WO2022249470A1 - 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

Info

Publication number
WO2022249470A1
WO2022249470A1 PCT/JP2021/020484 JP2021020484W WO2022249470A1 WO 2022249470 A1 WO2022249470 A1 WO 2022249470A1 JP 2021020484 W JP2021020484 W JP 2021020484W WO 2022249470 A1 WO2022249470 A1 WO 2022249470A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane
vehicle
change
lane change
autonomous driving
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/JP2021/020484
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
洋平 谷口
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 BR112023024458A priority Critical patent/BR112023024458A2/pt
Priority to PCT/JP2021/020484 priority patent/WO2022249470A1/ja
Priority to CN202180098582.XA priority patent/CN117396384B/zh
Priority to EP21942153.4A priority patent/EP4349676B1/en
Priority to MX2023014012A priority patent/MX2023014012A/es
Priority to JP2023523927A priority patent/JP7613575B2/ja
Priority to US18/563,249 priority patent/US12145584B2/en
Publication of WO2022249470A1 publication Critical patent/WO2022249470A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • B60W30/10—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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • 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

Definitions

  • the present invention relates to a driving support method and a driving support device.
  • Patent Literature 1 proposes a vehicle control device that can appropriately suppress control in a situation where a vehicle's automatic lane change is inappropriate.
  • This vehicle control device has a first area having a length of a first distance in the road longitudinal direction with reference to the starting point of the specific road structure, or a second area having a length of a first distance in the road longitudinal direction with reference to the end point of the specific road structure.
  • Auto lane change is restricted when a vehicle is detected to be in a second area having a distance length.
  • FIG. 4 is an explanatory diagram of an example of a driving scene in which lane changes are performed multiple times; 3 is a block diagram of an example of a functional configuration of a route travel support function; FIG. It is a flow chart of an example of the driving support method of the embodiment.
  • FIG. 1 is a diagram showing an example of a schematic configuration of a vehicle equipped with a driving assistance device according to an embodiment.
  • a driving support device 10 mounted on a vehicle 1 includes a sensor 11, a positioning device 12, a map database (map DB) 13, an in-vehicle device 14, a navigation system 15, a display device 16, and an audio output device 17. , an input device 18 , a vehicle behavior control device 19 and a controller 20 .
  • These devices are connected by, for example, a CAN (Controller Area Network) or other in-vehicle LAN in order to transmit and receive information to and from each other.
  • CAN Controller Area Network
  • the sensor 11 includes a vehicle speed sensor that detects the vehicle speed of the vehicle 1, a touch sensor (capacitance sensor) that detects the holding of the steering wheel by the passenger (eg, the driver), an in-vehicle camera that captures the image of the passenger, and the like.
  • a vehicle speed sensor that detects the vehicle speed of the vehicle 1
  • a touch sensor that detects the holding of the steering wheel by the passenger (eg, the driver)
  • an in-vehicle camera that captures the image of the passenger, and the like.
  • the display device 16 includes, for example, a display included in the navigation system 15, a display incorporated in the rearview mirror, a display incorporated in the meter section, and various displays such as a head-up display projected onto the windshield.
  • the display device 16 notifies the occupant of various presentation information under the control of the controller 20 .
  • the audio output device 17 is a device that outputs auditory information such as a speaker provided in the navigation system 15, a speaker of an audio device, and a buzzer.
  • the audio output device 17 informs the passenger of various presentation information under the control of the controller 20 .
  • the input device 18 is, for example, a device such as a button switch that allows manual input by the passenger, a touch panel arranged on the display screen, or a microphone that allows input by the passenger's voice. By operating the input device 18, the passenger can input setting information for presentation information presented by the display device 16 or the audio output device 17.
  • FIG. FIG. 2 is a diagram showing part of the input device 18 of this embodiment.
  • the input device 18 may be, for example, a group of button switches arranged on the spokes of a steering wheel. The input device 18 is used when setting ON/OFF of the autonomous driving control function provided in the controller 20 .
  • the input device 18 includes a main switch 181 , a resume/accelerate switch 182 , a set/coast switch 183 , a cancel switch 184 , a distance control switch 185 , and a lane change support switch 186 .
  • the vehicle behavior control device 19 controls the vehicle behavior of the vehicle 1 .
