JP6675041B2 - 移動体走行支援装置 - Google Patents
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Description
Claims (11)
- 手動走行モードと自動走行モードを切換可能な移動体走行支援装置であって、
前記手動走行モードと前記自動走行モードのいずれの走行モードを選択するか判定する走行モード判定部と、
前記走行モード判定部が前記手動走行モードを選択する場合、前記自動走行モードから前記手動走行モードへ切り換える切換予定地点を決定する切換予定地点決定部と、
前記選択された手動走行モードでの走行が予定されている手動走行区間のうち前記切換予定地点を含む所定の手動走行区間の周囲環境に含まれる視認対象物に対する運転者の視認状況を評価することにより、前記切換予定地点まで自動走行モードで走行する際の走行制御内容を決定する走行制御内容決定部と、
を備え、
前記走行制御内容決定部は、交通安全に対する影響度に基づいて前記視認対象物を評価するものであり、前記視認対象物のうち交通安全に対する影響度の大きい視認対象物を前記運転者が視認できるように、前記走行制御内容を決定する、
移動体走行支援装置。 - 前記走行制御内容決定部は、前記所定の手動走行区間の周囲環境に対する運転者の視認状況を推定することにより、前記走行制御内容を決定する、
請求項1に記載の移動体走行支援装置。 - 前記走行制御内容決定部は、前記移動体の外界状況を画像として認識する外界認識装置の画像認識結果に基づいて、前記運転者の視認状況を推定する、
請求項2に記載の移動体走行支援装置。 - 前記切換予定地点決定部は、前記自動走行モードから前記手動走行モードへの切換処理を開始する切換開始位置と、前記切換処理を完了すべき切換完了位置とを、前記切換予定地点として決定する、
請求項1に記載の移動体走行支援装置。 - 前記走行モード判定部は、目標ルート上の道路状況に基づいて、前記手動走行モードと前記自動走行モードのいずれの走行モードを選択するか判定する、
請求項1に記載の移動体走行支援装置。 - 前記走行モード判定部は、自動走行モードの選択に必要な条件が満たされていない場合、前記手動走行モードを選択する、
請求項1に記載の移動体走行支援装置。 - 前記所定の手動走行区間の状況を運転者に提供する情報提供部をさらに備える、
請求項1に記載の移動体走行支援装置。 - 前記切換完了位置は、前記所定の手動走行区間の入口に設定され、
前記切換開始位置は、前記切換完了位置と前記切換処理に要する時間と移動体の推定速度とに基づいて設定される、
請求項4に記載の移動体走行支援装置。 - 前記切換予定地点は、移動体の速度が所定速度以下になる領域に設定される、
請求項1に記載の移動体走行支援装置。 - 前記切換予定地点は、停止指示器が設置された地点に設定される、
請求項9に記載の移動体走行支援装置。 - 前記走行制御内容決定部は、前記所定の手動走行区間の入口から所定範囲内に存在する停止指示器のうち、前記移動体が到達した場合に前記移動体の速度が前記所定速度以下となる所定の停止指示器を推定し、推定した停止指示器の設置された地点に前記切換予定地点を設定する、
請求項10に記載の移動体走行支援装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017041099 | 2017-03-03 | ||
JP2017041099 | 2017-03-03 | ||
PCT/JP2018/006149 WO2018159399A1 (ja) | 2017-03-03 | 2018-02-21 | 移動体走行支援装置および方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018159399A1 JPWO2018159399A1 (ja) | 2019-11-07 |
JP6675041B2 true JP6675041B2 (ja) | 2020-04-01 |
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JP7087451B2 (ja) * | 2018-03-01 | 2022-06-21 | トヨタ自動車株式会社 | 運転支援装置 |
EP4086876B1 (en) * | 2018-09-11 | 2023-11-01 | NISSAN MOTOR Co., Ltd. | Driving assist method and driving assist device |
JP2020044938A (ja) * | 2018-09-18 | 2020-03-26 | 本田技研工業株式会社 | 車両の制御システム及び車両の制御方法 |
JP2020104738A (ja) | 2018-12-27 | 2020-07-09 | トヨタ自動車株式会社 | 報知装置 |
DE102019101314A1 (de) * | 2019-01-18 | 2020-07-23 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Vorrichtung und Verfahren zur Nutzung von Komponenten eines Fahrzeugs |
WO2021094802A1 (ja) * | 2019-11-15 | 2021-05-20 | 日産自動車株式会社 | 車両制御方法及び車両制御装置 |
