JP5935875B2 - 衝突回避支援装置 - Google Patents
衝突回避支援装置 Download PDFInfo
- Publication number
- JP5935875B2 JP5935875B2 JP2014505844A JP2014505844A JP5935875B2 JP 5935875 B2 JP5935875 B2 JP 5935875B2 JP 2014505844 A JP2014505844 A JP 2014505844A JP 2014505844 A JP2014505844 A JP 2014505844A JP 5935875 B2 JP5935875 B2 JP 5935875B2
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- vehicle
- lateral acceleration
- collision avoidance
- assistance
- support
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- 230000001133 acceleration Effects 0.000 claims description 87
- 230000014509 gene expression Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
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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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
y=−{x3/(6R・L)−W} … (1R)
y=−{Gyd・x3/(6T・Vs3)−W} … (2R)
Claims (9)
- 操舵の際の車速に応じて定められる設定横加速度に基づいて、車両の周辺に支援領域を設定する支援領域設定部と、
前記支援領域内に障害物が検出された場合、前記車両の衝突回避の支援を許可する支援制御部と、
を備える衝突回避支援装置。 - 前記支援領域設定部は、前記車両の通常の旋回時において運転者が操舵を行う場合に観測される最大横加速度に基づいて前記設定横加速度を設定し、前記設定横加速度に基づいて前記車両の周辺に前記支援領域を設定する、
請求項1に記載の衝突回避支援装置。 - 前記支援領域設定部は、さらに前記車両の横加速度が前記設定横加速度に達するまでの時間に基づいて前記支援領域を設定する、請求項1又は2に記載の衝突回避支援装置。
- 前記支援領域設定部は、さらに車幅方向に設定される側方間隔に基づいて前記支援領域を設定する、請求項1〜3のいずれか一項に記載の衝突回避支援装置。
- 前記支援領域設定部は、前記車両の旋回軌跡に基づいて前記支援領域を設定する、請求項4に記載の衝突回避支援装置。
- 前記支援領域設定部は、クロソイド曲線の近似式に基づいて前記支援領域を設定する、請求項5に記載の衝突回避支援装置。
- 前記支援領域設定部は、
前記車両の前面中央から車幅方向の距離をy、前記設定横加速度をGyd、前記車両の前面中央から進行方向の距離をx、前記車両の横加速度が前記設定横加速度に達するまでの時間をT、前記車速をVs、前記側方間隔をWとした場合、
y=Gyd・x3/(6T・Vs3)−W
の式に基づいて前記支援領域を設定する、請求項6に記載の衝突回避支援装置。 - 前記支援領域設定部は、前記車両の旋回中に変化する横加速度に応じて前記支援領域の設定を更新する、請求項1〜7のいずれか一項に記載の衝突回避支援装置。
- 前記支援領域設定部は、前記車両の横加速度が大きくなるほど前記車両の側に狭まるように前記支援領域の設定を更新する、請求項8に記載の衝突回避支援装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2012/057054 WO2013140513A1 (ja) | 2012-03-19 | 2012-03-19 | 衝突回避支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2013140513A1 JPWO2013140513A1 (ja) | 2015-08-03 |
JP5935875B2 true JP5935875B2 (ja) | 2016-06-15 |
Family
ID=49222007
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014505844A Expired - Fee Related JP5935875B2 (ja) | 2012-03-19 | 2012-03-19 | 衝突回避支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9604640B2 (ja) |
EP (1) | EP2830031A4 (ja) |
JP (1) | JP5935875B2 (ja) |
CN (1) | CN104246849B (ja) |
WO (1) | WO2013140513A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9199642B2 (en) | 2014-01-21 | 2015-12-01 | Elwha Llc | Vehicle collision management responsive to traction conditions in an avoidance path |
US9139202B2 (en) * | 2014-01-21 | 2015-09-22 | Elwha Llc | Vehicle collision management responsive to adverse circumstances in an avoidance path |
US11092446B2 (en) | 2016-06-14 | 2021-08-17 | Motional Ad Llc | Route planning for an autonomous vehicle |
US10126136B2 (en) | 2016-06-14 | 2018-11-13 | nuTonomy Inc. | Route planning for an autonomous vehicle |
US10309792B2 (en) | 2016-06-14 | 2019-06-04 | nuTonomy Inc. | Route planning for an autonomous vehicle |
US20180001893A1 (en) * | 2016-06-30 | 2018-01-04 | Delphi Technologies, Inc. | Automated vehicle acceleration management system |
US10681513B2 (en) | 2016-10-20 | 2020-06-09 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
US10857994B2 (en) | 2016-10-20 | 2020-12-08 | Motional Ad Llc | Identifying a stopping place for an autonomous vehicle |
US10473470B2 (en) | 2016-10-20 | 2019-11-12 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
US10331129B2 (en) | 2016-10-20 | 2019-06-25 | nuTonomy Inc. | Identifying a stopping place for an autonomous vehicle |