  • the vehicle behavior control device 19 controls the acceleration/deceleration and the running speed so that the vehicle 1 reaches the set speed. and brake operation.
  • the vehicle behavior control device 19 similarly controls the operation of the drive mechanism and the brake when the vehicle 1 follows the preceding vehicle by the autonomous driving control function.
  • the operation control of the drive mechanism includes the operation of the internal combustion engine in an engine vehicle, and the operation of a driving motor in an electric vehicle. In a hybrid vehicle, it also includes torque distribution between the internal combustion engine and the driving motor.
  • the vehicle behavior control device 19 executes a lane keeping control, a lane change support function, an overtaking support function, or a route driving support function, which will be described later, by the autonomous driving control function, in addition to controlling the operation of the drive mechanism and the brake, Steering control of the vehicle 1 is performed by controlling the operation of the steering actuator.
  • controller 20 may be formed of dedicated hardware for executing each information processing described below.
  • controller 20 may comprise functional logic circuitry implemented in a general-purpose semiconductor integrated circuit.
  • the controller 20 may comprise a programmable logic device (PLD), such as a Field-Programmable Gate Array (FPGA), or the like.
  • PLD programmable logic device
  • FPGA Field-Programmable Gate Array
  • the controller 20 implements a travel information acquisition function that acquires information about the travel state of the vehicle 1 and an autonomous travel control function that autonomously controls the travel speed and/or steering of the vehicle 1 .
  • the running information acquisition function of the controller 20 is a function of acquiring running information regarding the running state of the vehicle 1 .
  • the controller 20 may acquire image information of the outside of the vehicle captured by the front camera, rear camera, and side camera of the sensor 11 as travel information.
  • the controller 20 acquires detection results by the front radar, the rear radar, and the side radar as traveling information.
  • the controller 20 also acquires vehicle speed information of the vehicle 1 detected by the vehicle speed sensor of the sensor 11 and image information of the occupant's face imaged by the in-vehicle camera as driving information.
  • the autonomous driving control function of the controller 20 is a function of autonomously controlling the driving of the vehicle 1 without depending on the operation of the passenger.
  • the autonomous travel control function of the controller 20 includes an autonomous speed control function that autonomously controls the travel speed of the vehicle 1 and an autonomous steering control function that autonomously controls the steering of the vehicle 1 .
  • the autonomous speed control function and the autonomous steering control function of this embodiment will be described below.
  • ⁇ Autonomous speed control function The autonomous speed control function is a function that, when a preceding vehicle is detected, follows the preceding vehicle while controlling the distance between the vehicles to maintain the distance according to the vehicle speed, with the vehicle speed set by the occupants as the upper limit. .
  • the constant speed control is executed when the forward radar of the sensor 11 or the like detects that there is no preceding vehicle ahead of the own lane.
  • the vehicle behavior control device 19 controls the operation of drive mechanisms such as the engine and brakes while feeding back vehicle speed data from a vehicle speed sensor so as to maintain a set running speed.
  • the inter-vehicle distance control is executed when the forward radar of the sensor 11 or the like detects that there is a preceding vehicle ahead of the own lane.
  • the vehicle behavior control device 19 drives the engine, brakes, etc. while feeding back the inter-vehicle distance data detected by the front radar so as to maintain the set inter-vehicle distance with the set running speed as the upper limit. Controls the operation of the mechanism.
  • the autonomous steering control function is a function that executes steering control of the vehicle 1 by controlling the operation of the steering actuator.
  • the autonomous steering control function includes, for example, a lane keeping function, a lane change support function, an overtaking support function, a route driving support function, and the like. In the present invention, it is sufficient that the autonomous steering control function includes only the route driving support function, and the autonomous steering control function does not necessarily include the lane keeping function, lane change support function, and overtaking support function.
  • the lane keep function is, for example, a function that controls the steering actuator so that the vehicle runs in the vicinity of the center of the lane, thereby assisting the driver's steering operation.
