WO2011125393A1 - 車両走行支援装置 - Google Patents
車両走行支援装置 Download PDFInfo
- Publication number
- WO2011125393A1 WO2011125393A1 PCT/JP2011/054741 JP2011054741W WO2011125393A1 WO 2011125393 A1 WO2011125393 A1 WO 2011125393A1 JP 2011054741 W JP2011054741 W JP 2011054741W WO 2011125393 A1 WO2011125393 A1 WO 2011125393A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- unit
- communication
- information
- speed change
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
Definitions
- the present invention relates to a vehicle travel support apparatus that performs travel support.
- a traffic situation around the host vehicle is estimated based on information acquired by inter-vehicle communication with other vehicles, and driving support according to the estimation result is performed.
- Japanese Patent Laid-Open No. 2006-185136 discloses that inter-vehicle communication existing between the other vehicle and the host vehicle is impossible according to the distance between the host vehicle and the other vehicle capable of communicating between the vehicles traveling in front of the host vehicle.
- a driving support device for estimating the number of other vehicles is described.
- the above-described conventional driving support apparatus has a problem that the estimation accuracy regarding the number of other vehicles incapable of inter-vehicle communication is not high and the reliability is not sufficient.
- the present invention relates to travel support by estimating the traffic situation between the vehicle and the other vehicle based on the vehicle behavior information and the other vehicle behavior information and implementing the travel support based on the estimation result. It is an object of the present invention to provide a vehicle travel support device capable of improving reliability.
- a vehicle travel support device includes a vehicle behavior information acquisition unit that acquires vehicle behavior information related to the behavior of the vehicle, and other vehicle behavior information related to the behavior of another vehicle that travels in front of the vehicle. Based on the other vehicle behavior information acquisition unit to be acquired, the vehicle behavior information acquired by the vehicle behavior information acquisition unit, and the other vehicle behavior information acquired by the other vehicle behavior information acquisition unit, the traffic situation between the vehicle and the other vehicle And a travel support unit that performs travel support based on the estimation result of the traffic condition estimation unit.
- the vehicle travel support device of the present invention when the traffic situation between another vehicle that can acquire other vehicle behavior information traveling in front of the vehicle and the vehicle is congested, the behavior of the other vehicle is the vehicle.
- the traffic situation is quiet, the behavior of other vehicles is less likely to affect the behavior of the vehicle.
- the traffic situation between them can be estimated. Therefore, according to this vehicle travel support device, it is possible to estimate the number and traffic density of other vehicles from which other vehicle behavior information cannot be acquired between the vehicle and the other vehicle as traffic conditions.
- the amount of information that can be used can be increased, and the reliability of driving support can be improved.
- the other vehicle behavior information acquisition unit acquires the other vehicle behavior information through inter-vehicle communication between the vehicle and the other vehicle. According to this vehicle travel support device, it is possible to acquire other vehicle behavior information of other vehicles capable of inter-vehicle communication through inter-vehicle communication with high accuracy.
- the vehicle behavior information includes the speed change information of the vehicle
- the other vehicle behavior information includes the speed change information of the other vehicle
- the traffic condition estimation unit includes the speed change information of the other vehicle. It is preferable to estimate the traffic situation between the vehicle and another vehicle based on the vehicle speed change information. According to this vehicle travel support device, paying attention to the speed change in which the influence of the other vehicle becomes noticeable as the behavior change, the traffic between the vehicle and the other vehicle based on the speed change of the other vehicle and the speed change of the vehicle. Estimation accuracy can be improved by estimating the situation.
- the traffic situation estimation unit is configured to reduce the speed gain of the vehicle speed change relative to the speed change of the other vehicle during deceleration based on the speed change information of the other vehicle and the speed change information of the vehicle. It is preferable to estimate the traffic situation between the vehicle and the other vehicle based on the deceleration amplification factor.
- the vehicle and the other vehicle are utilized by using the deceleration amplification factor at which the influence of the vehicle speed change with respect to the speed change of the other vehicle appears, that is, the vehicle deceleration amplification factor with respect to the deceleration of the other vehicle.
- the estimation accuracy can be further improved by estimating the traffic situation between the two.
- the traffic condition estimation unit calculates a delay time between the deceleration start timing of the other vehicle and the deceleration start timing of the vehicle based on the speed change information of the other vehicle and the speed change information of the vehicle. It is preferable to calculate and estimate the traffic situation between the vehicle and the other vehicle based on the delay time. According to this vehicle travel support device, further estimation is performed by estimating the traffic situation between the vehicle and the other vehicle using the delay time of the deceleration start timing at which the influence of the other vehicle is noticeable even in the speed change. The accuracy can be improved.
- the vehicle travel support apparatus further includes a position information acquisition unit that acquires the position information of the vehicle, and the other vehicle behavior information acquired by the other vehicle behavior information acquisition unit includes the position information of the other vehicle.
- the traffic condition estimation unit calculates the inter-vehicle distance between the vehicle and the other vehicle based on the position information of the vehicle and the position information of the other vehicle, and the traffic condition between the vehicle and the other vehicle based on the change in the inter-vehicle distance. Is preferably estimated.
- the influence of the behavior of the other vehicle on the inter-vehicle distance between the vehicle and the other vehicle differs depending on the traffic situation between the vehicle and the other vehicle.
- the estimation accuracy can be further improved.
- the vehicle travel support apparatus further includes a vehicle behavior prediction unit that predicts the behavior of the vehicle immediately before traveling on the basis of the other vehicle behavior information and the estimation result of the traffic condition estimation unit,
- the driving support unit preferably performs driving support based on the behavior prediction result of the immediately preceding vehicle behavior prediction unit.
- this vehicle travel support device it is possible to estimate the influence of the behavior of the other vehicle that has acquired the other vehicle behavior information on the immediately preceding vehicle from the traffic situation between the other vehicle and the vehicle estimated by the traffic situation estimation unit. Therefore, it is possible to predict the behavior of the immediately preceding vehicle based on the other vehicle behavior information. Therefore, according to this vehicle travel support device, it is possible to implement pre-read travel support based on the behavior prediction result of the immediately preceding vehicle by predicting the behavior of the immediately preceding vehicle from the behavior of the preceding other vehicle.
- the travel support unit implements travel support based on road condition information between the vehicle and the immediately preceding vehicle.
- this vehicle travel support device when an intersection or the like is interposed between the vehicle and the immediately preceding vehicle, the influence of the behavior of the immediately preceding vehicle on the vehicle changes, so the road condition between the vehicle and the immediately preceding vehicle changes. By considering the information, it is possible to improve the reliability of driving support.
- the travel support unit adjusts the control amount of the travel support based on the behavior prediction result of the immediately preceding vehicle behavior prediction unit based on the travel relationship between the current vehicle and the immediately preceding vehicle.
- the preceding vehicle may behave differently from the behavior prediction result of the immediately preceding vehicle behavior prediction unit, so the traveling relationship between the vehicle and the immediately preceding vehicle (inter-vehicle distance, relative speed, relative speed) Etc.), the situation where the vehicle is too close or too far from the preceding vehicle can be avoided. This contributes to an improvement in reliability related to driving support.
- FIG. 1 is a block diagram showing a first embodiment of a vehicle travel support device according to the present invention. It is a figure which shows the traffic condition between a communication vehicle and the own vehicle. It is a graph which shows the relationship between the speed change of a communication vehicle, and the speed change of the own vehicle. It is a flowchart which shows the flow of a process of ECU of FIG. It is a graph which shows the relationship between the speed change of the communication vehicle at the time of deceleration, and the speed change of the own vehicle. It is a graph which shows the speed change of a communication vehicle. It is a graph which shows the relationship between the change of the inter-vehicle distance corresponding to the speed change of the communication vehicle of FIG. 6, and the speed change of the own vehicle.
- FIG.9 It is a block diagram which shows 2nd Embodiment of the vehicle travel assistance apparatus which concerns on this invention.
- A It is a graph which shows the speed change of the other vehicle which can acquire other vehicle behavior information.
- B It is a graph which shows the prediction result of the speed change of the last vehicle based on the speed change of the other vehicle shown to (a). It is a graph which shows the driving assistance control of the own vehicle based on the prediction result of FIG.9 (b).
- It is a flowchart which shows the flow of a process of ECU which concerns on 4th Embodiment. It is a graph which shows the driving assistance control of the own vehicle with respect to the speed change of a vehicle immediately before.
- FIG. 1 It is a block diagram which shows 3rd Embodiment of the vehicle travel assistance apparatus which concerns on this invention.
- A It is a figure which shows the driving
- B It is a figure which shows the condition when the vehicle just before decelerates stronger than expected.
- C It is a figure which shows the condition when the vehicle just before decelerates weaker than expected. It is a flowchart which shows the flow of a process of ECU which concerns on 5th Embodiment.
- the vehicle travel support device 1 As shown in FIGS. 1 and 2, the vehicle travel support device 1 according to the first embodiment is provided in the host vehicle M and implements travel support of the host vehicle M.
- the vehicle travel support device 1 estimates the traffic situation between the host vehicle M and the communication vehicle N through inter-vehicle communication with the communication vehicle N, and implements travel support based on the estimation result of the traffic situation.
