JP7401978B2 - 交差点発進判定装置 - Google Patents
交差点発進判定装置 Download PDFInfo
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- JP7401978B2 JP7401978B2 JP2019066211A JP2019066211A JP7401978B2 JP 7401978 B2 JP7401978 B2 JP 7401978B2 JP 2019066211 A JP2019066211 A JP 2019066211A JP 2019066211 A JP2019066211 A JP 2019066211A JP 7401978 B2 JP7401978 B2 JP 7401978B2
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- 230000001133 acceleration Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 230000033228 biological regulation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007613 environmental effect Effects 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- 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
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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
- 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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18159—Traversing an intersection
-
- 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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/04—Vehicle stop
-
- 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
- B60W2554/4041—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electromagnetism (AREA)
- Business, Economics & Management (AREA)
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Description
10…自律センサ部
11…ロケータユニット
12…地図ロケータ演算部
12a…自車位置推定演算部
12b…地図情報取得部
12c…目標進行路設定演算部
13…受信機
14…自律走行センサ
16…高精度道路地図データベース
20…走行環境認識部
21…ステレオカメラ装置
22…自律センサユニット
22a,22b…第1~第2カメラ
22c,22d…第1~第2センサ
25…自動運転制御ユニット
26…周辺走行環境認識部
27…レーダー装置
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
M…自車両
Ma…自車両進行領域
O…対向車両進行領域
Sa,Sb,Sc,Sd…第1~第4停止領域
Ta,Tb,Tc,Td…第1~第4走行領域
Claims (6)
- 全方向が一時停止する交差点における自車両の発進可否を判定する交差点発進判定装置であって、
前記自車両に配置されて前記自車両の前方の走行環境を検出する自律センサと、
前記自律センサを用いて前記自車両の前記走行環境を認識する走行環境認識手段と、
地図情報と全球測位衛星システムから前記自車両の位置を演算するロケータユニットと、
前記走行環境および前記自車両の前記位置が入力され、前記走行環境から他車両を認識する制御手段と、
を有し、
前記制御手段は、前記交差点で前記自車両が一時停止した後であって、前記走行環境認識手段によりカウントされた前記交差点で既に一時停止している前記他車両の数を減算して0(ゼロ)となった後において、前記交差点内に前記他車両が存在しないと判断した場合、及び前記交差点内に存在する前記他車両が対向車両であって、前記走行環境に基づいて、前記交差点内の交差点領域内の前記対向車両の進行方向の車両通行領域であって、前記自車両側となる前記対向車両の進行方向の約半分の領域の対向車両進行領域を認識し、前記対向車両が前記対向車両進行領域に進入して前記交差点を直進すると判断した場合に、前記自車両を発進許可することを特徴とする交差点発進判定装置。 - 前記自律センサは、前記走行環境を撮像する撮像手段であることを特徴とする請求項1に記載の交差点発進判定装置。
- 前記自律センサは、前記走行環境を検出するレーダーセンサであることを特徴とする請求項1に記載の交差点発進判定装置。
- 前記制御手段は、
前記走行環境に基づいて、前記交差点領域内の前記自車両の進行方向の車両通行領域である自車両進行領域を認識し、前記交差点内に前記他車両が存在しないと判断した場合、及び前記交差点内に存在する前記他車両が前記対向車両であって、前記対向車両が前記交差点を直進すると判断した場合に、さらに前記走行環境に基づいて前記自車両進行領域内に前記他車両が存在しないと判断すると、前記発進許可することを特徴とする請求項1から請求項3のいずれか1項に記載の交差点発進判定装置。 - 前記発進許可は、前記制御手段により自動運転支援のブレーキ制御部および加減速制御部が制御されることを特徴とする請求項1から請求項4のいずれか1項に記載の交差点発進判定装置。
- 前記発進許可は、前記制御手段により告知手段が駆動され運転者へ認識させることを特徴とする請求項1から請求項5のいずれか1項に記載の交差点発進判定装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2019066211A JP7401978B2 (ja) | 2019-03-29 | 2019-03-29 | 交差点発進判定装置 |
US16/787,641 US11498584B2 (en) | 2019-03-29 | 2020-02-11 | Intersection start judgment device |
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JP2019066211A JP7401978B2 (ja) | 2019-03-29 | 2019-03-29 | 交差点発進判定装置 |
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JP2020166539A JP2020166539A (ja) | 2020-10-08 |
