is traveling on a curve. In this case, the follow-up control unit 130 raises the follow-up degree of the lateral position of the own vehicle without being suppressed so that the own vehicle can follow the preceding vehicle with high accuracy.
  • the tracking control unit 130 determines that the preceding vehicle is traveling on a curve and suppresses the degree of tracking of the lateral position of the host vehicle. You may raise it without.
  • the follow-up control device 100 includes a general-purpose electronic circuit including a microcomputer, a microprocessor, and a CPU, and peripheral devices such as a memory. Then, by executing a specific program, the vehicle operates as the preceding vehicle detection unit 110, the lateral position change amount detection unit 120, and the follow-up control unit 130 described above.
  • step S ⁇ b> 10 the preceding vehicle detection unit 110 acquires an image from the front camera 7 and a measurement result of the front radar 15, and analyzes the image of the front camera 7 to analyze the front of the host vehicle. Detects a preceding vehicle traveling on the road.
  • the lateral position change amount detection unit 120 detects the lateral position of the preceding vehicle with respect to the host vehicle by analyzing the image of the front camera 7.
  • the image of the front camera 7 may be analyzed to detect a white line, and the lateral position of the preceding vehicle with respect to the white line may be detected.
  • the amount of movement of the preceding vehicle in the vehicle width direction within a predetermined time is detected as the amount of change in the lateral position.
  • the lateral position change amount detection unit 120 detects these values.
  • the lengths of the predetermined time T1 and the predetermined time T2 are the same.
  • step S30 the follow-up control unit 130 determines whether the preceding vehicle is moving outside the lane. Specifically, the follow-up control unit 130 determines that the preceding vehicle is moving out of the lane when the amount of movement of the preceding vehicle in the vehicle width direction in a predetermined time is greater than a predetermined threshold A.
  • the movement amount L1 of the preceding vehicle in the vehicle width direction at a predetermined time T1 is a small value. This is because the amount of movement in the vehicle width direction is small because the preceding vehicle is traveling in the lane.
  • the movement amount L2 of the preceding vehicle in the vehicle width direction at the predetermined time T2 is a large value. This is because the preceding vehicle is moving outside the lane, such as a lane change. Accordingly, if a predetermined threshold A is set in advance and the amount of movement of the preceding vehicle in the vehicle width direction in the predetermined time becomes larger than this threshold A, the preceding vehicle is moving to move out of the lane. Can be determined.
  • the predetermined threshold A may be set according to the general lane width and the vehicle width. For example, a value obtained by subtracting the vehicle width from the lane width may be set.
  • step S40 if the amount of movement of the preceding vehicle in the vehicle width direction in the predetermined time is larger than the predetermined threshold A, it is determined that the preceding vehicle is moving outside the lane, and the process proceeds to step S40. On the other hand, if the amount of movement of the preceding vehicle in the vehicle width direction during the predetermined time is equal to or less than the predetermined threshold A, it is determined that the preceding vehicle is moving in the lane, and the process proceeds to step S70.
  • step S40 the follow-up control unit 130 suppresses the degree of follow-up that causes the lateral position of the host vehicle to follow the lateral position of the preceding vehicle because the preceding vehicle is moving outside the lane.
  • the tracking control unit 130 stops the control for causing the lateral position of the host vehicle to follow the lateral position of the preceding vehicle.
  • the response to the target value when the host vehicle follows the preceding vehicle may be lowered, or the response speed may be reduced.
  • the follow-up control unit 130 instructs the driving support controller 19 to increase the control degree of the lane keeping control (lane keeping), and controls the host vehicle to travel in the lane. For example, the responsiveness to the target value of the lane keeping control is increased, or the response speed is increased. Further, the maximum steering angle when maintaining the lane may be increased, or the rotational speed of the steering may be increased.
  • step S50 the follow-up control unit 130 determines whether or not the preceding vehicle is traveling on a curve. Specifically, the follow-up control unit 130 determines that the preceding vehicle is traveling on a curve when the amount of change in the lateral position of the preceding vehicle with respect to the host vehicle is greater than a predetermined threshold B.
  • the lateral position change amount 51 rises initially, but becomes constant when the lane change is completed.
  • the lateral position change amount 53 when the preceding vehicle is traveling on a curve does not become constant over time and continues to increase. Therefore, even if it is determined in step S30 that the preceding vehicle such as a lane change is moving outside the lane, the preceding vehicle may be traveling along a curve. Therefore, a predetermined threshold value B is set in advance, and when the amount of change in the lateral position of the preceding vehicle with respect to the host vehicle exceeds the threshold value B, the preceding vehicle is running on a curve, not a lane change. judge. As shown in FIG.