- the communication vehicle N is another vehicle capable of communicating between vehicles traveling in front of the host vehicle M on the same lane as the host vehicle M.
- FIGS. 2 (a) to 2 (c) are diagrams showing traffic conditions between the own vehicle M and the communication vehicle N.
- FIG. FIG. 2A shows a situation in which there is no other vehicle that cannot communicate between vehicles between the host vehicle M and the communication vehicle N.
- FIG. 2B shows a situation in which only one incommunicable vehicle U, which is another vehicle incapable of inter-vehicle communication, exists between the host vehicle M and the communication vehicle N.
- FIG. 2C shows a situation in which there are five incommunicable vehicles U between the host vehicle M and the communication vehicle N.
- FIG. 3 (a) to 3 (c) are graphs showing the relationship between the speed change VN of the communication vehicle N and the speed change VM of the host vehicle M.
- FIG. 3A is a graph corresponding to the situation of FIG.
- FIG. 3B is a graph corresponding to the situation of FIG.
- FIG. 3C is a graph corresponding to the situation of FIG.
- the vehicle travel support device 1 is affected by the behavior of the communication vehicle N on the behavior of the host vehicle M when the traffic conditions between the communication vehicle N and the host vehicle M are different. Based on the difference, the traffic situation between the communication vehicle N and the host vehicle M is estimated from the interlocking relationship between the behavior of the communication vehicle N and the behavior of the host vehicle M.
- the estimated traffic situation includes the number of incommunicable vehicles U existing between the communication vehicle N and the host vehicle M, the traffic density, the average inter-vehicle time, and the like.
- the average inter-vehicle time is the inter-vehicle time of the own vehicle M obtained by dividing the inter-vehicle distance L between the communication vehicle N and the own vehicle M by the vehicle speed V of the own vehicle M, and further exists between the communication vehicle N and the own vehicle M. It is calculated by dividing by the number of vehicles U that cannot communicate.
- the vehicle travel support apparatus 1 includes an ECU [Electronic Control Unit] 2 that controls the apparatus in an integrated manner.
- the ECU 2 is an electronic control unit including a CPU [Central Processing Unit], ROM [Read Only Memory], RAM [Random Access Memory], and the like.
- an application program stored in the ROM is loaded into the RAM and executed by the CPU, whereby arithmetic processing related to travel control such as ACC [AdaptiVe Cruise Control] and brake assist is performed.
- the ECU 2 is connected to an inter-vehicle communication unit 3, a road-to-vehicle communication unit 4, a GPS [Global Positioning System] receiving unit 5, a peripheral sensor 6, and a vehicle sensor 7.
- the ECU 2 is connected to a vehicle control unit 8 and an HMI [Human Machine Interface] 9.
- the inter-vehicle communication unit 3 is a communication unit that communicates with other vehicles capable of inter-vehicle communication.
- the inter-vehicle communication unit 3 acquires other vehicle information related to the other vehicle by inter-vehicle communication with the other vehicle.
- the other vehicle information includes other vehicle behavior information related to the behavior of the other vehicle.
- the other vehicle behavior information includes other vehicle position information related to the position of the other vehicle and other vehicle speed change information related to a speed change of the other vehicle.
- the inter-vehicle communication unit 3 transmits the acquired other vehicle information to the ECU 2.
- the inter-vehicle communication unit 3 functions as another vehicle behavior information acquisition unit described in the claims.
- the road-to-vehicle communication unit 4 is a communication unit that performs wireless communication with roadside transceivers and information centers.
- the road-to-vehicle communication unit 4 acquires road information related to a road on which the host vehicle M is traveling by wireless communication. This road information includes road lane number information and road alignment information.
- the road-vehicle communication unit 4 transmits the acquired road information to the ECU 2.
- the GPS receiver 5 detects the current position of the host vehicle M by receiving GPS signals transmitted from a plurality of GPS satellites.
- the GPS receiving unit 5 transmits to the ECU 2 the vehicle position information regarding the detected current position of the vehicle M.
- the GPS receiving unit 5 functions as a vehicle position information acquisition unit described in the claims.
- the surrounding sensor 6 is a sensor that monitors the surrounding situation of the host vehicle M.
- the peripheral sensor 6 includes various devices such as a millimeter wave radar and an external camera.
- the peripheral sensor 6 acquires white line recognition information used for lane determination by recognizing a white line on the road with an external camera.
- the peripheral sensor 6 acquires peripheral other vehicle information by recognizing other vehicles existing around the host vehicle M using a millimeter wave radar, an external camera, or the like.
- the peripheral sensor 6 transmits the acquired white line recognition information and various types of information on the surrounding other vehicle information to the ECU 2.
- the vehicle sensor 7 is a sensor that detects the behavior of the host vehicle M.
- the vehicle sensor 7 includes a vehicle speed sensor, a brake sensor, an acceleration sensor, a steering sensor, an accelerator sensor, and the like.
- the vehicle sensor 7 acquires own vehicle behavior information related to the behavior of the own vehicle M using various sensors.
- the host vehicle behavior information includes host vehicle speed change information related to the speed change of the host vehicle M.
- the vehicle sensor 7 transmits the acquired own vehicle behavior information to the ECU 2.
- the vehicle sensor 7 functions as a vehicle behavior information acquisition unit described in the claims.
- the vehicle control unit 8 is a control unit that performs traveling control of the host vehicle M.
- the vehicle control unit 8 includes various actuators such as a throttle valve actuator, a brake actuator, and a steering actuator.
- the vehicle control unit 8 drives the various actuators in accordance with the travel support signal from the ECU 2 and performs travel control of the host vehicle M.
- the HMI 9 is a facility that provides information to the driver of the host vehicle M.
- the HMI 9 includes a speaker that outputs audio information and a monitor that outputs video information.
- the HMI 9 provides the driver with various types of information used for traveling of the host vehicle M in response to the travel support signal from the ECU 2.
- the ECU 2 includes an estimation availability determination unit 11, an other vehicle information processing unit 12, a host vehicle information processing unit 13, a traffic situation estimation unit 14, and a travel support unit 15.
- the estimation possibility determination unit 11 determines whether or not the traffic situation between the other vehicle that has performed the inter-vehicle communication and the host vehicle M can be estimated. .
- the estimation propriety determination unit 11 determines whether or not it is possible to estimate the traffic situation between the other vehicle and the host vehicle M based on the relationship between the host vehicle M and the other vehicle that has performed inter-vehicle communication.
- the estimability determination unit 11 determines whether the other vehicle that has performed the inter-vehicle communication is a communication vehicle N that is an other vehicle capable of communicating between the vehicles traveling in front of the own vehicle M on the same lane as the own vehicle M. It is determined whether or not the traffic situation can be estimated by determining whether or not this is the case. At this time, the estimability determination unit 11 first determines the lane in which the host vehicle M is traveling based on the road information of the road-to-vehicle communication unit 4, the host vehicle position information of the GPS receiver 5, and the white line recognition information of the vehicle sensor 7.
- the estimation possibility determination unit 11 determines whether the other vehicle that has performed the inter-vehicle communication corresponds to the communication vehicle N.
- the estimation availability determination unit 11 determines that the traffic situation between the communication vehicle N and the host vehicle M can be estimated when it is determined that the other vehicle that has performed the inter-vehicle communication corresponds to the communication vehicle N. Further, when it is determined that the other vehicle that has performed inter-vehicle communication does not correspond to the communication vehicle N, the estimation availability determination unit 11 determines that the estimation of the traffic situation between the communication vehicle N and the host vehicle M is impossible. .
- the estimation availability determination unit 11 is a vehicle in which the communication vehicle N travels immediately before the own vehicle M based on the other vehicle information around the surrounding sensor 6, that is, a vehicle between the own vehicle M and the communication vehicle N. When it is clear that there is no traffic, it is possible to determine that it is impossible to estimate the traffic situation.
- the other vehicle information processing unit 12 when the estimation possibility determination unit 11 determines that the traffic situation can be estimated, based on the other vehicle speed change information included in the other vehicle information of the inter-vehicle communication unit 3, the communication vehicle N Is recognized (see FIG. 3).
- the own vehicle information processing unit 13 determines the communication vehicle N based on the own vehicle speed change information included in the own vehicle behavior information of the vehicle sensor 7.
- the speed change VM of the host vehicle M corresponding to the speed change VN is recognized (see FIG. 3).
- the traffic situation estimation unit 14 Based on the speed change VM of the communication vehicle N recognized by the other vehicle information processing unit 12 and the speed change VM of the host vehicle M recognized by the own vehicle information processing unit 13, the traffic situation estimation unit 14 The traffic situation with the vehicle M is estimated.
- the traffic situation estimation unit 14 assumes a transfer function G (s) in which the speed change VN of the communication vehicle N is input u (s) and the speed change VM of the host vehicle M is output y (s).
- the parameters A, B, and C of the transfer function G (s) are obtained using the following equations (1) and (2).
- s shown in Formula (1) is a Laplace operator.
- e shown in Formula (2) is the number of Napiers.
