WO2016024315A1 - 車両の走行制御装置及び方法 - Google Patents
車両の走行制御装置及び方法 Download PDFInfo
- Publication number
- WO2016024315A1 WO2016024315A1 PCT/JP2014/071180 JP2014071180W WO2016024315A1 WO 2016024315 A1 WO2016024315 A1 WO 2016024315A1 JP 2014071180 W JP2014071180 W JP 2014071180W WO 2016024315 A1 WO2016024315 A1 WO 2016024315A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- target
- vehicle
- host vehicle
- distance
- control device
- Prior art date
Links
- 238000000034 method Methods 0.000 title description 46
- 239000003550 marker Substances 0.000 claims abstract description 42
- 230000006870 function Effects 0.000 description 32
- 238000001514 detection method Methods 0.000 description 25
- 230000001133 acceleration Effects 0.000 description 21
- 238000004891 communication Methods 0.000 description 12
- 238000012545 processing Methods 0.000 description 9
- 238000002485 combustion reaction Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—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
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
Definitions
- the present invention relates to a travel control apparatus and method for controlling travel of a vehicle.
- a travel control device that sets a target route of a host vehicle according to whether there is an avoidance target that the host vehicle should avoid and causes the host vehicle to travel along the target route is known.
- the target route is set on the right side of the standard position, and when an approaching vehicle is detected on the right side of the host vehicle, the target route is set. Is disclosed on the left side of the standard position (Patent Document 1).
- the problem to be solved by the present invention is to reduce the sense of discomfort of the occupant when performing control to avoid the avoidance target for the traveling vehicle.
- the shorter the margin distance which is the distance between the lane marker on the road and the own vehicle, along the width direction of the road on which the own vehicle is traveling, the shorter the distance from the own vehicle to the predetermined turning point on the target route.
- the shorter the margin distance is, the shorter the distance from the host vehicle to the predetermined turning point on the target route and the earlier the timing of starting avoidance of the avoidance target.
- it matches the route expected by the occupant. As a result, it is possible to execute the traveling control that does not cause the passenger to feel uncomfortable.
- the present invention will be described by taking as an example a case where the vehicle travel control apparatus according to the present invention is applied to a travel control system mounted on a vehicle.
- the travel control device of the present invention is not limited to this, and can also be applied to a mobile terminal device capable of exchanging information with the vehicle side.
- the travel control device, the travel control system, and the mobile terminal device are all configured by a computer that executes input / output processing and arithmetic processing.
- FIG. 1 is a diagram showing a block configuration of the traveling control system 1.
- the travel control system 1 of this embodiment is mounted on a vehicle and includes a travel control device 100 and an in-vehicle device 200.
- the travel control device 100 recognizes the lane in which the host vehicle is traveling, and controls the movement of the host vehicle so that the position of the lane mark on the lane and the position of the host vehicle maintain a predetermined relationship. Lane departure prevention function (lane keep support function).
- the travel control device 100 of this embodiment controls the movement of the host vehicle so that the host vehicle travels in the center of the lane.
- the travel control device 100 may control the movement of the host vehicle so that the distance along the road width direction from the lane mark of the lane to the host vehicle falls within a predetermined value range.
- the travel control device 100 has a communication device 20, the in-vehicle device 200 has a communication device 40, and both devices exchange information with each other by wired communication or wireless communication.
- the in-vehicle device 200 of the present embodiment includes a detection device 50, a sensor 60, a vehicle controller 70, a drive device 80, a steering device 90, an output device 110, and a navigation device 120.
- the devices constituting the in-vehicle device 200 are connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.
- CAN Controller Area Network
- the detection device 50 detects the presence of an avoidance target that should be avoided by the vehicle and its location.
- the detection device 50 of the present embodiment includes a camera 51.
- the camera 51 of the present embodiment is a camera including an image sensor such as a CCD.
- the camera 51 of this embodiment is installed in the own vehicle, images the surroundings of the own vehicle, and acquires image data including the avoidance target existing around the own vehicle.
- the detection device 50 processes the acquired image data, and calculates the distance from the own vehicle to the avoidance target based on the position of the avoidance target with respect to the own vehicle.
- the detection device 50 changes the position of the avoidance target with time.
- the relative speed between the host vehicle and the avoidance target and the relative acceleration between the host vehicle and the avoidance target are calculated as target information.
- the method known at the time of filing this application can be used as appropriate.
- the detection device 50 may analyze the image data and identify the type of the avoidance target based on the analysis result.
- the detection apparatus 50 can identify whether the avoidance target included in the image data is a vehicle, a person, a sign, or the like using a pattern matching technique or the like.
- the detection device 50 can extract the image of the target object from the image data, and can specify the type of the target object according to the shape or the characteristic part of the target object.
- the radar apparatus 52 may be used as the detection apparatus 50 of the present embodiment.
- a system known at the time of filing such as a millimeter wave radar, a laser radar, and an ultrasonic radar can be used.
- the target information including at least the position of the avoidance target detected in this way is sent to the traveling control device 100 side.
- the detection device 50 includes speed information, acceleration information, type information of the avoidance target obtained from the change in the position of the avoidance target, and information such as the vehicle type when the avoidance target is a vehicle. You may send to the control apparatus 100 side.
- the “avoidance target” in the present embodiment is an object that the host vehicle should travel avoiding itself (so as not to approach too much).
- the detection device 50 detects an object having a predetermined positional relationship with the host vehicle as an avoidance object.
- the avoidance target of this embodiment includes a stationary object and a moving object.
- stationary objects other vehicles parked and parked, road structures such as sidewalks, median strips, guardrails, road installations such as signs and utility poles, road objects such as fallen objects and snow removed, and stationary An object such as a person who becomes an obstacle to driving the vehicle is included.
- moving objects include other vehicles that are running and people who are walking.
- Other vehicles include motorcycles such as bicycles and motorcycles, large vehicles such as buses and trucks, special vehicles such as trailers and crane vehicles, emergency vehicles such as ambulances, fire engines, and police cars, and ordinary vehicles.
- the avoidance targets include objects that the host vehicle should avoid, such as a construction site, a damaged area of a road surface, and a puddle, although there is no object. Note that when the host vehicle V1 is traveling, the vehicle avoidance targets include any of the preceding vehicle, the rear vehicle, and the oncoming vehicle.
- the sensor 60 of this embodiment includes a steering angle sensor 61 and a vehicle speed sensor 62.
- the steering angle sensor 61 detects steering information related to steering such as the steering amount, steering speed, and steering acceleration of the host vehicle, and sends the steering information to the vehicle controller 70 and the travel control device 100.
- the vehicle speed sensor 62 detects the vehicle speed and acceleration of the host vehicle and sends them to the vehicle controller 70 and the travel control device 100.
- the vehicle controller 70 of the present embodiment is an in-vehicle computer such as an engine control unit (Engine Control Unit, ECU), and electronically controls the driving state of the vehicle.
- Examples of the vehicle of the present embodiment include an electric vehicle including an electric motor as a travel drive source, an engine vehicle including an internal combustion engine as a travel drive source, and a hybrid vehicle including both the electric motor and the internal combustion engine as a travel drive source.
- electric vehicles and hybrid vehicles using an electric motor as a driving source include a type using a secondary battery as a power source for the electric motor and a type using a fuel cell as a power source for the electric motor.
- the drive device 80 of this embodiment includes a drive mechanism for the host vehicle V.
- the drive mechanism includes an electric motor and / or an internal combustion engine that are the above-described travel drive sources, a power transmission device including a drive shaft and an automatic transmission that transmits output from these travel drive sources to the drive wheels, and brakes the wheels.
- a braking device is included.
- the drive device 80 generates control signals for these drive mechanisms based on input signals from the driver's accelerator operation and brake operation, and control signals acquired from the vehicle controller 70 or the travel control device 100, and includes acceleration and deceleration of the vehicle. Run control. By sending the command information to the driving device 80, it is possible to automatically perform traveling control including acceleration / deceleration of the vehicle.
- torque distribution output to each of the electric motor and the internal combustion engine corresponding to the traveling state of the vehicle is also sent to the drive device 80.
- the steering device 90 of this embodiment includes a steering actuator.
- the steering actuator includes a motor and the like attached to the column shaft of the steering.
- the steering device 90 executes steering control of the vehicle based on the control signal acquired from the vehicle controller 70 or the input signal by the driver's steering operation.
- the vehicle controller 70 performs steering control by sending command information including the steering amount to the steering device 90.
- the traveling control apparatus 100 may perform steering control by controlling the braking amount of each wheel of the vehicle. In this case, the vehicle controller 70 performs steering control of the vehicle by sending command information including the braking amount of each wheel to the braking device 81 provided in the driving device 80.
- the navigation device 120 calculates a route from the current position of the host vehicle to the destination, and outputs route guidance information via the output device 110 described later.
- the navigation device 120 includes a position detection device 121, road type, road width, road shape, and other road information 122, and map information 123 in which the road information 122 is associated with each point.
- the position detection device 121 of this embodiment includes a global positioning system (Global Positioning System, GPS), and detects a traveling position (latitude / longitude) of a traveling vehicle.
- the navigation device 120 specifies a road link on which the host vehicle travels based on the current position of the host vehicle detected by the position detection device 121.
- the road information 122 stores the road type, road width, road shape, passability (possibility of entry into adjacent lanes), and other road-related information for each road link identification information. .
- the navigation apparatus 120 acquires the information regarding the road to which the road link where the own vehicle drive
- the road type, road width, and road shape on which the host vehicle travels are used for calculating a target route on which the host vehicle travels in the travel control process.
- the output device 110 outputs various types of information related to driving support to the user or a passenger in the surrounding vehicle.
- the output device 110 includes information according to target information, information according to the position of the target area, information according to the position of the target route, and information according to command information that causes the host vehicle to travel on the target route. Any one or more of them are output.