  • the threshold value B may be set to be larger than a value at which the lateral position change amount 51 is constant. Further, the lateral position change amount 51 corresponds to the movement amount L in the vehicle width direction of the preceding vehicle in FIG. 4, and the threshold value B is larger than the threshold value A.
  • the tracking control unit 130 obtains the azimuth angle of the preceding vehicle by analyzing the image of the front camera 7, and when the amount of change in the azimuth angle of the preceding vehicle is larger than a predetermined threshold C, the preceding vehicle has a curve. It may be determined that the vehicle is running. For example, as shown in FIG. 6, the azimuth angle change 61 in the case where the preceding vehicle is changing lanes initially rises but falls at some point, and returns to 0 when the lane change is completed. However, the azimuth angle change amount 63 when the preceding vehicle is traveling on a curve continues to increase even when time elapses.
  • a predetermined threshold value C is set in advance, and when the amount of change in the azimuth angle of the preceding vehicle exceeds the threshold value C, it is determined that the preceding vehicle is traveling on a curve, not a lane change. it can.
  • the curve determination method shown in FIG. 6 may be used in combination with the curve determination method shown in FIG. If the curve determination method of FIG. 6 is used in combination, it can be determined that the preceding vehicle is traveling on the curve before the curve determination method of FIG.
  • step S60 it is determined whether or not the preceding vehicle is traveling on a curve, and if the preceding vehicle is traveling on a curve, the process proceeds to step S60.
  • the present embodiment is performed in the state set in step S40, that is, in the state where the following degree of the lateral position of the host vehicle is suppressed.
  • the follow-up control process according to the form is terminated.
  • step S60 the follow-up control unit 130 determines that the preceding vehicle is traveling along a curve, and thus increases the degree of follow-up of the lateral position so that the host vehicle follows the locus of the preceding vehicle. For example, the responsiveness to the target value when the host vehicle follows the preceding vehicle is increased, or the response speed is increased. Further, the maximum value of the steering angle of the steering wheel may be increased, or the rotational speed of the steering wheel may be increased.
  • step S40 if it is determined that the preceding vehicle is traveling on a curve, the follow-up degree is increased in step S60.
  • the preceding vehicle may be traveling along a curve.
  • the following degree is kept suppressed, the own vehicle cannot follow the preceding vehicle and the performance is deteriorated. Therefore, even if it is determined that the preceding vehicle has changed lanes, if it is determined that the vehicle is traveling on a curve, the degree of tracking of the lateral position of the host vehicle is increased, and the host vehicle is accurately To follow.
  • the tracking degree of the lateral position of the host vehicle is set in this way, the tracking control process according to the present embodiment ends.
  • step 70 the follow-up control unit 130 determines that the preceding vehicle is not moving outside the lane, and therefore maintains the degree of follow-up of the lateral position of the host vehicle in a normal state.
  • the tracking control process according to the present embodiment ends.
  • the degree of tracking of the lateral position of the host vehicle is suppressed according to the amount of change in the lateral position of the preceding vehicle. Therefore, even if the preceding vehicle changes lanes, the host vehicle can be controlled so as not to cross the lane, so that it is possible to prevent the driver from feeling uncomfortable.
  • the amount of movement of the preceding vehicle in the vehicle width direction within a predetermined time is used as the amount of change in the lateral position. It can. Thereby, even if the preceding vehicle changes lanes, the host vehicle can be controlled so as not to cross the lane, so that it is possible to prevent the driver from feeling uncomfortable.
  • the follow-up control device 100 when the amount of change in the lateral position of the preceding vehicle relative to the own vehicle is larger than a predetermined threshold, the follow-up degree of the lateral position of the own vehicle is raised without being suppressed. Thereby, when the preceding vehicle is traveling on a curve, the host vehicle can be made to follow the preceding vehicle with high accuracy.
  • the follow-up control device 100 when the amount of change in the azimuth angle of the preceding vehicle is larger than a predetermined threshold, the follow-up degree of the lateral position of the host vehicle is raised without being suppressed. Thereby, when the preceding vehicle is traveling on a curve, the host vehicle can be made to follow the preceding vehicle with high accuracy.
  • the follow-up control process according to the present embodiment is the same as the flowchart of the first embodiment shown in FIG. 3, and will be described with reference to FIG.
  • the amount of change in the lateral position of the preceding vehicle detected in step S20 and the determination method for determining whether the preceding vehicle is moving out of the lane executed in step S30 are the first implementation. It is different from the form.