- the traffic situation estimation unit 14 creates a map that associates the parameters A, B, and C of the transfer function G (s) with the traffic situation between the communication vehicle N and the host vehicle M (for example, the number of vehicles U that cannot communicate). Have.
- the traffic situation estimation unit 14 estimates the traffic situation between the communication vehicle N and the host vehicle M from the obtained parameters A, B, and C using the map.
- the traffic situation estimation unit 14 may have a plurality of types of maps according to the inter-vehicle distance L between the communication vehicle N and the host vehicle M. In this case, the traffic situation estimation unit 14 uses the map selected based on the inter-vehicle distance L between the communication vehicle N and the host vehicle M to determine the communication vehicle N and the host vehicle M from the parameters A, B, and C. Accurately estimate the traffic situation between The traffic situation estimation unit 14 functions as a traffic situation estimation unit described in the claims.
- the travel support unit 15 When the traffic situation estimation unit 14 estimates the traffic situation between the communication vehicle N and the host vehicle M, the travel support unit 15 is based on the estimation result of the traffic situation estimation unit 14 and the surrounding other vehicle information of the surrounding sensor 6. Carry out driving support.
- the travel support unit 15 performs the travel support by transmitting a travel support signal corresponding to the estimation result of the traffic condition estimation unit 14 and the other vehicle information of the periphery sensor 6 to the vehicle control unit 8 and the HMI 9.
- the driving support includes ACC, brake assist, information provision to the driver, and the like.
- the driving support unit 15 functions as a driving support unit described in the claims.
- the ECU 2 first transmits other vehicle information acquired by the inter-vehicle communication of the inter-vehicle communication unit 3 to the estimability determination unit 11 (S1). Next, based on the transmitted other vehicle information, the estimation availability determination unit 11 determines whether it is possible to estimate the traffic situation between the other vehicle that has performed inter-vehicle communication and the host vehicle M ( S2).
- the estimation availability determination unit 11 ends the process. Thereafter, the process returns to S1.
- the estimation possibility determination unit 11 determines that the traffic situation between the communication vehicle N and the host vehicle M can be estimated.
- the other vehicle information processing unit 12 when the estimation possibility determination unit 11 determines that the traffic situation can be estimated, based on the other vehicle speed change information included in the other vehicle information of the inter-vehicle communication unit 3, the communication vehicle N
- the speed change VN is recognized (S3).
- the own vehicle information processing unit 13 determines the communication vehicle N based on the own vehicle speed change information included in the own vehicle behavior information of the vehicle sensor 7.
- the speed change VM of the host vehicle M corresponding to the speed change VN is recognized (S4).
- the traffic situation estimation unit 14 Based on the speed change VM of the communication vehicle N recognized by the other vehicle information processing unit 12 and the speed change VM of the host vehicle M recognized by the own vehicle information processing unit 13, the traffic situation estimation unit 14 The traffic situation with the vehicle M is estimated (S5).
- the traffic situation estimation unit 14 estimates the traffic situation between the communication vehicle N and the host vehicle M
- the travel support unit 15 is based on the estimation result of the traffic situation estimation unit 14 and the surrounding other vehicle information of the surrounding sensor 6. Driving support is implemented (S6).
- the behavior of the communication vehicle N affects the behavior of the own vehicle M when the traffic situation between the own vehicle M and the communication vehicle N is congested. Since the behavior of the communication vehicle N is less likely to affect the behavior of the own vehicle M when the traffic situation is quiet, the own vehicle M and the communication vehicle are based on the own vehicle behavior information and the other vehicle behavior information.
- the traffic situation with N can be estimated. Therefore, according to this vehicle travel support device 1, the number of vehicles U and the traffic density between the own vehicle M and the communication vehicle N can be estimated as the traffic situation. The amount of information that can be used can be increased, and the reliability of driving support can be improved.
- this vehicle travel support device in order to estimate the traffic situation between the own vehicle M and the communication vehicle N from the behavior of the communication vehicle N and the behavior of the own vehicle M acquired by inter-vehicle communication, thus, there is no need to provide a huge amount of traffic situation maps divided for each region and time zone. Furthermore, according to this vehicle travel support device 1, even when the traffic situation between the own vehicle M and the communication vehicle N is fluidly changed, unlike the case where the conventional traffic situation map is used, It is possible to accurately estimate the traffic situation.
- this vehicle travel support device 1 paying attention to the speed change in which the influence of the communication vehicle N appears as a behavior change, the own vehicle based on the speed change of the communication vehicle N and the speed change of the own vehicle M. By estimating the traffic situation between M and the communication vehicle N, it is possible to improve the estimation accuracy.
- this vehicle travel assistance device 1 since the other vehicle information is acquired through inter-vehicle communication, it is possible to acquire the other vehicle information with higher accuracy than in the case of acquiring from only the infrastructure equipment or the vehicle-mounted sensor. it can.
- the vehicle travel support apparatus according to the second embodiment differs from the vehicle travel support apparatus 1 according to the first embodiment in the estimation of traffic conditions in the traffic condition estimation unit 14.
- the vehicle travel support apparatus according to the second embodiment will be described with reference to FIG.
- FIG. 5 is a graph showing the relationship between the speed change of the communication vehicle and the speed change of the host vehicle during deceleration.
- the broken line in FIG. 5 indicates the speed change VN of the communication vehicle N during deceleration.
- the solid lines in FIG. 5 indicate speed changes VM1 to VM4 of the own vehicle M when the traffic conditions between the communication vehicle N and the own vehicle M are different. Specifically, in the order of VM1 to VM4, the speed change of the host vehicle M in a traffic situation where the number of incommunicable vehicles U existing between the communication vehicle N and the host vehicle M at a predetermined inter-vehicle distance L is large.
- VM1 is a speed change of the own vehicle M when the number of incommunicable vehicles U existing between the communication vehicle N and the own vehicle M among the VM1 to VM4 is the smallest or there is no incommunicable vehicle U.
- VM4 is a speed change of the own vehicle M when the number of incommunicable vehicles U existing between the communication vehicle N and the own vehicle M among the VM1 to VM4 is the largest.
- the speed change of the own vehicle M with respect to the speed change VN of the communication vehicle N increases as the number of vehicles U that cannot communicate between the communication vehicle N and the own vehicle M increases. Becomes longer, and the vehicle speed reduction gain ⁇ and the deceleration gain ⁇ increase.
- the deceleration start delay time ⁇ t is a delay time between the deceleration start timing of the preceding communication vehicle N and the deceleration start timing of the host vehicle M.
- the vehicle speed decrease amplification factor ⁇ is a rate of change of the minimum vehicle speed of the host vehicle M with respect to the minimum vehicle speed of the communication vehicle N.
- the deceleration amplification factor ⁇ is an amplification factor of the average deceleration of the host vehicle M with respect to the average deceleration of the communication vehicle N.
- FIG. 5 shows the deceleration start delay time ⁇ t and the vehicle speed reduction gain ⁇ of the speed change VM4 of the host vehicle M with reference to the speed change VN of the communication vehicle N.
- the deceleration that determines the deceleration amplification factor ⁇ corresponds to the slopes of the curves of the speed changes VN and VM4, respectively.
- the traffic situation estimation unit 14 includes the speed change VN of the communication vehicle N at the time of deceleration recognized by the other vehicle information processing unit 12 and the vehicle M at the time of deceleration recognized by the host vehicle information processing unit 13. Based on the speed change VM, a deceleration start delay time ⁇ t, a vehicle speed decrease gain ⁇ , and a deceleration gain ⁇ are calculated.
- the traffic situation estimation unit 14 has a plurality of maps in which the deceleration start delay time ⁇ t, the vehicle speed decrease amplification factor ⁇ , and the deceleration amplification factor ⁇ are associated with the traffic situation between the communication vehicle N and the host vehicle M. Yes.
- the traffic situation estimation unit 14 estimates the traffic situation between the communication vehicle N and the host vehicle M from the calculated deceleration start delay time ⁇ t, the vehicle speed decrease amplification factor ⁇ , and the deceleration amplification factor ⁇ using the map. To do.
- the traffic situation estimation unit 14 weights an error for a condition having a strong correlation between the communication vehicle N and the host vehicle M by using the following equations (3) to (6), and the error ⁇ is The smallest map is selected as the map to be used for traffic situation estimation.
- the following expression (3) is an expression for obtaining the minimum value of the error ⁇ .
- A1 to a3 shown in Expression (3) are predetermined coefficients.
- Expression (4) is an expression for obtaining an error ⁇ 1 between the calculated deceleration start delay time ⁇ t and the deceleration start delay time ⁇ tm defined in the map.
- Expression (5) is an expression for obtaining an error ⁇ 2 between the calculated vehicle speed decrease amplification factor ⁇ and the vehicle speed decrease amplification factor ⁇ m defined in the map.
- Equation (6) is an equation for obtaining an error ⁇ 3 between the calculated deceleration rate amplification factor ⁇ and the deceleration rate amplification factor ⁇ m defined in the map.
- the deceleration start delay time ⁇ t, the vehicle speed decrease amplification factor ⁇ in which the influence of the speed change VM of the host vehicle M on the speed change VN of the communication vehicle N appears significantly.
