JP2014502759A - 車間距離制御システム - Google Patents
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S2013/464—Indirect determination of position data using multipath signals using only the non-line-of-sight signal(s), e.g. to enable survey of scene 'behind' the target only the indirect signal is evaluated
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Abstract
【選択図】図1
Description
Claims (15)
- 自動車(1)用の車間距離制御システムであって、
−装備車両(1)の予測経路及び隣接する経路で移動する複数の対象物(3、4、5)を同時に検知するように構成され、更に前記対象物(3、4、5)の各々の速度、及び前記対象物(3、4、5)の各々までの距離を継続的に監視するように構成された前方物体検知手段と、
−前記検知手段からの信号を処理して、前記装備車両(1)の前方を走行する車両(3、4、5)までの距離及び相対速度の情報を提供し、更に、前記装備車両(1)の前方を走行する車両(3、4,5)までの距離及び相対速度の情報に基づいて速度制御信号を反復的に生成するように構成された処理手段と、
−前記処理手段からの前記制御信号に応答して前記装備車両(1)の速度を制御する手段と、を備え、
前記処理手段が更に、前記装備車両(1)から仮想対象車両(6)までの時間距離、前記車両群の数に基づいて計算された前記仮想対象車両(6)までの距離及び前記仮想対象車両(6)の速度、前記車両群の距離の分散、ひいては前記車両群の車両密度、及び前記車両群内の位置の変動性を計算するように構成されることで、前記処理手段のアルゴリズムが上記パラメータから時間距離の許容偏差を決定し、前記処理手段が、前記装備車両(1)と前記仮想車両(6)との間の前記計算された時間距離に基づく前記装備車両(1)の速度を制御する前記手段への信号を生成するように構成される、車間距離制御システム。 - 前記処理手段により生成された、速度を制御する前記手段への前記信号が、所望の速度値を表す、請求項1に記載の車間距離制御システム。
- 前記処理手段が、前記検知される車両群内の全ての対象物(3、4、5)の共分散を計算するように構成され、該共分散は前記仮想対象車両(6)の挙動を予測するためのアルゴリズムで使用される、請求項1又は2に記載の車間距離制御システム。
- 前記仮想対象車両(6)が、エコドライブ特性を有するように導出される、請求項1乃至3のいずれかに記載の車間距離制御システム。
- 前記物体検知手段が、前記検知される対象物(3、4、5)の各々の距離の値及び速度値を定めるためのレーダーユニット、又はLIDARユニット、又はカメラユニットを備える、請求項1乃至4のいずれかに記載の車間距離制御システム。
- 前記道路(2)の表面状態を測定するセンサが備えられる、請求項1乃至5のいずれかに記載の車間距離制御システム。
- 前記処理手段からの前記制御信号に応答して前記装備車両(1)の速度を制御する前記手段が、エンジン制御手段とブレーキ制御手段を備える、請求項1乃至6のいずれかに記載の車間距離制御システム。
- 前記システムがプリクラッシュシステムに結合される、請求項1乃至7のいずれかに記載の車間距離制御システム。
- 前記システムがナビゲーションシステムと組み合わされる、請求項1乃至8のいずれかに記載の車間距離制御システム。
- 前記システムが更に、前記装備車両の横方向の車両を監視する手段を備える、請求項1乃至9のいずれかに記載の車間距離制御システム。
- 車間距離制御システムを搭載した自動車(1)の速度を制御するための方法であって、
−前記装備車両の予測経路と隣接経路で移動する複数の対象物(3、4、5)を、前方物体検知手段で同時に検知するステップと、
−前記対象物(3、4、5)の各々の速度及び前記対象物の各々までの距離を継続的に監視するステップと、
−前記検知手段からの信号を処理手段で処理して、前記装備車両(1)の前方を走行する車両(3、4、5)までの距離及び前記車両(3、4、5)の相対速度の情報を提供するステップと、
−前記処理手段を使用して、前記装備車両(1)の前方を走行する前記車両(3、4、5)までの距離及び前記車両(3、4、5)の相対速度の前記情報に基づいて速度制御信号を反復的に生成するステップと、
−前記処理手段からの前記制御信号に応答して前記装備車両(1)の速度を制御するステップと、
を含み、
前記方法が更に、
−前記装備車両(1)から仮想対象車両(6)までの時間距離、前記車両群の車両数に基づいて計算された前記仮想対象車両(6)までの距離及び前記仮想対象車両(6)の速度、前記車両群の車両距離の分散、ひいては前記車両群の車両密度、及び前記車両群の位置の変動性を計算するステップと、
−前記処理手段のアルゴリズムで上記パラメータから時間距離の許容偏差を決定するステップと、
−前記装備車両(1)と前記仮想車両(6)との間の計算された時間距離に基づく前記装備車両(1)の速度を制御する手段への信号を前記処理手段で生成するステップと、
を含む、方法。 - 前記処理手段を使用して、検知される前記車両群内の全ての対象物(3、4、5)の共分散を計算するステップを更に含み、該共分散が前記仮想対象車両(6)の挙動を予測するための前記アルゴリズムで使用される、請求項11に記載の方法。
- レーダーユニット、又はLIDARユニット、又はカメラユニットを使用して、検知される前記対象物(3、4、5)の各々の距離の値及び速度値を定めるステップを含む、請求項11又は12に記載の方法。
- センサ手段を使用して、前記道路(2)の表面状態を測定するステップを含む、請求項11乃至13のいずれかに記載の方法。
- ナビゲーションシステムからの情報を用いて対象車両の速度を予測するステップを含む、請求項11乃至14のいずれかに記載の方法。
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PCT/SE2010/000321 WO2012091637A1 (en) | 2010-12-29 | 2010-12-29 | X adaptative cruise control |
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JP6060091B2 JP6060091B2 (ja) | 2017-01-11 |
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US (1) | US9067603B2 (ja) |
EP (1) | EP2658763B1 (ja) |
JP (1) | JP6060091B2 (ja) |
CN (1) | CN103328299B (ja) |
WO (1) | WO2012091637A1 (ja) |
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JP2019001283A (ja) * | 2017-06-14 | 2019-01-10 | 本田技研工業株式会社 | 車両 |
JP2019128700A (ja) * | 2018-01-23 | 2019-08-01 | トヨタ自動車株式会社 | 車両制御システム |
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WO2012091637A1 (en) | 2012-07-05 |
CN103328299B (zh) | 2016-04-06 |
EP2658763A4 (en) | 2018-01-24 |
US20140005908A1 (en) | 2014-01-02 |
EP2658763A1 (en) | 2013-11-06 |
CN103328299A (zh) | 2013-09-25 |
EP2658763B1 (en) | 2019-03-27 |
US9067603B2 (en) | 2015-06-30 |
JP6060091B2 (ja) | 2017-01-11 |
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