WO2022038738A1 - 運転支援方法及び運転支援装置 - Google Patents

運転支援方法及び運転支援装置 Download PDF

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Publication number
WO2022038738A1
WO2022038738A1 PCT/JP2020/031433 JP2020031433W WO2022038738A1 WO 2022038738 A1 WO2022038738 A1 WO 2022038738A1 JP 2020031433 W JP2020031433 W JP 2020031433W WO 2022038738 A1 WO2022038738 A1 WO 2022038738A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
acceleration
curve information
acquired
driving support
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/JP2020/031433
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
裕之 芦沢
雅裕 小林
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 JP2022543217A priority Critical patent/JP7485051B2/ja
Priority to CN202080103228.7A priority patent/CN115916613B/zh
Priority to US18/021,510 priority patent/US12344248B2/en
Priority to EP20950303.6A priority patent/EP4201770B1/en
Priority to PCT/JP2020/031433 priority patent/WO2022038738A1/ja
Priority to MX2023001942A priority patent/MX2023001942A/es
Priority to BR112023002764A priority patent/BR112023002764A2/pt
Publication of WO2022038738A1 publication Critical patent/WO2022038738A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • 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
    • B60W30/18—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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2540/10—Accelerator pedal position
    • 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 of positioning data, e.g. GPS [Global Positioning System] data
    • 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 method and a driving support device.
  • a driving support device that prohibits acceleration by automatic driving control in a traveling section has been proposed (see Patent Document 1).
  • the driving support device of Patent Document 1 acceleration by automatic driving control in the curved traveling section is prohibited on the premise that the curved traveling section is specified. Therefore, the curve information regarding the curved road on the road is provided. If it cannot be obtained, the vehicle may not be able to accelerate properly on a curved road or after passing through a curved road, for example, it may cause a sudden acceleration of the vehicle.
  • the present invention has been made in view of the above problems, and an object of the present invention is to realize appropriate acceleration of a vehicle on a curved road even when curve information regarding a curved road on the road cannot be obtained.
  • the purpose is to provide a driving support method and a driving support device.
  • the driving support method and the driving support device accelerate a vehicle traveling at a vehicle speed equal to or lower than the speed limit based on the curved road toward a set speed after passing through the curved road. If the curve information related to the above can be acquired, the vehicle is accelerated by the first acceleration, and if the curve information cannot be acquired, the vehicle is accelerated by the second acceleration smaller than the first acceleration.
  • the present invention even when the curve information regarding the curved road on the road cannot be acquired, it is possible to realize appropriate acceleration of the vehicle after passing through the curved road and the curved road.
  • FIG. 1 is a block diagram showing a configuration of a driving support device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart showing the processing of the driving support device according to the embodiment of the present invention.
  • the driving support device 1 is mounted on the own vehicle having an automatic driving function.
  • the automatic driving function includes ACC (Adaptive Cruise Control), lane keeping, auto lane change, auto parking, and the like, but in the present embodiment, the driving support device 1 is mainly used for ACC.
  • ACC is an automatic driving function that automatically controls acceleration / deceleration of the own vehicle up to a set speed set in advance by the user to follow the preceding vehicle. Inter-vehicle distance control is also performed so as to maintain the inter-vehicle distance according to the set speed at this time.
  • Follow-up control also includes control to follow the preceding vehicle after detecting the start of the preceding vehicle while the vehicle is stopped, such as waiting for a traffic light or in a traffic jam.
  • the driving support device 1 includes a camera 10, a radar 11, a sonar 12, a vehicle speed sensor 13, a GPS receiver 14, a switch 15, a controller 20, a steering actuator 30, and an accelerator pedal actuator. 31 and a brake actuator 32 are provided.
  • the driving support device 1 may include a navigation device (not shown).
  • a plurality of cameras 10 are installed in the front, side, rear, side mirrors, etc. of the own vehicle.
  • the camera 10 has an image pickup device such as a CCD (charge-coupled device) or a CMOS (complementary metal oxide semiconductor).