- the estimation accuracy can be improved by estimating the traffic situation between the host vehicle M and the communication vehicle N using the deceleration amplification factor ⁇ .
- estimation is performed by selecting a map that minimizes the error ⁇ , so that the estimation accuracy can be further improved.
- the vehicle travel support apparatus according to the third embodiment is different from the vehicle travel support apparatus 1 according to the first embodiment in the estimation of the traffic situation in the traffic situation estimation unit 14.
- the vehicle travel support apparatus according to the third embodiment will be described with reference to FIGS. 6 and 7.
- FIG. 6 is a graph showing the speed change VN of the communication vehicle N.
- FIG. 7 is a graph showing the relationship between the change in the inter-vehicle distance L corresponding to the speed change VN of the communication vehicle N shown in FIG. 6 and the speed change VM of the host vehicle M.
- FIG. 7A shows the relationship between the change in the inter-vehicle distance L and the speed change VM of the host vehicle M when there is no communication disabled vehicle U between the host vehicle M and the communication vehicle N. (See FIG. 2 (a)).
- FIG. 7B shows the relationship between the change in the inter-vehicle distance L and the speed change VM of the host vehicle M when there are a plurality of vehicles U that cannot communicate between the host vehicle M and the communication vehicle N ( (Refer FIG.2 (c)).
- the change in the inter-vehicle distance L with respect to the speed change VN of the communication vehicle N and the speed change VM of the own vehicle M depend on the traffic situation between the related own vehicle M and the communication vehicle N. Different. For this reason, when there is no correlation in the change of the inter-vehicle distance L with respect to the speed change VN of the communication vehicle N, or when the speed change VN of the communication vehicle N is reflected in the change of the inter-vehicle distance L as it is, communication with the own vehicle M is performed. It can be estimated that the traffic situation is such that the number of vehicles U that cannot communicate with the vehicle N is small.
- the traffic situation estimation unit 14 estimates the traffic situation between the host vehicle M and the communication vehicle N based on the change in the inter-vehicle distance L with respect to the speed change VN of the communication vehicle N and the speed change VM of the host vehicle M. .
- the traffic situation estimation unit 14 determines the distance between the own vehicle M and the communication vehicle N based on the other vehicle position information included in the other vehicle information of the inter-vehicle communication unit 3 and the own vehicle position information of the GPS receiving unit 5.
- the distance L is calculated.
- the traffic condition estimation unit 14 Based on the calculated change in the inter-vehicle distance L and the speed change VM of the host vehicle M recognized by the host vehicle information processing unit 13, the traffic condition estimation unit 14 recognizes the change in the inter-vehicle distance L and the speed change VM as a cycle. In this case, the phase delay time and amplitude change are calculated.
- the traffic situation estimation unit 14 has a map in which the phase delay time and amplitude change are associated with the traffic situation between the host vehicle M and the communication vehicle N. The traffic situation estimation unit 14 estimates the traffic situation between the host vehicle M and the communication vehicle N from the phase delay time and the change in amplitude using the map.
- the speed change VN of the communication vehicle N changes the change in the inter-vehicle distance L and the speed of the host vehicle M depending on the traffic situation between the host vehicle M and the communication vehicle N. Since the influence on the change VM is different, by estimating the traffic situation between the own vehicle M and the communication vehicle N based on the change in the inter-vehicle distance L and the speed change VM of the own vehicle M, further estimation accuracy can be improved. Improvements can be made.
- the vehicle travel support apparatus 21 estimates the traffic situation in the traffic situation estimation unit 23, predicts the behavior of the immediately preceding vehicle F traveling immediately before the host vehicle M, and predicts the behavior of the immediately preceding vehicle F.
- the execution of the driving support based on this is different from the vehicle driving support device 1 according to the first embodiment.
- the ECU 22 of the vehicle travel support device 21 includes an estimation availability determination unit 11, another vehicle information processing unit 12, a host vehicle information processing unit 13, a traffic situation estimation unit 23, The vehicle has an immediately preceding vehicle behavior prediction unit 24 and a travel support unit 25. Since the estimation possibility determination unit 11, the other vehicle information processing unit 12, and the own vehicle information processing unit 13 are the same as those in the first embodiment, the description thereof is omitted.
- the traffic condition estimation unit 23 includes a speed change VM of the own vehicle M included in the own vehicle behavior information, a speed change VN of the communication vehicle N included in the other vehicle information, and a road condition between the own vehicle M and the communication vehicle N. Based on the information, the traffic situation between the host vehicle M and the communication vehicle N is estimated.
- the road condition information is information such as intersections, traffic lights, presence / absence of level crossings, presence / absence of traffic restrictions, and display conditions of traffic lights.
- the road condition information is acquired, for example, by road-to-vehicle communication by the road-to-vehicle communication unit 4.
- the traffic situation estimation unit 23 estimates the traffic situation using the deceleration start delay time ⁇ t explained in the second embodiment, the inter-vehicle distance L explained in the third embodiment, and the like. May be performed.
- the immediately preceding vehicle behavior predicting unit 24 predicts the behavior of the immediately preceding vehicle F traveling immediately before the host vehicle M based on the other vehicle information of the communication vehicle N and the traffic condition estimation result by the traffic condition estimating unit 23.
- the immediately preceding vehicle F is a vehicle that travels between the host vehicle M and the communication vehicle N. Note that “immediately before” in this case means that there is no other vehicle between the own vehicle M and the immediately preceding vehicle F, and is not related to the distance between the own vehicle M and the immediately preceding vehicle F.
- the immediately preceding vehicle F may be a vehicle that can communicate between vehicles or a vehicle that cannot communicate between vehicles.
- the immediately preceding vehicle behavior prediction unit 24 predicts behaviors such as a speed change VF and a position change of the immediately preceding vehicle F.
- FIG. 9A is a graph showing the speed change VN of the communication vehicle N.
- FIG. 9B is a graph showing a prediction result of the speed change VF of the immediately preceding vehicle F based on the speed change VN of the communication vehicle N shown in FIG.
- the immediately preceding vehicle behavior prediction unit 24 predicts a change in the speed of the subsequent vehicle after ⁇ t by assuming that the subsequent vehicle changes its speed after a certain delay time ⁇ t when the speed of the communication vehicle N changes.
- the immediately preceding vehicle behavior predicting unit 24 recognizes the speed change VN of the communication vehicle N shown in FIG. 9A
- the speed change VU1 of the following vehicle U1 traveling immediately after the communication vehicle N is expressed by the following equation (7).
- AU1 is the acceleration change of the following vehicle U1
- t is the current time
- ⁇ t is the delay time
- ⁇ is a predetermined gain coefficient.
- the immediately preceding vehicle behavior prediction unit 24 predicts the speed change VU1 of the succeeding vehicle U1 by the above procedure, and then similarly changes the speed change VU2 of the succeeding vehicle U2 following the succeeding vehicle U1. Predict. Thereafter, the immediately preceding vehicle behavior predicting unit 24 predicts the speed change VF of the immediately preceding vehicle F from the speed change VU2 of the following vehicle U2. For the number of other vehicles between the communication vehicle N and the immediately preceding vehicle F, the traffic situation estimation result by the traffic situation estimation unit 23 is used. Alternatively, the immediately preceding vehicle behavior prediction unit 24 may estimate the number of other vehicles using traffic information such as the average traffic density of the road on which the host vehicle M travels. The immediately preceding vehicle behavior prediction unit 24 predicts the behavior of the immediately preceding vehicle F in consideration of the road condition information between the communication vehicle N and the immediately preceding vehicle F.
- the driving support unit 25 performs driving support based on the behavior prediction result of the immediately preceding vehicle F by the immediately preceding vehicle behavior predicting unit 24.
- the driving support unit 25 performs pre-reading driving support of the host vehicle M based on the behavior prediction result of the immediately preceding vehicle F.
- the travel support unit 25 performs travel support based on road condition information between the host vehicle M and the immediately preceding vehicle F.
- FIG. 10 is a graph showing the driving support control of the host vehicle M based on the prediction result of FIG.
- the driving support unit 25 performs pre-reading driving support for the host vehicle M based on the prediction result of the speed change VF of the immediately preceding vehicle F.
- the driving support unit 25 performs driving support for decelerating the host vehicle M most efficiently in response to the deceleration of the immediately preceding vehicle F.
- the travel support unit 25 calculates the target speed and target position of the host vehicle M in consideration of the travel locus of the immediately preceding vehicle F based on the behavior prediction result of the immediately preceding vehicle F.
- the driving support unit 25 calculates the calculated target speed and target deceleration or target acceleration to reach the target position using the following equation (8).
- a is the target deceleration or acceleration
- Vpre is the predicted speed of the immediately preceding vehicle F
- Vnow is the current speed of the immediately preceding vehicle F
- Xpre is the predicted position of the immediately preceding vehicle F
- Vnow is the current immediately preceding vehicle F. Is the position.
