JP6798611B2 - 走行支援方法及び走行支援装置 - Google Patents
走行支援方法及び走行支援装置 Download PDFInfo
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
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- Radar, Positioning & Navigation (AREA)
- Analytical Chemistry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Health & Medical Sciences (AREA)
- Psychiatry (AREA)
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- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
51 自車両
52 他車両
53 駐車車両(物体)
53a、53b 先行車両(物体)
54 自転車(死角領域の中に居る物体)
54a、54b 駐車車両(死角領域の中に居る物体)
55 死角領域
100マイクロコンピュータ(制御部)
Claims (12)
- 自車両の周囲における他車両の動作を予測し、予測した結果を用いて自車両の走行を支援する走行支援方法であって、
前記他車両及び前記自車両の周囲における物体を検出し、
前記他車両から死角となる死角領域を設定し、
検出された前記物体の中から前記死角領域の中に居る物体を特定し、
特定された前記物体に基づいて前記他車両が取る動作を予測する
ことを特徴とする走行支援方法。 - 前記死角領域の中に居る物体の挙動に応じて、前記他車両の動作を予測することを特徴とする請求項1に記載の走行支援方法。
- 前記他車両の位置、前記他車両の進行方向及び前記他車両の周囲の道路構造に基づき、前記他車両の進行する可能性がある領域内にのみ、前記死角領域を設定することを特徴とする請求項1又は2に記載の走行支援方法。
- 前記他車両が前記死角領域の中に居る物体を認識していない場合に前記他車両が取る動作を予測することを特徴とする請求項1乃至3のいずれか一項に記載の走行支援方法。
- 前記他車両が前記死角領域の中に居る物体を認識していない場合に前記他車両が取る動作候補を、前記自車両の周囲の道路構造に基づいて予測し、
前記他車両の挙動と前記動作候補とを比較することにより、前記他車両の動作を予測する
ことを特徴とする請求項4に記載の走行支援方法。 - 前記死角領域として、前記他車両の乗員からの死角を設定することを特徴とする請求項1乃至4のいずれか一項に記載の走行支援方法。
- 前記死角領域として、前記他車両のセンサの検出範囲以外を設定することを特徴とする請求項1乃至4のいずれか一項に記載の走行支援方法。
- 予測した前記動作に基づいて、自車両を制御することを特徴とする請求項1乃至7のいずれか一項に記載の走行支援方法。
- 自車両の周囲における他車両及び物体を検出し、
前記死角領域を設定し、
検出された前記物体の中から前記死角領域の中に居る物体を特定し、
特定された前記物体を前記他車両が認識していない場合に前記他車両が取る動作候補を、前記自車両の周囲の道路構造に基づいて予測し、
前記他車両の挙動と前記動作候補とを比較することにより、前記他車両の動作を予測し、
予測した前記他車両の動作に基づいて前記自車両を制御する
ことを特徴とする請求項8に記載の走行支援方法。 - 前記挙動と前記動作候補とが類似している場合に、
前記動作候補に基づいて、前記自車両を制御することを特徴とする請求項8又は9に記載の走行支援方法。 - 前記挙動と前記動作候補とが類似していない場合に、
前記挙動に基づいて、前記自車両を制御することを特徴とする請求項8乃至10のいずれか一項に記載の走行支援方法。 - 自車両の周囲における他車両の動作を予測し、予測結果に基づいて自車両の走行を支援する走行支援装置であって、
前記他車両及び前記自車両の周囲における物体を検出する物体検出センサと、
前記他車両の動作を予測する制御部と、を備え、
前記制御部は、
前記他車両からの死角領域を設定し、
検出された前記物体の中から前記死角領域の中に居る物体を特定し、
特定された前記物体に基づいて前記他車両が取る動作を予測する
ことを特徴とする走行支援装置。
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PCT/JP2017/015672 WO2018193535A1 (ja) | 2017-04-19 | 2017-04-19 | 走行支援方法及び走行支援装置 |
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JPWO2018193535A1 JPWO2018193535A1 (ja) | 2020-05-14 |
JP6798611B2 true JP6798611B2 (ja) | 2020-12-09 |
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Country | Link |
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US (1) | US10994730B2 (ja) |
EP (1) | EP3614362A4 (ja) |
JP (1) | JP6798611B2 (ja) |
KR (1) | KR20190135042A (ja) |
CN (1) | CN110520916A (ja) |
BR (1) | BR112019022005A2 (ja) |
CA (1) | CA3060925A1 (ja) |
MX (1) | MX2019012357A (ja) |
RU (1) | RU2720226C1 (ja) |
WO (1) | WO2018193535A1 (ja) |
Families Citing this family (21)
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WO2018132607A2 (en) * | 2017-01-12 | 2018-07-19 | Mobileye Vision Technologies Ltd. | Navigation based on vehicle activity |
JP7049283B2 (ja) * | 2019-03-07 | 2022-04-06 | 本田技研工業株式会社 | 車両制御装置 |
