WO2020230301A1 - 車両の走行制御方法及び走行制御装置 - Google Patents

車両の走行制御方法及び走行制御装置 Download PDF

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Publication number
WO2020230301A1
WO2020230301A1 PCT/JP2019/019379 JP2019019379W WO2020230301A1 WO 2020230301 A1 WO2020230301 A1 WO 2020230301A1 JP 2019019379 W JP2019019379 W JP 2019019379W WO 2020230301 A1 WO2020230301 A1 WO 2020230301A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
driver
control
autonomous
steering
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2019/019379
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
信弥 齋藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to PCT/JP2019/019379 priority Critical patent/WO2020230301A1/ja
Priority to JP2021519211A priority patent/JP7156516B2/ja
Priority to CN201980096190.2A priority patent/CN113825691B/zh
Priority to US17/609,522 priority patent/US11654962B2/en
Priority to EP19928363.1A priority patent/EP3971060B1/en
Publication of WO2020230301A1 publication Critical patent/WO2020230301A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention

Definitions

  • the present invention relates to a vehicle travel control method and a travel control device including autonomous driving control.
  • An object to be solved by the present invention is to provide a vehicle travel control method and a travel control device capable of responding to a request for a transition from autonomous steering control to manual operation according to a vehicle travel scene.
  • a plurality of cancellation threshold values are set according to a driving scene, a cancellation threshold value corresponding to the detected driving scene is extracted, and based on the extracted cancellation threshold value, autonomous steering control is canceled and a manual operation by a driver is performed.
  • the above problem is solved by determining whether or not the transition to.
  • the present invention since a plurality of cancellation threshold values are set according to the driving scene, it is possible to respond to a request for a transition from autonomous steering control to manual operation according to the driving scene of the vehicle.
  • the sensor 11 detects the running state of the own vehicle.
  • a front camera that images the front of the own vehicle
  • a rear camera that images the rear of the own vehicle
  • a front radar that detects an obstacle in front of the own vehicle
  • a rear that detects an obstacle behind the own vehicle.
  • Radar side radar that detects obstacles on the left and right sides of the own vehicle
  • vehicle speed sensor that detects the vehicle speed of the own vehicle
  • sensor that detects the direction of rotation of the steering wheel
  • steering torque applied to the steering wheel Examples include a sensor for detecting, a touch sensor (capacity sensor) for detecting whether or not the driver has a steering wheel, and an in-vehicle camera for imaging the driver.
  • the sensor 11 may be configured to use one of the plurality of sensors described above, or may be configured to use two or more types of sensors in combination.
  • the detection result of the sensor 11 is output to the control device 18 at predetermined time intervals.
  • step S7 the front radar (sensor 11) that detects an obstacle in front of the own vehicle is used to detect whether or not there is a preceding vehicle in front of the lane in which the own vehicle is traveling, and if there is a preceding vehicle. Proceeds to step S8 to execute the inter-vehicle distance control / lane keep mode, and if there is no preceding vehicle, proceeds to step S9 to execute the constant speed control / lane keep mode. In this state, the execution processing of the lane change support function and the overtaking support function in step S10 is performed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2019/019379 2019-05-15 2019-05-15 車両の走行制御方法及び走行制御装置 Ceased WO2020230301A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
PCT/JP2019/019379 WO2020230301A1 (ja) 2019-05-15 2019-05-15 車両の走行制御方法及び走行制御装置
JP2021519211A JP7156516B2 (ja) 2019-05-15 2019-05-15 車両の走行制御方法及び走行制御装置
CN201980096190.2A CN113825691B (zh) 2019-05-15 2019-05-15 车辆的行驶控制方法及行驶控制装置
US17/609,522 US11654962B2 (en) 2019-05-15 2019-05-15 Vehicle travel control method and vehicle travel control apparatus
EP19928363.1A EP3971060B1 (en) 2019-05-15 2019-05-15 Vehicle travel control method and vehicle travel control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/019379 WO2020230301A1 (ja) 2019-05-15 2019-05-15 車両の走行制御方法及び走行制御装置

Publications (1)

Publication Number Publication Date
WO2020230301A1 true WO2020230301A1 (ja) 2020-11-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/019379 Ceased WO2020230301A1 (ja) 2019-05-15 2019-05-15 車両の走行制御方法及び走行制御装置

Country Status (5)

Country Link
US (1) US11654962B2 (https=)
EP (1) EP3971060B1 (https=)
JP (1) JP7156516B2 (https=)
CN (1) CN113825691B (https=)
WO (1) WO2020230301A1 (https=)

Cited By (8)