- the ECU 22 first transmits other vehicle information acquired by the inter-vehicle communication of the inter-vehicle communication unit 3 to the estimation possibility determination unit 11 (S11). Next, based on the transmitted other vehicle information, the estimation availability determination unit 11 determines whether it is possible to estimate the traffic situation between the other vehicle that has performed inter-vehicle communication and the host vehicle M ( S12).
- the estimation availability determination unit 11 ends the process. Thereafter, the process returns to S11.
- the estimation possibility determination unit 11 determines that the traffic situation between the communication vehicle N and the host vehicle M can be estimated.
- the other vehicle information processing unit 12 when the estimation possibility determination unit 11 determines that the traffic situation can be estimated, based on the other vehicle speed change information included in the other vehicle information of the inter-vehicle communication unit 3, the communication vehicle N The speed change VN is recognized (S13).
- the own vehicle information processing unit 13 determines the communication vehicle N based on the own vehicle speed change information included in the own vehicle behavior information of the vehicle sensor 7.
- the speed change VM of the host vehicle M corresponding to the speed change VN is recognized (S14).
- the traffic state estimation unit 23 is configured to detect the speed change VN of the communication vehicle N recognized by the other vehicle information processing unit 12, the speed change VM of the own vehicle M recognized by the own vehicle information processing unit 13, and the own vehicle M and the other vehicle N. Based on the road condition information between the communication vehicle N and the own vehicle M, the traffic condition is estimated (S15).
- the immediately preceding vehicle behavior prediction unit 24 is based on the other vehicle information of the communication vehicle N by the inter-vehicle communication unit 3 and the traffic situation estimation result by the traffic situation estimation unit 23, and the immediately preceding vehicle F that travels immediately before the host vehicle M. Is predicted (S16).
- the travel support unit 25 implements travel support for the host vehicle M based on the behavior prediction result of the immediately preceding vehicle F by the preceding vehicle behavior prediction unit 24 and the road condition information between the host vehicle M and the preceding vehicle F ( S17).
- the vehicle travel support device 21 According to the vehicle travel support device 21 according to the fourth embodiment, the influence of the behavior of the communication vehicle N on the immediately preceding vehicle F based on the traffic situation between the communication vehicle N and the host vehicle M estimated by the traffic situation estimation unit 23. Therefore, it is possible to predict the behavior of the immediately preceding vehicle F based on the other vehicle information of the communication vehicle N traveling ahead of the immediately preceding vehicle F. Therefore, according to this vehicle travel support device 21, by predicting the behavior of the immediately preceding vehicle F from the behavior of the communication vehicle N, it is possible to implement the pre-reading travel support based on the behavior prediction result of the immediately preceding vehicle F.
- FIG. 12 is a graph showing the driving support control of the host vehicle M with respect to the speed change VF of the immediately preceding vehicle F.
- VM0 in FIG. 12 indicates the speed change of the host vehicle M by the driving support based on the conventional feedback control.
- the travel support related to the speed change of the host vehicle M is performed based on the behavior detection result of the immediately preceding vehicle F, not the behavior prediction result of the immediately preceding vehicle F. For this reason, in the speed change VM0 of the own vehicle M, it becomes a change along the speed change VF of the immediately preceding vehicle F and a reaction delay occurs.
- VM1 in FIG. 12 indicates the speed change of the host vehicle M by the pre-reading driving support based on the feedforward control.
- the pre-reading driving support since the driving support is performed based on the behavior prediction result of the immediately preceding vehicle F, smooth and efficient driving control is realized.
- this vehicle travel support device 21 when an intersection or the like is interposed between the own vehicle M and the immediately preceding vehicle F, the influence of the behavior of the immediately preceding vehicle F on the own vehicle M changes. By performing the travel support in consideration of the road condition information between the vehicle M and the immediately preceding vehicle F, it is possible to improve the reliability related to the travel support.
- the vehicle travel support apparatus 31 according to the fifth embodiment is characterized in that the control amount of the pre-read travel support is adjusted based on the travel relationship between the host vehicle M and the immediately preceding vehicle F. It differs from the vehicle travel support device 21 according to the embodiment.
- FIG. 14A is a diagram showing a running relationship between the host vehicle M and the immediately preceding vehicle F before running support is implemented.
- FIG. 14B is a diagram illustrating a situation when the immediately preceding vehicle F decelerates more strongly than predicted from the situation of FIG.
- FIG. 14C is a diagram showing a situation when the immediately preceding vehicle F decelerates weaker than predicted from the situation of FIG.
- FIG. 14B when the immediately preceding vehicle F decelerates more strongly than predicted, a state in which the host vehicle M and the immediately preceding vehicle F are too close to each other by performing pre-reading traveling support according to the position Fpre. End up.
- FIG. 14C when the immediately preceding vehicle F decelerates weaker than predicted, the vehicle M and the immediately preceding vehicle F are too far apart by performing pre-reading driving support according to the position Fpre. It will be in a state. Even when the immediately preceding vehicle F accelerates, the same problem occurs when the immediately preceding vehicle F behaves differently from the prediction.
- the vehicle travel support apparatus 31 solves the above problem by adjusting the control amount of the pre-read travel support based on the travel relationship between the host vehicle M and the preceding vehicle F.
- the ECU 32 of the vehicle travel support device 31 recognizes the travel relationship between the host vehicle M and the immediately preceding vehicle F in the travel support unit 33.
- the travel support unit 33 recognizes the travel relationship between the host vehicle M and the immediately preceding vehicle F based on the other vehicle information around the periphery sensor 6 and the own vehicle behavior information of the vehicle sensor 7.
- the traveling relationship is, for example, the inter-vehicle distance, relative speed, and relative acceleration between the host vehicle M and the immediately preceding vehicle F.
- the driving support unit 33 adjusts the control amount of driving support based on the prediction result of the immediately preceding vehicle behavior predicting unit 24 based on the current driving relationship between the host vehicle M and the immediately preceding vehicle F. For example, when the traveling support unit 33 determines that the own vehicle M and the immediately preceding vehicle F are too close or too far apart from the current traveling relationship between the own vehicle M and the immediately preceding vehicle F, the traveling support unit 33 adjusts the control amount of the pre-reading traveling support. To maintain an appropriate driving relationship.
- the driving support unit 33 adjusts the support acceleration / deceleration (control amount) of the pre-reading driving support related to the speed change of the host vehicle M using the following equation (10).
- ⁇ 1 in Expression (10) is an adjustment variable calculated based on the traveling relationship between the host vehicle M and the immediately preceding vehicle F.
- the travel support unit 33 performs the pre-reading travel support and the follow-up control based on the current running relationship between the own vehicle M and the immediately preceding vehicle F. Adjust the weight between.
- the travel support unit 33 adjusts the control amount of the pre-read travel support and the control amount of the follow-up control based on the current travel relationship between the host vehicle M and the immediately preceding vehicle F.
- the driving support unit 33 adjusts the weighting so that the follow-up control is prioritized when it is determined that the own vehicle M and the immediately preceding vehicle F are too close or too far from the current traveling relationship between the own vehicle M and the immediately preceding vehicle F. To do.
- the driving support unit 33 adjusts the weighting of the pre-reading acceleration / deceleration related to the pre-reading driving support and the acceleration / deceleration related to the follow-up control using the following equation (11).
- ⁇ 2 and ⁇ 2 in Expression (11) are weighting variables calculated based on the traveling relationship between the host vehicle M and the immediately preceding vehicle F.
- the ECU 32 first transmits the other vehicle information acquired by the inter-vehicle communication of the inter-vehicle communication unit 3 to the estimation possibility determination unit 11 (S21). Next, based on the transmitted other vehicle information, the estimation availability determination unit 11 determines whether it is possible to estimate the traffic situation between the other vehicle that has performed inter-vehicle communication and the host vehicle M ( S22).
- the estimation availability determination unit 11 ends the process. Thereafter, the process returns to S21.
- the estimation possibility determination unit 11 determines that the traffic situation between the communication vehicle N and the host vehicle M can be estimated.
- the other vehicle information processing unit 12 when the estimation possibility determination unit 11 determines that the traffic situation can be estimated, based on the other vehicle speed change information included in the other vehicle information of the inter-vehicle communication unit 3, the communication vehicle N
- the speed change VN is recognized (S23).
- the own vehicle information processing unit 13 determines the communication vehicle N based on the own vehicle speed change information included in the own vehicle behavior information of the vehicle sensor 7.
- the speed change VM of the host vehicle M corresponding to the speed change VN is recognized (S24).
- the traffic state estimation unit 23 is configured to detect the speed change VN of the communication vehicle N recognized by the other vehicle information processing unit 12, the speed change VM of the own vehicle M recognized by the own vehicle information processing unit 13, and the own vehicle M and the other vehicle N. Based on the road condition information between the communication vehicle N and the host vehicle M, the traffic condition between the communication vehicle N and the host vehicle M is estimated (S25).
- the immediately preceding vehicle behavior prediction unit 24 is based on the other vehicle information of the communication vehicle N by the inter-vehicle communication unit 3 and the traffic situation estimation result by the traffic situation estimation unit 23, and the immediately preceding vehicle F that travels immediately before the own vehicle M. Is predicted (S26).
