WO2020012214A1 - 走行支援方法及び走行支援装置 - Google Patents
走行支援方法及び走行支援装置 Download PDFInfo
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- WO2020012214A1 WO2020012214A1 PCT/IB2018/001023 IB2018001023W WO2020012214A1 WO 2020012214 A1 WO2020012214 A1 WO 2020012214A1 IB 2018001023 W IB2018001023 W IB 2018001023W WO 2020012214 A1 WO2020012214 A1 WO 2020012214A1
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- vehicle
- roundabout
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- 238000000034 method Methods 0.000 title claims abstract description 88
- 238000013459 approach Methods 0.000 description 19
- 238000004891 communication Methods 0.000 description 15
- 238000012545 processing Methods 0.000 description 9
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- 238000013500 data storage Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 230000033228 biological regulation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/40—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction having mechanical, electric or electronic automatic return to inoperative position
- B60Q1/42—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction having mechanical, electric or electronic automatic return to inoperative position having mechanical automatic return to inoperative position due to steering-wheel position, e.g. with roller wheel control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- 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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/33—Driving situation
- B60Q2300/331—Driving situation characterised by the driving side, e.g. on the left or right hand side
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
- B60W2050/0068—Giving intention of direction, e.g. by indicator lights, steering input
-
- 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
Definitions
- the present disclosure has been made in view of the above-described problem, and has a driving support method and a driving support method for transmitting an action plan of the own vehicle to other vehicles in the vicinity of the own vehicle by a direction instruction when the own vehicle exits the roundabout. It is intended to provide a device.
- objects on the own vehicle traveling road lanes, objects outside the own vehicle traveling road (road structures, preceding vehicles, following vehicles, oncoming vehicles, surrounding vehicles, pedestrians, bicycles, two-wheeled vehicles), own vehicle traveling roads (road white lines) , Road boundaries, stop lines, pedestrian crossings) and road signs (speed limit) are detected.
- the radar 12 detects the positions of objects on the own vehicle traveling road and objects outside the own vehicle traveling road (road structures, preceding vehicles, following vehicles, oncoming vehicles, surrounding vehicles, pedestrians, bicycles, two-wheeled vehicles), and the like. The distance to the object is detected. If the viewing angle is insufficient, it may be added as appropriate.
- the map data has road information associated with each point, and the road information is defined by nodes and links connecting the nodes.
- the road information includes information for specifying a road according to the position / area of the road, a road type for each road, a road width for each road, and road shape information.
- the road information is stored in association with information on the position of the intersection, the approach direction of the intersection, the type of the intersection, and other intersections for each identification information of each road link.
- the road information includes, for each piece of identification information of each road link, a road type, a road width, a road shape, whether or not the vehicle can go straight, a priority relation for traveling, whether or not passing (whether or not to enter an adjacent lane), a speed limit, and a road speed. Signs and other road information are stored in association with each other.
- the automatic driving control unit 4 calculates a driving command value / braking command value / steering angle command value for driving / stopping the own vehicle by automatic driving along the target route based on the input information from the recognition determination processor 3. Then, the calculation result of the drive command value is output to the drive actuator 51, the calculation result of the brake command value is output to the brake actuator 52, and the calculation result of the steering angle command value is output to the steering angle actuator 53. Further, the automatic operation control unit 4 outputs the blinker information from the recognition determination processor 3 to the blinker actuator 54.
- the drive actuator 51 is an actuator that receives a drive command value from the automatic operation control unit 4 and controls a drive force output to drive wheels.
- an engine is used for an engine vehicle
- an engine and a motor / generator (powering) are used for a hybrid vehicle
- a motor / generator (powering) is used for an electric vehicle.
- the winker actuator 54 is an actuator that receives winker information from the automatic operation control unit 4 and controls whether to turn on or off either of the turn indicators 6 indicating the left-right direction. Note that a blinker solenoid or the like is used as the blinker actuator 54.
- the display device 7 is a device that displays on a screen where the vehicle is moving on a map while the vehicle is stopped / running by automatic driving, and provides visual information of the vehicle position to a driver or an occupant.
- the display device 7 inputs target route information, own vehicle position information, destination information, and the like generated by the recognition determination processor 3, and displays a map, a road, a target route (the travel route of the own vehicle), Display the vehicle position and destination etc. easily.
- the turn signal control section 38 determines the positional relationship of the positional relationship determination section 36. Is controlled in accordance with the determination of the above. Then, the winker control unit 38 outputs the determined direction of the winker 6 to the automatic operation control unit 4 as winker information. Note that the blinker control unit 38 also outputs to the automatic operation control unit 4 a decision to turn off any of the blinkers 6 indicating the left-right direction as blinker information.