  • the other steps are the same as those of the first embodiment described with reference to FIG.
  • step S20 the lateral position change amount detection unit 120 detects the amount of change in the lateral position of the preceding vehicle by analyzing the image of the front camera 7.
  • the amount of movement after the preceding vehicle starts moving in the vehicle width direction is detected as the amount of change in the lateral position.
  • the number of changes in which the preceding vehicle changes the direction of movement in the vehicle width direction within a predetermined time may be detected.
  • step S30 the follow-up control unit 130 determines whether the preceding vehicle is moving outside the lane. In this embodiment, when the amount of movement after the preceding vehicle starts moving in the vehicle width direction is larger than the predetermined threshold D, it is determined that the preceding vehicle is moving outside the lane.
  • the direction of movement of the preceding vehicle in the vehicle width direction changes at time t1, and for example, movement of the preceding vehicle in the right direction starts.
  • the movement in the vehicle width direction continues until the direction changes at time t2.
  • the amount of movement L3 in the vehicle width direction at this time is a small value. This is because the amount of movement in the vehicle width direction is small because the preceding vehicle is traveling in the lane.
  • the predetermined threshold value D may be set according to a general lane width and a vehicle width. For example, a value obtained by subtracting the vehicle width from the lane width may be set.
  • step S40 when the amount of movement after the preceding vehicle starts moving in the vehicle width direction is larger than the predetermined threshold value D, it is determined that the preceding vehicle is moving outside the lane. Proceed to step S40. On the other hand, if the amount of movement after the preceding vehicle starts moving in the vehicle width direction is less than or equal to the predetermined threshold value D, it is determined that the preceding vehicle is moving in the lane and step S70 is performed. Proceed to
  • the follow-up control unit 130 moves the preceding vehicle to move out of the lane when the number of changes in which the preceding vehicle changes the direction of movement in the vehicle width direction within a predetermined time is equal to or less than a predetermined threshold E. It may be determined that
  • the number of times the preceding vehicle has changed the direction of movement in the vehicle width direction within a predetermined time T3 is three. This is because the preceding vehicle travels in the lane and therefore moves slightly to the left and right.
  • the number of changes in which the preceding vehicle changes the direction of movement in the vehicle width direction within the predetermined time T4 is zero. This is because the preceding vehicle is moving in one direction toward the outside of the lane, such as a lane change. Therefore, if a predetermined threshold E is set in advance and the number of changes is equal to or less than the threshold E, it can be determined that the preceding vehicle is moving outside the lane.
  • the predetermined threshold E needs to be set once or zero because it is necessary to detect movement in one direction.
  • step S40 when the number of changes in which the preceding vehicle changes the direction of movement in the vehicle width direction within a predetermined time is equal to or less than the predetermined threshold E, it is determined that the preceding vehicle is moving outside the lane. Then, the process proceeds to step S40. On the other hand, if the number of changes in which the preceding vehicle has changed the direction of movement in the vehicle width direction within a predetermined time is greater than a predetermined threshold, it is determined that the preceding vehicle is moving in the lane and step S70 is performed. Proceed to
  • the amount of movement after the preceding vehicle starts moving in the vehicle width direction is used as the amount of change in the lateral position.
  • the movement to change can be detected reliably. Thereby, even if the preceding vehicle changes lanes, the host vehicle can be controlled so as not to cross the lane, so that it is possible to prevent the driver from feeling uncomfortable.
  • the number of changes in which the preceding vehicle has changed the direction of movement in the vehicle width direction within a predetermined time is used as the amount of change in the lateral position. It can be detected reliably. Thereby, even if the preceding vehicle changes lanes, the host vehicle can be controlled so as not to cross the lane, so that it is possible to prevent the driver from feeling uncomfortable.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un dispositif de commande de suivi qui commande la position latérale d'un véhicule hôte, de sorte que le véhicule hôte suive la position latérale, qui est la position dans le sens de la largeur du véhicule, d'un véhicule précédent qui se déplace devant le véhicule hôte. Un véhicule précédent qui se déplace devant le véhicule hôte est détecté, l'ampleur du changement de position latérale du véhicule précédent est détectée et le degré de suivi dans la position latérale du véhicule hôte est minimisé conformément à l'ampleur du changement de position latérale du véhicule précédent.
PCT/JP2015/069904 2015-07-10 2015-07-10 Dispositif et procédé de commande de suivi WO2017009898A1 (fr)

