JP7499797B2 - 経路生成装置 - Google Patents
経路生成装置 Download PDFInfo
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- JP7499797B2 JP7499797B2 JP2022008736A JP2022008736A JP7499797B2 JP 7499797 B2 JP7499797 B2 JP 7499797B2 JP 2022008736 A JP2022008736 A JP 2022008736A JP 2022008736 A JP2022008736 A JP 2022008736A JP 7499797 B2 JP7499797 B2 JP 7499797B2
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- 238000001514 detection method Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 238000012888 cubic function Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000002093 peripheral 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
- 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
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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
-
- 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
-
- 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
-
- 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
- B60W40/10—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 related to vehicle motion
-
- 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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/20—Lateral distance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Navigation (AREA)
Description
FL(X)=C3LX3+C2LX2+C1LX+C0L ・・・(i)
FR(X)=C3RX3+C2RX2+C1RX+C0R ・・・(ii)
F(X)=C3X3+C2X2+C1X+C0 ・・・(iii)
C3=(C3L+C3R)/2,C2=(C2L+C2R)/2,
C1=(C1L+C1R)/2,C0=(C0L+C0R)/2
(1)装置100は、自車両1の前方領域の物体を検出する外部センサ9と、外部センサ9により検出された物体のうち、自車両1が走行する走行車線2に隣接する隣接車線5a,5bを走行する他車両4a,4bを認識する前方認識部11と、走行車線2における自車両1の基準経路3aを生成する基準経路生成部12と、前方認識部11により認識された他車両4a,4bの側端部から走行車線2に向けて安全領域6a,6bを設定する安全領域設定部13と、基準経路生成部12により生成された基準経路3aに基づいて自車両1の目標経路3bを生成する目標経路生成部14とを備える(図3)。
Claims (3)
- 自車両の前方領域の物体を検出する検出部と、
前記検出部により検出された物体のうち、自車両が走行する走行車線、前記走行車線に隣接する隣接車線、および前記隣接車線を走行する他車両を認識する前方認識部と、
前記前方認識部により認識された前記走行車線に基づいて前記走行車線における自車両の基準経路を生成する基準経路生成部と、
前記前方認識部により認識された他車両の側端部から前記走行車線に向けて安全領域を設定する安全領域設定部と、
前記基準経路生成部により生成された基準経路に基づいて自車両の目標経路を生成する目標経路生成部と、を備え、
前記目標経路生成部は、自車両からその前方の所定区間内において前記基準経路を前記目標経路に設定し、前記所定区間よりも前方において自車両と前記前方認識部により認識された他車両との間に前記安全領域設定部により設定された安全領域を確保するように前記基準経路を修正して前記目標経路を生成することを特徴とする経路生成装置。 - 請求項1に記載の経路生成装置において、
前記所定区間は、自車両の前方の左右方向にわたる、平面視略矩形状または略台形状の所定領域に設定されることを特徴とする経路生成装置。 - 請求項1または2に記載の経路生成装置において、
自車両の運転者に対する運転支援を行うないし自車両を自動運転するように走行用アクチュエータを制御する走行制御部をさらに備え、
前記走行制御部は、前記目標経路生成部により生成された目標経路に基づいて前記走行用アクチュエータを制御することを特徴とする経路生成装置。
Priority Applications (3)
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JP2022008736A JP7499797B2 (ja) | 2022-01-24 | 2022-01-24 | 経路生成装置 |
CN202310013706.0A CN116476860A (zh) | 2022-01-24 | 2023-01-05 | 路径生成装置和路径生成方法 |
US18/098,691 US20230234608A1 (en) | 2022-01-24 | 2023-01-18 | Path generation apparatus and path generation method |
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JP2022008736A JP7499797B2 (ja) | 2022-01-24 | 2022-01-24 | 経路生成装置 |
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JP2023107501A JP2023107501A (ja) | 2023-08-03 |
JP7499797B2 true JP7499797B2 (ja) | 2024-06-14 |
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US (1) | US20230234608A1 (ja) |
JP (1) | JP7499797B2 (ja) |
CN (1) | CN116476860A (ja) |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010202139A (ja) | 2009-03-05 | 2010-09-16 | Nissan Motor Co Ltd | 運転操作支援装置及び運転操作支援方法 |
JP2017206182A (ja) | 2016-05-20 | 2017-11-24 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援装置及びコンピュータプログラム |
JP2019101854A (ja) | 2017-12-05 | 2019-06-24 | 株式会社デンソー | 軌跡設定装置 |
JP2020114689A (ja) | 2019-01-17 | 2020-07-30 | マツダ株式会社 | 車両運転支援装置 |
JP2021126979A (ja) | 2020-02-13 | 2021-09-02 | マツダ株式会社 | 車両制御装置 |
JP2021126981A (ja) | 2020-02-13 | 2021-09-02 | マツダ株式会社 | 車両制御装置 |
JP2021160371A (ja) | 2020-03-30 | 2021-10-11 | マツダ株式会社 | 走行経路生成システム及び車両運転支援システム |
JP2021172095A (ja) | 2020-04-17 | 2021-11-01 | マツダ株式会社 | 車両制御装置 |
-
2022
- 2022-01-24 JP JP2022008736A patent/JP7499797B2/ja active Active
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2023
- 2023-01-05 CN CN202310013706.0A patent/CN116476860A/zh active Pending
- 2023-01-18 US US18/098,691 patent/US20230234608A1/en active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010202139A (ja) | 2009-03-05 | 2010-09-16 | Nissan Motor Co Ltd | 運転操作支援装置及び運転操作支援方法 |
JP2017206182A (ja) | 2016-05-20 | 2017-11-24 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援装置及びコンピュータプログラム |
JP2019101854A (ja) | 2017-12-05 | 2019-06-24 | 株式会社デンソー | 軌跡設定装置 |
JP2020114689A (ja) | 2019-01-17 | 2020-07-30 | マツダ株式会社 | 車両運転支援装置 |
JP2021126979A (ja) | 2020-02-13 | 2021-09-02 | マツダ株式会社 | 車両制御装置 |
JP2021126981A (ja) | 2020-02-13 | 2021-09-02 | マツダ株式会社 | 車両制御装置 |
JP2021160371A (ja) | 2020-03-30 | 2021-10-11 | マツダ株式会社 | 走行経路生成システム及び車両運転支援システム |
JP2021172095A (ja) | 2020-04-17 | 2021-11-01 | マツダ株式会社 | 車両制御装置 |
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CN116476860A (zh) | 2023-07-25 |
JP2023107501A (ja) | 2023-08-03 |
US20230234608A1 (en) | 2023-07-27 |
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