- the second lighting area is similarly set when the connection path connected to the own vehicle exit EX is the sixth connection path R6 or the first exit path R12.
- step S6 When the relative angle ⁇ is greater than the first angle ⁇ 1 and equal to or less than the second angle ⁇ 2 (for example, 216 degrees), this corresponds to the condition that neither the turn signals 6 indicating the left-right direction of the doorway are turned on.
- the connection path connected to the own vehicle exit EX is the fourth connection path R4, this corresponds to a condition that neither of the blinkers 6 indicating the left-right direction is turned on.
- step S6 it is determined in step S6 that the condition is not the left turn signal lighting condition, and that it is determined in step S7 that the right turn signal is not light condition.
- the positional relationship between the entrance and exit corresponds to the condition for turning on the right turn signal.
- the connection path connected to the own vehicle exit EX is the fifth connection path R5, the sixth connection path R6, or the first exit path R12, this corresponds to a condition for turning on the right turn signal.
- the condition is not the left blinker lighting condition in step S6, and that the right blinker lighting condition is determined in step S7. Note that “when the host vehicle exit EX is on the first exit road R12” corresponds to when the host vehicle V turns.
- step S15 following the determination of the adjacent relationship in step S12, it is determined whether or not the vehicle V has exited the roundabout RA. Then, in the case of YES (exiting own vehicle), the process proceeds to step S16, and in the case of NO (existing of own vehicle), step S15 is repeated. Step S15 corresponds to the roundabout exit determination unit 37.
- Time t16 corresponds to “YES” in S15 of FIG. 5, S16, and the flow to the end.
- the other vehicle V1 indicates a following vehicle in which the own vehicle V is traveling on the first approach road R11.
- the other vehicle V2 indicates a vehicle traveling on the annular road CR when the own vehicle V enters the annular road CR, and indicates a succeeding vehicle on which the own vehicle V is traveling on the annular road CR.
- the action plan of the own vehicle can be transmitted to the other vehicles V1 and V2 around the own vehicle by turning on the left turn signal. Further, from the time when the own vehicle V enters the annular road CR to the time when the own vehicle V reaches the second lighting area A2 at the time of turning left (the own vehicle V is traveling on the annular road CR), the left turn signal is turned off. continue. Thereby, the action plan in which the own vehicle V does not bend to the second connection path R2 can be transmitted to the other vehicle V2 around the own vehicle.
- Time t32 corresponds to the flow of “YES” in S5 of FIG. 4, “NO” of S6 in FIG. 5, “YES” of S7, and the flow to S31 and S32.
- the vehicle V has reached the vehicle entrance EN and is about to enter the ring road CR. From the time t32 to the time t35, the lighting of the right turn signal is continued, and the own vehicle V has not reached the second lighting area A3 at the time of the first right turn. In addition, from the time t33 to the time t36, the own vehicle V runs on the annular road CR. A period from time t32 to time t35 corresponds to a flow in which “NO” in S32 of FIG. 5 is repeated.
- the driving support control operation of the fourth target route TR4 will be described. Note that the flow from the start of the control processing of FIG. 4 to the end of FIG. 5 is the same as the operation of the driving support control of the third target route TR3, and thus the description is omitted. However, in the fourth target route TR4, the point that the second lighting area A4 for the second right turn is set in step S4, and whether or not the own vehicle has reached the second lighting area A4 for the second right turn in step S32. This point is different from S4 and S32 of the third target route TR3 in that the determination is made.
- the left turn signal is turned on to cause the own vehicle V to move around the own vehicle with respect to the other vehicle V2.
- V can convey an action plan to turn to the fourth connection path R4.
- the other vehicle V2 can prepare for traveling from the roundabout RA of the own vehicle V to the fourth connection path R4 (leaving of the own vehicle V from the roundabout RA).
- the other vehicles V1 and V2 are the same as the other vehicles V1 and V2 in the driving support control operation of the first target route TR1, and therefore description thereof is omitted.
- a controller that calculates a travel route (target route) for running the vehicle V and executes travel support control based on the travel route (target route) (FIGS. 1 and 2). .
- a traveling route target route
- a leaving area second lighting area A2
- A5) is set (FIGS. 7 to 10). While the vehicle V is traveling on the roundabout RA (annular road CR), it is determined whether or not the vehicle V has reached the lighting area (second lighting areas A2 to A5) (S22, S32, S42 in FIG. 5). ).
- the left winker is controlled based on this determination.
- the host vehicle V leaves the roundabout RA, it is possible to provide a driving support method for transmitting an action plan of the host vehicle V to other vehicles in the vicinity of the host vehicle by a direction instruction.
- the own vehicle V becomes the lighting area at the time of leaving (second lighting areas A2 to A5).
