JP6669267B2 - 車両の走行制御方法および走行制御装置 - Google Patents
車両の走行制御方法および走行制御装置 Download PDFInfo
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Description
110…自車位置検出装置
120…地図データベース
130…車速センサ
140…測距センサ
150…カメラ
160…入力装置
170…駆動機構
180…制御装置
190…ヨーレートセンサ
Claims (6)
- 複数の設定可能な目標車間距離のうち所定の目標車間距離に設定して、自車両の前方を走行する先行車両の走行軌跡を自動追従する車両の走行制御方法において、
前記先行車両の走行軌跡を自動追従する軌跡追従走行モードがOFF状態からON状態に遷移したときは、自車両と前記先行車両との前記目標車間距離を、設定可能な値のうち相対的に小さい値に設定する車両の走行制御方法。 - 前記軌跡追従走行モードがON状態である場合において、
自車両が、カーブ、交差点、坂道又はインターチェンジの何れかに接近したときは、前記目標車間距離を現在の設定値よりさらに相対的に小さい値に設定する請求項1に記載の車両の走行制御方法。 - 複数の設定可能な目標車間距離のうち所定の目標車間距離に設定し、自車両と当該自車両の前方を走行する先行車両との車間距離が前記目標車間距離になるように自車両の走行を自動制御する車間距離制御と、
複数の設定可能な目標車間距離のうち所定の目標車間距離に設定し、自車両と当該自車両の前方を走行する先行車両との車間距離が前記目標車間距離になるように自車両の走行を自動制御するとともに前記自車両の前方を走行する先行車両の走行軌跡を自動追従する軌跡追従走行モードと、を備える車両の走行制御方法において、
前記車間距離制御がON状態で前記軌跡追従走行モードがOFF状態の場合には、前記目標車間距離を、ドライバーが設定した目標車間距離に維持し、
前記軌跡追従走行モードがON状態である場合に、自車両が、カーブ、交差点、坂道又はインターチェンジの何れかに接近したときは、自車両と前記先行車両との前記目標車間距離を、設定可能な値のうち相対的に小さい値に設定する車両の走行制御方法。 - 前記目標車間距離の設定可能な値が、第1距離、前記第1距離より大きい第2距離及び前記第2距離より大きい第3距離の少なくとも3つの距離を含む場合に、
前記軌跡追従走行モードがOFF状態からON状態に遷移したときは、前記目標車間距離を前記第1距離又は前記第2距離の何れかに設定する請求項1〜3のいずれか一項に記載の車両の走行制御方法。 - 前記軌跡追従走行モードがON状態である場合には、前記目標車間距離を前記第2距離に設定し、
この状態において、自車両が、カーブ、交差点、坂道又はインターチェンジの何れかに接近したときは、前記目標車間距離を前記第1距離に設定する請求項4に記載の車両の走行制御方法。 - 複数の設定可能な目標車間距離のうち所定の目標車間距離に設定して、自車両の前方を走行する先行車両の走行軌跡を自動追従するように、自車両を走行制御する制御器を備えた車両の走行制御装置において、
前記先行車両の走行軌跡を自動追従する自動走行モードがOFF状態からON状態に遷移したときは、自車両と前記先行車両との前記目標車間距離を、設定可能な値のうち相対的に小さい値に設定する車両の走行制御装置。
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JP6975703B2 (ja) * | 2018-12-18 | 2021-12-01 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
KR20210082966A (ko) * | 2019-12-26 | 2021-07-06 | 현대자동차주식회사 | 차량 주행 제어 장치 및 방법 |
CN114013457A (zh) * | 2021-11-19 | 2022-02-08 | 长沙智能驾驶研究院有限公司 | 车辆控制方法、装置、设备及计算机存储介质 |
CN114655207B (zh) * | 2022-05-13 | 2022-10-18 | 中汽创智科技有限公司 | 一种数据处理方法、装置、设备及存储介质 |
CN115320589B (zh) * | 2022-10-13 | 2023-02-10 | 青岛慧拓智能机器有限公司 | 跟车速度规划方法、装置、芯片、终端、电子设备及介质 |
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WO2019033025A1 (en) * | 2017-08-10 | 2019-02-14 | Patroness, LLC | SYSTEMS AND METHODS FOR IMPROVED AUTONOMOUS OPERATIONS OF A MOTORIZED MOBILE SYSTEM |
WO2019231456A1 (en) * | 2018-05-31 | 2019-12-05 | Nissan North America, Inc. | Probabilistic object tracking and prediction framework |
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CN109689459B (zh) | 2020-05-15 |
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BR112019005339B1 (pt) | 2022-09-27 |
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RU2719083C1 (ru) | 2020-04-17 |
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MX2019002897A (es) | 2019-07-04 |
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