- the driving support unit 33 performs driving support of the host vehicle M based on the behavior prediction result of the immediately preceding vehicle F by the preceding vehicle behavior predicting unit 24 and the road condition information between the host vehicle M and the preceding vehicle F ( S27).
- the travel support unit 33 adjusts the control value of the travel support based on the current travel relationship between the host vehicle M and the immediately preceding vehicle F.
- the driving support unit 33 adjusts the control value of the deceleration control in the driving support to a large value.
- the traveling support unit 33 determines that the host vehicle M and the immediately preceding vehicle F are too close during acceleration of the host vehicle M, the traveling support unit 33 adjusts the control value of acceleration control in the traveling support to a small value.
- the driving support unit 33 adjusts the control value of the deceleration control in the driving support to a small value. In addition, when it is determined that the host vehicle M and the immediately preceding vehicle F are too far apart when the host vehicle M is accelerating, the driving support unit 33 adjusts the control value of acceleration control in the driving support to a large value.
- the preceding vehicle F and the preceding vehicle F may behave differently from the behavior prediction result of the preceding vehicle behavior prediction unit 24.
- the control amount of the pre-reading driving support based on the driving relationship, the situation where the host vehicle M is too close or too far from the immediately preceding vehicle F can be avoided. This contributes to the improvement of the reliability related to the pre-reading driving support.
- the present invention is not limited to the embodiment described above.
- the functions of the vehicle travel support apparatuses according to the first to fifth embodiments described above may be used in appropriate combination.
- the present invention can be used in combination with the estimation results of traffic conditions by various conventional methods.
- the present invention can realize further improvement of the estimation accuracy of the traffic situation.
- the map is not divided according to the travel location, time zone, etc., but a plurality of types classified by rough locations such as expressways, main roads, narrow streets, etc., and time zones. It is good also as an aspect which has a map and selects a map according to the present position and traveling time of the own vehicle M. Even in this case, the present invention can further improve the estimation accuracy of the traffic situation.
- the present invention is not limited to the case where the traffic situation between the host vehicle M and the communication vehicle N is estimated based on the speed change or the change in the inter-vehicle distance.
- the delay time between the lighting timing of the stop lamp of the communication vehicle N and the lighting timing of the stop lamp of the host vehicle M is determined between the host vehicle M and the communication vehicle N. It may be a mode in which the traffic situation between is estimated.
- the vehicle travel support device 1 estimates the traffic situation between the host vehicle M and the communication vehicle N from the time difference or correlation between the accelerator work of the communication vehicle N and the accelerator work of the host vehicle M. There may be.
- the vehicle travel support device 1 determines the traffic situation between the host vehicle M and the communication vehicle N based on the correlation of the acceleration / deceleration change between the host vehicle M and the communication vehicle N or the correlation of the change of the steering angle.
- the mode of estimation may be used.
- the present invention is not limited to the case where all three of the deceleration start delay time ⁇ t, the vehicle speed decrease amplification factor ⁇ , and the deceleration amplification factor ⁇ are used for estimating the traffic situation.
- a mode in which only one or two of the start delay time ⁇ t, the vehicle speed decrease amplification factor ⁇ , and the deceleration amplification factor ⁇ is used for estimating the traffic situation may be used.
- the vehicle travel support device may include these other vehicles when there are two or more other vehicles capable of inter-vehicle communication in the lane to be changed.
- the mode which estimates the traffic condition between other vehicles based on this behavior information may be sufficient.
- the host vehicle M can grasp the influence of the own lane change on the group of vehicles in the destination lane.
- the behavior information of any other vehicle in the lane is acquired by the surrounding sensor 6 of the own vehicle M, so that the other vehicle
- the mode which estimates the traffic condition between other vehicles which can communicate between vehicles and vehicles may be sufficient.
- the present invention can estimate the traffic situation between the communication vehicle N and the host vehicle M according to the situation even when the host vehicle M and the communication vehicle N are traveling on different lanes. Is possible.
- the present invention is not limited to acquiring other vehicle information from inter-vehicle communication, and may acquire other vehicle information from infrastructure equipment or a vehicle-mounted sensor.
- the present invention can be used for a vehicle travel support device that performs travel support for a vehicle.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
この車両走行支援装置によれば、車々間通信を通じて車々間通信可能な他車両の他車両挙動情報を高い精度で取得することができる。
この車両走行支援装置によれば、挙動変化として他車両の影響が顕著に現れる速度変化に注目して、他車両の速度変化と車両の速度変化とに基づいて車両と他車両との間の交通状況を推定することで、推定精度の向上を図ることができる。
この車両走行支援装置によれば、他車両の速度変化に対する車両の速度変化の影響が顕著に現れる減速増幅率すなわち他車両の減速度に対する車両の減速度の増幅率を利用して車両と他車両との間の交通状況を推定することで、更なる推定精度の向上を図ることができる。
この車両走行支援装置によれば、速度変化の中でも他車両の影響が顕著に現れる減速開始タイミングの遅れ時間を利用して車両と他車両との間の交通状況を推定することで、更なる推定精度の向上を図ることができる。
この車両走行支援装置によれば、交通状況推定ユニットの推定した他車両と車両との間の交通状況から他車両挙動情報を取得した他車両の挙動が直前車に与える影響を推測することができるので、他車両挙動情報に基づいて直前車の挙動を予測することが可能になる。従って、この車両走行支援装置によれば、先行する他車両の挙動から直前車の挙動を予測することで、直前車の挙動予測結果に基づいた先読み走行支援を実施することができる。
この車両走行支援装置によれば、車両と直前車との間に交差点などが介在する場合には直前車の挙動が車両に与える影響が変化することから、車両と直前車との間の道路状況情報を考慮することで、走行支援に係る信頼性の向上を図ることができる。
この車両走行支援装置によれば、直前車が直前車挙動予測ユニットの挙動予測結果と異なる挙動をする場合があることから、車両と直前車との走行関係(車間距離、相対速度、相対化速度など)に基づいて先読み走行支援の制御量を調整することで、車両が直前車に近づき過ぎたり離れ過ぎたりする事態を避けることができる。このことは、走行支援に係る信頼性の向上に寄与する。
図1及び図2に示されるように、第1の実施形態に係る車両走行支援装置1は、自車両Mに備えられ、自車両Mの走行支援を実施するものである。車両走行支援装置1は、通信車両Nとの車々間通信により自車両Mと通信車両Nの間の交通状況を推定し、交通状況の推定結果に基づいて走行支援を実施する。ここで、通信車両Nは、自車両Mと同じ車線上で自車両Mの前方を走行している車々間通信可能な他車両である。
第2の実施形態に係る車両走行支援装置は、交通状況推定部14における交通状況の推定が第1の実施形態に係る車両走行支援装置1と異なる。以下、第2の実施形態に係る車両走行支援装置について図5を参照して説明する。
第3の実施形態に係る車両走行支援装置は、交通状況推定部14における交通状況の推定が第1の実施形態に係る車両走行支援装置1と異なる。以下、第3の実施形態に係る車両走行支援装置について図6及び図7を参照して説明する。