  • the lane change support function turns on the direction indicator when the passenger operates the direction indicator lever, and when a predetermined lane change start condition is met, the lane change operation, which is a series of processes for auto lane change, is started.
  • the lane change support function determines whether or not a predetermined lane change start condition is satisfied based on various types of travel information acquired by the travel information acquisition function.
  • the lane change support function starts the lane change operation when the lane change start condition is satisfied. In the lane change operation, the vehicle 1 is laterally moved to the adjacent lane, and when the movement to the adjacent lane is completed, the direction indicator is turned off and the execution of the lane keeping function in the adjacent lane is started.
  • the overtaking support function presents overtaking information to the occupant on the display device 16 when a preceding vehicle slower than the vehicle 1 exists ahead of the own lane and a predetermined overtaking proposal condition is satisfied.
  • the overtaking information is information for proposing to the occupant to overtake the preceding vehicle.
  • the overtaking support function turns on the direction indicator when the passenger operates the lane change support switch 186 of the input device 18 to accept the presentation of the overtaking information and when the preset overtaking start condition is satisfied. to start the lane change operation described above.
  • the overtaking support function determines whether or not the overtaking proposal condition and the overtaking start condition are established based on various types of travel information acquired by the travel information acquisition function.
  • the route driving support function is a set route that has a turning point, a merging point, an exit, a tollgate, or other point where the driving direction is changed, the distance to the driving direction change point is within a predetermined distance, and the predetermined route.
  • the display device 16 presents the route driving information, and proposes a lane change to the driving direction change point.
  • the route driving support function starts the lane change operation when the lane change proposal is accepted by operating the lane change support switch 186 and a predetermined route driving start condition is satisfied.
  • the route travel support function determines whether or not the route travel proposal condition and the route travel start condition are satisfied based on various travel information acquired by the travel information acquisition function.
  • lane changes in a series means a plurality of lane changes from the current driving lane to the final destination lane of the vehicle 1 after the lane change.
  • the number of lanes is increased by dividing the first lane L1 into the second lane L2 and the first lane L1.
  • the second lane L2 may be a lane that branches from the first road R1 and extends to a second road (not shown) heading in a different direction from the first road R1.
  • the second road can be reached by driving a not too long distance (eg 1.5 km) from the point where the road splits.
  • the passenger If the passenger is requested to operate the vehicle manually in such a situation, the passenger, who had not thought of manually driving the vehicle, will be forced to operate the vehicle in a short period of time without any leeway. In addition, there is a possibility that the vehicle 1 may proceed in a direction different from the desired course due to lack of operational margin. Therefore, in the route driving support function of the present embodiment, if the remaining lane changes are not executed by the autonomous steering control function during a plurality of lane changes, the first lane change is executed by the autonomous driving control. Instead (for example, prohibited), at a timing before the first lane change, guidance is generated to prompt the occupant to manually change the lane.
  • the map information processing section 33 acquires the three-dimensional high-precision map information of a predetermined range around the current position of the vehicle 1 from the map information acquisition section 30 .
  • the lane change request determination unit 34 determines whether or not there is a lane change request by the route driving support function. Based on the determination result of the lane change request determination unit 34, the lane change state management unit 35 determines whether or not the route travel proposal conditions are satisfied when a lane change is requested by the route travel support function. When the route travel proposal condition is satisfied, the lane change state management unit 35 presents the route travel information on the display device 16, and proposes a lane change to the travel direction change point.
  • the lane change state management unit 35 starts the lane change operation.
  • the vehicle behavior control device 19 executes steering control of the vehicle 1 by controlling the operation of the steering actuator based on a command from the lane change state management section 35 .