  • the camera 10 detects objects existing around the own vehicle (pedestrians, bicycles, two-wheeled vehicles, other vehicles, etc.) and information around the own vehicle (lane markings, traffic lights, signs, pedestrian crossings, intersections, etc.).
  • the camera 10 outputs the captured image to the controller 20.
  • a plurality of radars 11 are installed in front of, front side, rear side, etc. of the own vehicle.
  • the radar 11 emits radio waves to an object around the own vehicle and measures the reflected wave to measure the distance and direction to the object.
  • the radar 11 outputs the measured data to the controller 20.
  • Sonar 12 is installed on the front bumper or front grill.
  • the sonar 12 emits ultrasonic waves and measures the reflected waves to measure the distance and direction to an object in the vicinity of the own vehicle (for example, about 1 to 2 m).
  • the sonar 12 outputs the measured data to the controller 20.
  • the vehicle speed sensor 13 detects the speed of the own vehicle and outputs the detected speed to the controller 20.
  • the GPS receiver 14 detects the position information of the own vehicle on the ground by receiving the radio wave from the artificial satellite.
  • the position information of the own vehicle detected by the GPS receiver 14 includes latitude information and longitude information.
  • the method of detecting the position information of the own vehicle is not limited to the GPS receiver 14.
  • the position may be estimated using a method called odometry.
  • the odometry is a method of estimating the position of the own vehicle by obtaining the movement amount and the movement direction of the own vehicle according to the rotation angle and the rotation angular velocity of the own vehicle.
  • the place where the GPS receiver 14 is installed is not particularly limited, but as an example, the GPS receiver 14 is installed on the instrument panel of the own vehicle.
  • the GPS receiver 14 outputs the detected position information to the controller 20.
  • a plurality of switches 15 are installed on the steering wheel.
  • the plurality of switches 15 include a switch for adjusting the set speed controlled by the ACC, a switch for setting the inter-vehicle distance when the ACC is performed, and a follow-up running when the preceding vehicle starts. Includes switches for.
  • the switch 15 will be described as a physical switch, but the switch 15 is not limited thereto.
  • the switch 15 may be a virtual switch. When the switch 15 is a virtual switch, the switch 15 may be displayed on the touch panel used in the navigation device.
  • the controller 20 is an electronic control unit (ECU: Electronic) having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CAN (Controller Area Network) communication circuit, and the like.
  • ECU Electronic
  • CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • CAN Controller Area Network
  • a computer program for functioning as the driving support device 1 is installed in the controller 20.
  • the controller 20 functions as a plurality of information processing circuits included in the driving support device 1.
  • FIG. 1 An example of realizing a plurality of information processing circuits included in the driving support device 1 by software is shown, but of course, dedicated hardware for executing each of the following information processing is prepared and the information processing circuit is provided. It is also possible to configure. Further, a plurality of information processing circuits may be configured by individual hardware.
  • the controller 20 includes a road shape acquisition unit 21, a curve information acquisition unit 22, a determination unit 23, an acceleration setting unit 24, and a travel control unit 25 as a plurality of information processing circuits.
  • the road shape acquisition unit 21 acquires the shape of the road on which the own vehicle travels based on the image acquired from the camera 10 and the information around the own vehicle acquired by the radar 11 and the sonar 12. For example, the road shape acquisition unit 21 extracts a lane marking from an image acquired from the camera 10 and acquires the shape of the lane in which the own vehicle travels. In addition, the road shape acquisition unit 21 may acquire the shape of the road on which the own vehicle travels from a navigation device (not shown).
  • the curve information acquisition unit 22 calculates the radius of curvature of the road on which the own vehicle travels as curve information based on the shape of the road acquired by the road shape acquisition unit 21. For example, the curve information acquisition unit 22 calculates a minute change amount ⁇ of the attitude of the own vehicle (direction in which the own vehicle faces), which is assumed when the own vehicle travels by a minute distance ⁇ s along the shape of the road. The radius of curvature is calculated by dividing ⁇ s by ⁇ . In addition, the curve information acquisition unit 22 may acquire the radius of curvature of the road on which the own vehicle travels as curve information from a navigation device (not shown).
