JP2018173723A - 車両の走行制御システム - Google Patents
車両の走行制御システム Download PDFInfo
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- JP2018173723A JP2018173723A JP2017070133A JP2017070133A JP2018173723A JP 2018173723 A JP2018173723 A JP 2018173723A JP 2017070133 A JP2017070133 A JP 2017070133A JP 2017070133 A JP2017070133 A JP 2017070133A JP 2018173723 A JP2018173723 A JP 2018173723A
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- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 description 22
- 238000004891 communication Methods 0.000 description 14
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- 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
- B60W30/18154—Approaching an intersection
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- 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
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- 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
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- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- 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
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- 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
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- Chemical & Material Sciences (AREA)
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- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Description
10 外部環境認識装置
20 測位装置
30 地図情報処理装置
100 走行制御装置
101 信号状態検知部
102 信号機探索部
103 通過速度調整部
104 制御部
DB 地図データベース
Claims (3)
- 自車両が走行する道路に設置された信号機に係る情報を含む地図データを保持する地図データベースと、
自車両前方の前記信号機の信号状態を検知する信号状態検知部と、
自車両前方で自車両に最も近い地点に存在する前記信号機を前記地図データベースから探索する信号機探索部と、
前記信号機探索部で探索された前記信号機の信号状態を前記信号状態検知部で検知できないとき、自車両が前記信号機の周辺を通過する際の通過速度を、車両停止を含めて減速側に調整する通過速度調整部と
を備えることを特徴とする車両の走行制御システム。 - 前記通過速度調整部は、前記通過速度を減速させた後に前記信号機の信号状態を検知可能となり、前記信号機が赤色又は黄色の信号と識別された場合には、前記通過速度の減速を継続させ、前記信号機が緑色の信号と識別された場合には、前記通過速度を維持又は設定車速まで加速させることを特徴とする請求項1に記載の車両の走行制御システム。
- 前記信号状態検知部は、前記信号機の信号状態として、自車両前方の撮像画像から前記信号機の信号色を識別することを特徴とする請求項1又は2に記載の車両の走行制御システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017070133A JP6552064B2 (ja) | 2017-03-31 | 2017-03-31 | 車両の走行制御システム |
CN201810153673.9A CN108706009B (zh) | 2017-03-31 | 2018-02-22 | 车辆的行驶控制*** |
US15/915,759 US10640116B2 (en) | 2017-03-31 | 2018-03-08 | Traveling control system and method for vehicle |
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JP2017070133A JP6552064B2 (ja) | 2017-03-31 | 2017-03-31 | 車両の走行制御システム |
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JP2018173723A true JP2018173723A (ja) | 2018-11-08 |
JP6552064B2 JP6552064B2 (ja) | 2019-07-31 |
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US (1) | US10640116B2 (ja) |
JP (1) | JP6552064B2 (ja) |
CN (1) | CN108706009B (ja) |
Cited By (10)
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JP2019149131A (ja) * | 2018-02-28 | 2019-09-05 | トヨタ自動車株式会社 | 運転支援装置 |
JP2020144721A (ja) * | 2019-03-08 | 2020-09-10 | 本田技研工業株式会社 | 車両制御装置 |
JP2021041851A (ja) * | 2019-09-12 | 2021-03-18 | 日産自動車株式会社 | 運転支援方法及び運転支援装置 |
JP2021096700A (ja) * | 2019-12-18 | 2021-06-24 | トヨタ自動車株式会社 | 運転支援装置 |
JP2021125024A (ja) * | 2020-02-06 | 2021-08-30 | 日産自動車株式会社 | 停止位置設定方法、自動運転制御方法及び停止位置設定装置 |
KR20210108867A (ko) * | 2020-02-26 | 2021-09-03 | 모셔널 에이디 엘엘씨 | 차량의 교통 신호등 검출 시스템 |
JP2022020411A (ja) * | 2020-07-20 | 2022-02-01 | 日立Astemo株式会社 | 情報処理装置 |
WO2023052801A1 (ja) | 2021-09-29 | 2023-04-06 | 日産自動車株式会社 | 運転制御方法及び運転制御装置 |
DE102022129707A1 (de) | 2021-11-12 | 2023-05-17 | Toyota Jidosha Kabushiki Kaisha | Benachrichtigungssteuerungsvorrichtung, Fahrzeug, Benachrichtigungsverfahren und Programm |
JP7491291B2 (ja) | 2021-11-10 | 2024-05-28 | トヨタ自動車株式会社 | 運転支援装置、運転支援方法及び運転支援プログラム |
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JP2019149131A (ja) * | 2018-02-28 | 2019-09-05 | トヨタ自動車株式会社 | 運転支援装置 |
JP7003735B2 (ja) | 2018-02-28 | 2022-01-21 | トヨタ自動車株式会社 | 運転支援装置 |
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KR20210108867A (ko) * | 2020-02-26 | 2021-09-03 | 모셔널 에이디 엘엘씨 | 차량의 교통 신호등 검출 시스템 |
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JP2022020411A (ja) * | 2020-07-20 | 2022-02-01 | 日立Astemo株式会社 | 情報処理装置 |
WO2023052801A1 (ja) | 2021-09-29 | 2023-04-06 | 日産自動車株式会社 | 運転制御方法及び運転制御装置 |
JP7491291B2 (ja) | 2021-11-10 | 2024-05-28 | トヨタ自動車株式会社 | 運転支援装置、運転支援方法及び運転支援プログラム |
DE102022129707A1 (de) | 2021-11-12 | 2023-05-17 | Toyota Jidosha Kabushiki Kaisha | Benachrichtigungssteuerungsvorrichtung, Fahrzeug, Benachrichtigungsverfahren und Programm |
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JP6552064B2 (ja) | 2019-07-31 |
US10640116B2 (en) | 2020-05-05 |
CN108706009B (zh) | 2022-12-13 |
CN108706009A (zh) | 2018-10-26 |
US20180281802A1 (en) | 2018-10-04 |
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