JP5510173B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP5510173B2 JP5510173B2 JP2010180450A JP2010180450A JP5510173B2 JP 5510173 B2 JP5510173 B2 JP 5510173B2 JP 2010180450 A JP2010180450 A JP 2010180450A JP 2010180450 A JP2010180450 A JP 2010180450A JP 5510173 B2 JP5510173 B2 JP 5510173B2
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- 230000001133 acceleration Effects 0.000 description 137
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- 238000010586 diagram Methods 0.000 description 26
- 238000004364 calculation method Methods 0.000 description 24
- 230000007423 decrease Effects 0.000 description 11
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0033—Detecting longitudinal speed or acceleration of target vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
- B60K2310/262—Distance setting methods, e.g. determining target distance to target vehicle setting initial distance to preceding vehicle, e.g. initial algorithms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
- B60K2310/264—Distance setting methods, e.g. determining target distance to target vehicle changing distance, e.g. reducing the distance for overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/28—Following time setting methods, e.g. elapsed delay between preceding and host 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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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
- B60W2554/802—Longitudinal distance
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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
- B60W2554/804—Relative longitudinal speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Regulating Braking Force (AREA)
Description
図1は、本発明の実施形態に係る車両制御装置が設けられた車両の概略図である。実施形態に係る車両制御装置2を備える車両1は、内燃機関であるエンジン5が動力源として搭載され、エンジン5で発生する動力が自動変速機(図示省略)等の駆動装置を経由して車輪3に伝達されることにより、走行可能になっている。また、この車両1は、車輪3を制動することにより走行中の車両1の制動をする制動手段であるブレーキ装置(図示省略)が設けられており、ブレーキ装置を作動させる際における油圧を制御するブレーキ油圧制御装置8が設けられている。また、駆動装置には、エンジン5の動力を車輪3に伝達する際における回転速度を検出することを介して車速を検出する車速検出手段である車速センサ10が設けられている。
Sr(相対加速度面積)=Sa(平行四辺形の面積)≦τ(設定車間時間)・a1_max(先行車最大減速度)・・・(1)
Vr(相対速度)≦Vr_max=τ(設定車間時間)・a1_max(先行車最大減速度)・・・(2)
a1_max・x+Vr0=a1_max・τ・・・(3)
x=τ−(Vr0/a1_max)・・・(4)
2 車両制御装置
12 レーダー
15 車車間通信装置
20 走行制御ECU
22 ブレーキ制御部
28 走行モード切替部
30 車間時間検出部
31 等価反応時間算出部
32 減速度判定部
33 減速度算出部
34 相対速度算出部
35 減速時相対速度算出部
40 通信追従走行制御ECU
41 車間距離設定部
45 先行車走行情報取得部
46 先行車最大減速度導出部
51 通信途絶判定部
60 自律追従走行制御ECU
61 前方状態取得部
62 車間距離設定部
63 先行車減速度導出部
100 先行車
Claims (2)
- 自車前方を走行する先行車の走行情報を取得し、取得した走行情報に基づいて自車の走行状態を制御する追従走行制御手段と、
車車間通信によって前記自車の直前のみでなく所定の範囲の前記先行車の減速ジャーク情報を取得する減速ジャーク取得手段と、
前記追従走行制御手段が前記先行車の減速に応じて前記自車を減速させるタイミングを前記自車の直前の前記先行車以外の前記先行車の減速ジャーク情報に基づいて変化させる減速タイミング制御手段と、
を備えることを特徴とする車両制御装置。 - 自車前方を走行する先行車の走行情報を取得し、取得した走行情報に基づいて自車の走行状態を制御する追従走行制御手段と、
車車間通信によって前記自車の直前のみでなく所定の範囲の前記先行車の減速ジャーク情報を取得する減速ジャーク取得手段と、
前記自車の直前の前記先行車以外の前記先行車の減速ジャーク性能が前記自車の減速ジャーク性能よりも高い場合は、前記自車の直前の前記先行車以外の前記先行車の減速ジャーク性能が前記自車の減速ジャーク性能よりも低い場合に比べて、前記自車の直前の前記先行車以外の前記走行車の減速に応じて前記追従走行制御手段で前記自車を減速させるタイミングを早める減速タイミング早期化手段と、
を備えることを特徴とする車両制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010180450A JP5510173B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
US13/813,762 US8996274B2 (en) | 2010-08-11 | 2011-08-10 | Vehicle control device and vehicle control method |
CN201180039183.2A CN103209851B (zh) | 2010-08-11 | 2011-08-10 | 车辆控制装置和车辆控制方法 |