- the left blinker is turned on. Therefore, the following vehicle of the own vehicle V in the roundabout RA can prepare for the exit of the own vehicle V from the roundabout RA. Further, another vehicle that is going to enter the annular road CR from the same connection road as the exit immediately before the own vehicle exit EX does not start to enter the annular road CR, and the other vehicle does not start entering the annular road CR at the roundabout RA. Prioritize driving.
- the first embodiment shows an example in which the positional relationship determination unit 36 determines the positional relationship between the host vehicle entrance EN and the host vehicle exit EX in the roundabout RA based on the relative angle ⁇ between the host vehicle entrance EN and the host vehicle exit EX.
- the relative angle ⁇ is calculated from the positions of the own vehicle entrance EN and the own vehicle exit EX viewed from the center CE of the roundabout RA.
- the relative angle may be calculated from the angle of the connecting road as an entrance road of the own vehicle entrance and the angle of the connecting road as the exit road of the own vehicle exit.
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Abstract
Description
Claims (9)
- 自車を走行させる走行ルートを算出し、前記走行ルートに基づいて走行支援制御を実行するコントローラを備える走行支援方法において、
前記走行ルートに基づいて、自車のラウンドアバウトからの退出を示す方向指示灯を点灯する退出時の点灯領域を設定し、
自車が前記ラウンドアバウトを走行中に、自車が前記点灯領域に到達したか否かを判断し、
自車が前記ラウンドアバウトから退出するとき、自車が前記点灯領域に到達したと判断されると、自車の前記ラウンドアバウトからの退出を示す前記方向指示灯の点灯を決定する制御を行う
ことを特徴とする走行支援方法。 - 請求項1に記載された走行支援方法において、
前記点灯領域は、前記走行ルートに基づいて前記ラウンドアバウトにおける自車の自車入口と自車の自車出口の位置関係から設定する
ことを特徴とする走行支援方法。 - 請求項2に記載された走行支援方法において、
前記自車出口が前記ラウンドアバウトに入った最初の出口より後の出口であるとき、前記点灯領域は、前記自車出口の一つ前の出口を通過した通過位置から前記自車出口の手前の手前位置までに設定する
ことを特徴とする走行支援方法。 - 請求項2又は3に記載された走行支援方法において、
前記走行ルートに基づいて前記位置関係を判断し、
自車が前記ラウンドアバウトへ進入するとき、前記位置関係の判断に応じて左右方向を示す前記方向指示灯のうちどちらかを点灯させるかどちらも点灯させないかを決定する制御を行い、
自車が前記ラウンドアバウトへ進入するときに点灯する前記方向指示灯の示す方向が前記ラウンドアバウトを通行するときの回転方向と反対方向であって、前記自車出口が前記ラウンドアバウトに入った最初の出口であるとき、前記点灯領域を設定しない
ことを特徴とする走行支援方法。 - 請求項1から4までの何れか一項に記載された走行支援方法において、
前記ラウンドアバウトにおける自車の自車入口から自車が前記ラウンドアバウトを退出するまでの間、自車の現在位置と前記ラウンドアバウトにおける自車の自車出口との現在位置関係を逐次比較して、前記方向指示灯の示す方向を切り替える切替条件が成立したか否かを判断し、
前記切替条件が成立したとき、前記切替条件に基づき前記方向指示灯の示す方向を切り替える
ことを特徴とする走行支援方法。 - 請求項2から5までの何れか一項に記載された走行支援方法において、
前記走行ルートに基づいて前記位置関係を判断し、
自車が前記ラウンドアバウトへ進入するとき、前記位置関係の判断に応じて左右方向を示す前記方向指示灯のうちどちらかを点灯させるかどちらも点灯させないかを決定する制御を行い、
自車が前記ラウンドアバウトへ進入するときに点灯する前記方向指示灯の示す方向が前記ラウンドアバウトを通行するときの回転方向と反対方向であって、前記自車出口が前記ラウンドアバウトに入った最初の出口より後の出口であるとき、自車が前記ラウンドアバウトへ進入した後に前記方向指示灯を消灯する
ことを特徴とする走行支援方法。 - 請求項1から6までの何れか一項に記載された走行支援方法において、
自車が前記ラウンドアバウトから退出するとき、最後に点灯する前記方向指示灯の示す方向は、前記ラウンドアバウトを通行するときの回転方向と反対方向である
ことを特徴とする走行支援方法。 - 請求項1から7までの何れか一項に記載された走行支援方法において、
前記点灯領域に到達していないと判断したとき、自車の乗員が、自車の前記ラウンドアバウトからの退出を示す前記方向指示灯を点灯する操作を行っても、前記方向指示灯の点灯を許可しない
ことを特徴とする走行支援方法。 - 自車を走行させる走行ルートを算出し、前記走行ルートに基づいて走行支援制御を実行するコントローラを備える走行支援装置において、
前記コントローラは、
前記走行ルートに基づいて、自車のラウンドアバウトからの退出を示す方向指示灯を点灯する点灯領域を設定する設定部と、
自車が前記ラウンドアバウトを走行中に、自車が前記点灯領域設定部により設定された前記点灯領域に到達したか否かを判断する点灯領域到達判断部と、
自車が前記ラウンドアバウトから退出するとき、前記点灯領域到達判断部により自車が前記点灯領域に到達したと判断されると、自車の前記ラウンドアバウトからの退出を示す前記方向指示灯の点灯を決定する制御を行う方向指示灯制御部と、