- the output device 110 according to the present embodiment includes a display 111, a speaker 112, a vehicle exterior lamp 113, and a vehicle interior lamp 114.
- the vehicle exterior lamp 113 includes a headlight, a blinker lamp, and a brake lamp.
- the vehicle interior lamp 114 includes an indicator lighting display, a display 111 lighting indication, other lamps provided on the steering wheel, and lamps provided around the steering wheel.
- the output device 110 may output various types of information related to driving support to an external device such as an intelligent transportation system (ITS) via the communication device 40.
- An external device such as an intelligent road traffic system uses information related to travel support including vehicle speed, steering information, travel route, and the like for traffic management of a plurality of vehicles.
- a specific information output mode will be described by taking as an example a case where there is a parked vehicle to be avoided in front of the left side of the host vehicle.
- the output device 110 provides the occupant of the own vehicle with the direction and position where the parked vehicle exists as information corresponding to the target information.
- the display 111 displays the direction and position where the parked vehicle exists in a visible manner.
- the speaker 112 utters and outputs a text indicating the direction and position of the parked vehicle, such as “There is a parked vehicle in front of the left side”.
- the lamps provided on the left and right door mirrors that are the vehicle exterior lamps 113 only the left lamp may be blinked to notify the occupant of the host vehicle that a parked vehicle is present in front of the left side.
- the lamps provided on the left and right in the vicinity of the steering wheel which is the vehicle interior lamp 114, only the left lamp may blink to notify the occupant that there is a parked vehicle in front of the left side.
- the setting direction and the setting position of the target area may be output via the output device 110 as information corresponding to the position of the target area.
- the display 111, the speaker 112, the vehicle exterior lamp 113, and the vehicle interior lamp 114 can inform the occupant that the target area is set to the left front.
- the setting direction and setting position of the target area are output to the outside using the outside lamp 113 from the viewpoint of informing the passengers of other vehicles of the movement of the host vehicle in advance.
- the traveling direction of the host vehicle is changed (steering is performed) in order to avoid this (that is, to pass the side).
- the traveling direction of the host vehicle changes in order to avoid the target area. For example, when the target area is set to the left front, by turning on the right blinker lamp (outside cabin lamp 113), the host vehicle moves to the right to avoid the target area set on the left side. Can be notified to other external vehicles.
- the shape of the target route and the position of the curved point can be notified to the occupant by the display 111 and the speaker 112.
- the display 111 displays the shape of the target route and the like as a visible diagram.
- the speaker 112 outputs an announcement such as “turn the steering wheel to the right to avoid a parked vehicle ahead”.
- information indicating that the turning operation and acceleration / deceleration are executed as information corresponding to the command information for causing the vehicle to travel on the target route. Inform the passenger of the own vehicle or the passenger of another vehicle in advance.
- the output device 110 may output the above-described information to an external device of the intelligent transportation system via the communication device 20.
- crew of another vehicle can respond
- the travel control device 100 of this embodiment includes a control device 10, a communication device 20, and an output device 30.
- the communication device 20 exchanges information with the in-vehicle device 200.
- the output device 30 has the same function as the output device 110 of the in-vehicle device 200 described above.
- the travel control device 100 is a computer that can be carried by an occupant, the travel control device 100 outputs command information for controlling blinking of the exterior lamp 113 and the interior lamp 114 of the in-vehicle device 200 to each device. May be.
- the control device 10 of the traveling control device 100 includes a ROM (Read Only Memory) 12 in which a program for presenting different traveling control information according to the degree of approach between the host vehicle and another vehicle is stored, and a program stored in the ROM 12.
- the computer includes a CPU (Central Processing Unit) 11 serving as an operation circuit that functions as the travel control device 100 and a RAM (Random Access Memory) 13 that functions as an accessible storage device.
- CPU Central Processing Unit
- RAM Random Access Memory
- the control device 10 of the travel control device 100 has a vehicle information acquisition function, a target information acquisition function, a region setting function, a route setting function, a control function, and a presentation function.
- the control apparatus 10 of this embodiment performs each function by cooperation of the software for implement
- the control device 10 acquires host vehicle information including the position of the host vehicle.
- the position of the host vehicle can be acquired by the position detection device 121 of the navigation device 120.
- the own vehicle information includes the vehicle speed and acceleration of the own vehicle.
- the control device 10 acquires the speed of the host vehicle from the vehicle speed sensor 62.
- the speed of the host vehicle can also be acquired based on the change over time of the position of the host vehicle.
- the acceleration of the host vehicle can be obtained from the speed of the host vehicle.
- the target information acquisition function of the control device 10 will be described.
- the control apparatus 10 acquires target information including the position of the avoidance target that the host vehicle should avoid.
- the control device 10 acquires target information including the position of the avoidance target detected by the detection device 50.
- the target information includes a relative position, a relative speed, and a relative acceleration of the avoidance target.
- the control device 10 of the own vehicle is The vehicle speed and acceleration of the other vehicle detected by the vehicle speed sensor of the other vehicle may be acquired as target information.
- the control device 10 can also acquire avoidance information including the position, speed, and acceleration of another vehicle from an external device of the intelligent transportation system.
- control device 10 sets the target region R for the avoidance target using the region setting function.
- control apparatus 10 sets the target path
- FIG. 2A is a diagram illustrating an example of a method for setting the target region R.
- the traveling direction Vd1 of the host vehicle is the + y direction in the figure.
- the extending direction of the traveling lane Ln1 on which the host vehicle travels is also the + y direction in the figure.
- FIG. 2A is a view of a scene in which another vehicle V2 parked on the left shoulder of the driving lane Ln1 of the host vehicle is detected as viewed from above.
- the detected other vehicle V2 exists in the travel lane Ln1 of the host vehicle V1 and is a target to be avoided by the host vehicle V1 because the host vehicle V1 is prevented from traveling straight.
- the control device 10 sets the target region R0 in a range including the other vehicle V2.
- the target region R set for the avoidance target may be set from the viewpoint of avoiding an approach or contact state in which the distance between the host vehicle V1 and the avoidance target is less than a predetermined value.
- the vehicle V1 and the avoidance target may be set from the viewpoint of keeping an appropriate distance.
- the target region R may have a shape along the outer shape of the avoidance target or a shape that includes the avoidance target.
- the control device 10 may set the boundary of the target region R to a shape along the outer shape of the avoidance target, or may be a circle, an ellipse, a rectangle, or a polygon that includes the avoidance target.
- the target region R may be set to be narrower by setting the boundary of the target region R to be less than a predetermined distance (A) from the surface (outer edge) of the avoidance target, or the boundary of the target region R may be set as the avoidance target.
- the target region R may be set wider than a predetermined distance B (B> A) separated from the target area R.
- the target region R0 has front and rear end portions RL1 and RL2.
- the front and rear end portions RL1 and RL2 are end lines that define the length of the target region R0 along the extending direction (+ y) of the traveling lane Ln1 of the host vehicle.
- the length along the extending direction (+ y) of the traveling lane Ln1 of the target region R0 illustrated in FIG. 2A is L0 that is the distance between the front and rear end portions RL1 (y1) and RL2 (y2).
- a front and rear end portion located on the near side (upstream side) when viewed from the host vehicle V1 approaching the target region R0 is defined as a first end portion RL1.
- a front and rear end portion located on the far side (downstream side) when viewed from the own vehicle V1 approaching or passing through the target region R0 is defined as a second end portion RL2.
- the first end RL1 and the second end RL2 are located on the boundary of the target region R0.
- the target region R0 has left and right end portions RW1 and RW2 on the left and right sides thereof.
- the left and right end portions RW1 and RW2 are end lines (end portions) that define a distance along the vehicle width direction from the host vehicle V1.
- the left and right end portions RW1 and RW2 are end lines that define the length (width) of the target region along the road width direction (X) of the travel lane Ln1 of the host vehicle.
- the second lateral end portion RW2 is W0 that is the distance between the left and right end portions RW1 (x1) and the left and right end portions RW2 (x2).
- the host vehicle approaches the avoidance target V2 along the vehicle width direction among the left and right end portions RW1 and RW2
- the host vehicle V1 when viewed from the host vehicle V1 among the left and right end portions RW1 and RW2 of the target region R0.
- the left and right end portions located on the side (road shoulder side) opposite to the side of the own vehicle V1 when viewed from the own vehicle V1 are defined as the second lateral end portion RW2.
- the first horizontal end RW1 and the second horizontal end RW2 are located on the boundary of the target region R0.
- the other vehicle V2 that is the avoidance target is present in the travel lane Ln1 of the host vehicle, but the avoidance target is a lane that is different from the travel lane Ln1 of the host vehicle.
- the target area can be similarly set for the avoidance target.
- the other vehicle V3 when there is another vehicle V3 that faces the opposite lane Ln2 of the travel lane Ln1 of the host vehicle V1, the other vehicle V3 is detected as an avoidance target.
- a target region in a range including the other vehicle V3 is set by the same method.
- the control device 10 sets a target route RT that avoids the target region R (that is, passes by the side of the target region R) by the route setting function.
- a target route RT for example, one or a plurality of target coordinates (a travel position where the host vehicle V1 can avoid the target area) is set based on the target area set for the avoidance target.
- the target route RT can be obtained by connecting the current position of the host vehicle V1 and the target coordinates.
- the control device 10 may calculate the target route RT so that the host vehicle V1 does not enter the target region R set as the avoidance target, or the target region R and the existence region of the host vehicle V1.
- the target route RT may be calculated so that the overlapping area is less than a predetermined value, a position separated from the boundary line of the target region R by a predetermined distance may be calculated as the target route RT,
- the boundary line of R may be calculated as the target route RT.