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JP2017528010A JP6436235B2 (ja) 2015-07-10 2015-07-10 追従制御装置及び追従制御方法
PCT/JP2015/069904 WO2017009898A1 (fr) 2015-07-10 2015-07-10 Dispositif et procédé de commande de suivi

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Cited By (6)

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JP2017165310A (ja) * 2016-03-17 2017-09-21 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
JP2018171959A (ja) * 2017-03-31 2018-11-08 株式会社Ｓｕｂａｒｕ 車両の走行支援装置
WO2019106788A1 (fr) * 2017-11-30 2019-06-06 本田技研工業株式会社 Dispositif de commande de véhicule, véhicule et procédé de commande de véhicule
CN110614997A (zh) * 2018-06-18 2019-12-27 本田技研工业株式会社 车辆控制装置、车辆控制方法和记录介质
CN110678373A (zh) * 2017-06-13 2020-01-10 日立汽车系统株式会社 车辆运动控制装置、车辆运动控制方法以及车辆运动控制系统
JP2021008153A (ja) * 2019-06-28 2021-01-28 トヨタ自動車株式会社 車両走行制御装置

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JP2000020896A (ja) * 1998-06-29 2000-01-21 Mitsubishi Motors Corp 車両走行制御装置
JP2004220348A (ja) * 2003-01-15 2004-08-05 Nissan Motor Co Ltd 車両走行状態検出装置及び車両走行制御装置
JP2015071361A (ja) * 2013-10-03 2015-04-16 株式会社デンソー 先行車選択装置

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Publication number Priority date Publication date Assignee Title
JP2000020896A (ja) * 1998-06-29 2000-01-21 Mitsubishi Motors Corp 車両走行制御装置
JP2004220348A (ja) * 2003-01-15 2004-08-05 Nissan Motor Co Ltd 車両走行状態検出装置及び車両走行制御装置
JP2015071361A (ja) * 2013-10-03 2015-04-16 株式会社デンソー 先行車選択装置

Cited By (10)

* Cited by examiner, † Cited by third party
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JP2017165310A (ja) * 2016-03-17 2017-09-21 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
JP2018171959A (ja) * 2017-03-31 2018-11-08 株式会社Ｓｕｂａｒｕ 車両の走行支援装置
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CN110678373A (zh) * 2017-06-13 2020-01-10 日立汽车系统株式会社 车辆运动控制装置、车辆运动控制方法以及车辆运动控制系统
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JP2021008153A (ja) * 2019-06-28 2021-01-28 トヨタ自動車株式会社 車両走行制御装置
JP7211291B2 (ja) 2019-06-28 2023-01-24 トヨタ自動車株式会社 車両走行制御装置

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