JP7173063B2 (ja) * | 2020-01-27 | 2022-11-16 | トヨタ自動車株式会社 | 自動運転装置 |
JP7421382B2 (ja) * | 2020-03-16 | 2024-01-24 | 本田技研工業株式会社 | 制御装置、システム、プログラム、及び制御方法 |
US20220185338A1 (en) * | 2020-12-11 | 2022-06-16 | Here Global B.V. | Mixed mode vehicle |
US11837088B2 (en) * | 2021-08-26 | 2023-12-05 | Honda Motor Co., Ltd. | Driving assistance apparatus |
DE102021005311A1 (de) * | 2021-10-26 | 2023-04-27 | Mercedes-Benz Group AG | Verfahren zur automatischen Regelung einer Längsbewegung eines Fahrzeuges |
JP2023068892A (ja) * | 2021-11-04 | 2023-05-18 | 本田技研工業株式会社 | 運転支援装置 |
US11975734B2 (en) * | 2022-08-24 | 2024-05-07 | At&T Intellectual Property I, L.P. | Augmented-reality map assistance to improve driver visibility |
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JP2002251690A (ja) | 2001-02-23 | 2002-09-06 | Toshiba Corp | 自動誘導制御システム |
JP5493842B2 (ja) | 2009-12-25 | 2014-05-14 | トヨタ自動車株式会社 | 走行支援装置 |
US9342074B2 (en) * | 2013-04-05 | 2016-05-17 | Google Inc. | Systems and methods for transitioning control of an autonomous vehicle to a driver |
JP6161553B2 (ja) * | 2014-02-25 | 2017-07-12 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
US9604642B2 (en) * | 2014-04-29 | 2017-03-28 | Lenovo Enterprise Solutions (Singapore) Pte. Ltd. | Positioning autonomous vehicles based on field of view |
JP6201927B2 (ja) | 2014-08-01 | 2017-09-27 | トヨタ自動車株式会社 | 車両制御装置 |
JP6135618B2 (ja) * | 2014-08-08 | 2017-05-31 | トヨタ自動車株式会社 | 車両制御装置 |
JP6365134B2 (ja) * | 2014-09-02 | 2018-08-01 | アイシン・エィ・ダブリュ株式会社 | 走行支援システム、走行支援方法及びコンピュータプログラム |
JP6390276B2 (ja) * | 2014-09-02 | 2018-09-19 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
JP6442993B2 (ja) * | 2014-11-07 | 2018-12-26 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
JP6222137B2 (ja) * | 2015-03-02 | 2017-11-01 | トヨタ自動車株式会社 | 車両制御装置 |
JP6304086B2 (ja) * | 2015-03-23 | 2018-04-04 | トヨタ自動車株式会社 | 自動運転装置 |
JP6269546B2 (ja) * | 2015-03-23 | 2018-01-31 | トヨタ自動車株式会社 | 自動運転装置 |
FR3038280B1 (fr) * | 2015-07-03 | 2019-05-10 | Psa Automobiles Sa. | Dispositif et procede d’aide a la conduite |
JP2017213940A (ja) * | 2016-05-30 | 2017-12-07 | 三菱電機株式会社 | ノイズ抑制量調整装置、ノイズ抑制量調整システムおよびノイズ抑制量調整プログラム |
JP6489084B2 (ja) * | 2016-08-10 | 2019-03-27 | トヨタ自動車株式会社 | 自動運転システム |
KR20180070401A (ko) * | 2016-12-16 | 2018-06-26 | 현대자동차주식회사 | 자율주행차량의 운전 제어권 이양을 판단하는 시스템 및 방법 |
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