  • the curve information acquisition unit 22 may comprehensively calculate the curve information based on both the curve information acquired from the navigation device and the curve information calculated based on the shape of the road. For example, if the own vehicle has not yet entered the curved road, the camera cannot sufficiently image the curved road, so that the curve information is sufficiently obtained based on the shape of the road acquired by the road shape acquisition unit 21. It may not be possible to calculate with high accuracy. In such a case, the curve information acquisition unit 22 mainly acquires the curve information related to the curve path from the navigation device. Further, when the own vehicle is traveling on a curved road, the curve information acquisition unit 22 mainly based on the shape of the road acquired by the road shape acquisition unit 21, and the radius of curvature of the road on which the own vehicle travels. Is calculated as curve information.
  • the curve information acquisition unit 22 gives priority to the curve information calculated based on the shape of the road. It may be used. Priority is given to the curve information calculated based on the shape of the road, compared with the curve information acquired from the navigation device, and the curve information calculated based on the shape of the road is the current state of the curve road. Is more strongly reflected and is considered to be more reliable.
  • the curve information acquisition unit 22 sets the acquisition status of the curve information to "acquisition completed” when the curve information can be acquired. On the other hand, the curve information acquisition unit 22 sets the acquisition status of the curve information to "acquisition failure" when the curve information cannot be acquired.
  • the determination unit 23 determines whether or not the curve information acquisition unit 22 has acquired the curve information. Specifically, the determination unit 23 refers to the acquisition status of the curve information by the curve information acquisition unit 22, and if the acquisition status is "acquisition completed", the determination unit 23 determines that the curve information has been acquired. On the other hand, if the acquisition status is "acquisition failure", the determination unit 23 determines that the curve information could not be acquired.
  • the determination unit 23 may determine whether or not the user on the own vehicle has an acceleration instruction. For example, when there is an accelerator operation by the user or when there is an operation of the switch 15 that increases the set speed controlled by the ACC, the determination unit 23 determines that the user has given an acceleration instruction.
  • the determination unit 23 prohibits the operation of the switch 15 for increasing the set speed and gets on the own vehicle except for the operation for increasing the set speed. It may be to determine the presence or absence of an acceleration instruction of a user. While the own vehicle is traveling on a curved road and accelerating toward the set speed, it is not necessary to prohibit the operation of the switch 15 for increasing the set speed.
  • the determination unit 23 may determine whether or not the speed limit for the vehicle speed of the own vehicle has been released.
  • the speed limit has been lifted includes both the concepts of “there is no limit on the upper limit of the vehicle speed of the own vehicle” and “the speed limit is increased”, and the upper limit of the vehicle speed of the own vehicle is included.
  • the determination unit 23 may determine that "the speed limit has been canceled" when there is currently no “speed limit” at the time of determination. Further, the determination unit 23 determines the "speed limit" for each predetermined cycle or for each predetermined processing step in the controller 20, and the "speed limit" at the time of the current determination is higher than the "speed limit” at the time of the previous determination. If it is larger, it may be determined that the speed limit has been released. In cases other than these, the determination unit 23 may determine that "the speed limit has not been released”.
  • the acceleration setting unit 24 sets the acceleration of the own vehicle when the own vehicle travels on a curved road. For example, the acceleration setting unit 24 sets the speed limit when the own vehicle travels on the curved road based on the curve information, and the own vehicle so that the own vehicle travels on the curved road at a vehicle speed equal to or lower than the set speed limit. Set the acceleration of.
  • the "speed limit” may be set according to the radius of curvature of the curved road.
  • the "speed limit” set when the radius of curvature of the curved road is small may be set smaller than the "speed limit” set when the radius of curvature of the curved road is large. ..
  • the "speed limit” may be set in multiple stages according to the radius of curvature of the curved road.
  • the "speed limit” may be set as a predetermined speed when the radius of curvature of the curved road is equal to or less than a predetermined value.
  • one "speed limit” may be set for the entire curved road, or the curved road may be divided into a plurality of sections along the traveling direction of the own vehicle and differ for each section.