  • the display device 16 and the voice output device 17 output a lane change proposal by the route driving support function and a guide prompting the occupant to manually change the lane.
  • FIG. 5 is a flowchart of an example of a driving assistance method according to the embodiment.
  • the map information processing unit 33 acquires the current position of the vehicle 1 from the map information acquiring unit 30 based on the route information acquired by the navigation information acquiring unit 31 and the self-position information acquired by the self-position information acquiring unit 32.
  • Acquire 3D high-precision map information for a predetermined range in the vicinity Specifically, the three-dimensional high-precision map information of the range from the current position of the vehicle 1 to a predetermined distance forward is acquired.
  • the predetermined distance may be, for example, 7 [km].
  • step S2 based on the acquired map information, the map information processing unit 33 detects a first lane increase section within a predetermined distance d1 [m] ahead of the current position of the vehicle 1 currently traveling on the first lane L1. Determine whether S1 exists.
  • the predetermined distance d1 is set, for example, as the distance from the point at which a lane change is proposed by the route driving support function (or the point at which the driver is requested to manually change the lane) to the starting point of the first lane increase section S1. you can
  • the predetermined distance d1 may be 900 [m], for example.
  • step S2 If the first lane increase section S1 exists (step S2: Y), the process proceeds to step S3. If the first lane increase section S1 does not exist (step S2: N), the process proceeds to step S4. In step S3, the map information processing unit 33 determines whether the route information acquired by the navigation information acquiring unit 31 recommends driving in the first lane L1 or the second lane L2. If the second lane L2 is recommended (step S3: Y), the process proceeds to step S5. If the first lane L1 is recommended (step S3: N), the process proceeds to step S4.
  • step S4 the map information processing unit 33 determines that there is no second lane L2 to change lanes.
  • the lane change request determination unit 34 determines that neither the lane change proposal by the route driving support function nor the lane change request manually by the passenger is generated. Based on the determination result of the lane change request determination unit 34, the lane change state management unit 35 does not start the lane change by the autonomous driving control, Do not output suggestions for changes or guidance to encourage passengers to manually change lanes. Processing then ends.
  • step S5 the map information processing unit 33 determines whether or not the second lane increase section S2 exists ahead of the first lane increase section S1 based on the acquired map information. If the second lane increase section S2 exists (step S5: Y), the process proceeds to step S6. If the second lane increase section S2 does not exist (step S5: N), the process proceeds to step S11. In step S6, the map information processing unit 33 determines the starting point where the lane width of the second lane L2 starts to increase in the first lane increase section S1 (hereinafter sometimes referred to as the "start point of the first lane increase section S1").
  • the map information processing section 33 determines whether or not the distance between these starting points is equal to or less than the first threshold dt1 [m].
  • the distance d0 is the second lane increase section S2 from the point where the lane change to the third lane L3 starts as the lane width of the third lane L3 increases when changing to the third lane L3 by autonomous driving control.
  • the distance d0 may be set to a value in the range of -100 [m] to 100 [m], for example.
  • the increase rate of the lane width of the third lane L3 in the second lane increase section S2 with respect to the position change in the traveling direction of the third lane L3 (that is, the amount of increase in the lane width when the increase section S2 is advanced by a unit distance) can be set dynamically.
  • the distance d0 may be dynamically set according to the vehicle speed of the vehicle 1 . For example, the lower the vehicle speed, the larger the value may be set.
  • step S6: Y If the distance between the start points is equal to or less than the first threshold dt1 [m] (step S6: Y), the process proceeds to step S7. If the distance between the start points is not equal to or less than the first threshold dt1 [m] (step S6: N), the process proceeds to step S11.
  • step S7 based on the acquired map information, the map information processing unit 33 determines whether the second lane L2 and the third lane L3 are divided into separate routes ahead of the starting point of the second lane increase section S2. judge. For example, it is determined whether or not it is impossible to change lanes between the second lane L2 and the third lane L3 ahead of the starting point of the second lane increase section S2. If the second lane L2 and the third lane L3 are divided into separate routes (step S7: Y), the process proceeds to step S8. If the second lane L2 and the third lane L3 are not divided into separate routes (step S7: N), the process proceeds to step S11.