- the target region R is set such that the distance between the host vehicle V1 and the avoidance target is not less than a predetermined value, or the distance between the host vehicle V1 and the avoidance target is maintained at a predetermined threshold.
- the target route RT is also set at a position where the distance between the host vehicle V1 and the avoidance target is not less than a predetermined value, or at a position where the distance between the host vehicle V1 and the avoidance target is maintained at a predetermined threshold. Is done.
- the target route RT may be obtained without setting the target area.
- the control device 10 when the host vehicle V1 tries to avoid the other vehicles V2 and V3 at the same time, for example, there are avoidance targets on the left and right in the width direction of the host vehicle V1, When avoiding these avoidance targets at the same time, the control device 10 performs the following processing. In other words, the control device 10 takes into consideration the target area R0 set for the other vehicle V2 and the target area for the other vehicle V3, and avoids the parked other vehicle V2 while rubbing against the opposite other vehicle V3. It is determined whether or not a target route RT that can be set is set.
- the controller 10 controls the vehicle controller of the travel controller 100. 70, the braking device 81 of the driving device 80 is used to control the braking amount of each wheel of the host vehicle V1, and the host vehicle V1 is stopped before the other vehicle V2 ( ⁇ y side). It waits for other vehicle V3 to pass.
- the control device 10 sets the target area according to the margin distance of the host vehicle V1.
- the marginal distance of the host vehicle V1 is the distance (strictly speaking, the host vehicle) between any of the lane markers (for example, white lines, curbs, median strips, guardrails, buildings, etc.) present on the road RD and the host vehicle V1. (The distance from the side surface of V1), and the longer the margin distance, the longer the distance that the vehicle V1 is allowed to move along the road width direction of the road RD. In this case, it is possible to give a sense of security or a sense of comfort to the passenger of the host vehicle V1.
- FIG. 2B shows a scene in which the other vehicle V4 to be avoided travels in the + y direction in the adjacent lane Ln3 adjacent to the left of the travel lane Ln1 of the host vehicle V1.
- FIG. 2C shows the same scene as FIG. 2B except that the width LW1 of the traveling lane Ln1 and the width LW3 of the left adjacent lane Ln3 are narrower than those of FIG. 2B.
- the above-described margin distance may be a distance from the own vehicle V1 to any lane marker.
- the margin distance is determined from the own vehicle V1 as the margin distance.
- working lane Ln1 of the vehicle V1 is shown.
- the control device 10 of the present embodiment when the lengths of the distances WA1a and WA1b obtained as margin distances are different, From the viewpoint that the shapes are different, the target regions R1 and R2 are provided according to the lengths of the distances WA1a and WA1b which are marginal distances. Note that the margin distance (distance WA1b) in the scene of FIG. 2C is shorter than the margin distance (distance WA1a) in the scene of FIG. 2B (WA1b ⁇ WA1a). In FIG. 2C, for the convenience of explanation, the target region R1 shown in FIG. 2B is shown superimposed on the target region R2.
- the control device 10 sets the first vertical position ( ⁇ y side) as viewed from the host vehicle V1 according to the length of the distance WA1a, which is a margin distance.
- the target region R1 is set with the end portion RL1a and the lateral position on the host vehicle V1 side (+ x side) as the first horizontal end portion RW1a.
- the control device 10 sets the vertical position on the near side ( ⁇ y side) as viewed from the host vehicle V1 as the first end portion RL1b according to the length of the distance WA1b which is a marginal distance.
- the target region R2 is set in which the lateral position on the host vehicle V1 side (+ x side) is the first lateral end RW1b.
- the control device 10 moves the first end RL1b of the target area R2 from the first end RL1a of the target area R1 when viewed from the host vehicle V1 ( -Y side). That is, in the scene of FIG. 2C where the margin distance is shorter, the control device 10 extends the target area set for the avoidance target to the near side ( ⁇ y side) when viewed from the host vehicle V1. Further, as shown in FIGS. 2B and 2C, the control device 10 moves the first lateral end RW1b of the target region R2 from the first lateral end RW1a of the target region R1 to the other vehicle V4 side in the road width direction ( -X side).
- the control device 10 shortens the target area set for the avoidance target to the other vehicle V4 side ( ⁇ x side) in the road width direction in the scene of FIG. 2C where the margin distance is shorter.
- the target route can be set based on the target area according to the margin distance as described above, and as a result, an appropriate target route according to the margin distance can be set.
- the target route is set on the basis of the target region, a more scenes margin distance is short Figure 2C, as compared with the situation in Figure 2B, a timing to avoid the avoidance turning point P A Gayori front is set to (-y side), shortened the distance d0 between the turning point P a and the vehicle V1, the vehicle V1 traveling the target route RT1a, timing to start the avoidance of avoidance becomes earlier. That is, since turning is started from the near side, the vehicle already travels with a certain vehicle width interval when approaching another vehicle V4. Thereby, in this embodiment, even when the margin distance in the own vehicle V1 is short, it is possible to reduce a sense of discomfort of the occupant when performing the traveling control of the own vehicle V1.
- the target route is set to be closer to the other vehicle V4 side ( ⁇ x side) in the scene of FIG. 2C where the margin distance is shorter than in the scene of FIG. 2B. That is, the target route is set so that the trajectory passes through a position closer to the other vehicle V4 around the other vehicle V4 to be avoided, and the amount of movement along the road width direction of the host vehicle V1 traveling on the target route. Reduce.
- the vehicle width interval to the right lane marker of the host vehicle V1 is narrow, so that the other vehicle V4 on the left side does not exceed the lane marker. Drive with a certain vehicle width interval.
- the margin distance used for setting the target route is the distance between the lane marker Lm3 and the right side surface of the host vehicle V1, the occupant when performing the travel control of the host vehicle V1 more appropriately. Discomfort can be reduced.
- the host vehicle V1 when the host vehicle V1 avoids the other vehicle V4, the host vehicle V1 moves in the direction (+ x) away from the other vehicle V4 along the road width direction on the target route RT1a. Will move.
- the distance between the lane marker Lm3 in the travel lane Ln1 and the host vehicle V1 is short, the distance that the host vehicle V1 can move in the direction (+ x) away from the other vehicle V4 in the travel lane Ln1 is short. In such a case, if the timing at which the host vehicle V1 leaves the other vehicle V4 is late, it may become a sudden handle and the passenger may feel uncomfortable.
- the distance between the lane marker Lm3 and the right side surface of the host vehicle V1 is obtained as a margin distance, and the shorter the margin distance, the earlier the timing at which the host vehicle V1 leaves the other vehicle V4 (that is, to shorten the distance d0 between the turning point P a and the vehicle V1 described above) so to set a target path.
- the vehicle starts turning from the near side, and when it approaches the other vehicle V4 and overtakes or overtakes, the vehicle already runs straight with a certain vehicle width interval. It is possible to more appropriately reduce the uncomfortable feeling of the passenger at the time.
- the in-vehicle device 200 acquires a captured image around the host vehicle V1 using the camera 51 of the detection device 50 and performs image processing on the acquired image.
- the method of detecting the lane marker Lm3 and calculating the distance WA1 along the road width direction from the lane marker Lm3 to the right side surface of the host vehicle V1 can be used.
- the control device 10 obtains the distance WA2 from the target route RT1c set according to the avoidance target to the lane marker Lm3. Based on this, a method of calculating in consideration of the vehicle width of the host vehicle V1 can be used. Further, as a method for obtaining the distance WA1 between the lane marker Lm3 and the host vehicle V1, a method of calculating in consideration of the position of the host vehicle V1 in the travel lane Ln1 based on the width LW1 of the travel lane Ln1 can be used. . Thereby, even if the distance WA1 between the lane marker Lm3 and the host vehicle V1 cannot be directly measured by the camera 51 or the like, the distance WA1 can be calculated appropriately.
- the target area according to the margin distance of the host vehicle V1 is set by the setting function of the control device 10.
- the margin distance exists on the road RD. It may be the distance between the other lane marker and the host vehicle V1.
- a distance WA4 from the right side surface of the host vehicle V1 to the lane marker Lm4 a distance WA5 from the left side surface of the host vehicle V1 to the lane marker Lm2, and a lane marker from the left side surface of the host vehicle V1.
- the distance WA6 to Lm1 can be used.
- the target route is set, turning point P A
- the distance d0 between the vehicle V1 and the host vehicle V1 is shortened, and the timing at which the host vehicle V1 traveling on the target route starts to avoid the avoidance target is advanced.
- the distance WA4 As a method for obtaining the distance WA4, the distance WA5, and the distance WA6, image processing using the camera 51 of the detection device 50 or the like as in the method for obtaining the distance WA1 between the lane marker Lm3 and the host vehicle V1 described above. Can be used.
- distance WA4 distance WA5, and distance WA6 calculation is based on the distance WA3 from the target route RT1c to the lane marker Lm2 and the distance WA2 from the target route RT1c to the lane marker Lm3 shown in FIG.
- the method can be used.
- a method of calculating based on the width LW3 of the travel lane Ln3 and the width LW4 of the travel lane Ln4 shown in FIG. 3 may be used.
- the distance WA1 from the host vehicle V1 to the lane marker Lm3 is set as a margin distance with the current position of the host vehicle V1 as a reference.
- the distance from the point (passing point P F ) where the host vehicle V1 travels on the target route and is predicted to pass or overtake the avoidance target to the lane marker may be used. .
- 5A and 5B also own vehicle V1 is one exits in front of another vehicle V4 without changing lanes, for it is a so-called overtaking, although referred to as a point overtaken point P F, the vehicle V1 is changed lane other The same can be applied to the case of so-called overtaking which goes ahead of the vehicle V4.
- the control device 10 of the present embodiment sets the target route RT1d as a temporary target route based on the other vehicle V4 that is the avoidance target, and then the host vehicle V1
- the distance WA7 between the host vehicle V1 and the lane marker Lm5 is obtained as a margin distance. Can do.
