JP5711721B2 - 車両の運転支援制御装置 - Google Patents
車両の運転支援制御装置 Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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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
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- B60W30/12—Lane keeping
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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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
- B60W2050/143—Alarm means
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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
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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
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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
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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
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- 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
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Radar, Positioning & Navigation (AREA)
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Description
図1において、符号1は自動車等の車両(自車両)で、自車両1には、運転支援制御装置2が搭載されている。この運転支援制御装置2は、第1環境認識手段としてのステレオカメラユニット3と、第2環境認識手段としてのミリ波レーダユニット4と、制御ユニット5とから主要に構成されている。そして、運転支援制御装置2には、自車速V0を検出する車速センサ6、ハンドル角θHを検出するハンドル角センサ7の各種センサ類が接続され、制御ユニット5による制御信号が警報ランプ9、及び、ブレーキ駆動部10に必要に応じて出力される。
ρa=(1+A・V02)・l・n/θHe …(1)
ここで、Aはステア特性、lはホイールベース、nはステアリングギヤ比、θHeはハンドル角予測値であり、ハンドル角予測値θHeは、例えば、以下の(2)式により算出される。
θHe=θH+(dθH/dt)・Δt …(2)
ここで、(dθH/dt)はハンドル角速度、Δtは予測時間である。
Ld=ρa・cos(sin−1((ρa−Wl)/ρa)) …(3)
このように、第1の逸脱点までの距離算出部53は、走行レーン推定手段、逸脱位置推定手段として設けられ、算出された第1の逸脱点までの距離Ldは、制御判定部55、警報制御部56、ブレーキ制御部57に出力される。
Lt=x1+(y1/(y2−y1))・(x2−x1) …(4)
このように、第2の逸脱点までの距離算出部54は、走行レーン推定手段、逸脱位置推定手段として設けられ、算出された第2の逸脱点までの距離Ltは、ブレーキ制御部57に出力される。
Ld<Lal …(5)
ここで、Lal =V02/(2・a1):a1は予め実験・演算等により設定しておいた減速度である。
Lt<Lb2 …(7)
ここで、Lb1 =V02/(2・a2):a2は予め実験・演算等により設定しておいた減速度であり、Lal>Lb1とする。また、Lb2 =V02/(2・a3):a3は予め実験・演算等により設定しておいた減速度であり、Lb1<Lb2とする。
まず、ステップ(以下、「S」と略称)101で、必要情報、すなわち、走行レーンの白線情報、対象立体物の立体物情報、自車速V0、ハンドル角θHを読み込む。
2 運転支援制御装置
3 ステレオカメラユニット(第1環境認識手段)
4 ミリ波レーダユニット(第2環境認識手段)
5 制御ユニット
6 車速センサ
7 ハンドル角センサ
9 警報ランプ
10 ブレーキ駆動部
31 ステレオカメラ
32 第1環境認識部
41 ミリ波送受信部
42 第2環境認識部
51 視程推定部(視程推定手段)
52 走行軌跡推定部(走行軌跡推定手段)
53 第1の逸脱点までの距離算出部(走行レーン推定手段、逸脱位置推定手段)
54 第2の逸脱点までの距離算出部(走行レーン推定手段、逸脱位置推定手段)
55 制御判定部
56 警報制御部(車線逸脱防止制御手段)
57 ブレーキ制御部(車線逸脱防止制御手段)
Claims (4)
- 画像情報に基づき前方の走行レーンの白線情報を検出する第1環境認識手段と、
送受信される電波情報に基づき上記前方の走行レーンの路側に存在する立体物情報を検出する第2環境認識手段と、
上記白線情報に基づいてドライバが認識可能な上記白線の最遠距離までをドライバの視程として推定する視程推定手段と、
上記白線情報と上記立体物情報の少なくとも一方に基づいて走行レーンを推定する走行レーン推定手段と、
自車両の走行軌跡を推定する走行軌跡推定手段と、
上記走行レーン推定手段で推定した上記走行レーンと上記走行軌跡推定手段で推定した走行軌跡に基づいて自車両が上記走行レーンから逸脱する逸脱位置を推定する逸脱位置推定手段と、
上記逸脱位置が上記視程より遠方の場合に上記走行レーンからの逸脱の可能性に応じてドライバへの報知と自動ブレーキの付加の少なくとも一方を実行する車線逸脱防止制御手段と、
を備えたことを特徴とする車両の運転支援制御装置。 - 上記視程推定手段は、上記走行レーンの白線情報を基に、路面上の白線を認識する人間の視覚の平均的なコントラストの値を閾値として予め設定し、該閾値よりも高いコントラストの値で検出された上記画像情報の白線の最遠距離までを上記ドライバが認識可能な上記ドライバの視程として推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制御装置。
- 上記車線逸脱防止制御手段は、上記逸脱位置が上記視程より遠方の場合で、且つ、上記逸脱位置が予め設定する閾値より近づいた場合にドライバへ車線逸脱の可能性を報知することを特徴とする請求項1又は請求項2記載の車両の運転支援制御装置。
- 上記車線逸脱防止制御手段は、上記逸脱位置が上記視程より遠方の場合で、且つ、上記路側に存在する立体物に衝突するまでの距離が予め設定する閾値より近づいた場合に上記自動ブレーキを実行することを特徴とする請求項1乃至請求項3の何れか一つに記載の車両の運転支援制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012264521A JP5711721B2 (ja) | 2012-12-03 | 2012-12-03 | 車両の運転支援制御装置 |
US14/091,197 US9223311B2 (en) | 2012-12-03 | 2013-11-26 | Vehicle driving support control apparatus |
CN201310613319.7A CN103847735B (zh) | 2012-12-03 | 2013-11-27 | 车辆的驾驶辅助控制装置 |
DE102013113163.8A DE102013113163A1 (de) | 2012-12-03 | 2013-11-28 | Fahrzeugfahrtunterstützungssteuerungsvorrichtung |
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JP2012264521A JP5711721B2 (ja) | 2012-12-03 | 2012-12-03 | 車両の運転支援制御装置 |
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JP2014109945A JP2014109945A (ja) | 2014-06-12 |
JP5711721B2 true JP5711721B2 (ja) | 2015-05-07 |
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JP2012264521A Active JP5711721B2 (ja) | 2012-12-03 | 2012-12-03 | 車両の運転支援制御装置 |
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US (1) | US9223311B2 (ja) |
JP (1) | JP5711721B2 (ja) |
CN (1) | CN103847735B (ja) |
DE (1) | DE102013113163A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11091197B2 (en) | 2016-07-07 | 2021-08-17 | Denso Corporation | Driving support apparatus |
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JP2015096377A (ja) * | 2013-11-15 | 2015-05-21 | 株式会社デンソー | 車線逸脱警報装置 |
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JP6698117B2 (ja) * | 2018-04-02 | 2020-05-27 | 本田技研工業株式会社 | 車両制御装置 |
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