  • a “speed limit” may be set.
  • the degree of bending of a road near the center of a curved road is often steeper than the degree of bending of a road near the entrance and exit of a curved road. That is, the radius of curvature in the section near the center of the curved road is often shorter than the radius of curvature in the section near the entrance and the exit of the curved road.
  • the speed limit set in the section near the center of the curved road is set smaller than the speed limit set in the section near the entrance and the exit of the curved road.
  • the acceleration setting unit 24 setting the acceleration of the own vehicle so that the own vehicle travels on the curved road at a vehicle speed equal to or lower than the speed limit, the own vehicle traveling on the curved road decelerates near the entrance of the curved road. , It will accelerate near the exit of the curved road.
  • the acceleration setting unit 24 When decelerating the own vehicle to a vehicle speed equal to or lower than the speed limit, the acceleration setting unit 24 refers to the determination result by the determination unit 23, and if it is determined that the curve information cannot be acquired, the own vehicle has the set speed. It may set the acceleration for accelerating toward. That is, when the curve information cannot be acquired, the acceleration setting unit 24 may set the acceleration so that the own vehicle returns to the state of traveling at the set speed.
  • the acceleration setting unit 24 refers to the determination result by the determination unit 23, and if it is determined that the curve information can be acquired, the acceleration setting unit 24 sets the first acceleration. May be. On the other hand, if it is determined that the curve information could not be acquired, the second acceleration smaller than the first acceleration may be set.
  • the acceleration setting unit 24 refers to the determination result by the determination unit 23, and if it is determined that the user has given an acceleration instruction, the acceleration setting unit 24 is based on the acceleration instruction.
  • a predetermined acceleration user-set acceleration may be set so as to accelerate the own vehicle.
  • the travel control unit 25 controls the own vehicle to accelerate or decelerate at the acceleration set by the acceleration setting unit 24. More specifically, the travel control unit 25 controls the accelerator pedal actuator 31 and the brake actuator 32 so that the own vehicle accelerates or decelerates at the acceleration set by the acceleration setting unit 24. Further, the traveling control unit 25 controls and controls the steering actuator 30 so that the own vehicle travels along the road shape acquired by the road shape acquisition unit 21, in particular, along the lane in which the own vehicle travels.
  • the process of the driving support device shown in FIG. 2 shows a process when the own vehicle is traveling on a curved road, and may be repeatedly executed at a predetermined cycle.
  • step S101 the determination unit 23 determines whether or not the speed limit for the vehicle speed of the own vehicle has been released.
  • step S113 the acceleration setting unit 24 causes the own vehicle to travel on the curved road at a vehicle speed equal to or lower than the set speed limit.
  • the acceleration of the own vehicle is set, and the traveling control unit 25 controls the own vehicle to accelerate or decelerate at the set acceleration.
  • step S103 the determination unit 23 determines whether or not the user has an acceleration instruction.
  • step S111 the acceleration setting unit 24 accelerates the own vehicle based on the acceleration instruction. Is set, and the travel control unit 25 controls so that the own vehicle accelerates at the set acceleration.
  • step S105 the determination unit 23 determines whether or not the curve information acquisition unit 22 has acquired the curve information.
  • the acceleration setting unit 24 sets the first acceleration in step S107, and the traveling control unit 25 sets the own vehicle at the first acceleration. Controls to accelerate.
  • the acceleration setting unit 24 sets the second acceleration in step S109, and the travel control unit 25 sets the second acceleration. Controls the acceleration of the own vehicle.
  • the driving support method and the driving support device control the controller for driving the vehicle at a set speed after traveling along the curved road.
  • the controller for driving the vehicle at a set speed after traveling along the curved road.
  • the driving support method and the driving support device acquire curve information based on an image captured by a camera mounted on the vehicle when accelerating the vehicle traveling on a curved road toward a set speed.
  • the vehicle may be accelerated by the first acceleration when it is possible or when the curve information can be acquired based on the navigation device mounted on the vehicle.
