JPWO2020002964A1 - 走行支援方法および走行支援装置 - Google Patents
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Abstract
Description
目標走行経路が連続的に変わるため、自車両の挙動が急変することを防止できる。
110…自車位置検出装置
120…地図データベース
130…車速センサ
140…測距センサ
150…カメラ
160…入力装置
170…駆動機構
180…制御装置
190…ヨーレートセンサ
目標走行経路が連続的に変わるため、自車両の挙動が急変することを防止できる。
110…自車位置検出装置
120…地図データベース
130…車速センサ
140…測距センサ
150…カメラ
160…入力装置
170…駆動機構
180…制御装置
190…ヨーレートセンサ
Claims (20)
- プロセッサに実行にさせる、車両の走行支援方法であって、
自車両の位置を推定し、
データベースから地図情報を取得し、
推定された前記自車両の位置及び前記地図情報に基づき、前記自車両が走行する自車走行経路を生成し、
前記自車走行経路の信頼度を示す第1信頼度を演算し、
前記自車両の前方を走行する先行車を検出し、
前記先行車両が走行する先行車走行経路を生成し、
前記先行車走行経路の形状に基づき、前記先行車走行経路の信頼度を示す第2信頼度を演算し、
前記第1信頼度と前記第2信頼度に基づき、前記自車走行経路と前記先行車走行経路とを統合するための統合割合を演算し、
演算された前記統合割合で前記自車走行経路と前記先行車走行経路とを統合することで、前記自車両の目標走行経路を演算し、
前記目標走行経路に基づいて前記自車両を制御する走行支援方法。 - 前記自車両の位置の推定精度が低いほど、前記第1信頼度を低くする請求項1に記載の走行支援方法。
- 前記地図情報で表される地図の地図精度が低いほど、前記第1信頼度を低くする請求項1又は2に記載の走行支援方法。
- 前記自車両の位置の推定精度、及び、前記地図情報で表される地図の地図精度をそれぞれ演算し、
前記推定精度と前記地図精度のうち、いずれか低い方の精度に基づき前記第1信頼度を演算する請求項1記載の走行支援方法。 - センサにより検出される前記先行車の検出データを用いて、前記先行車走行経路の単体信頼度を演算し、
前記自車走行経路と前記先行車走行経路とを比較して、前記先行車走行経路の比較信頼度を演算し、
前記単体信頼度と前記比較信頼度に基づき、前記第2信頼度を演算する請求項1〜4のいずれか一項に記載の走行支援方法。 - 前記センサの検出の安定性を評価することで、前記センサの信頼度を示すセンサ信頼度を演算し、
前記センサの検出データを用いて、前記先行車走行経路に含まれる先行車走行軌跡を生成し、
前記先行車走行軌跡の長さで決まる、軌跡信頼度を演算し、
前記センサ信頼度及び前記軌跡信頼度に基づき、前記単体信頼度を演算する請求項5記載の走行支援方法。 - 前記先行車走行軌跡の長さが短いほど、前記軌跡信頼度を低くする請求項6記載の走行支援方法。
- 前記センサ信頼度と前記軌跡信頼度のうち、いずれか低い方の信頼度に基づき前記単体信頼度を演算する請求項6又は7記載の走行支援方法。
- 前記自車走行経路の曲率と前記先行車走行経路の曲率との曲率差を演算し、前記曲率差が大きいほど前記比較信頼度を低くする請求項5〜8のいずれか一項に記載の走行支援方法。
- 前記曲率差が同じ場合に、前記自車両の車速が大きいほど前記比較信頼度が低くなる相関関係を用いて、前記自車両の車速及び前記曲率差に基づき、前記比較信頼度を演算する請求項9記載の走行支援方法。
- 前記自車走行経路上における横方向の前記自車両の位置と、前記先行車走行経路上における横方向の前記先行車の位置との偏差を演算し、前記偏差が大きいほど前記比較信頼度を低くする請求項5〜10のいずれか一項に記載の走行支援方法。
- 前記自車走行経路の曲率と前記先行車走行経路の曲率との曲率差を演算し、前記曲率差と前記先行車走行経路の信頼度との相関性に基づき、前記第2信頼度を示す値を曲率信頼度として演算し、
