JP6913063B2 - 車線維持制御装置 - Google Patents
車線維持制御装置 Download PDFInfo
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- JP6913063B2 JP6913063B2 JP2018159360A JP2018159360A JP6913063B2 JP 6913063 B2 JP6913063 B2 JP 6913063B2 JP 2018159360 A JP2018159360 A JP 2018159360A JP 2018159360 A JP2018159360 A JP 2018159360A JP 6913063 B2 JP6913063 B2 JP 6913063B2
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- 238000004364 calculation method Methods 0.000 claims description 34
- 230000004397 blinking Effects 0.000 claims description 25
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- 238000001514 detection method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 44
- 230000001133 acceleration Effects 0.000 description 6
- 239000000284 extract Substances 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 206010020751 Hypersensitivity Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 208000002173 dizziness Diseases 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- 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
- 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
-
- 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
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- 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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- 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
- B60W2554/4045—Intention, e.g. lane change or imminent movement
-
- 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
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
11…ナビゲーションユニット、
12…地図ロケータ演算部、
12a…自車位置推定演算部、
12b…道路地図情報取得部、
12c…ルート設定演算部、
13…GNSS受信機、
14…走行状況取得センサ、
15…目的地情報入力装置、
16…道路地図データベース、
21…カメラユニット、
21a…メインカメラ、
21b…サブカメラ、
21c…画像処理ユニット(IPU)、
21d…前方走行環境認識部、
22…車線維持制御ユニット、
22a…先行車情報抽出部、
22b…左右区画線情報抽出部、
22c…車線維持制御演算部、
31…操舵制御部、
32…ブレーキ制御部、
33…加減速制御部、
34…警報装置、
bl…左区画境界線、
br…右区画境界線、
D…先行車、
d1…車間距離、
Fd…先行車フラグ、
i…水平画素数、
j…垂直画素数、
je…検索終了水平ライン、
js…検索開始水平ライン、
Ll…左区画線、
Lr…右区画線、
M…自車両、
Pl,Pr…候補点、
SL…中央部、
Td1…追従車間距離、
W…車線幅、
W/2…車線中央、
Wav…区間平均車線幅、
ΔW…車線変動幅、
ΔWH…第1広がり判定しきい値、
ΔWL…第2広がり判定しきい値
Claims (3)
- 自車両の前方の走行環境情報を取得する走行環境情報取得手段と、
前記走行環境情報取得手段で取得した前記走行環境情報から前記自車両の前方を走行する先行車情報を抽出する先行車情報抽出手段と、
前記走行環境情報取得手段で取得した前記走行環境情報から前記自車両が走行している車線の左右を区画する区画線の情報を抽出する区画線情報抽出手段と、
前記区画線情報抽出手段で抽出した前記区画線の情報に基づき前記自車両が走行している車線の車線幅を求め、該車線幅内の所定横位置に沿って前記自車両を走行させるための目標進行路を演算する車線維持制御演算手段と
を備える車線維持制御装置において、
前記車線維持制御演算手段は、
前記先行車情報抽出手段で抽出した前記先行車情報から前記自車両と同一の車線上を先行車が走行しているか否かを調べる先行車検出手段と、
前記先行車検出手段で前記先行車が走行していると判定した場合、前記走行環境情報取得手段で取得した前記走行環境情報から前記先行車のウインカが点滅しているか否かを調べるウインカ点滅判定手段と、
前記先行車付近における前記区画線の車線幅方向への広がりを検出する区画線広がり検出手段と、
前記ウインカ点滅判定手段で前記先行車の前記ウインカの点滅を検出し、且つ前記区画線広がり検出手段で前記ウインカが点滅している側への前記区画線の広がりを検出した場合、前記目標進行路を前記ウインカが点滅している側の区画線とは反対側の区画線のみを基準に設定する目標進行路演算手段と
を備えることを特徴とする車線維持制御装置。 - 前記区画線広がり検出手段は、前記車線幅の変動幅と予め設定した広がり判定しきい値とを比較し、該変動幅が該広がり判定しきい値を超えた場合に、前記区画線の広がりと判定することを特徴とする請求項1記載の車線維持制御装置。
- 前記広がり判定しきい値は、前記走行環境情報取得手段で取得した前記走行環境情報、或いは地図ロケータ演算手段で推定した前記自車両の位置情報に基づいて取得した該自車両前方の道路地図情報から前方に分岐路が検出された場合、該分岐路が検出されない場合に比べて低い値に設定することを特徴とする請求項2に記載の車線維持制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018159360A JP6913063B2 (ja) | 2018-08-28 | 2018-08-28 | 車線維持制御装置 |
CN201910422663.5A CN110871796B (zh) | 2018-08-28 | 2019-05-21 | 车道保持控制装置 |
US16/433,783 US11142198B2 (en) | 2018-08-28 | 2019-06-06 | Lane keep control apparatus |