JP6574407B2 (ja) | 2016-11-17 | 2019-09-11 | 株式会社デンソー | 車両制御装置、及び車両制御方法 |
US10379538B1 (en) * | 2017-03-20 | 2019-08-13 | Zoox, Inc. | Trajectory generation using motion primitives |
US11008039B2 (en) * | 2017-04-12 | 2021-05-18 | Toyota Jidosha Kabushiki Kaisha | Lane change assist apparatus for vehicle |
WO2019038872A1 (ja) * | 2017-08-24 | 2019-02-28 | 日産自動車株式会社 | 運転支援車両の走行制御方法及び走行制御装置 |
US10509410B2 (en) * | 2017-12-06 | 2019-12-17 | Zoox, Inc. | External control of an autonomous vehicle |
JP6629897B2 (ja) | 2018-02-26 | 2020-01-15 | 本田技研工業株式会社 | 車両制御装置 |
FR3085782B1 (fr) * | 2018-09-11 | 2020-11-27 | Transdev Group | Procede et dispositif d'identification d'obstacles sur un trajet de vehicule automobile |
EP3886076A1 (en) * | 2020-03-27 | 2021-09-29 | Aptiv Technologies Limited | Warning system for a host automotive vehicle |
JP7468409B2 (ja) * | 2021-03-01 | 2024-04-16 | トヨタ自動車株式会社 | 車両衝突回避支援装置 |
Family Cites Families (18)
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JPH05203737A (ja) * | 1992-01-29 | 1993-08-10 | Mazda Motor Corp | 車両の障害物検出装置 |
JP2799375B2 (ja) * | 1993-09-30 | 1998-09-17 | 本田技研工業株式会社 | 衝突防止装置 |
JP3690283B2 (ja) * | 2001-01-18 | 2005-08-31 | 日産自動車株式会社 | 車線追従制御装置 |
US8364366B2 (en) * | 2005-06-24 | 2013-01-29 | Deere & Company | System and method for providing a safety zone associated with a vehicle |
JP2007137126A (ja) * | 2005-11-15 | 2007-06-07 | Mazda Motor Corp | 車両の障害物検知装置 |
JP5130638B2 (ja) * | 2006-03-22 | 2013-01-30 | 日産自動車株式会社 | 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法 |
DE102006042666A1 (de) * | 2006-09-12 | 2008-03-27 | Robert Bosch Gmbh | Verfahren zur Vermeidung bzw. Folgenminderung der Kollision eines Fahrzeugs mit mindestens einem Objekt |
JP2009012493A (ja) * | 2007-06-29 | 2009-01-22 | Hitachi Ltd | 車両運転補助装置 |
JP2009124930A (ja) * | 2007-11-12 | 2009-06-04 | Shizuo Shirata | 永久モーター |
JP5499277B2 (ja) * | 2008-01-22 | 2014-05-21 | 株式会社国際電気通信基礎技術研究所 | 危険運転予防意識判定システムおよび危険運転予防意識判定方法 |
DE102008016377A1 (de) * | 2008-03-29 | 2009-10-01 | Daimler Ag | Verfahren zum Betrieb eines Kraftfahrzeuges |
JP5174609B2 (ja) * | 2008-10-10 | 2013-04-03 | 日立オートモティブシステムズ株式会社 | 走行支援装置 |
JP5347499B2 (ja) * | 2008-12-27 | 2013-11-20 | 日産自動車株式会社 | 車両制御装置及び車両制御方法 |
JP5282590B2 (ja) * | 2009-01-30 | 2013-09-04 | 日産自動車株式会社 | 車両用運転支援装置および車両用運転支援方法 |
DE102009012226A1 (de) * | 2009-03-07 | 2010-09-09 | Daimler Ag | Verfahren zur Vermeidung oder Folgenminderung einer Kollision eines Fahrzeugs mit einem Hindernis |
DE102009020649A1 (de) | 2009-05-08 | 2010-11-18 | Daimler Ag | Verfahren und Vorrichtung zur Kollisionsvermeidung für ein Fahrzeug durch Ausweichen vor einem Hindernis |
JP5248451B2 (ja) | 2009-09-04 | 2013-07-31 | 本田技研工業株式会社 | 車両用接触回避支援装置 |
JP5601453B2 (ja) | 2010-03-30 | 2014-10-08 | マツダ株式会社 | 車両用運転支援装置 |
-
2012
- 2012-03-19 WO PCT/JP2012/057054 patent/WO2013140513A1/ja active Application Filing
- 2012-03-19 EP EP12872152.9A patent/EP2830031A4/en not_active Ceased
- 2012-03-19 CN CN201280072434.1A patent/CN104246849B/zh not_active Expired - Fee Related
- 2012-03-19 US US14/386,203 patent/US9604640B2/en not_active Expired - Fee Related
- 2012-03-19 JP JP2014505844A patent/JP5935875B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
WO2013140513A1 (ja) | 2013-09-26 |
JPWO2013140513A1 (ja) | 2015-08-03 |
US20150094943A1 (en) | 2015-04-02 |
US9604640B2 (en) | 2017-03-28 |
EP2830031A4 (en) | 2016-08-10 |
CN104246849B (zh) | 2018-01-02 |
EP2830031A1 (en) | 2015-01-28 |
CN104246849A (zh) | 2014-12-24 |
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