- the control device 10 causes the overtaking point P F to pass when the width of the travel lane Ln5 in which the host vehicle V1 is running is narrow in the vicinity of the overtaking point P F.
- An appropriate target route can be newly set according to the marginal distance (distance WA7) in the vehicle, and the occupant's uncomfortable feeling when performing the traveling control of the host vehicle V1 can be reduced more appropriately.
- the control device 10 when the control device 10 detects another avoidance target different from the avoidance target when trying to avoid one avoidance target, the control device 10 selects such other avoidance target.
- the target route can be set in consideration.
- FIG. 6 shows a case where another vehicle V5 traveling on the traveling lane Ln3 is detected in front of the other vehicle V4 in addition to the other vehicle V4 traveling on the traveling lane Ln3 as an object to be avoided. Yes.
- the host vehicle V1, the other vehicle V4, and the other vehicle V6 are all traveling in the + y direction.
- the control device 10 first obtains a target route RT1e for avoiding the other vehicle V4 that is present at a position closer to the host vehicle V1.
- the control unit 10 as avoidance, considering that there is another vehicle V5 in addition to the other vehicle V4, the target route RT1e to set the distance between the turning point P A and the vehicle V1 d0 Is shortened, and the timing of turning the host vehicle V1 is advanced.
- the control device 10 further prevents the host vehicle V1 from approaching the other vehicle V5, which is another avoidance target, so that the host vehicle V1 is more than the other vehicle V4 with respect to the set target route RT1e. It is possible to shorten the distance along the road width direction between the target route RT1e and the other vehicle V4.
- an appropriate target route can be set in consideration of each avoidance target when another avoidance target is detected.
- the number of such other avoidance targets may be one or plural.
- the other avoidance target may be a moving object other than the vehicle, It may be a stationary object such as a road structure.
- the control device 10 sets the target to be set as the possibility that another avoidance target appears in the vicinity of the host vehicle V1 is higher even if the other avoidance target described above does not actually exist.
- the timing for starting avoidance of the avoidance target can be advanced, and the amount of movement of the host vehicle V1 along the road width direction can be reduced.
- the control device 10 sets a target route RT1 for avoiding the other vehicle V2.
- the target route RT1 is adjusted in consideration of the presence of the oncoming lane Ln2. That is, the target route RT1, similarly to the target route RT1e shown in FIG. 6, the shorter the distance d0 between the turning point P A and the vehicle V1, further as the vehicle V1 is not too close to the opposite lane Ln2 Therefore, the track can pass through a position closer to the other vehicle V2.
- the target route can be set in consideration of the possibility of another avoidance target appearing. The occupant's uncomfortable feeling when performing the traveling control can be reduced more appropriately.
- the shorter the distance WA8 between the host vehicle V1 and the other vehicle V4 the shorter the target route to be set. This makes it possible to increase the amount of movement of the host vehicle V1 along the road width direction.
- the distance WA9 between the other vehicle V4 and the lane marker Lm2 is shortened.
- the distance WA8 between V1 and the other vehicle V4 is also shortened.
- the control unit 10 as the distance between the vehicle V1 and the other vehicle V4 WA8 is short, the target route RT1f to set, as the distance d0 between the turning point P A and the vehicle V1 is shortened Furthermore, it is possible to make the track pass through a position farther from the other vehicle V2. As a result, the closer the host vehicle V1 and the other vehicle V4 are, the earlier the timing for starting avoidance of the avoidance target can be made and the vehicle can be separated from the other vehicle V4.
- the control device 10 may adjust the target route to be set according to the road type of the road RD on which the host vehicle V1 is traveling. For example, as shown in FIG. 8, when the road type of the road on which the host vehicle V1 is traveling is a highway, the control device 10 compares with the case where the host vehicle V1 is traveling on a general road. Te, the target route RT1g be set, the distance d0 between the turning point P a and the vehicle V1 to be shorter. As a result, when it is estimated that the host vehicle V1 is traveling at a high speed, the vehicle starts turning from the near side. Therefore, when approaching the other vehicle V4 and overtaking or passing, The vehicle travels straight with a width interval.
- the control device 10 sets the target route RT1g to be set to a trajectory that passes through a position closer to the other vehicle V4 (the distance along the road width direction between the target route RT1g and the other vehicle V4). shorten).
- the control device 10 sets the target route RT1g to be set to a trajectory that passes through a position closer to the other vehicle V4 (the distance along the road width direction between the target route RT1g and the other vehicle V4). shorten).
- the road type is classified into, for example, general roads other than national roads, national roads, vehicle-only roads other than highways, urban highways, highways between cities, etc. according to the characteristics of the road. be able to.
- the control device 10 increases the timing at which avoidance of the avoidance target is earlier for roads on which the traveling speed of the host vehicle V1 tends to increase, and reduces the amount of movement along the road width direction of the host vehicle V1.
- the adjustment amount of the target route can be increased in the order of “road”.
- the control unit 10 when the type of the road on which the vehicle is traveling is the "highway between cities", for the target path set, the distance between the most turning point P A and the vehicle V1 d0 And a trajectory that passes through the position closest to the avoidance target.
- the control device 10 when the type of road on which the vehicle is traveling is the "general road other than national roads", the target path set, the distance between the most turning point P A and the vehicle V1 d0 And a trajectory that passes through a position farthest away from the avoidance target.
- the road type based on the information on the average value of the speed when an unspecified vehicle travels, the road having an average speed of less than 40 km / h, the road having an average speed of 40 km / h or more and less than 60 km / h, the average speed You may classify
- the control unit 10 as the average speed of the road on which the vehicle V1 is traveling is high, the target route to be set, so the distance d0 between the turning point P A and the vehicle V1 is shortened, Furthermore, the trajectory passes through a position close to the avoidance target.
- the control device 10 of the present embodiment outputs command information for causing the host vehicle V1 to travel on the target route RT to the vehicle controller 70, the drive device 80, and the steering device 90 on the vehicle side.
- the vehicle controller 70 of the present embodiment controls the drive device 80 and the steering device 90 to drive the host vehicle V1 along the target route RT.
- the vehicle controller 70 uses the road shape detected by the detection device 50 and the lane marker model stored in the road information 122 and the map information 123 of the navigation device 120 to maintain the vehicle in a predetermined lateral position with respect to the lane.
- the steering device 90 is controlled to travel while traveling.
- the vehicle controller 70 calculates a steering control amount based on the steering angle acquired from the steering angle sensor 61, the vehicle speed acquired from the vehicle speed sensor 62, and the current of the steering actuator, and sends a current command to the steering actuator. Then, control is performed so that the host vehicle travels in the target lateral position.
- the driving direction of the host vehicle V1 is determined by the difference in rotational speed between the left and right drive wheels using the driving device 80 and / or the braking device 81. (That is, the lateral position) may be controlled.
- the “turning” of the vehicle includes not only the case of using the steering device 90 but also the case of using the driving device 80 and / or the braking device 81.
- the control device 10 calculates the information according to the target information, the information according to the position of the target region R, the information according to the position of the target route, and the information according to the command information for causing the host vehicle to travel on the target route. Is output to the output device 110 and output to the outside in the manner described above.
- step S101 the control device 10 acquires host vehicle information including at least the position of the host vehicle V1.
- the own vehicle information may include the vehicle speed and acceleration of the own vehicle V1.
- step S102 the control device 10 acquires target information including a position to be avoided that the host vehicle V1 should avoid.
- the target information may include speed / acceleration to be avoided.
- step S103 the control device 10 acquires the detection result of the avoidance target from the detection device 50.
- the detection result of the avoidance target includes information on the position of the avoidance target.
- step S104 the control device 10 sets the target region R according to the position to be avoided. The subroutine for the target area R setting process will be described with reference to FIG.
- step S105 the control device 10 calculates a target route RT that avoids the target region R.
- the target route RT includes one or a plurality of target coordinates on which the host vehicle V1 travels. Each target coordinate includes a target horizontal position (target X coordinate) and a target vertical position (target Y coordinate).
- the target route RT is obtained by connecting the calculated one or more target coordinates and the current position of the host vehicle V1. A method for calculating the target coordinates (target route RT) shown in step S105 will be described later.
- step S106 the control device 10 acquires the target lateral position of the target coordinates calculated in step S105.
- step S107 the control device 10 calculates a feedback gain related to the lateral position based on the comparison result between the current lateral position of the host vehicle V1 and the target lateral position acquired in step S106.
- step S108 the control device 10 moves the target lateral position to the host vehicle V1 based on the actual lateral position of the host vehicle V1, the target lateral position corresponding to the current position, and the feedback gain in step S107.
- a target control value related to a steering angle, a steering angular velocity, etc. necessary for the movement is calculated.
- step S112 the control device 10 outputs the target control value to the in-vehicle device 200.
- the host vehicle V1 can travel on the target route TR defined by the target lateral position.
- step S105 When a plurality of target coordinates are calculated in step S105, the processing of steps S106 to S112 is repeated each time the target lateral position is acquired, and the control value for each acquired target lateral position is transmitted to the in-vehicle device 200. Output.
- step S109 the control device 10 acquires a target vertical position for one or a plurality of target coordinates calculated in step S105.
- step S110 the control device 10 determines the current vertical position of the host vehicle V1, the vehicle speed and acceleration / deceleration at the current position, the target vertical position corresponding to the current vertical position, and the vehicle speed and acceleration / deceleration at the target vertical position. Based on the comparison result, a feedback gain related to the vertical position is calculated.
- step S111 the control device 10 calculates a target control value related to the vertical position based on the vehicle speed and acceleration / deceleration according to the target vertical position and the feedback gain of the vertical position calculated in step S110.
