JP6564424B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP6564424B2 JP6564424B2 JP2017114554A JP2017114554A JP6564424B2 JP 6564424 B2 JP6564424 B2 JP 6564424B2 JP 2017114554 A JP2017114554 A JP 2017114554A JP 2017114554 A JP2017114554 A JP 2017114554A JP 6564424 B2 JP6564424 B2 JP 6564424B2
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- 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
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- 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
- B60W40/02—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 related to ambient conditions
- B60W40/04—Traffic conditions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
-
- 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
- B60W2552/10—Number of lanes
-
- 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
- B60W2554/4044—Direction of movement, e.g. backwards
-
- 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
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
214 中央線検出部
216 対向車両検出部
218 予測時間導出部
222 制御対象対向車両選出部
Claims (4)
- 自車両が走行する走行車線と対向車両が走行する対向車線を区分する中央線を検出する中央線検出部と、
前記対向車線を走行する前記対向車両を検出する対向車両検出部と、
前記自車両と前記対向車両が衝突する衝突予測時間を導出する予測時間導出部と、
前記中央線から前記対向車線側の所定距離範囲内の領域に複数の前記対向車両が存在すると判定した場合、前記複数の対向車両のうち、前記衝突予測時間が最も短い対向車両を、前記自車両との衝突を回避する対象となる制御対象対向車両として選出する制御対象対向車両選出部と、
を備え、
前記対向車両検出部は、前記自車両の進行方向に延びる線と、前記自車両と前記対向車両とを結ぶ線との間の角度が所定角度以内である場合、前記制御対象対向車両の候補とし、前記角度が所定角度より大きい場合、前記制御対象対向車両の候補としない車両制御装置。 - 前記自車両の進行方向における前記自車両と前記対向車両との間の第1距離を導出する距離導出部を有し、
前記制御対象対向車両選出部は、前記複数の対向車両の前記衝突予測時間が等しい場合、前記第1距離が最も短い対向車両を、前記制御対象対向車両として選出する請求項1に記載の車両制御装置。 - 前記距離導出部は、
前記自車両の進行方向と直交する方向における前記自車両と前記対向車両との間の第2距離を導出し、
前記制御対象対向車両選出部は、前記複数の対向車両の前記衝突予測時間が等しく、かつ、前記複数の対向車両の前記第1距離が等しい場合、前記第2距離が最も短い対向車両を、前記制御対象対向車両として選出する請求項2に記載の車両制御装置。 - 前記制御対象対向車両が選出された場合、前記自車両と前記制御対象対向車両との衝突を回避するように前記自車両を制御する制御部を備える請求項1から3のいずれか1項に記載の車両制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017114554A JP6564424B2 (ja) | 2017-06-09 | 2017-06-09 | 車両制御装置 |
US15/980,585 US10810877B2 (en) | 2017-06-09 | 2018-05-15 | Vehicle control device |
CN201810459962.1A CN109017773B (zh) | 2017-06-09 | 2018-05-15 | 车辆控制装置 |
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JP2017114554A JP6564424B2 (ja) | 2017-06-09 | 2017-06-09 | 車両制御装置 |
Related Child Applications (1)
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JP2019136551A Division JP6850326B2 (ja) | 2019-07-25 | 2019-07-25 | 車両制御装置 |
Publications (2)
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JP2018206313A JP2018206313A (ja) | 2018-12-27 |
JP6564424B2 true JP6564424B2 (ja) | 2019-08-21 |
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US (1) | US10810877B2 (ja) |
JP (1) | JP6564424B2 (ja) |
CN (1) | CN109017773B (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6938903B2 (ja) * | 2016-12-14 | 2021-09-22 | 株式会社デンソー | 車両における衝突回避装置および衝突回避方法 |
JP6433537B2 (ja) * | 2016-12-22 | 2018-12-05 | カルソニックカンセイ株式会社 | 画像表示制御装置 |
JP2020175804A (ja) * | 2019-04-19 | 2020-10-29 | マツダ株式会社 | 車両制御装置 |
