JP6998358B2 - 駐車支援システム - Google Patents
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- JP6998358B2 JP6998358B2 JP2019225928A JP2019225928A JP6998358B2 JP 6998358 B2 JP6998358 B2 JP 6998358B2 JP 2019225928 A JP2019225928 A JP 2019225928A JP 2019225928 A JP2019225928 A JP 2019225928A JP 6998358 B2 JP6998358 B2 JP 6998358B2
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
-
- 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
- B60W2554/20—Static 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
15:制御装置
32:タッチパネル(入力装置)
51:第1範囲
52:第2範囲
53:側方領域
Claims (6)
- 駐車支援システムであって、
推進装置、ブレーキ装置及びステアリング装置を含む車両を現在位置から目標位置に自律的に移動させるべく前記車両を制御する制御装置と、
前記車両の進行方向に存在する障害物を検出する外界センサとを備え、
前記制御装置は、前記目標位置への前記車両の制御中において、
前記外界センサが検出した情報に基づいて、前記車両との衝突が予測される第1範囲内と、前記第1範囲における左右の少なくとも一方の側縁及び/又は前記第1範囲における前記車両に対して遠位側の端縁に隣接するように前記第1範囲の外側の所定の範囲に設けられた第2範囲内とに存在する前記障害物を認識し、前記第1範囲内及び前記第2範囲内に前記障害物を認識しない場合には、前記進行方向への移動に設定された通常時速度で前記車両を移動させ、前記第1範囲内に前記障害物を認識した場合には前記車両を停止させ、前記第2範囲に前記障害物を認識し、かつ該障害物が動きを伴う物体及び/又は生体である場合には、前記車両を前記通常時速度よりも低速の所定速度まで減速した減速状態で移動させ、
前記第2範囲は、前記車両の前進時にのみ設定され、
前記目標位置への前記車両の制御中における前記車両の後退時の速度は、前記所定速度に設定されていることを特徴とする駐車支援システム。 - 駐車支援システムであって、
推進装置、ブレーキ装置及びステアリング装置を含む車両を現在位置から目標位置に自律的に移動させるべく前記車両を制御する制御装置と、
前記車両の進行方向に存在する障害物を検出する外界センサとを備え、
前記制御装置は、前記目標位置への前記車両の制御中において、
前記外界センサが検出した情報に基づいて、前記車両との衝突が予測される第1範囲内と、前記第1範囲における左右の少なくとも一方の側縁及び/又は前記第1範囲における前記車両に対して遠位側の端縁に隣接するように前記第1範囲の外側の所定の範囲に設けられた第2範囲内とに存在する前記障害物を認識し、前記第1範囲内及び前記第2範囲内に前記障害物を認識しない場合には、前記進行方向への移動に設定された通常時速度で前記車両を移動させ、前記第1範囲内に前記障害物を認識した場合には前記車両を停止させ、前記第2範囲に前記障害物を認識し、かつ該障害物が動きを伴う物体及び/又は生体である場合には、前記車両を前記通常時速度よりも低速の所定速度まで減速した減速状態で移動させ、
前記制御装置が前記第1範囲内に前記障害物を認識して前記車両を停止させた場合において、前記外界センサが前記第1範囲内における前記車両の側方領域で前記障害物を検出した状態から、前記外界センサが前記第1範囲内で前記障害物を検出しない状態になった場合、前記制御装置は、前記目標位置に向けた前記車両の移動の再開を許容せず、前記外界センサが前記第1範囲内における前記車両の前記側方領域以外で前記障害物を検出した状態から、前記外界センサが前記第1範囲内で前記障害物を検出しない状態になった場合、前記制御装置は、前記目標位置に向けた前記車両の移動を許容することを特徴とする駐車支援システム。 - 前記ブレーキ装置を作動させるための運転者によるブレーキ操作を検出するブレーキセンサを更に備え、
前記減速状態において、前記制御装置は、前記ブレーキセンサが検出した情報に基づいて、運転者による前記ブレーキ操作が行われ、その後、該ブレーキ操作が終了したと判定した時は、前記減速状態を解除して前記通常時速度で前記車両を移動させることを特徴する請求項1又は2に記載の駐車支援システム。 - 前記推進装置を作動させるための運転者による加速操作を検出するアクセルセンサを更に備え、
前記減速状態において、前記制御装置は、前記アクセルセンサが検出した情報に基づいて、運転者による前記加速操作が行われたと判定した時は、前記減速状態を解除して前記通常時速度で前記車両を移動させることを特徴する請求項1~3の何れか一項に記載の駐車支援システム。 - 運転者の指示を受け付ける入力装置を更に備え、
前記減速状態において、前記制御装置は、前記入力装置が運転者による前記減速状態を解除する旨の指示を受け付けた時は、前記減速状態を解除して前記通常時速度で前記車両を移動させることを特徴する請求項1~4の何れか一項に記載の駐車支援システム。 - 前記制御装置によって算出された軌道が切り返し位置を含む場合の前記減速状態において、前記制御装置は、前記車両が前記切り返し位置で停止したと判定した時は、前記減速状態を解除して前記進行方向の逆向きへの移動に設定された逆方向通常時速度で前記車両を前記逆向きに移動をさせることを特徴する請求項1~5の何れか一項に記載の駐車支援システム。
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CN202010572600.0A CN112124096B (zh) | 2019-06-24 | 2020-06-22 | 驻车辅助*** |
US16/907,757 US11338826B2 (en) | 2019-06-24 | 2020-06-22 | Parking assist system |
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CN117901854B (zh) * | 2024-03-06 | 2024-06-25 | 广东鑫龙电机科技有限公司 | 一种用于电子手刹电机的刹车控制方法及*** |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2011152909A (ja) | 2010-01-28 | 2011-08-11 | Equos Research Co Ltd | 走行制御装置および走行制御方法 |
JP2016002957A (ja) | 2014-06-19 | 2016-01-12 | トヨタ自動車株式会社 | 駐車支援装置 |
US20180093663A1 (en) | 2016-10-04 | 2018-04-05 | Lg Electronics Inc. | Parking assistance apparatus and vehicle having the same |
JP2018088060A (ja) | 2016-11-28 | 2018-06-07 | トヨタ自動車株式会社 | 自動運転装置 |
JP2018151962A (ja) | 2017-03-14 | 2018-09-27 | パナソニックIpマネジメント株式会社 | 駐車支援方法およびそれを利用した駐車支援装置、自動運転制御装置、プログラム |
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2011152909A (ja) | 2010-01-28 | 2011-08-11 | Equos Research Co Ltd | 走行制御装置および走行制御方法 |
JP2016002957A (ja) | 2014-06-19 | 2016-01-12 | トヨタ自動車株式会社 | 駐車支援装置 |
US20180093663A1 (en) | 2016-10-04 | 2018-04-05 | Lg Electronics Inc. | Parking assistance apparatus and vehicle having the same |
JP2018088060A (ja) | 2016-11-28 | 2018-06-07 | トヨタ自動車株式会社 | 自動運転装置 |
JP2018151962A (ja) | 2017-03-14 | 2018-09-27 | パナソニックIpマネジメント株式会社 | 駐車支援方法およびそれを利用した駐車支援装置、自動運転制御装置、プログラム |
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