  • the curve information can be acquired based on the information from the navigation device, and the appropriate acceleration of the vehicle can be realized.
  • appropriate acceleration of the vehicle can be realized when the curve road can be imaged by the camera and the curve information can be calculated.
  • the driving support method and the driving support device determine whether or not the curve information can be acquired when decelerating the vehicle to a vehicle speed equal to or lower than the speed limit, and if the curve information cannot be acquired, the curve information cannot be acquired. , The deceleration of the vehicle may be stopped and the acceleration toward the set speed may be started. As a result, when the own vehicle does not pass through the curved road, acceleration toward the set speed is performed, and the vehicle can return to the state of traveling at the set speed. In addition, the convenience of the user for driving the vehicle is improved.
  • the driving support method and the driving support device give an acceleration instruction to the user of the vehicle when the curve information cannot be acquired when accelerating the vehicle traveling on the curved road toward the set speed.
  • the presence or absence may be determined, and if there is an acceleration instruction, the vehicle may be accelerated based on the acceleration instruction.
  • the user can cope with the increase in centrifugal force caused by the vehicle traveling on a curved road. Therefore, it is possible to reduce the discomfort felt by the user and at the same time reflect the intention of the user in the driving of the vehicle.
  • the driving support method and the driving support device determine whether or not the vehicle user has an acceleration instruction, except for an operation of increasing the set speed, when controlling the vehicle traveling on a curved road, and accelerate the vehicle. If instructed, the vehicle may be accelerated based on the acceleration instruction. As a result, the user's intention can be reflected in the driving of the vehicle while reducing the discomfort felt by the user. Further, even if an operation for increasing the setting operation is mistakenly performed while the vehicle is traveling on a curved road, the vehicle is not accelerated based on the operation, so that acceleration not intended by the user occurs. The possibility can be reduced.
  • Processing circuits include programmed processors, electrical circuits, etc., as well as devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions. Etc. are also included.
  • ASICs application specific integrated circuits
  • Driving support device 10
  • Camera 11 Radar 12 Sonar 13
  • Vehicle speed sensor 14 GPS receiver 15
  • Switch 20 Controller 21
  • Road shape acquisition unit 22
  • Curve information acquisition unit 23
  • Judgment unit 24
  • Acceleration setting unit 25
  • Driving control unit 30
  • Steering actuator 31
  • Accelerator pedal actuator 32 Brake actuator

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2020/031433 2020-08-20 2020-08-20 運転支援方法及び運転支援装置 Ceased WO2022038738A1 (ja)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2022543217A JP7485051B2 (ja) 2020-08-20 2020-08-20 運転支援方法及び運転支援装置
CN202080103228.7A CN115916613B (zh) 2020-08-20 2020-08-20 驾驶辅助方法及驾驶辅助装置
US18/021,510 US12344248B2 (en) 2020-08-20 2020-08-20 Method and device for controlling vehicle acceleration on a curved road using curve information
EP20950303.6A EP4201770B1 (en) 2020-08-20 2020-08-20 Driving support method and driving support device
PCT/JP2020/031433 WO2022038738A1 (ja) 2020-08-20 2020-08-20 運転支援方法及び運転支援装置
MX2023001942A MX2023001942A (es) 2020-08-20 2020-08-20 Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion.
BR112023002764A BR112023002764A2 (pt) 2020-08-20 2020-08-20 Método de assistência à condução e dispositivo de assistência à condução

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PCT/JP2020/031433 WO2022038738A1 (ja) 2020-08-20 2020-08-20 運転支援方法及び運転支援装置

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WO2022038738A1 true WO2022038738A1 (ja) 2022-02-24

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US (1) US12344248B2 (https=)
EP (1) EP4201770B1 (https=)
JP (1) JP7485051B2 (https=)
CN (1) CN115916613B (https=)
BR (1) BR112023002764A2 (https=)
MX (1) MX2023001942A (https=)
WO (1) WO2022038738A1 (https=)

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US12325409B2 (en) * 2022-12-22 2025-06-10 Nissan North America, Inc. Map-based braking

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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