JP2022141325A - 車両制御装置及び車両制御方法 - Google Patents
車両制御装置及び車両制御方法 Download PDFInfo
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- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- 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
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Abstract
【解決手段】車両制御装置は、車両10が走行中の車線を検出する車線検出部31と、検出された車線に沿って車両10が走行する予定の経路を設定する経路設定部32と、車両10が走行中の車線を区画する車線区画線及び車両10の周囲に存在する障害物を検出する検出部33と、その予定の経路のうち、検出された車線区画線と一致する有効区間を特定する有効区間特定部34と、障害物の位置が有効区間内に含まれ、かつ、障害物がその予定の経路上に位置する場合に、障害物と車両10との衝突を避けるように車両10の挙動を制御する制御部36とを有する。
【選択図】図3
Description
10 車両
2 GPS受信機
3 カメラ
4 ストレージ装置
5 電子制御装置(ECU)
21 通信インターフェース
22 メモリ
23 プロセッサ
31 車線検出部
32 経路設定部
33 検出部
34 有効区間特定部
35 判定部
36 車両制御部
Claims (7)
- 地図情報を記憶する記憶部と、
車両に搭載された撮像部により生成された、前記車両の周囲を表す画像、あるいは、前記車両の位置を測定する位置測定部により測定された位置と前記地図情報とを照合することで前記車両が走行中の車線を検出する車線検出部と、
前記車線に沿って前記車両が走行する予定の経路を設定する経路設定部と、
前記画像から前記車線を区画する車線区画線を検出するとともに、前記車両の周囲に存在する障害物を検出する検出部と、
前記予定の経路のうち、前記検出された車線区画線と一致する有効区間を特定する有効区間特定部と、
前記障害物の位置が前記有効区間内に含まれ、かつ、前記障害物が前記予定の経路上に位置する場合に、前記障害物と前記車両との衝突を避けるように前記車両の挙動を制御する制御部と、
を有する車両制御装置。 - 前記有効区間特定部は、前記車両の現在位置から前記予定の経路の曲率と前記検出された車線区画線の曲率との差が所定以上となる曲がり位置までの第1の区間を前記有効区間として特定する、請求項1に記載の車両制御装置。
- 前記有効区間特定部は、前記車両の現在位置から前記予定の経路と前記検出された車線区画線とが交差する交差位置までの第2の区間を前記有効区間として特定する、請求項1に記載の車両制御装置。
- 前記有効区間特定部は、前記車両の現在位置から前記予定の経路の曲率と前記検出された車線区画線の曲率との差が所定以上となる曲がり位置までの第1の区間と、前記車両の現在位置から前記予定の経路と前記検出された車線区画線とが交差する交差位置までの第2の区間の短い方を前記有効区間として特定する、請求項1に記載の車両制御装置。
- 前記有効区間特定部は、前記曲がり位置及び前記交差位置の何れも検出できない場合、前記車両の現在位置から前記車線区画線が検出された最も遠い位置までの第3の区間を前記有効区間として特定する、請求項4に記載の車両制御装置。
- 前記制御部は、前記障害物の位置が前記有効区間外であっても、前記車両の現在位置から前記障害物までの距離が所定の距離閾値以下であり、かつ、前記障害物が前記予定の経路上に位置する場合に、前記障害物と前記車両との衝突を避けるように前記車両の挙動を制御する、請求項1~3の何れか一項に記載の車両制御装置。
- 地図情報と、車両に搭載された撮像部により生成された、前記車両の周囲を表す画像、あるいは、前記車両の位置を測定する位置測定部により測定された位置とを照合することで、前記車両が走行中の車線を検出し、
前記車線に沿って前記車両が走行する予定の経路を設定し、
前記画像から前記車線を区画する車線区画線を検出するとともに、前記車両の周囲に存在する障害物を検出し、
前記予定の経路のうち、前記検出された車線区画線と一致する有効区間を特定し、
前記障害物の位置が前記有効区間内に含まれ、かつ、前記障害物が前記予定の経路上に位置する場合に、前記障害物と前記車両との衝突を避けるように前記車両の挙動を制御する、
ことを含む車両制御方法。
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CN202210237272.8A CN115071701A (zh) | 2021-03-15 | 2022-03-11 | 车辆控制装置及车辆控制方法 |
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