JP2017019358A - 車両の運転支援装置 - Google Patents
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- 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
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- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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Abstract
【解決手段】自車両が各並走車両の位置に到達するまでの到達時間のうち、最も短い時間で到達できる並走車両の前後の区間を車線変更候補区間として設定する(S2)。そして、車線変更候補区間の区間距離Lkが設定値Lth以上、且つ自車両と車線変更候補区間との相対速度の絶対値|Vk−V0|が閾値Vth以下の場合、車線変更は安全に実行可能と判断する(S3〜S5)。これにより、複数の並走車両と自車両との位置関係や速度差から車線変更が難しい状況であっても、複数の並走車両の走行状況に適応して迅速且つ安全な車線変更支援が可能となる。
【選択図】図4
Description
図1において、符号1は自動車等の車両(自車両)であり、この自車両1に、運転者の運転操作に対して自律的な自動運転を含む運転支援制御を実行する運転支援装置2が搭載されている。運転支援装置2は、自車両1を取り巻く周囲の外部環境を認識する各種デバイスからなる外部環境認識部を備え、また、自車両1の運転状態を検出する各種センサ類からの信号が入力される。
Vri=Vi−V0 …(1)
Xri=Xi−X0 …(2)
Lj=Xj−Xj+1 …(3)
但し、i=1,2,3
j=1,2
ti=Xri/Vri=(Xi−X0)/(Vi−V0) …(4)
但し、i=1,2,3
並走車両C2と並走車両C3との間の区間(図3の区間Lp23)が車線変更候補区間となる。
(b)X3>X0の場合
並走車両C3の後方の区間(図3の区間Lp3)が車線変更候補区間となる。
この場合は、前後の並走車両2台の平均速度を、車線変更候補区間の移動速度とする。自車両C0が並走車両車Ci,Ci+1(i=1,2)の間にはさまれる場合、車線変更候補区間の移動速度Vkは、以下の(5)式で与えられる。
Vk=(Vi+Vi+1)/2 …(5)
但し、i=1,2
この場合は、自車両に最も近い並走車両の速度を車線変更候補区間の移動速度とする。図2の例では、車線変更候補区間が並走車両C3の後方である場合、(6)式に示すように車線変更候補区間の移動速度VkはV3となり、車線変更候補区間が並走車両C1の前方である場合、(7)式に示すように車線変更候補区間の移動速度VkはV1となる。
Vk=V3 …(6)
Vk=V1 …(7)
2 運転支援装置
20 車線変更候補区間設定部
21 車線変更判断部
22 車線変更情報出力部
C0 自車両
C1,C2,C3 並走車両
Lp1,Lp12,Lp23,Lp3 車線変更候補区間
Lk 区間距離
Lth 設定値
Vk 車線変更候補区間の移動速度
Vth 閾値
Claims (4)
- 自車両が走行する車線に隣接する隣車線に自車両が進入可能か否かを判断して車線変更を支援する車両の運転支援装置であって、
前記隣車線を走行する複数の並走車両と自車両との相対速度及び相対位置に基づいて、自車両が前記隣車線に進入する候補となる区間を車線変更候補区間として設定する車線変更候補区間設定部と、
前記車線変更候補区間の移動速度と自車両の速度とに基づいて、自車両が前記車線変更候補区間に進入可能か否かを判断する車線変更判断部と
を備えることを特徴とする車両の運転支援装置。 - 前記車線変更候補区間設定部は、自車両が前記複数の並走車両の各位置に到達するまでの到達時間を推定し、各到達時間の中で最小の時間となる並走車両の前後の区間を前記車線変更候補区間として設定することを特徴とする請求項1記載の車両の運転支援装置。
- 前記車線変更候補区間の長さが設定値より短い場合、前記車線変更候補区間を前記到達時間に基づいて再設定することを特徴とする請求項2記載の車両の運転支援装置。
- 前記車線変更判断部は、前記車線変更候補区間と自車両との相対速度が閾値以下のとき、自車両は前記車線変更候補区間に進入可能と判断し、前記車線変更候補区間と自車両との相対速度が閾値を超えるとき、自車両は前記車線変更候補区間に進入不可と判断することを特徴とする請求項1〜3の何れか一に記載の車両の運転支援装置。
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JP2015137572A JP6078116B2 (ja) | 2015-07-09 | 2015-07-09 | 車両の運転支援装置 |
DE102016111996.2A DE102016111996A1 (de) | 2015-07-09 | 2016-06-30 | Fahrassistent für Fahrzeuge |
US15/200,852 US9809223B2 (en) | 2015-07-09 | 2016-07-01 | Driving assistant for vehicles |
CN201610517121.2A CN106335509B (zh) | 2015-07-09 | 2016-07-04 | 车辆的驾驶辅助装置 |
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JP2015137572A JP6078116B2 (ja) | 2015-07-09 | 2015-07-09 | 車両の運転支援装置 |
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JP6078116B2 JP6078116B2 (ja) | 2017-02-08 |
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Cited By (5)
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WO2020058737A1 (ja) * | 2018-09-21 | 2020-03-26 | 日産自動車株式会社 | 車両制御方法及び車両制御装置 |
CN111311916A (zh) * | 2020-02-28 | 2020-06-19 | 腾讯科技(深圳)有限公司 | 车道速度确定方法、装置 |
JPWO2019163121A1 (ja) * | 2018-02-26 | 2020-12-03 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、およびプログラム |
JP2021149119A (ja) * | 2020-03-16 | 2021-09-27 | 本田技研工業株式会社 | 移動体制御装置、移動体及び移動体制御方法 |
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JP6572880B2 (ja) * | 2016-12-28 | 2019-09-11 | トヨタ自動車株式会社 | 運転支援装置 |
WO2018131298A1 (ja) | 2017-01-13 | 2018-07-19 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
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CN110648549B (zh) * | 2019-09-24 | 2020-09-25 | 北京星云互联科技有限公司 | 基于车路协同的交通引导方法、设备、***及存储介质 |
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JP7283416B2 (ja) * | 2020-02-21 | 2023-05-30 | 株式会社デンソー | 走行支援装置、走行支援方法、および走行支援プログラム |
CN112068559B (zh) * | 2020-08-28 | 2022-10-11 | 重庆长安汽车股份有限公司 | 无人驾驶车辆的偏移控制方法、***、车辆及存储介质 |
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