JP6796145B2 - 車両制御装置、車両制御方法、及びプログラム - Google Patents
車両制御装置、車両制御方法、及びプログラム Download PDFInfo
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- 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
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- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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- 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
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- 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
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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Description
本願は、2016年12月27日に、日本に出願された特願2016−253952号に基づき優先権を主張し、その内容をここに援用する。
この変更に関する制御については後に詳述する。
Claims (5)
- 車両の自動運転において目的地に向かうために予め設定された設定車線を走行するように前記自動運転を実行する自動運転制御部と、
前記車両の進行方向の加速または減速に関する運動状態を取得する取得部と、を備え、
前記自動運転制御部は、手動運転から切り替えて前記自動運転を開始したとき、前記車両が前記設定車線に隣接する隣接車線を走行している場合、前記隣接車線において前記自動運転を開始する前に前記取得部により取得されていた前記運動状態が所定時間または所定距離において維持されるように前記車両を走行させて、前記隣接車線から前記設定車線に前記車両を車線変更させる、
車両制御装置。 - 前記自動運転制御部は、手動運転から切り替えて前記自動運転を開始したとき、前記車両が前記設定車線を走行している場合、前記自動運転を開始する前に前記取得部により取得されていた前記運動状態が所定時間または所定距離において維持されるように前記設定車線において前記車両を走行させる、
請求項1に記載の車両制御装置。 - 情報を出力する出力部と、
前記自動運転制御部が前記手動運転から切り替えて前記自動運転を開始した後、前記車両が前記設定車線と異なる車線を走行している場合に、その旨の情報を前記出力部に出力させる出力制御部と、を更に備える、
請求項2に記載の車両制御装置。 - コンピュータが、
車両の自動運転において目的地に向かうために予め設定された設定車線を走行するように前記自動運転を実行し、
前記車両の進行方向の加速または減速に関する運動状態を取得し、
手動運転から切り替えて前記自動運転を開始したとき、前記車両が前記設定車線に隣接する隣接車線を走行している場合、前記隣接車線において前記自動運転を開始する前に前記取得されていた前記運動状態が所定時間または所定距離において維持されるように前記車両を走行させて、前記隣接車線から前記設定車線に前記車両を車線変更させる、
車両制御方法。 - コンピュータに、
車両の自動運転において目的地に向かうために予め設定された設定車線を走行するように前記自動運転を実行させる処理と、
前記車両の進行方向の加速または減速に関する運動状態を取得させる処理と、
手動運転から切り替えて前記自動運転を開始したとき、前記車両が前記設定車線に隣接する隣接車線を走行している場合、前記隣接車線において前記自動運転を開始する前に前記取得されていた前記運動状態が所定時間または所定距離において維持されるように前記車両を走行させて、前記隣接車線から前記設定車線に前記車両を車線変更させる処理と、
を実行させるプログラム。
Applications Claiming Priority (3)
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JP2016253952 | 2016-12-27 | ||
JP2016253952 | 2016-12-27 | ||
PCT/JP2017/041663 WO2018123346A1 (ja) | 2016-12-27 | 2017-11-20 | 車両制御装置、車両制御方法、及びプログラム |
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JPWO2018123346A1 JPWO2018123346A1 (ja) | 2019-08-08 |
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US (1) | US11230290B2 (ja) |
JP (1) | JP6796145B2 (ja) |
CN (1) | CN110139791B (ja) |
DE (1) | DE112017006605T5 (ja) |
WO (1) | WO2018123346A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US11597387B2 (en) * | 2019-03-27 | 2023-03-07 | Honda Motor Co., Ltd. | Vehicle controller, vehicle, and vehicle control method |
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EP3390189B1 (en) * | 2017-03-10 | 2021-06-02 | Baidu.com Times Technology (Beijing) Co., Ltd. | Method and system for controlling autonomous driving vehicle reentering autonomous driving mode |
JP7293635B2 (ja) * | 2018-12-19 | 2023-06-20 | トヨタ自動車株式会社 | 自動運転システム |
US11370435B2 (en) * | 2019-09-04 | 2022-06-28 | GM Global Technology Operations LLC | Connected and automated vehicles, driving systems, and control logic for info-rich eco-autonomous driving |
JP7078660B2 (ja) * | 2020-03-16 | 2022-05-31 | 本田技研工業株式会社 | 走行制御装置、車両、走行制御方法及びプログラム |
JP7524806B2 (ja) * | 2021-03-24 | 2024-07-30 | トヨタ自動車株式会社 | 車両制御装置、車両制御用コンピュータプログラム及び車両制御方法 |
CN115649174B (zh) * | 2022-12-08 | 2023-03-10 | 深圳曦华科技有限公司 | 超车事件智能处理方法及相关产品 |
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US5535830A (en) * | 1993-04-27 | 1996-07-16 | Kabushiki Kaisha Komatsu Seisakusho | Dozing control unit for a bulldozer |
JP3094100B1 (ja) * | 1999-03-26 | 2000-10-03 | 建設省土木研究所長 | 自動運転制御装置 |
JP2015089801A (ja) * | 2013-11-07 | 2015-05-11 | 株式会社デンソー | 運転制御装置 |
JP6241341B2 (ja) * | 2014-03-20 | 2017-12-06 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援装置、自動運転支援方法及びプログラム |
JP6221873B2 (ja) | 2014-03-21 | 2017-11-01 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援装置、自動運転支援方法及びプログラム |
WO2015186648A1 (ja) | 2014-06-06 | 2015-12-10 | 日立オートモティブシステムズ株式会社 | 車両の走行制御装置 |
JP6488594B2 (ja) | 2014-09-02 | 2019-03-27 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
JP6394554B2 (ja) * | 2014-10-31 | 2018-09-26 | 株式会社デンソー | 運転支援装置 |
JP6266491B2 (ja) | 2014-11-06 | 2018-01-24 | 本田技研工業株式会社 | 自動運転制御装置 |
US10705521B2 (en) * | 2014-12-30 | 2020-07-07 | Visteon Global Technologies, Inc. | Autonomous driving interface |
JP6176264B2 (ja) | 2015-01-19 | 2017-08-09 | トヨタ自動車株式会社 | 自動運転車両システム |
JP6176263B2 (ja) * | 2015-01-19 | 2017-08-09 | トヨタ自動車株式会社 | 自動運転装置 |
JP6375237B2 (ja) | 2015-01-28 | 2018-08-15 | 日立オートモティブシステムズ株式会社 | 自動運転制御装置 |
MX2018016217A (es) * | 2016-07-05 | 2019-05-30 | Nissan Motor | Metodo de control de desplazamiento y dispositivo de control de desplazamiento. |
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- 2017-11-20 WO PCT/JP2017/041663 patent/WO2018123346A1/ja active Application Filing
- 2017-11-20 US US16/471,612 patent/US11230290B2/en active Active
- 2017-11-20 CN CN201780080228.8A patent/CN110139791B/zh active Active
- 2017-11-20 JP JP2018558902A patent/JP6796145B2/ja active Active
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Cited By (1)
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US11597387B2 (en) * | 2019-03-27 | 2023-03-07 | Honda Motor Co., Ltd. | Vehicle controller, vehicle, and vehicle control method |
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DE112017006605T5 (de) | 2019-09-12 |
CN110139791B (zh) | 2022-04-01 |
WO2018123346A1 (ja) | 2018-07-05 |
US11230290B2 (en) | 2022-01-25 |
US20190382024A1 (en) | 2019-12-19 |
CN110139791A (zh) | 2019-08-16 |
JPWO2018123346A1 (ja) | 2019-08-08 |
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