を有することを特徴とする走行支援装置。
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JP2020529834A JP7086190B2 (ja) | 2018-07-12 | 2018-07-12 | 走行支援方法及び走行支援装置 |
RU2021103271A RU2767846C1 (ru) | 2018-07-12 | 2018-07-12 | Способ помощи при вождении и устройство помощи при вождении |
KR1020217004272A KR20210030442A (ko) | 2018-07-12 | 2018-07-12 | 주행 지원 방법 및 주행 지원 장치 |
CN201880095606.4A CN112399931A (zh) | 2018-07-12 | 2018-07-12 | 行驶辅助方法和行驶辅助装置 |
EP18926162.1A EP3822121A4 (en) | 2018-07-12 | 2018-07-12 | DRIVING ASSISTANCE PROCESS AND DRIVING ASSISTANCE DEVICE |
PCT/IB2018/001023 WO2020012214A1 (ja) | 2018-07-12 | 2018-07-12 | 走行支援方法及び走行支援装置 |
US17/259,213 US20210268957A1 (en) | 2018-07-12 | 2018-07-12 | Driving assist method and driving assist device |
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EP (1) | EP3822121A4 (ja) |
JP (1) | JP7086190B2 (ja) |
KR (1) | KR20210030442A (ja) |
CN (1) | CN112399931A (ja) |
RU (1) | RU2767846C1 (ja) |
WO (1) | WO2020012214A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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RU2768091C1 (ru) * | 2018-07-12 | 2022-03-23 | Ниссан Мотор Ко., Лтд. | Способ помощи при вождении и устройство помощи при вождении |
JP7259574B2 (ja) * | 2019-06-17 | 2023-04-18 | 株式会社ジェイテクト | 制御装置、および転舵装置 |
WO2022266858A1 (zh) * | 2021-06-22 | 2022-12-29 | 华为技术有限公司 | 一种盲区检测方法和装置 |
FR3142425A1 (fr) * | 2022-11-28 | 2024-05-31 | Psa Automobiles Sa | Procédé d’aide à la conduite d’un véhicule automobile dans un carrefour giratoire |
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JP2007071601A (ja) * | 2005-09-05 | 2007-03-22 | Denso Corp | 経路案内装置およびプログラム |
KR100808286B1 (ko) * | 2006-04-28 | 2008-03-03 | 주식회사 에스컨자인 | 차량신호시간의 효율적인 배분이 가능한 교차로 구조 및신호 제어방법 |
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CN205930481U (zh) * | 2016-07-27 | 2017-02-08 | 北京汽车股份有限公司 | 一种汽车转向灯控制装置及汽车 |
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2018
- 2018-07-12 KR KR1020217004272A patent/KR20210030442A/ko not_active Application Discontinuation
- 2018-07-12 JP JP2020529834A patent/JP7086190B2/ja active Active
- 2018-07-12 CN CN201880095606.4A patent/CN112399931A/zh active Pending
- 2018-07-12 RU RU2021103271A patent/RU2767846C1/ru active
- 2018-07-12 WO PCT/IB2018/001023 patent/WO2020012214A1/ja unknown
- 2018-07-12 EP EP18926162.1A patent/EP3822121A4/en not_active Withdrawn
- 2018-07-12 US US17/259,213 patent/US20210268957A1/en not_active Abandoned
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JP2016138866A (ja) * | 2015-01-29 | 2016-08-04 | 株式会社トヨタマップマスター | ナビゲーション装置、ナビゲーション方法、コンピュータプログラム及びコンピュータプログラムを記録した記録媒体 |
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See also references of EP3822121A4 |
Also Published As
Publication number | Publication date |
---|---|
KR20210030442A (ko) | 2021-03-17 |
JP7086190B2 (ja) | 2022-06-17 |
EP3822121A1 (en) | 2021-05-19 |
CN112399931A (zh) | 2021-02-23 |
US20210268957A1 (en) | 2021-09-02 |
EP3822121A4 (en) | 2021-07-07 |
JPWO2020012214A1 (ja) | 2021-07-15 |
RU2767846C1 (ru) | 2022-03-22 |
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