CN110371025A (zh) * | 2019-08-09 | 2019-10-25 | 爱驰汽车有限公司 | 超车工况的前置碰撞检测的方法、***、设备及存储介质 |
EP4137378B1 (en) * | 2020-04-15 | 2023-12-27 | Nissan Motor Co., Ltd. | Travel assistance method and travel assistance device |
JP2022018618A (ja) * | 2020-07-16 | 2022-01-27 | トヨタ自動車株式会社 | 車両制御装置 |
JP2022075293A (ja) * | 2020-11-06 | 2022-05-18 | 株式会社Subaru | 車両の運転支援装置 |
FR3118825B1 (fr) * | 2021-01-13 | 2024-04-26 | Psa Automobiles Sa | Dispositif anticollision pour véhicule automobile |
JP7468375B2 (ja) * | 2021-01-21 | 2024-04-16 | トヨタ自動車株式会社 | 車両制御装置 |
CN115610415B (zh) * | 2022-11-17 | 2023-03-14 | 广汽埃安新能源汽车股份有限公司 | 车辆距离控制方法、装置、电子设备和计算机可读介质 |
Family Cites Families (22)
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JP4145644B2 (ja) * | 2002-12-17 | 2008-09-03 | 富士重工業株式会社 | 車両の走行制御装置 |
JP2004280453A (ja) * | 2003-03-14 | 2004-10-07 | Calsonic Kansei Corp | 車両の右折時安全確認システム |
JP4191667B2 (ja) | 2004-10-26 | 2008-12-03 | 本田技研工業株式会社 | 車両用制御対象判定装置 |
JP2008065545A (ja) * | 2006-09-06 | 2008-03-21 | Toyota Motor Corp | 車両用運転支援装置 |
JP5067091B2 (ja) * | 2007-09-18 | 2012-11-07 | トヨタ自動車株式会社 | 衝突判定装置 |
JP2009274497A (ja) * | 2008-05-13 | 2009-11-26 | Mazda Motor Corp | 車両の車線逸脱警報装置 |
KR20110132437A (ko) * | 2009-03-04 | 2011-12-07 | 콘티넨탈 테베스 아게 운트 코. 오하게 | 차량의 주행 거동을 자동으로 인식하기 위한 방법 및 이러한 방법을 구현한 운전자 지원 시스템 |
JPWO2011064831A1 (ja) | 2009-11-30 | 2013-04-11 | 富士通株式会社 | 診断装置及び診断方法 |
JP2012066690A (ja) * | 2010-09-24 | 2012-04-05 | Fujitsu Ten Ltd | 車両制御システム、車両制御装置、及び、車両制御方法 |
JP5724905B2 (ja) * | 2012-02-23 | 2015-05-27 | トヨタ自動車株式会社 | 衝突被害軽減システム、装置制御装置、衝突被害低減方法 |
JP2014071012A (ja) | 2012-09-28 | 2014-04-21 | Daimler Ag | 制御対象検出装置及び緊急自動制動装置 |
JP5849040B2 (ja) * | 2012-11-28 | 2016-01-27 | 富士重工業株式会社 | 車両の運転支援制御装置 |
KR20140126975A (ko) * | 2013-04-24 | 2014-11-03 | 주식회사 만도 | 차량의 충돌 회피 장치 및 방법 |
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JP2015118555A (ja) | 2013-12-18 | 2015-06-25 | 株式会社デンソー | 対向車情報生成装置 |
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CN108778882B (zh) * | 2016-03-15 | 2021-07-23 | 本田技研工业株式会社 | 车辆控制装置、车辆控制方法及存储介质 |
JP2017194926A (ja) * | 2016-04-22 | 2017-10-26 | 株式会社デンソー | 車両制御装置、車両制御方法 |
RU2721635C1 (ru) * | 2016-07-25 | 2020-05-21 | Ниссан Мотор Ко., Лтд. | Способ помощи при смене полосы движения и устройство помощи при смене полосы движения |
JP6714714B2 (ja) * | 2016-10-18 | 2020-06-24 | 本田技研工業株式会社 | 車両制御装置 |
CA3064723A1 (en) * | 2017-05-24 | 2018-11-29 | Nissan Motor Co., Ltd. | Traveling assistance method of traveling assistance device and traveling assistance device |
-
2017
- 2017-06-09 JP JP2017114554A patent/JP6564424B2/ja active Active
-
2018
- 2018-05-15 US US15/980,585 patent/US10810877B2/en active Active
- 2018-05-15 CN CN201810459962.1A patent/CN109017773B/zh active Active
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CN109017773A (zh) | 2018-12-18 |
US20180357903A1 (en) | 2018-12-13 |
JP2018206313A (ja) | 2018-12-27 |
CN109017773B (zh) | 2022-11-22 |
US10810877B2 (en) | 2020-10-20 |
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