JP5502134B2 - 前を走行する車両の走行状態を予知するための方法 - Google Patents
前を走行する車両の走行状態を予知するための方法 Download PDFInfo
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- JP5502134B2 JP5502134B2 JP2012101164A JP2012101164A JP5502134B2 JP 5502134 B2 JP5502134 B2 JP 5502134B2 JP 2012101164 A JP2012101164 A JP 2012101164A JP 2012101164 A JP2012101164 A JP 2012101164A JP 5502134 B2 JP5502134 B2 JP 5502134B2
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- 238000000034 method Methods 0.000 title claims description 23
- 230000001133 acceleration Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012790 confirmation Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral speed
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
11 車両
14 自動車制御装置
17 走行道路
Claims (8)
- 前を走行する車両の後ろを走行する車両の自動車制御装置によって、前記前を走行する車両の走行状態を予知するための方法であって、
a)まず、前記後ろを走行する車両の前記自動車制御装置によって、前記後ろを走行する前記車両のその都度の実際位置と、前記前を走行する車両とのその都度の実際間隔とから、前記前を走行する車両のその都度の実際位置を求めるステップを含み、この場合前記後ろを走行する前記車両の前記自動車制御装置が、前記前を走行する車両のその都度の実際位置に適合する走行道路情報と、前記前を走行する車両のその都度の実際位置について求められた、前記前を走行する車両の動的走行情報とから、前記前を走行する車両の特性値を求めるステップと、
b)続いて、前記後ろを走行する車両の前記自動車制御装置によって、前記前を走行する車両の特性値と、前記前を走行する車両の前方にある走行道路の走行道路情報とから、前記前を走行する車両の走行状態を予知するステップを含み、
前を走行する前記車両に対する最初の検出の際に、自動車制御装置が、前記前を走行する車両の認識された大きさまたは認識されたモデルに基づいて、データベースから前記前を走行する車両の標準走行状態の特性値を求め、この場合、前記標準走行状態の特性値に基づいて予知が行われることを特徴とする方法。 - 続いて、前記後ろを走行する車両が前記前を走行する車両の後ろを走行する間、実際の特性値が求められることと、この特性値を前記データベースの特性値と比較することにより、実際の特性値と最も一致する特性値を有する走行状態が前記データベースから選び出され、この場合、専ら前記データベースの特性値に基づいてあるいは前記データベースの特性値と実際に求められた特性値との組み合わせに基づいて、予知が行われることを特徴とする請求項1に記載の方法。
- 前記後ろを走行する車両が前記前を走行する車両の後ろを走行する間にすべての特性値が実際に求められるときに、専ら実際に求められた特性値に基づいて予知が行われることを特徴とする請求項1または2に記載の方法。
- 前記後ろを走行する車両のその都度の実際位置がGPSシステムから供給されることを特徴とする請求項1〜3のいずれか一項に記載の方法。
- 前記前を走行する車両とのその都度の実際間隔が、少なくとも1個の間隔センサから供給されることを特徴とする請求項1〜4のいずれか一項に記載の方法。
- 前記前を走行する車両のその都度の実際位置に適合する走行道路情報として、路面勾配路面曲率半径及び制限速度のうちの少なくとも一つが考慮されることを特徴とする請求項1〜5のいずれか一項に記載の方法。
- 前記前を走行する車両のその都度の実際位置について、前記前を走行する車両の動的走行情報として、走行速度、制限速度に対する偏差、縦方向加速度、横方向加速度及びヨーレートのうちの少なくとも一つが求められることを特徴とする請求項1〜5のいずれか一項に記載の方法。
- 前記前を走行する車両の特性値は、走行道路情報と動的走行情報の値の組み合わせ、すなわち路面曲率半径と横方向加速度の組み合わせ、路面勾配と縦方向加速度の組み合わせ及び制限速度と制限速度との偏差の組み合わせの少なくとも一つ組み合わせにより求められる値として構成されることを特徴とする請求項1〜7のいずれか一項に記載の方法。
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Application Number | Priority Date | Filing Date | Title |
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DE102011002275.9 | 2011-04-27 | ||
DE102011002275.9A DE102011002275B4 (de) | 2011-04-27 | 2011-04-27 | Verfahren zur Prognose des Fahrverhaltens eines vorausfahrenden Fahrzeugs |
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JP2012232733A JP2012232733A (ja) | 2012-11-29 |
JP5502134B2 true JP5502134B2 (ja) | 2014-05-28 |
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Cited By (1)
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CN105404294A (zh) * | 2014-09-10 | 2016-03-16 | 大众汽车有限公司 | 通过辨识车辆特征来改变自主车辆行驶 |
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US10254764B2 (en) | 2016-05-31 | 2019-04-09 | Peloton Technology, Inc. | Platoon controller state machine |
US10474166B2 (en) | 2011-07-06 | 2019-11-12 | Peloton Technology, Inc. | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles |
US20170242443A1 (en) | 2015-11-02 | 2017-08-24 | Peloton Technology, Inc. | Gap measurement for vehicle convoying |
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US11294396B2 (en) | 2013-03-15 | 2022-04-05 | Peloton Technology, Inc. | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles |
DE102013211427B4 (de) * | 2013-06-18 | 2016-10-13 | Continental Automotive Gmbh | Verfahren und Vorrichtung zur Ermittlung eines Fahrzustands eines externen Kraftfahrzeugs |
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DE102013013233A1 (de) * | 2013-08-08 | 2015-02-12 | Man Truck & Bus Ag | Fahrerassistenzsystem und Betriebsverfahren für ein Fahrerassistenzsystem zur Fahrzeug-Längsregelung |
CN106875677A (zh) * | 2015-12-14 | 2017-06-20 | 中国电信股份有限公司 | 用于分析驾驶行为的方法、分析平台和*** |
DE102016204136B4 (de) * | 2016-03-14 | 2018-07-12 | Ford Global Technologies, Llc | Verfahren und Vorrichtung zur automatisierten Längsbewegungssteuerung eines Kraftfahrzeugs |
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JP5287736B2 (ja) * | 2010-01-12 | 2013-09-11 | トヨタ自動車株式会社 | 車両制御装置 |
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CN105404294A (zh) * | 2014-09-10 | 2016-03-16 | 大众汽车有限公司 | 通过辨识车辆特征来改变自主车辆行驶 |
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JP2012232733A (ja) | 2012-11-29 |
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