- the processing in steps S109 to S112 is repeated each time the target vertical position is acquired, similarly to steps S106 to S108 and S112 described above, and the control value for each of the acquired target horizontal positions is output to the in-vehicle device 200.
- the target control value in the vertical direction means the operation of a drive mechanism for realizing acceleration / deceleration and vehicle speed according to the target vertical position (in the case of an engine vehicle, the operation of an internal combustion engine, in the case of an electric vehicle system).
- the control function calculates a target intake air amount (target opening of the throttle valve) and a target fuel injection amount based on the calculated values of the current and target acceleration / deceleration and vehicle speed. Then, this is sent to the driving device 80.
- the control function calculates the acceleration / deceleration and the vehicle speed, and sends them to the vehicle controller 70.
- the vehicle controller 70 operates the drive mechanism for realizing the acceleration / deceleration and the vehicle speed (in the case of an engine vehicle, an internal combustion engine). Control values for engine operation, electric motor operation in an electric vehicle system, and torque distribution between an internal combustion engine and an electric motor in a hybrid vehicle) and brake operation may be calculated.
- step S112 the control apparatus 10 outputs the target control value of the vertical direction calculated by step S111 to the vehicle-mounted apparatus 200.
- FIG. The vehicle controller 70 performs steering control and drive control, and causes the host vehicle to travel on the target route TR defined by the target lateral position and the target vertical position.
- step S113 the control device 10 causes the output device 110 to present information.
- the information to be presented to the output device 110 may be information on the target area set in step S104, may be the shape of the target route calculated in steps S105 to S111, or in-vehicle device in step S112.
- the target control value output to 200 may be used.
- step S114 it is determined whether or not the driver has performed a steering operation or the like, and whether or not the driver has intervened. If no driver operation is detected, the process returns to step S101 to repeat the setting of a new target area, calculation of the target route, and travel control. On the other hand, when the driver performs an operation, the process proceeds to step S115, and the traveling control is interrupted. In the next step S116, information indicating that the traveling control has been interrupted is presented.
- step S201 the control device 10 determines the distance WA1 between the host vehicle V1 and the lane marker Lm3 at the current position of the host vehicle V1, as shown in FIG. Ask.
- step S202 the control device 10 sets the distance WA1 as a margin distance based on the information acquired in step S201.
- step S203 the control device 10 sets a temporary target route RT according to the margin distance set in step S202. For example, as shown in FIGS. 2A to 2C described above, the control device 10 sets a target area as an avoidance target based on the margin distance, and then obtains a target route RT that avoids the target area.
- step S204 the control device 10 acquires information on the possibility that another avoidance target exists in addition to the avoidance target acquired in step S103.
- the control device 10 uses the camera 51, the radar device 52, and the like of the detection device 50 of the in-vehicle device 200 to check whether there is another avoidance target (another vehicle, a road structure, or the like)
- a method for confirming whether or not the lane adjacent to the traveling lane Ln1 of the host vehicle V1 is the opposite lane Ln2 can be used.
- step S205 the control device 10 acquires information on the road type of the road on which the host vehicle V1 is traveling from the navigation device 120 of the in-vehicle device 200.
- step S206 the control device 10 considers the information on the possibility of existence of another avoidance target acquired in step S204 and the information on the road type acquired in step S205 based on the target route RT temporarily obtained in step S203. Then, the target route RT (target coordinates) for actually traveling the host vehicle V1 is set. Specifically, first, the control device 10, the higher the possibility that other avoidance appears, the target route RT obtained if in step S203, as described above, the turning point P A and the vehicle V1 The distance d0 is shortened, and further, the track is adjusted so as to pass through a position closer to the other vehicle V2.
- control unit 10 according to the type of road on which the vehicle V1 is traveling, the target route RT obtained if in step S203, as described above, the distance between the turning point P A and the vehicle V1 d0 And the distance from the avoidance target.
- step S207 the control device 10 executes the processing from step S106.
- traveling control apparatus 100 Since the traveling control apparatus 100 according to the embodiment of the present invention is configured and operates as described above, the following effects can be obtained.
- the target route set to avoid the avoidance target is set as the margin distance that is the distance between the lane marker on the road and the host vehicle V1 is shorter.
- target route RT to shorten the distance d0 between the turning point P a and the vehicle V1.
- the host vehicle V1 is located at a point (passing point P F ) that is predicted to pass on or overtake the avoidance target by traveling on the target route RT. when, it obtains the distance between the vehicle V1 and lane marker in overtaking the point P F as allowed distance.
- the overtaking point P F depending on such as when the vehicle V1 is such as the width of the traveling lane Ln5 that traveling it is narrower, overtaking margin distance at the point P F (Distance WA7), appropriate A new target route can be set, and the occupant's uncomfortable feeling when performing the travel control of the host vehicle V1 can be reduced more appropriately.
- the shorter the margin distance the more the target route RT to be set is a trajectory that passes through a position closer to the avoidance target, that is, the target route and the avoidance target.
- the distance along the road width direction is made shorter.
- the shorter the margin distance the smaller the amount of movement along the road width direction of the host vehicle V1 traveling on the target route. Therefore, it is possible to reduce the passenger's uncomfortable feeling when performing the traveling control of the host vehicle V1.
- the travel control device 100 of the present embodiment by setting the margin distance as the distance between the lane marker Lm3 of the travel lane Ln1 and the host vehicle V1, the host vehicle V1 moves away from the avoidance target in the travel lane Ln1. Since the target route can be set according to the distance that can be moved in the direction (+ x), it is possible to further reduce the discomfort of the occupant when the traveling control of the host vehicle V1 is performed.
- the margin distance is calculated based on the distance from the target route to the lane marker, the margin distance that is the distance between the lane marker and the host vehicle V1 cannot be directly measured. Even if it exists, it can calculate appropriately.
- the margin distance is calculated based on the width of the travel lane Ln1 in which the host vehicle V1 is traveling, the margin distance that is the distance between the lane marker and the host vehicle V1. Even if it is not possible to directly measure, it can be calculated appropriately.
- the margin distance is calculated based on the width of the adjacent lane adjacent to the traveling lane Ln1 in which the host vehicle V1 is traveling. Even if the margin distance, which is the distance, cannot be directly measured, it can be calculated appropriately.
- the travel control device 100 of the present embodiment the higher the possibility that there is another avoidance target different from the avoidance target that the host vehicle V1 is trying to avoid, the turning point P for the target route RT to be set.
- the distance d0 between A and the vehicle V1 is shortened.
- the higher the possibility that another avoidance target exists the earlier the timing for avoiding the avoidance target, so that it is possible to reduce the occupant's uncomfortable feeling when performing the travel control of the host vehicle V1.
- the higher the possibility that another avoidance target exists the more the target route RT to be set is a trajectory that passes through a position closer to the avoidance target.
- the distance along the road width direction between the target route and the avoidance target is made shorter.
- the higher the possibility that another avoidance target exists the less the amount of movement along the road width direction of the host vehicle V1 traveling on the target route, so that the occupant when performing the travel control of the host vehicle V1. Can be reduced.
- the driving control device 100 of the present embodiment depending on the type of the road on which the vehicle V1 is traveling, for the target route RT to set the distance between the turning point P A and the vehicle V1 d0 Adjust. Thereby, the target route according to the road type of the road on which the host vehicle V1 is traveling can be set, and the occupant's uncomfortable feeling when performing the traveling control of the host vehicle V1 can be reduced more appropriately.
- the target route RT to be set along the road width direction between the target route and the avoidance target according to the road type of the road on which the host vehicle V1 is traveling. Adjust the distance. Thereby, the target route according to the road type of the road on which the host vehicle V1 is traveling can be set, and the occupant's uncomfortable feeling when performing the traveling control of the host vehicle V1 can be reduced more appropriately.
- the target route RT to set, to shorten the distance d0 between the turning point P A and the vehicle V1 .
- the distance along the road width direction between the target route and the avoidance target is made longer.
- the travel control device 100 of the present embodiment when the travel control of the host vehicle V1 is performed by setting a route that avoids the target area set for the avoidance target as the target route, The avoidance target can be avoided appropriately.
- the target route can be flexibly adjusted by changing the size of the target area set for the avoidance target.
- information related to travel control that avoids the target region is output to the outside, thereby informing the passengers of the host vehicle and / or other vehicles of the behavior of the host vehicle in advance.
- crew of another vehicle can respond according to the behavior of the own vehicle.
- the travel control device 100 that constitutes the travel control system 1 together with the in-vehicle device 200 will be described as an example, but the present invention is limited to this. It is not a thing.
- target information acquisition is performed as an example of a travel control device including own vehicle information acquisition means, target information acquisition means, first setting means, second setting means, control means, and output means.
- the travel control device 100 including the control device 10 that executes the function, the region setting function, the route setting function, the control function, and the presentation function has been described as an example, the present invention is not limited to this.
- the travel control device 100 further including the output unit the travel control device 100 further including the output devices 30 and 110 has been described as an example, but the present invention is not limited thereto.