JP7401978B2 true JP7401978B2 (ja) | 2023-12-20 |
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JP2019066211A Active JP7401978B2 (ja) | 2019-03-29 | 2019-03-29 | 交差点発進判定装置 |
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US (1) | US11498584B2 (ja) |
JP (1) | JP7401978B2 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11176821B2 (en) * | 2019-06-13 | 2021-11-16 | Zoox, Inc. | Junction queueing |
US11834045B2 (en) * | 2019-10-08 | 2023-12-05 | Motional Ad Llc | Navigating multi-way stop intersections with an autonomous vehicle |
JP7264031B2 (ja) * | 2019-12-09 | 2023-04-25 | トヨタ自動車株式会社 | 制御装置 |
JP2022147209A (ja) * | 2021-03-23 | 2022-10-06 | トヨタ自動車株式会社 | 車両制御装置 |
US20230242118A1 (en) * | 2022-02-01 | 2023-08-03 | Ford Global Technologies, Llc | Vehicle local motion planning |
US20230339464A1 (en) * | 2022-04-20 | 2023-10-26 | GM Global Technology Operations LLC | Full speed range adaptive cruise control system for determining an adaptive launch time for a vehicle |
FR3142428A1 (fr) * | 2022-11-29 | 2024-05-31 | Psa Automobiles Sa | Procédé et dispositif de contrôle d’un système d’aide à la conduite dans un environnement comportant un croisement |
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JP2009180705A (ja) | 2008-02-01 | 2009-08-13 | Aisin Aw Co Ltd | ナビゲーション装置、ナビゲーション方法及びプログラム |
JP2010026618A (ja) | 2008-07-16 | 2010-02-04 | Alpine Electronics Inc | 車載用ナビゲーション装置及び交差点進入案内方法 |
JP2017021735A (ja) | 2015-07-15 | 2017-01-26 | 日産自動車株式会社 | 走行制御装置の制御方法および走行制御装置 |
US20170205825A1 (en) | 2016-01-19 | 2017-07-20 | Faraday&Future Inc. | System and method for negotiating an intersection traversal by an automated vehicle |
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JP2010095078A (ja) | 2008-10-15 | 2010-04-30 | Toyota Motor Corp | 進路予測装置 |
US8718906B2 (en) * | 2012-05-14 | 2014-05-06 | Ford Global Technologies, Llc | Method for analyzing traffic flow at an intersection |
US9459623B1 (en) * | 2015-04-29 | 2016-10-04 | Volkswagen Ag | Stop sign intersection decision system |
US10684626B1 (en) * | 2018-04-05 | 2020-06-16 | Ambarella International Lp | Handling intersection navigation without traffic lights using computer vision |
US11176821B2 (en) * | 2019-06-13 | 2021-11-16 | Zoox, Inc. | Junction queueing |
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- 2019-03-29 JP JP2019066211A patent/JP7401978B2/ja active Active
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- 2020-02-11 US US16/787,641 patent/US11498584B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2009180705A (ja) | 2008-02-01 | 2009-08-13 | Aisin Aw Co Ltd | ナビゲーション装置、ナビゲーション方法及びプログラム |
JP2010026618A (ja) | 2008-07-16 | 2010-02-04 | Alpine Electronics Inc | 車載用ナビゲーション装置及び交差点進入案内方法 |
JP2017021735A (ja) | 2015-07-15 | 2017-01-26 | 日産自動車株式会社 | 走行制御装置の制御方法および走行制御装置 |
US20170205825A1 (en) | 2016-01-19 | 2017-07-20 | Faraday&Future Inc. | System and method for negotiating an intersection traversal by an automated vehicle |
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US20200310427A1 (en) | 2020-10-01 |
JP2020166539A (ja) | 2020-10-08 |
US11498584B2 (en) | 2022-11-15 |
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