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JP2001301484A5
JP2001301484A5 JP2001030222A JP2001030222A JP2001301484A5 JP 2001301484 A5 JP2001301484 A5 JP 2001301484A5 JP 2001030222 A JP2001030222 A JP 2001030222A JP 2001030222 A JP2001030222 A JP 2001030222A JP 2001301484 A5 JP2001301484 A5 JP 2001301484A5
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driving operation
vehicle
driving
generating
information around
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JP3973008B2 (en
JP2001301484A (en
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Claims (6)

自車の周囲の情報を取得するセンシング手段と、
該センシング手段によって得られた自車の周囲の情報を基に、制限速度を遵守しつつ自車の希望運転動作を実施することの可否を判断する運転動作可否判断手段と、
該運転動作可否判断手段の判断結果に基づいて、切り替えパラメータの値を切り替えることにより、縦方向の運転動作を前方車追従、規制速度への調整、停止準備の３つのうちのいずれかのパターンで与え、かつ、走行環境に応じて、滑らかな横方向の運転動作を生成する運転動作モデルを生成する運転動作モデル生成手段と、
前記生成された運転動作モデルに応じた運転動作指令信号を生成する出力手段と、を備えることを特徴とする安全走行支援装置。Sensing means for obtaining information around the vehicle,
Based on the information around the host vehicle obtained by the sensing unit, driving operation propriety determining unit that determines whether or not the desired driving operation of the host vehicle can be performed while complying with the speed limit;
By switching the value of the switching parameter on the basis of the determination result of the driving operation propriety determining means, the vertical driving operation is performed in one of three patterns of following the vehicle ahead, adjusting to the regulated speed, and preparing for stopping. And driving operation model generation means for generating a driving operation model for generating a smooth lateral driving operation according to the driving environment,
And an output unit that generates a driving operation command signal corresponding to the generated driving operation model. 前記運転動作モデルは、直前車への追従、規制速度への速度調整、交通信号への対応動作、交差点進入動作、車線変更動作、追い越し動作、右折動作、または、左折動作のいずれかを記述するモデルであることを特徴とする請求項１に記載の安全走行支援装置。The driving operation model describes one of following the preceding vehicle, adjusting the speed to the regulated speed, responding to traffic signals, intersection approaching operation, lane changing operation, overtaking operation, right turn operation, or left turn operation. The safe driving support device according to claim 1, wherein the safe driving support device is a model. 更に、
衛星からのデータを受信することによって、自車の位置を特定し、道路地図案内システムを用いて前記希望運転動作を生成する手段を備えることを特徴とする請求項１に記載の安全走行支援装置。In addition,
2. The safe driving support device according to claim 1, further comprising means for identifying the position of the vehicle by receiving data from a satellite and generating the desired driving action using a road map guidance system. . （ａ）自車の周囲の情報を取得するステップと、
（ｂ）該ステップ（ａ）によって得られた自車の周囲の情報を基に、制限速度を遵守しつつ自車の希望運転動作を実施することの可否を判断するステップと、
（ｃ）該ステップ（ｂ）の判断結果に基づいて、切り替えパラメータの値を切り替えることにより、縦方向の運転動作を前方車追従、規制速度への調整、停止準備の３つのうちのいずれかのパターンで与え、かつ、走行環境に応じて、滑らかな横方向の運転動作を生成する運転動作モデルを生成するステップと、
（ｄ）前記生成された運転動作モデルに応じた運転動作指令信号を生成するステップと、を備えることを特徴とする安全走行支援方法。(A) obtaining information around the vehicle;
(B) a step of determining whether or not it is possible to carry out a desired driving operation of the host vehicle while complying with the speed limit, based on information around the host vehicle obtained in step (a);
(C) Based on the determination result of step (b), by switching the value of the switching parameter, the longitudinal driving operation is any of the following three: vehicle forward tracking, adjustment to the regulated speed, and stop preparation Generating a driving operation model that generates a smooth lateral driving operation according to a driving environment given in a pattern; and