JP7229052B2 (ja) * | 2019-03-19 | 2023-02-27 | 株式会社日立製作所 | 車両制御装置、車両制御システム |
JP7277202B2 (ja) * | 2019-03-27 | 2023-05-18 | 日産自動車株式会社 | 車両挙動予測方法及び車両挙動予測装置並びに車両制御装置 |
JP7274329B2 (ja) * | 2019-03-29 | 2023-05-16 | 日産自動車株式会社 | 車両挙動予測方法及び車両挙動予測装置並びに車両制御装置 |
EP3950446B1 (en) * | 2019-03-29 | 2023-11-15 | NISSAN MOTOR Co., Ltd. | Vehicle control method and vehicle control device |
JP2021009653A (ja) * | 2019-07-03 | 2021-01-28 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
US11834045B2 (en) | 2019-10-08 | 2023-12-05 | Motional Ad Llc | Navigating multi-way stop intersections with an autonomous vehicle |
JP7294200B2 (ja) * | 2020-03-16 | 2023-06-20 | トヨタ自動車株式会社 | 情報処理装置、車両システム、情報処理方法、およびプログラム |
CN115884909A (zh) * | 2020-06-17 | 2023-03-31 | 日产自动车株式会社 | 行驶辅助方法、以及行驶辅助装置 |
CN112083395A (zh) * | 2020-08-12 | 2020-12-15 | 陈泽雄 | 一种激光雷达扫描方法、***、装置及存储介质 |
US20220105959A1 (en) * | 2020-10-01 | 2022-04-07 | Argo AI, LLC | Methods and systems for predicting actions of an object by an autonomous vehicle to determine feasible paths through a conflicted area |
US11731661B2 (en) | 2020-10-01 | 2023-08-22 | Argo AI, LLC | Systems and methods for imminent collision avoidance |
JP7166325B2 (ja) * | 2020-12-24 | 2022-11-07 | 三菱電機株式会社 | 車両走行システム、死角推定方法 |
JP7203902B2 (ja) * | 2021-06-08 | 2023-01-13 | 本田技研工業株式会社 | 制御装置、移動体、制御方法及びプログラム |
JP7373524B2 (ja) * | 2021-06-08 | 2023-11-02 | 本田技研工業株式会社 | 制御装置、移動体、制御方法及びプログラム |
JP7203905B2 (ja) * | 2021-06-18 | 2023-01-13 | 本田技研工業株式会社 | 制御装置、移動体、制御方法及びプログラム |
JP7256233B2 (ja) * | 2021-06-18 | 2023-04-11 | 本田技研工業株式会社 | 警告制御装置、移動体、警告制御方法及びプログラム |
JP7203908B1 (ja) | 2021-06-22 | 2023-01-13 | 本田技研工業株式会社 | 制御装置、移動体、制御方法、及びプログラム |
JP7203907B1 (ja) | 2021-06-22 | 2023-01-13 | 本田技研工業株式会社 | 制御装置、移動体、制御方法、及び端末 |
JP2023017161A (ja) * | 2021-07-26 | 2023-02-07 | 株式会社日立製作所 | 移動体制御システム |
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JP2008293099A (ja) * | 2007-05-22 | 2008-12-04 | Mazda Motor Corp | 車両の運転支援装置 |
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JP5098584B2 (ja) | 2007-11-09 | 2012-12-12 | 日産自動車株式会社 | 車両用運転支援装置 |
JP4561863B2 (ja) | 2008-04-07 | 2010-10-13 | トヨタ自動車株式会社 | 移動体進路推定装置 |
JP5024255B2 (ja) | 2008-09-25 | 2012-09-12 | トヨタ自動車株式会社 | 運転支援装置 |
JP4957747B2 (ja) * | 2009-05-18 | 2012-06-20 | トヨタ自動車株式会社 | 車両環境推定装置 |
JP5573617B2 (ja) * | 2010-11-12 | 2014-08-20 | トヨタ自動車株式会社 | 危険度算出装置 |
JP5981237B2 (ja) * | 2012-06-15 | 2016-08-31 | トヨタ自動車株式会社 | 運転支援装置 |
US9180882B1 (en) * | 2012-06-20 | 2015-11-10 | Google Inc. | Avoiding blind spots of other vehicles |
JP6312831B2 (ja) * | 2014-07-28 | 2018-04-18 | 三菱電機株式会社 | 走行支援システム及び走行支援方法 |
JP2016122308A (ja) | 2014-12-25 | 2016-07-07 | クラリオン株式会社 | 車両制御装置 |
CN105818742B (zh) * | 2015-01-05 | 2018-06-12 | 上海纵目科技有限公司 | 车辆预警方法及*** |
DE102015209878B3 (de) * | 2015-05-29 | 2016-02-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erfassung von Objekten im Umfeld eines Fahrzeugs |
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