  • step S10 the map information processing unit 33 does not perform the first lane change from the first lane L1 to the second lane L2 by autonomous driving control, and requests the passenger to change the lane for the first time by manual driving operation. to decide.
  • the lane change request determination unit 34 determines to generate a lane change request manually by the occupant without suggesting a lane change using the route driving support function.
  • the lane change state management unit 35 does not start the lane change by the autonomous driving control, and instructs the lane change to be manually performed by the display device 16 and the voice output device 17. Output guidance to prompt the crew.
  • the map information processing unit 33 determines to perform the first lane change from the first lane L1 to the second lane L2 under autonomous driving control.
  • the lane change request determination unit 34 decides to propose a lane change using the route driving support function.
  • the lane change state management unit 35 proposes a lane change by autonomous driving control using the display device 16 and the audio output device 17 .
  • the passenger accepts the proposal the first lane change from the first lane L1 to the second lane L2 is started.
  • the lane change state management unit 35 When it is determined that the second lane change cannot be performed after the first lane change, the lane change state management unit 35 generates a lane change request by manual driving operation. However, in this state, a sufficient distance is secured for the second lane change, so the occupant can make the second lane change manually with plenty of time to spare.
  • the distance between the start point of the first lane increase section S1 and the start point of the second lane increase section S2 is shorter than the first threshold value dt1
  • the distance from the start point of the second lane increase section S2 to the branch start point P1 is shorter than the second threshold value dt2 (Y in steps S6 and S9)
  • the occupant cannot be notified with sufficient time that the second lane change cannot be performed by the autonomous driving control.
  • the occupant can be requested to perform the lane change by manual driving operation.
  • the second lane change may be determined whether or not to perform the second lane change under the autonomous driving control. Accordingly, it is possible to determine whether or not to perform the second lane change by autonomous driving control based on the distance between the points where the first lane change and the second lane change are performed.
  • the controller 20 may set the first threshold value dt1 according to the lane width increase rate and/or the vehicle speed with respect to the position change in the direction of travel of the third lane in the second lane increase section. Thereby, the first threshold value dt1 can be set according to the speed of the steering when changing lanes in the second lane increase section.
  • the controller 20 determines that the distance between the starting point of the section in which the lane cannot be changed from the second lane to the third lane and the starting point of the second lane increase section is equal to or less than the second threshold value dt2, and the first lane increase If the distance between the start point of the section and the start point of the second lane increase section is equal to or less than the first threshold value dt1, it may be determined that the second lane change is not performed by the autonomous driving control. As a result, whether or not the second lane change is performed by autonomous driving control according to the distance between the starting point of the section where the lane cannot be changed from the second lane to the third lane and the starting point of the second lane increase section. can determine whether
  • the second threshold dt2 may be set according to the lane width increase rate and/or the vehicle speed with respect to the positional change in the traveling direction of the third lane in the second lane increase section. Thereby, the second threshold value dt2 can be set according to the speed of the steering when changing lanes in the second lane increase section.
  • the controller 20 generates guidance to prompt the occupant to manually change the lane for the first time if the second and subsequent lane changes include a determination that the autonomous driving control will not be performed. you can As a result, when the second and subsequent lane changes include a determination that the autonomous driving control will not be performed, instead of providing guidance at the time when the autonomous driving control cannot be performed for the second and subsequent lane changes, By providing guidance at a point before the starting point of the first lane change, the occupant can manually perform both the first and second lane changes with plenty of time to spare.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Navigation (AREA)
PCT/JP2021/020484 2021-05-28 2021-05-28 運転支援方法及び運転支援装置 Ceased WO2022249470A1 (ja)