(D) A step of generating a driving operation command signal according to the generated driving operation model. コンピュータに、車両の運転動作を制御させる処理であって、
（ａ）自車の周囲の情報を取得するステップと、
（ｂ）該ステップ（ａ）によって得られた自車の周囲の情報を基に、制限速度を遵守しつつ自車の希望運転動作を実施することの可否を判断するステップと、
（ｃ）該ステップ（ｂ）の判断結果に基づいて、切り替えパラメータの値を切り替えることにより、縦方向の運転動作を前方車追従、規制速度への調整、停止準備の３つのうちのいずれかのパターンで与え、かつ、走行環境に応じて、滑らかな横方向の運転動作を生成する運転動作モデルを生成するステップと、
（ｄ）前記生成された運転動作モデルに応じた運転動作指令信号を生成するステップと、を備える処理を行わせることを特徴とするプログラムを記録した、コンピュータ読み取り可能な記録媒体。A process for causing a computer to control driving operation of a vehicle,
(A) obtaining information around the vehicle;
(B) a step of determining whether or not it is possible to carry out a desired driving operation of the host vehicle while complying with the speed limit, based on information around the host vehicle obtained in step (a);
(C) Based on the determination result of step (b), by switching the value of the switching parameter, the longitudinal driving operation is any of the following three: vehicle forward tracking, adjustment to the regulated speed, and stop preparation Generating a driving operation model that generates a smooth lateral driving operation according to a driving environment given in a pattern; and
And (d) generating a driving operation command signal corresponding to the generated driving operation model. A computer-readable recording medium storing a program that causes a process to be performed. コンピュータに、車両の運転動作を制御させる処理であって、
（ａ）自車の周囲の情報を取得するステップと、
（ｂ）該ステップ（ａ）によって得られた自車の周囲の情報を基に、制限速度を遵守しつつ自車の希望運転動作を実施することの可否を判断するステップと、
（ｃ）該ステップ（ｂ）の判断結果に基づいて、切り替えパラメータの値を切り替えることにより、縦方向の運転動作を前方車追従、規制速度への調整、停止準備の３つのうちのいずれかのパターンで与え、かつ、走行環境に応じて、滑らかな横方向の運転動作を生成する運転動作モデルを生成するステップと、
（ｄ）前記生成された運転動作モデルに応じた運転動作指令信号を生成するステップと、を備える処理を行わせることを特徴とするプログラム。A process for causing a computer to control driving operation of a vehicle,
(A) obtaining information around the vehicle;
(B) a step of determining whether or not it is possible to carry out a desired driving operation of the host vehicle while complying with the speed limit, based on information around the host vehicle obtained in step (a);
(C) Based on the determination result of step (b), by switching the value of the switching parameter, the longitudinal driving operation is any of the following three: vehicle forward tracking, adjustment to the regulated speed, and stop preparation Generating a driving operation model that generates a smooth lateral driving operation according to a driving environment given in a pattern; and
And (d) generating a driving operation command signal corresponding to the generated driving operation model.
JP2001030222A 2000-02-09 2001-02-06 Safe driving support device, method and recording medium Expired - Fee Related JP3973008B2 (en)

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JP2001030222A JP3973008B2 (en) 2000-02-09 2001-02-06 Safe driving support device, method and recording medium

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JP2000-31470 2000-02-09
JP2000031470 2000-02-09
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JP2001301484A5 true JP2001301484A5 (en) 2005-04-07
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JP4525670B2 (en) * 2006-11-20 2010-08-18 トヨタ自動車株式会社 Travel control plan generation system
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JP5387106B2 (en) * 2009-04-08 2014-01-15 トヨタ自動車株式会社 Vehicle travel control device and optimum travel locus generation method
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JP6995671B2 (en) * 2018-03-14 2022-01-14 本田技研工業株式会社 Vehicle control devices, vehicle control methods, and programs
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