前記自車走行経路上における横方向の前記自車両の位置と、前記先行車走行経路上における横方向の前記先行車の位置との偏差を演算し、前記偏差と前記先行車走行経路の信頼度との相関性に基づき、前記第2信頼度を示す値を横方向信頼度として演算し、
前記曲率信頼度及び前記横方向信頼度のうち、いずれか低い方の信頼度に基づき前記第2信頼度を演算する請求項5〜8のいずれか一項に記載の走行支援方法。 - 前記単体信頼度及び前記比較信頼度のうち、いずれか低い方の信頼度に基づき前記第2信頼度を演算する請求項5〜8のいずれか一項に記載の走行支援方法。
- 前記自車走行経路上における横方向の前記自車両の座標と、前記先行車走行経路上における横方向の前記先行車の座標をそれぞれ推定し、
前記統合割合で前記自車両の座標及び前記先行車の座標を統合させることで前記目標走行経路を演算する請求項1〜13のいずれか一項に記載の走行支援方法。 - 前記第1信頼度及び前記第2信頼度が所定の信頼度閾値より高い場合には、前記先行車走行経路より前記自車走行経路の割合が大きくなるように前記目標走行経路を演算する請求項1〜14のいずれか一項に記載の走行支援方法。
- 前記第1信頼度が所定の信頼度閾値より高く、前記第2信頼度が前記所定の信頼度より低い場合には、前記先行車走行経路より前記自車走行経路の割合が大きくなるように前記目標走行経路を演算する請求項1〜14のいずれか一項に記載の走行支援方法。
- 前記第1信頼度が所定の信頼度閾値より低く、前記第2信頼度が前記所定の信頼度閾値より高い場合には、前記自車走行経路より前記先行車走行経路の割合が大きくなるように前記目標走行経路を演算する請求項1〜14のいずれか一項に記載の走行支援方法。
- 前記自車両の目標走行経路を目標走路境界として演算し、
前記目標走路境界に基づいて目標走行軌跡を演算し、自車両の前記自車両を制御する請求項1〜15のいずれか一項に記載の走行支援方法。 - 前記自車両の目標走行経路を目標走行領域として演算し、
前記目標走行領域に基づいて目標走行軌跡を演算し、自車両の前記自車両を制御する請求項1〜15のいずれか一項に記載の走行支援方法。 - プロセッサを有する走行支援装置であって、
前記プロセッサは、
自車両の位置を推定し、
データベースから地図情報を取得し、
推定された前記自車両の位置及び前記地図情報に基づき、前記自車両が走行する自車走行経路を生成し、
前記自車走行経路の信頼度を示す第1信頼度を演算し、
前記自車両の前方を走行する先行車を検出し、
前記先行車両が走行する先行車走行経路を生成し、
前記先行車走行経路の形状に基づき、前記先行車走行経路の信頼度を示す第2信頼度を演算し、
前記第1信頼度と前記第2信頼度に基づき、前記自車走行経路と前記先行車走行経路とを統合するための統合割合を演算し、
演算された前記統合割合で前記自車走行経路と前記先行車走行経路とを統合することで、前記自車両の目標走行経路を演算し、
前記目標走行経路に基づいて前記自車両を制御する走行支援装置。
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CN114651456A (zh) | 2019-09-20 | 2022-06-21 | 桑纳特斯公司 | 用于交通工具外通信控制的***、方法和装置 |
US11538287B2 (en) | 2019-09-20 | 2022-12-27 | Sonatus, Inc. | System, method, and apparatus for managing vehicle data collection |
US20240073093A1 (en) * | 2019-09-20 | 2024-02-29 | Sonatus, Inc. | System, method, and apparatus to execute vehicle communications using a zonal architecture |
CN112578777A (zh) * | 2019-09-27 | 2021-03-30 | 苏州宝时得电动工具有限公司 | 自主机器人及其行走路径规划方法、装置和存储介质 |
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