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Navigation (AREA)
Abstract
Description
走行制御装置100は通信装置20を有し、車載装置200は通信装置40を有し、両装置は有線通信又は無線通信により互いに情報の授受を行う。
本実施形態の車載装置200は、検出装置50と、センサ60と、車両コントローラ70と、駆動装置80と、操舵装置90と、出力装置110と、ナビゲーション装置120とを備える。車載装置200を構成する各装置は、相互に情報の授受を行うためにCAN(Controller Area Network)その他の車載LANによって接続されている。
検出装置50は、車両が回避するべき回避対象の存在及びその存在位置を検出する。特に限定されないが、本実施形態の検出装置50はカメラ51を含む。本実施形態のカメラ51は、例えばCCD等の撮像素子を備えるカメラである。本実施形態のカメラ51は自車両に設置され、自車両の周囲を撮像し、自車両の周囲に存在する回避対象を含む画像データを取得する。
出力装置110は、対象情報に応じた情報として、駐車車両が存在する方向や位置を自車両の乗員に提供する。ディスプレイ111は、駐車車両が存在する方向や位置を視認可能な態様で表示する。スピーカ112は「左側前方に駐車車両が存在します」といった駐車車両が存在する方向や位置を伝えるテキストを発話出力する。車室外ランプ113である左右のドアミラーに設けられたランプのうち、左側のランプのみを点滅させて、左側前方に駐車車両が存在することを自車両の乗員に知らせてもよい。車室内ランプ114であるステアリング近傍の左右に設けられたランプのうち、左側のランプのみを点滅させて、左側前方に駐車車両が存在することを乗員に知らせてもよい。
まず、制御装置10の自車情報取得機能について説明する。制御装置10は、自車両の位置を含む自車情報を取得する。自車両の位置は、ナビゲーション装置120の位置検出装置121により取得できる。自車情報は、自車両の車速、加速度を含む。制御装置10は、自車両の速度を車速センサ62から取得する。自車両の速度は、自車両の位置の経時的な変化に基づいて取得することもできる。自車両の加速度は、自車両の速度から求めることができる。
100…走行制御装置
10…制御装置
11…CPU
12…ROM
13…RAM
20…通信装置
30…出力装置
31…ディスプレイ
32…スピーカ
200…車載装置
40…通信装置
50…検出装置
51…カメラ
52…レーダ装置
60…センサ
61…操舵角センサ
62…車速センサ
70…車両コントローラ
80…駆動装置
81…制動装置
90…操舵装置
110…出力装置
111…ディスプレイ
112…スピーカ
113…車室外ランプ
114…車室内ランプ
120…ナビゲーション装置
121…位置検出装置
122…道路情報
123…地図情報
Claims (16)
- 自車両の位置を含む自車情報を取得する自車情報取得手段と、
前記自車両が回避すべき第1回避対象の位置を含む対象情報を取得する対象情報取得手段と、
前記自車両の位置と前記第1回避対象の位置とに応じて、前記第1回避対象を回避する目標経路を設定する第1設定手段と、
前記目標経路上を前記自車両に走行させる指令情報を出力する制御手段と、
前記自車両が走行している道路の幅方向に沿う、前記道路上のレーンマーカと前記自車両との距離である余裕距離の情報を取得する余裕距離情報取得手段と、を備え、
前記第1設定手段は、前記目標経路を設定する際に、前記余裕距離が短いほど、前記自車両から、前記幅方向に沿って前記第1回避対象から離れる方向に前記目標経路の回避が開始する転回地点までの距離を短くする走行制御装置。 - 前記余裕距離は、前記自車両の現在位置における、前記レーンマーカと前記自車両との距離、又は前記自車両が前記第1回避対象を追い越す又は追い抜くと予測される地点における、前記レーンマーカと前記自車両との距離である請求項1に記載の走行制御装置。
- 前記第1設定手段は、前記余裕距離が短いほど、前記目標経路と前記第1回避対象との前記幅方向に沿う距離を短くする請求項1又は2に記載の走行制御装置。
- 前記余裕距離は、前記自車両が走行している走行レーンを定義する一対のレーンマーカのうち、前記第1回避対象側とは反対側のレーンマーカと前記自車両との前記幅方向に沿う距離である請求項1~3の何れか一項に記載の走行制御装置。
- 前記余裕距離は、前記自車両が走行している走行レーンを定義する一対のレーンマーカのうち、いずれか一方のレーンマーカと前記目標経路との前記幅方向に沿う距離に基づいて算出される請求項1~3の何れか一項に記載の走行制御装置。
- 前記余裕距離は、前記自車両が走行している走行レーンの幅に基づいて算出される請求項1~5の何れか一項に記載の走行制御装置。
- 前記余裕距離は、前記自車両が走行している走行レーンに隣接する隣接レーンの幅に基づいて算出される請求項1~3の何れか一項に記載の走行制御装置。
- 前記第1設定手段は、前記自車両が走行している道路における前記第1回避対象以外の第2回避対象の存在可能性を予測し、前記目標経路を設定する際に、前記第2回避対象の存在可能性が高いほど、前記目標経路における前記自車両から前記転回地点までの距離を短くする請求項1~7の何れか一項に記載の走行制御装置。
- 前記第1設定手段は、前記目標経路を設定する際に、前記第2回避対象の存在可能性が高いほど、前記目標経路と前記第1回避対象との前記幅方向に沿う距離を短くする請求項8に記載の走行制御装置。
- 前記第1設定手段は、前記自車両が走行している道路の道路種別の情報を取得し、前記道路種別の情報に応じて、前記目標経路における前記自車両から前記転回地点までの距離を調整する請求項1~9の何れか一項に記載の走行制御装置。
- 前記第1設定手段は、前記道路種別の情報に応じて、前記目標経路と前記第1回避対象との前記幅方向に沿う距離を設定する請求項10に記載の走行制御装置。
- 前記第1設定手段は、前記自車両と前記第1回避対象との距離の情報を取得し、前記自車両と前記第1回避対象との距離が近いほど、前記目標経路における前記自車両から前記転回地点までの距離を短くする請求項1~11の何れか一項に記載の走行制御装置。
- 前記第1設定手段は、前記自車両と前記第1回避対象との距離が近いほど、前記目標経路と前記第1回避対象との前記幅方向に沿う距離を長くする請求項12に記載の走行制御装置。
- 前記第1回避対象の位置に基づいて対象領域を設定する第2設定手段をさらに備え、
前記第1設定手段は、前記第2設定手段により設定された前記対象領域を回避する経路を、前記目標経路として設定する請求項1~13の何れか一項に記載の走行制御装置。 - 前記対象情報に応じた情報、前記目標経路の位置に応じた情報、及び前記目標経路上を自車両に走行させる指令情報に応じる情報のうち、何れか一つ以上の情報を外部に出力する出力手段を、さらに備える請求項1~14の何れか一項に記載の走行制御装置。
- 目標経路上を自車両に走行させる指令情報を出力するコンピュータが、
前記自車両の位置を含む自車情報を取得するステップと、
前記自車両が回避すべき回避対象の位置を含む対象情報を取得するステップと、
前記自車両が走行している道路の幅方向に沿う、前記道路上のレーンマーカと、前記自車両との距離である余裕距離の情報を取得し、前記余裕距離が短いほど、前記自車両から、前記幅方向に沿う位置が所定距離以上変化する転回地点までとの距離を短くした目標経路を設定するステップと、を実行する走行制御方法。
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR112017002421-7A BR112017002421B1 (pt) | 2014-08-11 | 2014-08-11 | Dispositivo de controle de percurso e método de controle de percurso |
EP14899892.5A EP3181420B1 (en) | 2014-08-11 | 2014-08-11 | Travel control device and method for vehicle |
US15/501,115 US9862382B2 (en) | 2014-08-11 | 2014-08-11 | Travel control device and method for vehicle |
RU2017105029A RU2659670C1 (ru) | 2014-08-11 | 2014-08-11 | Устройство и способ управления движением для транспортного средства |
CN201480081063.2A CN106573618B (zh) | 2014-08-11 | 2014-08-11 | 车辆的行驶控制装置及方法 |
MX2017001247A MX358041B (es) | 2014-08-11 | 2014-08-11 | Dispositivo y método de control de desplazamiento para vehículo. |
PCT/JP2014/071180 WO2016024315A1 (ja) | 2014-08-11 | 2014-08-11 | 車両の走行制御装置及び方法 |
JP2016542450A JP6299872B2 (ja) | 2014-08-11 | 2014-08-11 | 車両の走行制御装置及び方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/071180 WO2016024315A1 (ja) | 2014-08-11 | 2014-08-11 | 車両の走行制御装置及び方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016024315A1 true WO2016024315A1 (ja) | 2016-02-18 |
Family
ID=55303960
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/071180 WO2016024315A1 (ja) | 2014-08-11 | 2014-08-11 | 車両の走行制御装置及び方法 |
Country Status (8)
Country | Link |
---|---|
US (1) | US9862382B2 (ja) |
EP (1) | EP3181420B1 (ja) |
JP (1) | JP6299872B2 (ja) |
CN (1) | CN106573618B (ja) |
BR (1) | BR112017002421B1 (ja) |
MX (1) | MX358041B (ja) |
RU (1) | RU2659670C1 (ja) |
WO (1) | WO2016024315A1 (ja) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107145817A (zh) * | 2016-03-01 | 2017-09-08 | 福特全球技术公司 | 车辆车道学习 |
CN107458373A (zh) * | 2016-06-03 | 2017-12-12 | 本田技研工业株式会社 | 行驶控制装置 |
CN108216221A (zh) * | 2016-12-21 | 2018-06-29 | 丰田自动车株式会社 | 驾驶支持器 |
JP2019123402A (ja) * | 2018-01-17 | 2019-07-25 | トヨタ自動車株式会社 | 車両制御装置および方法 |
JP2019156194A (ja) * | 2018-03-14 | 2019-09-19 | 本田技研工業株式会社 | 車両制御装置 |
CN111108031A (zh) * | 2017-08-30 | 2020-05-05 | 本田技研工业株式会社 | 行驶控制装置、车辆以及行驶控制方法 |
RU2757234C2 (ru) * | 2019-12-25 | 2021-10-12 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Способ и система для вычисления данных для управления работой беспилотного автомобиля |
CN114379552A (zh) * | 2021-11-11 | 2022-04-22 | 重庆大学 | 一种基于高精度地图和车载传感器的自适应车道保持控制***及方法 |
WO2022196378A1 (ja) * | 2021-03-17 | 2022-09-22 | 日野自動車株式会社 | 操舵制御装置 |
JP7412853B2 (ja) | 2019-05-31 | 2024-01-15 | ダイハツ工業株式会社 | 運転支援装置 |
JP7522795B2 (ja) | 2022-07-19 | 2024-07-25 | 本田技研工業株式会社 | 経路生成装置 |
Families Citing this family (51)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6504078B2 (ja) * | 2016-02-24 | 2019-04-24 | 株式会社デンソー | 衝突予測装置 |
JP6808992B2 (ja) * | 2016-06-17 | 2021-01-06 | 株式会社デンソー | 走行支援装置 |
JP6520863B2 (ja) * | 2016-08-11 | 2019-05-29 | 株式会社デンソー | 走行制御装置 |
US20180052470A1 (en) * | 2016-08-18 | 2018-02-22 | GM Global Technology Operations LLC | Obstacle Avoidance Co-Pilot For Autonomous Vehicles |
BR112019004582B1 (pt) * | 2016-09-09 | 2023-12-26 | Nissan Motor Co., Ltd | Método e aparelho de controle de deslocamento para um veículo |
JP6594375B2 (ja) * | 2017-05-31 | 2019-10-23 | 本田技研工業株式会社 | 処理装置、車両、処理方法およびプログラム |
BR112020004099A2 (pt) * | 2017-08-30 | 2020-09-24 | Nissan Motor Co., Ltd. | método de correção de posição e dispositivo de correção de erro de posição para veículos auxiliados por condução |