第4の実施形態に係る車両走行支援装置21は、交通状況推定部23における交通状況の推定と、自車両Mの直前を走行する直前車Fの挙動を予測と、直前車Fの挙動予測に基づく走行支援の実行と、が第1の実施形態に係る車両走行支援装置1と異なる。
図13に示されるように、第5の実施形態に係る車両走行支援装置31は、自車両Mと直前車Fとの走行関係に基づいて先読み走行支援の制御量を調整する点が第4の実施形態に係る車両走行支援装置21と比べて異なる。
Claims (9)
- 車両の挙動に関する車両挙動情報を取得する車両挙動情報取得ユニットと、
前記車両の前方を走行する他車両の挙動に関する他車両挙動情報を取得する他車両挙動情報取得ユニットと、
前記車両挙動情報取得ユニットの取得した前記車両挙動情報と前記他車両挙動情報取得ユニットの取得した前記他車両挙動情報とに基づいて、前記車両と前記他車両との間の交通状況を推定する交通状況推定ユニットと、
前記交通状況推定ユニットの推定結果に基づいて走行支援を実施する走行支援ユニットと、
を備えた車両走行支援装置。 - 前記他車両挙動情報取得ユニットは、前記車両と前記他車両との間の車々間通信により前記他車両挙動情報を取得する請求項1に記載の車両走行支援装置。
- 前記車両挙動情報は前記車両の速度変化情報を含み、
前記他車両挙動情報は前記他車両の速度変化情報を含み、
前記交通状況推定ユニットは、前記他車両の速度変化情報と前記車両の速度変化情報とに基づいて前記車両と前記他車両との間の交通状況を推定する請求項1又は2に記載の車両走行支援装置。 - 前記交通状況推定ユニットは、前記他車両の速度変化情報と前記車両の速度変化情報とに基づいて減速時の前記他車両の速度変化に対する前記車両の速度変化の減速増幅率を算出し、前記減速増幅率に基づいて前記車両と前記他車両との間の交通状況を推定する請求項3に記載の車両走行支援装置。
- 前記交通状況推定ユニットは、前記他車両の速度変化情報と前記車両の速度変化情報とに基づいて前記他車両の減速開始タイミングと前記車両の減速開始タイミングとの遅れ時間を算出し、前記遅れ時間に基づいて前記車両と前記他車両との間の交通状況を推定する請求項3又は4に記載の車両走行支援装置。
- 前記車両の位置情報を取得する車両位置情報取得ユニットを更に備え、
前記他車両挙動情報取得ユニットの取得する前記他車両挙動情報には、前記他車両の位置情報が含まれ、
前記交通状況推定ユニットは、前記車両の位置情報と前記他車両の位置情報とに基づいて前記車両と前記他車両との車間距離を算出し、前記車間距離の変化に基づいて前記車両と前記他車両との間の交通状況を推定する請求項1~5のうち何れか一項に記載の車両走行支援装置。 - 前記他車両挙動情報と前記交通状況推定ユニットの推定結果とに基づいて、前記車両の直前を走行する直前車の挙動を予測する直前車挙動予測ユニットを更に備え、
前記走行支援ユニットは、前記直前車挙動予測ユニットの挙動予測結果に基づいて走行支援を実施する請求項1~6のいずれか一項に記載の車両走行制御装置。 - 前記走行支援ユニットは、前記車両と前記直前車との間の道路状況情報に基づいて走行支援を実施する請求項7に記載の車両走行制御装置。
- 前記走行支援ユニットは、現在の前記車両と前記直前車との走行関係に基づいて、前記直前車挙動予測ユニットの挙動予測結果に基づく走行支援の制御量を調整する請求項7又は8に記載の車両走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012509352A JP5532125B2 (ja) | 2010-04-07 | 2011-03-02 | 車両走行支援装置 |
US13/639,750 US9269264B2 (en) | 2010-04-07 | 2011-03-02 | Vehicle driving assistance device |
DE112011101255.1T DE112011101255B4 (de) | 2010-04-07 | 2011-03-02 | Fahrzeugfahrunterstützungsvorrichtung |
CN201180017490.0A CN102834852B (zh) | 2010-04-07 | 2011-03-02 | 车辆行驶辅助装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPPCT/JP2010/056298 | 2010-04-07 | ||
PCT/JP2010/056298 WO2011125185A1 (ja) | 2010-04-07 | 2010-04-07 | 車両走行支援装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011125393A1 true WO2011125393A1 (ja) | 2011-10-13 |
Family
ID=44762172
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2010/056298 WO2011125185A1 (ja) | 2010-04-07 | 2010-04-07 | 車両走行支援装置 |
PCT/JP2011/054741 WO2011125393A1 (ja) | 2010-04-07 | 2011-03-02 | 車両走行支援装置 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2010/056298 WO2011125185A1 (ja) | 2010-04-07 | 2010-04-07 | 車両走行支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9269264B2 (ja) |
JP (1) | JPWO2011125185A1 (ja) |
CN (1) | CN102834852B (ja) |
DE (1) | DE112011101255B4 (ja) |
WO (2) | WO2011125185A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013112072A (ja) * | 2011-11-25 | 2013-06-10 | Toyota Motor Corp | 走行車線判別装置 |
CN104364831A (zh) * | 2012-06-14 | 2015-02-18 | 大陆-特韦斯贸易合伙股份公司及两合公司 | 用于使汽车驶近特性适配于交通信号设备的方法和***以及该***的使用 |
US20150344034A1 (en) * | 2014-05-30 | 2015-12-03 | Denso Corporation | Apparatus and program for assisting drive of vehicle |
CN113135185A (zh) * | 2020-01-16 | 2021-07-20 | 奥迪股份公司 | 车辆驾驶辅助***、包括其的车辆及相应的方法和介质 |
Families Citing this family (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5672822B2 (ja) * | 2010-07-29 | 2015-02-18 | トヨタ自動車株式会社 | 車両制御システム |
US8655575B2 (en) * | 2011-03-31 | 2014-02-18 | International Business Machines Corporation | Real time estimation of vehicle traffic |
EP2927084B1 (en) * | 2012-11-28 | 2021-06-09 | Toyota Jidosha Kabushiki Kaisha | Vehicle travel control device |
KR101491256B1 (ko) * | 2013-05-28 | 2015-02-06 | 현대자동차주식회사 | 무선통신을 이용한 차선인식 장치 및 방법 |
SE537471C2 (sv) * | 2013-09-09 | 2015-05-12 | Scania Cv Ab | Förfarande och system för adaptiv farthållning samt fordon |
SE537578C2 (sv) * | 2013-09-30 | 2015-06-30 | Scania Cv Ab | Styrenhet och metod för att reglera ett fordon i ett fordonståg |
LU92575B1 (en) * | 2013-10-16 | 2016-05-20 | Université Du Luxembourg | Traffic control |
US9828011B2 (en) * | 2013-12-18 | 2017-11-28 | Thales Canada Inc | Communication system for guideway mounted vehicle and method of using the same |
JP2015123831A (ja) * | 2013-12-26 | 2015-07-06 | 富士重工業株式会社 | 車両の制御装置及び制御方法 |
US9460625B2 (en) * | 2014-04-08 | 2016-10-04 | Denso International America, Inc. | Proxy DSRC basic safety message for unequipped vehicles |
WO2016134770A1 (en) * | 2015-02-26 | 2016-09-01 | Volvo Truck Corporation | Method of controlling inter-vehicle gap(s) in a platoon |
US10088325B2 (en) * | 2015-08-03 | 2018-10-02 | Nissan North America, Inc. | Projected vehicle transportation network information notification |
DE102016205139B4 (de) | 2015-09-29 | 2022-10-27 | Volkswagen Aktiengesellschaft | Vorrichtung und Verfahren zur Charakterisierung von Objekten |
CN105679093B (zh) * | 2016-02-23 | 2018-10-09 | 江苏大学 | 一种基于车车通信的多车协同避撞***及其方法 |
US10699566B2 (en) * | 2016-03-11 | 2020-06-30 | Ford Global Technologies, Llc | Method and apparatus for congestion reduction through cooperative adaptive cruise control |
US9852554B2 (en) * | 2016-03-31 | 2017-12-26 | Harman International Industries, Incorporated | Systems and methods for vehicle-to-vehicle communication |
CN106080593A (zh) * | 2016-07-01 | 2016-11-09 | 苏州科技大学 | 一种车辆智能防碰撞***及防碰撞方法 |
EP3513148A4 (en) * | 2016-09-16 | 2020-06-03 | Roger Andre Eilertsen | DISTRIBUTED TRAFFIC STEERING AND MONITORING SYSTEM |
US10121376B2 (en) * | 2016-10-05 | 2018-11-06 | Ford Global Technologies, Llc | Vehicle assistance |
US10635255B2 (en) * | 2017-04-18 | 2020-04-28 | Google Llc | Electronic device response to force-sensitive interface |
US10252710B2 (en) | 2017-05-10 | 2019-04-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Utilizing missed prediction |
JP6922582B2 (ja) * | 2017-09-15 | 2021-08-18 | トヨタ自動車株式会社 | 走行制御装置、走行制御システム、及び走行制御方法 |
DE102017219665A1 (de) * | 2017-11-06 | 2019-05-09 | Robert Bosch Gmbh | Verfahren zum Bilden und zum Koordinieren von mindestens einem Fahrzeugverbund |
US10442432B2 (en) * | 2017-11-14 | 2019-10-15 | Ford Global Technologies, Llc | Lead vehicle monitoring for adaptive cruise control |
JP7013998B2 (ja) * | 2018-03-27 | 2022-02-01 | トヨタ自動車株式会社 | 車両制御装置 |
KR102587095B1 (ko) * | 2018-12-12 | 2023-10-11 | 현대자동차주식회사 | 차량 안전운행 지원 시스템 및 방법 |
EP3757443A1 (de) * | 2019-06-25 | 2020-12-30 | Leuze electronic GmbH + Co. KG | Überwachungsvorrichtung und verfahren zur absicherung von gefahrenbereichen |
DE102019209487A1 (de) * | 2019-06-28 | 2020-12-31 | Volkswagen Aktiengesellschaft | Verfahren zum Anonymisieren von Fahrzeugdaten |
CN111348039B (zh) * | 2020-03-31 | 2021-06-18 | 长安大学 | 一种基于加速度变化率优化的驾驶主动干预***及方法 |
CN113947897B (zh) * | 2021-09-26 | 2023-04-07 | 北京百度网讯科技有限公司 | 获取道路交通状况的方法、装置、设备及自动驾驶车辆 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006185136A (ja) * | 2004-12-27 | 2006-07-13 | Nissan Motor Co Ltd | 車両用走行支援装置 |
JP2008090587A (ja) * | 2006-10-02 | 2008-04-17 | Nec Electronics Corp | 車載制御装置、及び渋滞緩和支援方法 |
JP2009116692A (ja) * | 2007-11-07 | 2009-05-28 | Toyota Motor Corp | 走行支援装置 |