Priority Applications (7)

Application Number Priority Date Filing Date Title
BR112023024458A BR112023024458A2 (pt) 2021-05-28 2021-05-28 Método de assistência de condução e dispositivo de assistência de condução
PCT/JP2021/020484 WO2022249470A1 (ja) 2021-05-28 2021-05-28 運転支援方法及び運転支援装置
CN202180098582.XA CN117396384B (zh) 2021-05-28 2021-05-28 驾驶辅助方法以及驾驶辅助装置
EP21942153.4A EP4349676B1 (en) 2021-05-28 2021-05-28 Driving assistance method and driving assistance device
MX2023014012A MX2023014012A (es) 2021-05-28 2021-05-28 Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion.
JP2023523927A JP7613575B2 (ja) 2021-05-28 2021-05-28 運転支援方法及び運転支援装置
US18/563,249 US12145584B2 (en) 2021-05-28 2021-05-28 Driving assistance method and driving assistance device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/020484 WO2022249470A1 (ja) 2021-05-28 2021-05-28 運転支援方法及び運転支援装置

Publications (1)

Publication Number Publication Date
WO2022249470A1 true WO2022249470A1 (ja) 2022-12-01

Family

ID=84229645

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/020484 Ceased WO2022249470A1 (ja) 2021-05-28 2021-05-28 運転支援方法及び運転支援装置

Country Status (7)

Country Link
US (1) US12145584B2 (https=)
EP (1) EP4349676B1 (https=)
JP (1) JP7613575B2 (https=)
CN (1) CN117396384B (https=)
BR (1) BR112023024458A2 (https=)
MX (1) MX2023014012A (https=)
WO (1) WO2022249470A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7335381B1 (ja) 2022-03-16 2023-08-29 本田技研工業株式会社 運転支援装置、車両、運転支援方法、およびプログラム

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
MX2024010835A (es) * 2022-03-18 2024-09-17 Nissan Motor Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion.
JP7474279B2 (ja) * 2022-03-29 2024-04-24 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015152386A (ja) * 2014-02-13 2015-08-24 アイシン・エィ・ダブリュ株式会社 運転支援装置、運転支援方法及びプログラム
JP2019036339A (ja) * 2018-10-16 2019-03-07 三菱電機株式会社 運転支援装置
WO2020003452A1 (ja) * 2018-06-28 2020-01-02 日産自動車株式会社 運転支援方法及び運転支援装置
JP2020050204A (ja) * 2018-09-27 2020-04-02 日産自動車株式会社 車両の走行制御方法及び走行制御装置
JP2020132005A (ja) * 2019-02-21 2020-08-31 本田技研工業株式会社 車両用制御装置及び車両
JP2020163900A (ja) * 2019-03-28 2020-10-08 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8880272B1 (en) * 2012-03-16 2014-11-04 Google Inc. Approach for estimating the geometry of roads and lanes by using vehicle trajectories
JP6197691B2 (ja) 2014-02-26 2017-09-20 アイシン・エィ・ダブリュ株式会社 自動運転支援システム、自動運転支援方法及びコンピュータプログラム
DE102014221132B4 (de) * 2014-10-17 2019-09-12 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Anzeigen einer Verfügbarkeit eines ersten Fahrmodus eines Fahrzeugs
DE102014222836A1 (de) * 2014-11-10 2016-05-12 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrerassistenzsystems und Fahrerassistenzsystem
JP6535634B2 (ja) * 2016-05-26 2019-06-26 本田技研工業株式会社 経路案内装置及び経路案内方法
DE102016216134A1 (de) * 2016-08-29 2018-03-01 Bayerische Motoren Werke Aktiengesellschaft Verschieben der Querposition einer automatisierten Querführung zum Informieren des Fahrers über einen erforderlichen Spurwechsel
JP6897349B2 (ja) 2017-06-09 2021-06-30 トヨタ自動車株式会社 運転支援装置
US11731632B2 (en) * 2018-08-13 2023-08-22 Nissan Motor Co., Ltd. Vehicle travel control method and travel control device
CN113811934B (zh) 2019-05-15 2022-11-04 日产自动车株式会社 车辆的行驶控制方法及行驶控制装置
CN112208531B (zh) 2019-07-09 2024-04-30 本田技研工业株式会社 车辆控制装置、车辆控制方法及存储介质
JP7049391B2 (ja) 2019-07-09 2022-04-06 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP6907285B2 (ja) * 2019-10-11 2021-07-21 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
WO2021111924A1 (ja) * 2019-12-06 2021-06-10 株式会社デンソー Ｈｍｉ制御装置、ｈｍｉ制御方法、およびｈｍｉ制御プログラム
JP7167963B2 (ja) * 2020-07-01 2022-11-09 トヨタ自動車株式会社 車線変更計画装置及び車線変更計画用コンピュータプログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015152386A (ja) * 2014-02-13 2015-08-24 アイシン・エィ・ダブリュ株式会社 運転支援装置、運転支援方法及びプログラム
WO2020003452A1 (ja) * 2018-06-28 2020-01-02 日産自動車株式会社 運転支援方法及び運転支援装置
JP2020050204A (ja) * 2018-09-27 2020-04-02 日産自動車株式会社 車両の走行制御方法及び走行制御装置
JP2019036339A (ja) * 2018-10-16 2019-03-07 三菱電機株式会社 運転支援装置
JP2020132005A (ja) * 2019-02-21 2020-08-31 本田技研工業株式会社 車両用制御装置及び車両
JP2020163900A (ja) * 2019-03-28 2020-10-08 本田技研工業株式会社 車両制御装置、車両制御方法、及びプログラム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4349676A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7335381B1 (ja) 2022-03-16 2023-08-29 本田技研工業株式会社 運転支援装置、車両、運転支援方法、およびプログラム
JP2023136206A (ja) * 2022-03-16 2023-09-29 本田技研工業株式会社 運転支援装置、車両、運転支援方法、およびプログラム