JP6572271B2 (ja) * | 2017-09-13 | 2019-09-04 | 本田技研工業株式会社 | 車両制御装置、車両、車両制御装置の処理方法およびプログラム |
JP6617126B2 (ja) * | 2017-09-15 | 2019-12-11 | 本田技研工業株式会社 | 走行制御システムおよび車両の制御方法 |
JP6933080B2 (ja) * | 2017-10-05 | 2021-09-08 | いすゞ自動車株式会社 | 車速制御装置 |
JP6859927B2 (ja) * | 2017-11-06 | 2021-04-14 | トヨタ自動車株式会社 | 自車位置推定装置 |
JP2019099034A (ja) * | 2017-12-06 | 2019-06-24 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | モータサイクルの挙動を制御する制御装置及び制御方法 |
JP2019099035A (ja) * | 2017-12-06 | 2019-06-24 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | モータサイクルの挙動を制御する制御装置及び制御方法 |
KR102540919B1 (ko) * | 2018-02-20 | 2023-06-07 | 현대자동차주식회사 | 차량의 주행 제어 장치 및 방법 |
WO2019185165A1 (en) * | 2018-03-30 | 2019-10-03 | Toyota Motor Europe | System and method for adjusting external position information of a vehicle |
JP7080091B2 (ja) * | 2018-04-02 | 2022-06-03 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
JP7117881B2 (ja) * | 2018-04-02 | 2022-08-15 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
US11084491B2 (en) | 2018-04-11 | 2021-08-10 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
US11351989B2 (en) | 2018-04-11 | 2022-06-07 | Hyundai Motor Company | Vehicle driving controller, system including the same, and method thereof |
EP3552901A3 (en) | 2018-04-11 | 2020-04-29 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
EP3552913B1 (en) | 2018-04-11 | 2021-08-18 | Hyundai Motor Company | Apparatus and method for controlling to enable autonomous system in vehicle |
US11077854B2 (en) | 2018-04-11 | 2021-08-03 | Hyundai Motor Company | Apparatus for controlling lane change of vehicle, system having the same and method thereof |
US11597403B2 (en) | 2018-04-11 | 2023-03-07 | Hyundai Motor Company | Apparatus for displaying driving state of vehicle, system including the same and method thereof |
US11084490B2 (en) | 2018-04-11 | 2021-08-10 | Hyundai Motor Company | Apparatus and method for controlling drive of vehicle |
US11173910B2 (en) | 2018-04-11 | 2021-11-16 | Hyundai Motor Company | Lane change controller for vehicle system including the same, and method thereof |
EP3569460B1 (en) | 2018-04-11 | 2024-03-20 | Hyundai Motor Company | Apparatus and method for controlling driving in vehicle |
US10843710B2 (en) | 2018-04-11 | 2020-11-24 | Hyundai Motor Company | Apparatus and method for providing notification of control authority transition in vehicle |
US11334067B2 (en) | 2018-04-11 | 2022-05-17 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
US11548509B2 (en) * | 2018-04-11 | 2023-01-10 | Hyundai Motor Company | Apparatus and method for controlling lane change in vehicle |
EP3552902A1 (en) | 2018-04-11 | 2019-10-16 | Hyundai Motor Company | Apparatus and method for providing a driving path to a vehicle |
JP7048398B2 (ja) * | 2018-04-13 | 2022-04-05 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
WO2020058739A1 (ja) * | 2018-09-21 | 2020-03-26 | 日産自動車株式会社 | 車両制御方法及び車両制御装置 |
RU2771535C1 (ru) * | 2018-09-30 | 2022-05-05 | Грейт Волл Мотор Компани Лимитед | Способ управления автомобилем, система и автомобиль |
DE102018218835A1 (de) * | 2018-11-05 | 2020-05-07 | Hyundai Motor Company | Verfahren zur zumindest teilweisen Entblockung eines Sichtfeldes eines Kraftfahrzeugs, insbesondere während Fahrspurwechseln |
EP3905219B1 (en) * | 2018-12-28 | 2023-05-31 | NISSAN MOTOR Co., Ltd. | Driving assistance method and driving assistance device |
KR20200130888A (ko) * | 2019-05-07 | 2020-11-23 | 현대모비스 주식회사 | 복합정보 기반 scc시스템 제어 방법 및 장치 |
CN112149659B (zh) * | 2019-06-27 | 2021-11-09 | 浙江商汤科技开发有限公司 | 定位方法及装置、电子设备和存储介质 |
JP7339796B2 (ja) * | 2019-07-16 | 2023-09-06 | フォルシアクラリオン・エレクトロニクス株式会社 | 車載処理装置 |
JP6913716B2 (ja) * | 2019-07-17 | 2021-08-04 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、及びプログラム |
DE102019213185A1 (de) * | 2019-09-02 | 2021-03-04 | Volkswagen Aktiengesellschaft | Querführung eines Fahrzeugs mittels von anderen Fahrzeugen erfassten Umgebungsdaten |
CN110780288A (zh) * | 2019-09-29 | 2020-02-11 | 深圳市元征科技股份有限公司 | 道路危险提示方法、装置、车载设备和存储介质 |
US11511576B2 (en) * | 2020-01-24 | 2022-11-29 | Ford Global Technologies, Llc | Remote trailer maneuver assist system |
JP7519792B2 (ja) * | 2020-03-19 | 2024-07-22 | 本田技研工業株式会社 | 制御装置、制御方法およびプログラム |
KR20210124603A (ko) * | 2020-04-06 | 2021-10-15 | 현대자동차주식회사 | 차량의 자율 주행 제어 장치, 그를 포함한 시스템 및 그 방법 |
JP7380449B2 (ja) * | 2020-06-30 | 2023-11-15 | トヨタ自動車株式会社 | 判定装置及びプログラム |
JP7443177B2 (ja) * | 2020-07-16 | 2024-03-05 | トヨタ自動車株式会社 | 衝突回避支援装置 |
CN112406905B (zh) * | 2020-09-10 | 2022-01-28 | 腾讯科技(深圳)有限公司 | 基于交通工具的数据处理方法、装置、计算机及存储介质 |
US20220315047A1 (en) * | 2021-03-30 | 2022-10-06 | Honda Research Institute Europe Gmbh | Method, system and vehicle with an uncertainty-based lane positioning control |
JP2023016361A (ja) * | 2021-07-21 | 2023-02-02 | トヨタ自動車株式会社 | 車線逸脱防止装置 |
US11541910B1 (en) * | 2022-01-07 | 2023-01-03 | Plusai, Inc. | Methods and apparatus for navigation of an autonomous vehicle based on a location of the autonomous vehicle relative to shouldered objects |
US11840257B2 (en) * | 2022-03-25 | 2023-12-12 | Embark Trucks Inc. | Lane change determination for vehicle on shoulder |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1031799A (ja) * | 1996-07-15 | 1998-02-03 | Toyota Motor Corp | 自動走行制御装置 |
JP2005182753A (ja) * | 2003-11-28 | 2005-07-07 | Denso Corp | 車両運転支援装置 |
JP2005324782A (ja) * | 2004-04-13 | 2005-11-24 | Nissan Motor Co Ltd | 車線逸脱防止装置 |
JP2006321299A (ja) * | 2005-05-17 | 2006-11-30 | Nissan Motor Co Ltd | 車両の車線追従制御装置 |
JP2008132867A (ja) * | 2006-11-28 | 2008-06-12 | Hitachi Ltd | 衝突回避支援装置及びそれを搭載した車両 |
JP2010070069A (ja) * | 2008-09-19 | 2010-04-02 | Hitachi Automotive Systems Ltd | 車両制御装置 |
JP2010163164A (ja) * | 2010-02-19 | 2010-07-29 | Hitachi Automotive Systems Ltd | 走行支援装置 |
JP2014136480A (ja) * | 2013-01-16 | 2014-07-28 | Nippon Soken Inc | 走行経路生成装置 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2006385C1 (ru) * | 1991-10-14 | 1994-01-30 | Научно-исследовательский институт радиоприборостроения | Устройство автоматического управления движением автомобиля в аварийных ситуациях |
DE10210546A1 (de) * | 2002-03-09 | 2003-09-18 | Bosch Gmbh Robert | Verfahren und System zur automatischen Fahrzeugführung |
US20050125121A1 (en) | 2003-11-28 | 2005-06-09 | Denso Corporation | Vehicle driving assisting apparatus |
DE102005007802A1 (de) * | 2005-02-21 | 2006-08-24 | Robert Bosch Gmbh | Verfahren zur Objektplausibilisierung in Fahrerassistenzsystemen |
DE102005040776A1 (de) * | 2005-08-29 | 2007-03-08 | Robert Bosch Gmbh | Vorrichtung zur Längsführung eines Kraftfahrzeugs mit Navigationssystem |