PCT/IB2011/001840 WO2012020300A2 (en) | 2010-08-11 | 2011-08-10 | Vehicle control device and vehicle control method |
DE112011102671T DE112011102671T5 (de) | 2010-08-11 | 2011-08-10 | Fahrzeugsteuerungsvorrichtung und Fahrzeugsteuerungsverfahren |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010180450A JP5510173B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012035817A JP2012035817A (ja) | 2012-02-23 |
JP5510173B2 true JP5510173B2 (ja) | 2014-06-04 |
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ID=45567979
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Application Number | Title | Priority Date | Filing Date |
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JP2010180450A Active JP5510173B2 (ja) | 2010-08-11 | 2010-08-11 | 車両制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8996274B2 (ja) |
JP (1) | JP5510173B2 (ja) |
CN (1) | CN103209851B (ja) |
DE (1) | DE112011102671T5 (ja) |
WO (1) | WO2012020300A2 (ja) |
Families Citing this family (62)
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US8744666B2 (en) | 2011-07-06 | 2014-06-03 | Peloton Technology, Inc. | Systems and methods for semi-autonomous vehicular convoys |
US20170242443A1 (en) | 2015-11-02 | 2017-08-24 | Peloton Technology, Inc. | Gap measurement for vehicle convoying |
US10520952B1 (en) | 2011-07-06 | 2019-12-31 | Peloton Technology, Inc. | Devices, systems, and methods for transmitting vehicle data |
US10520581B2 (en) | 2011-07-06 | 2019-12-31 | Peloton Technology, Inc. | Sensor fusion for autonomous or partially autonomous vehicle control |
US11334092B2 (en) | 2011-07-06 | 2022-05-17 | Peloton Technology, Inc. | Devices, systems, and methods for transmitting vehicle data |
WO2013136495A1 (ja) * | 2012-03-15 | 2013-09-19 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP5970322B2 (ja) | 2012-10-01 | 2016-08-17 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置 |
DE102013211846A1 (de) * | 2013-06-21 | 2014-12-24 | Robert Bosch Gmbh | Verfahren zum Betrieb eines Umfelderfassungssystems eines Fahrzeugs |
SE537471C2 (sv) | 2013-09-09 | 2015-05-12 | Scania Cv Ab | Förfarande och system för adaptiv farthållning samt fordon |
JP6255853B2 (ja) * | 2013-09-30 | 2018-01-10 | マツダ株式会社 | 追従走行制御装置 |
JP6174463B2 (ja) * | 2013-11-14 | 2017-08-02 | 株式会社デンソー | 車両走行制御装置及びプログラム |
CA2941092A1 (en) * | 2014-03-27 | 2015-10-01 | Honda Motor Co., Ltd. | Shift control device for automatic transmission |
JP6330601B2 (ja) * | 2014-09-18 | 2018-05-30 | 株式会社デンソー | 運転負荷推定装置、運転負荷推定方法 |
US9412277B2 (en) * | 2014-10-13 | 2016-08-09 | Ford Global Technologies, Llc | Vehicle cut-in strategy |
CN105788363B (zh) * | 2014-12-25 | 2019-01-01 | ***通信集团公司 | 一种行车预警方法、装置及*** |
JP6115576B2 (ja) | 2015-01-07 | 2017-04-19 | トヨタ自動車株式会社 | 車両走行制御装置 |
US9694747B2 (en) * | 2015-03-24 | 2017-07-04 | Verizon Patent And Licensing Inc. | Method and system for providing a collision alert |
US9869560B2 (en) | 2015-07-31 | 2018-01-16 | International Business Machines Corporation | Self-driving vehicle's response to a proximate emergency vehicle |
US9785145B2 (en) | 2015-08-07 | 2017-10-10 | International Business Machines Corporation | Controlling driving modes of self-driving vehicles |
US9721397B2 (en) | 2015-08-11 | 2017-08-01 | International Business Machines Corporation | Automatic toll booth interaction with self-driving vehicles |
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