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JP2023065143A (ja) * 2021-10-27 2023-05-12 トヨタ自動車株式会社 車両運転支援装置
WO2023149115A1 (ja) * 2022-02-02 2023-08-10 株式会社デンソー 自動運転制御装置及び自動運転制御プログラム
JP2023113119A (ja) * 2022-02-02 2023-08-15 株式会社デンソー 自動運転制御装置及び自動運転制御プログラム
JP2023150579A (ja) * 2022-03-31 2023-10-16 本田技研工業株式会社 制御装置、制御方法、およびプログラム
JP2023151471A (ja) * 2022-03-31 2023-10-16 ダイハツ工業株式会社 車両走行制御装置
JPWO2024062566A1 (https=) * 2022-09-21 2024-03-28
JP2024065758A (ja) * 2022-10-31 2024-05-15 トヨタ自動車株式会社 車両用減速支援装置
JP2024153273A (ja) * 2023-04-17 2024-10-29 トヨタ自動車株式会社 車両制御装置、車両制御方法、及び車両制御プログラム

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DE102019007861B4 (de) * 2019-11-13 2025-10-02 Mercedes-Benz Group AG Verfahren zur Freigabe einer Fahrstrecke
JP7469167B2 (ja) * 2020-07-07 2024-04-16 本田技研工業株式会社 制御装置及び制御方法並びに車両
US11548535B2 (en) * 2020-10-24 2023-01-10 Ghost Autonomy Inc. Automatic disengagement of an autonomous driving mode
JP7831369B2 (ja) * 2023-03-27 2026-03-17 トヨタ自動車株式会社 車両
JP7832909B2 (ja) * 2023-03-30 2026-03-18 ヤンマーホールディングス株式会社 作業車両の制御方法、作業車両用制御プログラム、作業車両用制御システム及び作業システム
US20250296567A1 (en) * 2024-03-21 2025-09-25 GM Global Technology Operations LLC Guided path plan

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JP2016159781A (ja) * 2015-03-02 2016-09-05 富士重工業株式会社 車両の走行制御装置
JP2016194816A (ja) * 2015-03-31 2016-11-17 アイシン・エィ・ダブリュ株式会社 道路形状検出システム、道路形状検出方法及びコンピュータプログラム
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Cited By (17)

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Publication number Priority date Publication date Assignee Title
JP2023065143A (ja) * 2021-10-27 2023-05-12 トヨタ自動車株式会社 車両運転支援装置
US12258012B2 (en) 2021-10-27 2025-03-25 Toyota Jidosha Kabushiki Kaisha Vehicle driving support device
JP7639654B2 (ja) 2021-10-27 2025-03-05 トヨタ自動車株式会社 車両運転支援装置
WO2023149115A1 (ja) * 2022-02-02 2023-08-10 株式会社デンソー 自動運転制御装置及び自動運転制御プログラム
JP2023113119A (ja) * 2022-02-02 2023-08-15 株式会社デンソー 自動運転制御装置及び自動運転制御プログラム
JP7740222B2 (ja) 2022-02-02 2025-09-17 株式会社デンソー 自動運転制御装置及び自動運転制御プログラム
JP7570369B2 (ja) 2022-03-31 2024-10-21 本田技研工業株式会社 制御装置、制御方法、およびプログラム
JP2023151471A (ja) * 2022-03-31 2023-10-16 ダイハツ工業株式会社 車両走行制御装置
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JP2023150579A (ja) * 2022-03-31 2023-10-16 本田技研工業株式会社 制御装置、制御方法、およびプログラム
WO2024062566A1 (ja) * 2022-09-21 2024-03-28 日産自動車株式会社 運転支援方法及び運転支援装置
JPWO2024062566A1 (https=) * 2022-09-21 2024-03-28
JP7816545B2 (ja) 2022-09-21 2026-02-18 日産自動車株式会社 運転支援方法及び運転支援装置
JP2024065758A (ja) * 2022-10-31 2024-05-15 トヨタ自動車株式会社 車両用減速支援装置
JP7726182B2 (ja) 2022-10-31 2025-08-20 トヨタ自動車株式会社 車両用減速支援装置
JP2024153273A (ja) * 2023-04-17 2024-10-29 トヨタ自動車株式会社 車両制御装置、車両制御方法、及び車両制御プログラム
JP7845258B2 (ja) 2023-04-17 2026-04-14 トヨタ自動車株式会社 車両制御装置、車両制御方法、及び車両制御プログラム

Also Published As

Publication number Publication date
CN113825691B (zh) 2023-08-15
CN113825691A (zh) 2021-12-21
EP3971060A4 (en) 2022-05-11
US11654962B2 (en) 2023-05-23
JP7156516B2 (ja) 2022-10-19
US20220212717A1 (en) 2022-07-07
JPWO2020230301A1 (https=) 2020-11-19
EP3971060B1 (en) 2023-11-22
EP3971060A1 (en) 2022-03-23

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