JP4138868B2 (ja) * | 2006-11-02 | 2008-08-27 | 松下電器産業株式会社 | 走行支援システムおよび走行支援方法 |
JP5309582B2 (ja) * | 2007-05-11 | 2013-10-09 | 日産自動車株式会社 | 車両の走行制御方法及び走行制御装置 |
JP2009061878A (ja) * | 2007-09-05 | 2009-03-26 | Toyota Motor Corp | 走行制御装置 |
JP4759547B2 (ja) * | 2007-09-27 | 2011-08-31 | 日立オートモティブシステムズ株式会社 | 走行支援装置 |
DE102008008172A1 (de) * | 2008-02-08 | 2009-08-13 | Daimler Ag | Verfahren zur Längs- und Querführungsunterstützung des Fahrers eines Fahrzeugs und Fahrerassistenzsystem zur Durchführung des Verfahrens |
JP5124874B2 (ja) * | 2008-03-12 | 2013-01-23 | 本田技研工業株式会社 | 車両走行支援装置、車両、車両走行支援プログラム |
WO2010038851A1 (ja) * | 2008-10-02 | 2010-04-08 | 日立オートモティブシステムズ株式会社 | 車両走行に関する情報処理装置 |
JP2011048470A (ja) * | 2009-08-25 | 2011-03-10 | Toyota Motor Corp | 環境予測装置 |
JP5407764B2 (ja) * | 2009-10-30 | 2014-02-05 | トヨタ自動車株式会社 | 運転支援装置 |
JP5511984B2 (ja) * | 2010-12-15 | 2014-06-04 | 本田技研工業株式会社 | 車両の走行支援装置 |
US9318023B2 (en) * | 2011-08-31 | 2016-04-19 | GM Global Technology Operations LLC | System and method for collision avoidance maneuver path determination with jerk limit |
JP5804373B2 (ja) | 2011-10-25 | 2015-11-04 | いすゞ自動車株式会社 | 目的走行位置設定装置及び操舵制御システム |
DE102012202916A1 (de) * | 2012-02-27 | 2013-08-29 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
US8798841B1 (en) * | 2013-03-14 | 2014-08-05 | GM Global Technology Operations LLC | System and method for improving sensor visibility of vehicle in autonomous driving mode |
JP5783204B2 (ja) | 2013-05-01 | 2015-09-24 | トヨタ自動車株式会社 | 運転支援装置および運転支援方法 |
-
2014
- 2014-08-11 EP EP14899892.5A patent/EP3181420B1/en active Active
- 2014-08-11 RU RU2017105029A patent/RU2659670C1/ru active
- 2014-08-11 BR BR112017002421-7A patent/BR112017002421B1/pt active IP Right Grant
- 2014-08-11 JP JP2016542450A patent/JP6299872B2/ja active Active
- 2014-08-11 US US15/501,115 patent/US9862382B2/en active Active
- 2014-08-11 MX MX2017001247A patent/MX358041B/es active IP Right Grant
- 2014-08-11 WO PCT/JP2014/071180 patent/WO2016024315A1/ja active Application Filing
- 2014-08-11 CN CN201480081063.2A patent/CN106573618B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1031799A (ja) * | 1996-07-15 | 1998-02-03 | Toyota Motor Corp | 自動走行制御装置 |
JP2005182753A (ja) * | 2003-11-28 | 2005-07-07 | Denso Corp | 車両運転支援装置 |
JP2005324782A (ja) * | 2004-04-13 | 2005-11-24 | Nissan Motor Co Ltd | 車線逸脱防止装置 |
JP2006321299A (ja) * | 2005-05-17 | 2006-11-30 | Nissan Motor Co Ltd | 車両の車線追従制御装置 |
JP2008132867A (ja) * | 2006-11-28 | 2008-06-12 | Hitachi Ltd | 衝突回避支援装置及びそれを搭載した車両 |
JP2010070069A (ja) * | 2008-09-19 | 2010-04-02 | Hitachi Automotive Systems Ltd | 車両制御装置 |
JP2010163164A (ja) * | 2010-02-19 | 2010-07-29 | Hitachi Automotive Systems Ltd | 走行支援装置 |
JP2014136480A (ja) * | 2013-01-16 | 2014-07-28 | Nippon Soken Inc | 走行経路生成装置 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107145817A (zh) * | 2016-03-01 | 2017-09-08 | 福特全球技术公司 | 车辆车道学习 |
CN107145817B (zh) * | 2016-03-01 | 2022-09-02 | 福特全球技术公司 | 车辆车道学习 |
CN107458373A (zh) * | 2016-06-03 | 2017-12-12 | 本田技研工业株式会社 | 行驶控制装置 |
CN107458373B (zh) * | 2016-06-03 | 2020-01-24 | 本田技研工业株式会社 | 行驶控制装置 |
CN108216221A (zh) * | 2016-12-21 | 2018-06-29 | 丰田自动车株式会社 | 驾驶支持器 |
DE102017126045B4 (de) | 2016-12-21 | 2022-03-17 | Toyota Jidosha Kabushiki Kaisha | Fahrunterstützungseinrichtung |
CN111108031B (zh) * | 2017-08-30 | 2023-09-22 | 本田技研工业株式会社 | 行驶控制装置、车辆以及行驶控制方法 |
CN111108031A (zh) * | 2017-08-30 | 2020-05-05 | 本田技研工业株式会社 | 行驶控制装置、车辆以及行驶控制方法 |
JP7020130B2 (ja) | 2018-01-17 | 2022-02-16 | トヨタ自動車株式会社 | 車両制御装置、方法、およびプログラム |
US11377145B2 (en) | 2018-01-17 | 2022-07-05 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device and control method for vehicle |
JP2019123402A (ja) * | 2018-01-17 | 2019-07-25 | トヨタ自動車株式会社 | 車両制御装置および方法 |
JP2019156194A (ja) * | 2018-03-14 | 2019-09-19 | 本田技研工業株式会社 | 車両制御装置 |
JP7412853B2 (ja) | 2019-05-31 | 2024-01-15 | ダイハツ工業株式会社 | 運転支援装置 |
RU2757234C2 (ru) * | 2019-12-25 | 2021-10-12 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Способ и система для вычисления данных для управления работой беспилотного автомобиля |
US11548528B2 (en) | 2019-12-25 | 2023-01-10 | Yandex Self Driving Group Llc | Method of and system for computing data for controlling operation of self driving car (SDC) |
WO2022196378A1 (ja) * | 2021-03-17 | 2022-09-22 | 日野自動車株式会社 | 操舵制御装置 |
CN114379552A (zh) * | 2021-11-11 | 2022-04-22 | 重庆大学 | 一种基于高精度地图和车载传感器的自适应车道保持控制***及方法 |
CN114379552B (zh) * | 2021-11-11 | 2024-03-26 | 重庆大学 | 一种基于高精度地图和车载传感器的自适应车道保持控制***及方法 |
JP7522795B2 (ja) | 2022-07-19 | 2024-07-25 | 本田技研工業株式会社 | 経路生成装置 |
Also Published As
Publication number | Publication date |
---|---|
US9862382B2 (en) | 2018-01-09 |
BR112017002421B1 (pt) | 2022-01-25 |
CN106573618B (zh) | 2018-06-29 |
CN106573618A (zh) | 2017-04-19 |
MX2017001247A (es) | 2017-05-01 |
MX358041B (es) | 2018-08-03 |
BR112017002421A2 (pt) | 2017-11-28 |
EP3181420A1 (en) | 2017-06-21 |
RU2659670C1 (ru) | 2018-07-03 |
JPWO2016024315A1 (ja) | 2017-05-25 |
EP3181420A4 (en) | 2017-12-20 |
EP3181420B1 (en) | 2018-12-19 |
JP6299872B2 (ja) | 2018-03-28 |
US20170291603A1 (en) | 2017-10-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6299872B2 (ja) | 車両の走行制御装置及び方法 | |
JP6222368B2 (ja) | 走行制御装置および走行制御方法 | |
EP3181419B1 (en) | Travel control device and travel control method | |
JP6365672B2 (ja) | 走行制御装置および走行制御方法 | |
JP6288286B2 (ja) | 走行制御装置および走行制御方法 | |
JP6304384B2 (ja) | 車両の走行制御装置及び方法 | |
JP6354440B2 (ja) | 走行制御装置および走行制御方法 | |
WO2016024318A1 (ja) | 車両の走行制御装置及び方法 | |
WO2016024316A1 (ja) | 車両の走行制御装置及び方法 | |
JP2016038837A (ja) | 車両の走行制御装置及び方法 | |
JP6229798B2 (ja) | 走行制御装置および走行制御方法 | |
JP2016037267A (ja) | 走行制御装置および走行制御方法 | |
WO2016027347A1 (ja) | 車両の走行制御装置及び方法 | |
JP6296161B2 (ja) | 車両の走行制御装置及び方法 | |
JP2016038838A (ja) | 走行制御装置および走行制御方法 | |
JP6375770B2 (ja) | 走行制御装置および走行制御方法 | |
WO2016024313A1 (ja) | 走行制御装置および走行制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14899892 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2016542450 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: MX/A/2017/001247 Country of ref document: MX |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15501115 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112017002421 Country of ref document: BR |
|
REEP | Request for entry into the european phase |
Ref document number: 2014899892 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2014899892 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2017105029 Country of ref document: RU Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 112017002421 Country of ref document: BR Kind code of ref document: A2 Effective date: 20170206 |