Also Published As

Publication number Publication date
CN117396384B (zh) 2024-10-18
JP7613575B2 (ja) 2025-01-15
US12145584B2 (en) 2024-11-19
MX2023014012A (es) 2023-12-12
EP4349676B1 (en) 2025-10-22
CN117396384A (zh) 2024-01-12
JPWO2022249470A1 (https=) 2022-12-01
EP4349676A1 (en) 2024-04-10
BR112023024458A2 (pt) 2024-02-06
EP4349676A4 (en) 2024-08-07
US20240262351A1 (en) 2024-08-08

Similar Documents

Publication Publication Date Title
US12447991B2 (en) Vehicle lane change control method and vehicle lane change control device
JP7613575B2 (ja) 運転支援方法及び運転支援装置
WO2023175928A1 (ja) 運転支援方法及び運転支援装置
JP2023146333A (ja) 車両制御装置、車両制御方法、およびプログラム
JP7211552B2 (ja) 車両の走行制御方法及び走行制御装置
WO2022254509A1 (ja) 画像制御方法及び画像制御装置
JP7622900B2 (ja) 運転支援方法及び運転支援装置
JP7841585B2 (ja) 運転支援方法及び運転支援装置
JP7816491B2 (ja) 車両走行制御方法及び車両走行制御装置
JP7662048B2 (ja) 車両制御方法及び車両制御装置
JP7605332B2 (ja) 運転制御方法及び運転制御装置
JP7658175B2 (ja) 運転支援方法及び運転支援装置
JP7524036B2 (ja) 車両の走行制御方法及び走行制御装置
JP2023146334A (ja) 車両制御装置、車両制御方法、およびプログラム
WO2022249468A1 (ja) 制限速度認識方法及び制限速度認識装置
WO2022249469A1 (ja) 運転支援方法及び運転支援装置
WO2023047453A1 (ja) 運転制御方法及び運転制御装置
JP7740492B2 (ja) 運転支援方法及び運転支援装置
JP7788045B2 (ja) 車両の走行制御方法及び走行制御装置
JP7811322B2 (ja) 車両の走行制御方法及び走行制御装置
RU2792474C1 (ru) Способ управления вождением и устройство управления вождением
JP2023146335A (ja) 車両制御装置、車両制御方法、およびプログラム
WO2023042272A1 (ja) 運転制御方法及び運転制御装置

Legal Events

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

Ref document number: 21942153

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2023523927

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 202180098582.X

Country of ref document: CN

WWE Wipo information: entry into national phase

Ref document number: MX/A/2023/014012

Country of ref document: MX

REG Reference to national code

Ref country code: BR

Ref legal event code: B01A

Ref document number: 112023024458

Country of ref document: BR

WWE Wipo information: entry into national phase

Ref document number: 202347086963

Country of ref document: IN

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2021942153

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2021942153

Country of ref document: EP

Effective date: 20240102

ENP Entry into the national phase

Ref document number: 112023024458

Country of ref document: BR

Kind code of ref document: A2

Effective date: 20231123

WWG Wipo information: grant in national office

Ref document number: 2021942153

Country of ref document: EP