DE102019117654.9A DE102019117654A1 (de) | 2018-08-28 | 2019-07-01 | Fahrspureinhaltesteuervorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2018159360A JP6913063B2 (ja) | 2018-08-28 | 2018-08-28 | 車線維持制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2020032802A JP2020032802A (ja) | 2020-03-05 |
JP6913063B2 true JP6913063B2 (ja) | 2021-08-04 |
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JP2018159360A Active JP6913063B2 (ja) | 2018-08-28 | 2018-08-28 | 車線維持制御装置 |
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US (1) | US11142198B2 (ja) |
JP (1) | JP6913063B2 (ja) |
DE (1) | DE102019117654A1 (ja) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7229710B2 (ja) * | 2018-09-26 | 2023-02-28 | 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 |
US11480962B1 (en) * | 2019-06-28 | 2022-10-25 | Zoox, Inc. | Dynamic lane expansion |
US11427191B2 (en) | 2019-10-31 | 2022-08-30 | Zoox, Inc. | Obstacle avoidance action |
US11532167B2 (en) | 2019-10-31 | 2022-12-20 | Zoox, Inc. | State machine for obstacle avoidance |
JP7109496B2 (ja) * | 2020-03-13 | 2022-07-29 | 本田技研工業株式会社 | 走行制御装置、車両、走行制御方法及びプログラム |
CN114255606B (zh) * | 2020-09-21 | 2023-09-22 | 华为技术有限公司 | 辅助驾驶提醒、地图辅助驾驶提醒方法、装置和地图 |
JP2022060081A (ja) | 2020-10-02 | 2022-04-14 | 株式会社Subaru | 走行制御装置 |
JP2022060078A (ja) | 2020-10-02 | 2022-04-14 | 株式会社Subaru | 運転支援装置 |
JP7261782B2 (ja) * | 2020-10-29 | 2023-04-20 | 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 |
DE102020214162B3 (de) | 2020-11-11 | 2022-03-17 | Volkswagen Aktiengesellschaft | Verfahren zum Betreiben eines Spurhalteassistenzsystems eines Fahrzeugs während einer Fortbewegungsfahrt des Fahrzeugs entlang einer Fahrspur, sowie elektronisches Fahrerassistenzsystem sowie Fahrzeug |
JP2023009609A (ja) * | 2021-07-07 | 2023-01-20 | 株式会社Subaru | 車両の運転支援装置 |
CN113401121B (zh) * | 2021-07-30 | 2022-11-08 | 驭势(上海)汽车科技有限公司 | 一种车辆控制方法、装置、电子设备及存储介质 |
CN113715816B (zh) * | 2021-09-30 | 2023-06-30 | 岚图汽车科技有限公司 | 车道居中功能控制方法、装置、设备及可读存储介质 |
CN114937372B (zh) * | 2022-05-18 | 2023-09-05 | 安徽蔚来智驾科技有限公司 | 一种车辆定位***、定位方法、车辆和存储介质 |
KR20240109519A (ko) * | 2023-01-04 | 2024-07-11 | 현대모비스 주식회사 | 차량 제어 시스템 및 방법 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4603970B2 (ja) * | 2005-12-15 | 2010-12-22 | トヨタ自動車株式会社 | 道路区画線検出装置 |
JP4933962B2 (ja) * | 2007-06-22 | 2012-05-16 | 富士重工業株式会社 | 分岐路進入判定装置 |
DE112009005401B4 (de) | 2009-11-27 | 2021-01-28 | Toyota Jidosha Kabushiki Kaisha | Fahrunterstützungsvorrichtung und fahrunterstützungsverfahren |
JP5964609B2 (ja) * | 2012-02-23 | 2016-08-03 | 株式会社日本自動車部品総合研究所 | 車両用追従制御装置 |
JP6344275B2 (ja) * | 2015-03-18 | 2018-06-20 | トヨタ自動車株式会社 | 車両制御装置 |
JP6327719B2 (ja) * | 2016-02-04 | 2018-05-23 | 株式会社Subaru | 車両の走行制御装置 |
-
2018
- 2018-08-28 JP JP2018159360A patent/JP6913063B2/ja active Active
-
2019
- 2019-06-06 US US16/433,783 patent/US11142198B2/en active Active
- 2019-07-01 DE DE102019117654.9A patent/DE102019117654A1/de active Pending
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Publication number | Publication date |
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US11142198B2 (en) | 2021-10-12 |
DE102019117654A1 (de) | 2020-03-05 |
JP2020032802A (ja) | 2020-03-05 |
CN110871796A (zh) | 2020-03-10 |
US20200070826A1 (en) | 2020-03-05 |
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