JP2009151562A (ja) * | 2007-12-20 | 2009-07-09 | Toyota Motor Corp | 渋滞緩和システム |
JP2009205635A (ja) * | 2008-02-29 | 2009-09-10 | Nissan Motor Co Ltd | 発進情報提供装置および発進情報提供方法 |
JP2010036862A (ja) * | 2008-08-08 | 2010-02-18 | Toyota Motor Corp | 走行制御装置及び走行制御システム |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6292725B1 (en) * | 1997-04-04 | 2001-09-18 | Komatsu Ltd. | Interference preventing device for vehicle |
DE19750942A1 (de) | 1997-11-17 | 1999-05-20 | Delphi 2 Creative Tech Gmbh | Verfahren und Vorrichtung zum Signalisieren von lokalen Verkehrsstörungen |
JP3646605B2 (ja) * | 2000-02-23 | 2005-05-11 | 株式会社日立製作所 | 車両走行制御装置 |
JP2002123894A (ja) * | 2000-10-16 | 2002-04-26 | Hitachi Ltd | プローブカー制御方法及び装置並びにプローブカーを用いた交通制御システム |
JP4843879B2 (ja) | 2001-08-07 | 2011-12-21 | 日産自動車株式会社 | 走行支援装置 |
US6963795B2 (en) * | 2002-07-16 | 2005-11-08 | Honeywell Interntaional Inc. | Vehicle position keeping system |
DE602004016520D1 (de) * | 2003-07-11 | 2008-10-23 | Toyota Motor Co Ltd | Aufprallsicherheitsfahrzeugsteuersystem |
JP4104532B2 (ja) * | 2003-11-10 | 2008-06-18 | 本田技研工業株式会社 | 車両制御装置 |
JP2006059188A (ja) | 2004-08-20 | 2006-03-02 | Matsushita Electric Ind Co Ltd | 交通情報システムおよび情報分析装置 |
US7439853B2 (en) * | 2005-03-31 | 2008-10-21 | Nissan Technical Center North America, Inc. | System and method for determining traffic conditions |
CN102394008B (zh) * | 2006-03-03 | 2015-01-07 | 因瑞克斯有限公司 | 使用来自移动数据源的数据估算道路交通状况 |
US7912628B2 (en) * | 2006-03-03 | 2011-03-22 | Inrix, Inc. | Determining road traffic conditions using data from multiple data sources |
US7474231B2 (en) * | 2006-07-12 | 2009-01-06 | Alcatel-Lucent Usa Inc. | Radio communications for vehicle speed adjustment |
JP4984974B2 (ja) * | 2007-03-02 | 2012-07-25 | 富士通株式会社 | 運転支援システム及び車載装置 |
US8355852B2 (en) * | 2007-05-04 | 2013-01-15 | GM Global Technology Operations LLC | Slow or stopped vehicle ahead advisor with digital map integration |
JP4483958B2 (ja) * | 2008-03-12 | 2010-06-16 | トヨタ自動車株式会社 | 走行支援装置 |
US7804423B2 (en) | 2008-06-16 | 2010-09-28 | Gm Global Technology Operations, Inc. | Real time traffic aide |
US7973674B2 (en) * | 2008-08-20 | 2011-07-05 | International Business Machines Corporation | Vehicle-to-vehicle traffic queue information communication system and method |
JP5741310B2 (ja) * | 2011-08-10 | 2015-07-01 | 富士通株式会社 | 車列長測定装置、車列長測定方法及び車列長測定用コンピュータプログラム |
US8760314B2 (en) * | 2012-06-11 | 2014-06-24 | Apple Inc. | Co-operative traffic notification |
US9412271B2 (en) * | 2013-01-30 | 2016-08-09 | Wavetronix Llc | Traffic flow through an intersection by reducing platoon interference |
US9117098B2 (en) * | 2013-06-03 | 2015-08-25 | Ford Global Technologies, Llc | On-board traffic density estimator |
-
2010
- 2010-04-07 WO PCT/JP2010/056298 patent/WO2011125185A1/ja active Application Filing
- 2010-04-07 JP JP2010543325A patent/JPWO2011125185A1/ja active Pending
-
2011
- 2011-03-02 CN CN201180017490.0A patent/CN102834852B/zh not_active Expired - Fee Related
- 2011-03-02 US US13/639,750 patent/US9269264B2/en active Active
- 2011-03-02 DE DE112011101255.1T patent/DE112011101255B4/de not_active Expired - Fee Related
- 2011-03-02 WO PCT/JP2011/054741 patent/WO2011125393A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006185136A (ja) * | 2004-12-27 | 2006-07-13 | Nissan Motor Co Ltd | 車両用走行支援装置 |
JP2008090587A (ja) * | 2006-10-02 | 2008-04-17 | Nec Electronics Corp | 車載制御装置、及び渋滞緩和支援方法 |
JP2009116692A (ja) * | 2007-11-07 | 2009-05-28 | Toyota Motor Corp | 走行支援装置 |
JP2009151562A (ja) * | 2007-12-20 | 2009-07-09 | Toyota Motor Corp | 渋滞緩和システム |
JP2009205635A (ja) * | 2008-02-29 | 2009-09-10 | Nissan Motor Co Ltd | 発進情報提供装置および発進情報提供方法 |
JP2010036862A (ja) * | 2008-08-08 | 2010-02-18 | Toyota Motor Corp | 走行制御装置及び走行制御システム |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013112072A (ja) * | 2011-11-25 | 2013-06-10 | Toyota Motor Corp | 走行車線判別装置 |
CN104364831A (zh) * | 2012-06-14 | 2015-02-18 | 大陆-特韦斯贸易合伙股份公司及两合公司 | 用于使汽车驶近特性适配于交通信号设备的方法和***以及该***的使用 |
US9483940B2 (en) | 2012-06-14 | 2016-11-01 | Continental Teves Ag & Co. Ohg | Method and system for adapting the driving-off behavior of a vehicle to a traffic signal installation, and use of the system |
US20150344034A1 (en) * | 2014-05-30 | 2015-12-03 | Denso Corporation | Apparatus and program for assisting drive of vehicle |
US9878712B2 (en) * | 2014-05-30 | 2018-01-30 | Denso Corporation | Apparatus and program for assisting drive of vehicle |
US10099691B2 (en) | 2014-05-30 | 2018-10-16 | Denso Corporation | Apparatus and program for assisting drive of vehicle |
US10843695B2 (en) | 2014-05-30 | 2020-11-24 | Denso Corporation | Apparatus and program for assisting drive of vehicle |
CN113135185A (zh) * | 2020-01-16 | 2021-07-20 | 奥迪股份公司 | 车辆驾驶辅助***、包括其的车辆及相应的方法和介质 |
Also Published As
Publication number | Publication date |
---|---|
WO2011125185A1 (ja) | 2011-10-13 |
JPWO2011125185A1 (ja) | 2013-07-08 |
DE112011101255B4 (de) | 2020-07-02 |
DE112011101255T5 (de) | 2013-05-02 |
CN102834852B (zh) | 2014-12-24 |
US9269264B2 (en) | 2016-02-23 |
US20130030688A1 (en) | 2013-01-31 |
CN102834852A (zh) | 2012-12-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2011125393A1 (ja) | 車両走行支援装置 | |
JP6493282B2 (ja) | サーバー及び情報提供装置 | |
JP6325670B2 (ja) | 車線選択装置、車両制御システム及び車線選択方法 | |
US11345359B2 (en) | Autonomous driving vehicles with dual autonomous driving systems for safety | |
EP2709082B1 (en) | Vehicle-use signal information processing device and vehicle-use signal information processing method, as well as driving assistance device and driving assistance method | |
JP6565988B2 (ja) | 自動運転装置 | |
JP2018025989A (ja) | 自動運転システム | |
JP5310385B2 (ja) | 走行支援装置 | |
EP3052356A1 (en) | System and method for controlling a vehicle platoon with a common position-based driving strategy | |
CN112793584B (zh) | 紧急车辆音频检测 | |
US20190232960A1 (en) | Vehicle control apparatus | |
JP2012137999A (ja) | 運転支援装置及び運転支援方法 | |
JP2010165021A (ja) | 運転支援装置 | |
CN113391629A (zh) | 利用安全冗余自动***增强路径障碍物检测的方法 | |
JP5146420B2 (ja) | 走行支援装置 | |
CN112441013A (zh) | 基于地图的车辆超速规避 | |
JP6201473B2 (ja) | 車両用走行制御装置 | |
JP5909144B2 (ja) | 車群解消システム | |
EP4147936B1 (en) | Drive with caution under uncertainty for an autonomous driving vehicle | |
JP5316274B2 (ja) | 走行支援装置 | |
CN113060140A (zh) | 基于中心线移位的变道前路径规划 | |
JP5532125B2 (ja) | 車両走行支援装置 | |
JP6787376B2 (ja) | 運転支援方法 | |
JP2018028743A (ja) | 車両制御装置 | |
CN113492848A (zh) | 用于自主驾驶车辆安全操作员的前方碰撞告警警报*** |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201180017490.0 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11765295 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012509352 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13639750 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120111012551 Country of ref document: DE Ref document number: 112011101255 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 11765295 Country of ref document: EP Kind code of ref document: A1 |