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1. WO2020136385 - DRIVING ASSISTANCE METHOD AND DRIVING ASSISTANCE DEVICE

Publication Number WO/2020/136385
Publication Date 02.07.2020
International Application No. PCT/IB2018/001592
International Filing Date 28.12.2018
Chapter 2 Demand Filed 02.09.2019
IPC
G08G 1/16 2006.1
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
B60W 30/045 2012.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
02Control of vehicle driving stability
045Improving turning performance
B60W 30/10 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
10Path keeping
CPC
B60W 30/045
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
02Control of vehicle driving stability
045Improving turning performance
B60W 30/10
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
10Path keeping
G08G 1/16
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
Applicants
  • 日産自動車株式会社 NISSAN MOTOR CO., LTD. [JP]/[JP]
  • ルノー エス. ア. エス. RENAULT S.A.S. [FR]/[FR] (AL, AT, BE, BG, CH, CN, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, JP, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR, US)
Inventors
  • 平松真知子 HIRAMATSU, Machiko
  • 青木元伸 AOKI, Motonobu
Agents
  • 田中秀喆 TANAKA HIDETETSU
  • KOBAYASHI TORU
  • MORI TETSUYA
Priority Data
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) DRIVING ASSISTANCE METHOD AND DRIVING ASSISTANCE DEVICE
(FR) PROCÉDÉ D'AIDE À LA CONDUITE ET DISPOSITIF D'AIDE À LA CONDUITE
(JA) 運転支援方法及び運転支援装置
Abstract
(EN)
A controller (40) performs: a process (S9, S29) for determining whether or not there is a vehicle (65) parked in the path ahead of a host vehicle (63); a process (S5, S25) for determining whether or not to turn the host vehicle; a process (S11, S31) for determining whether or not the distance (D) between the parked vehicle and the turn position at which to turn the host vehicle satisfies a prescribed condition; a trajectory generation process (S13, S34) for, if the distance (D) between the turn position and the parked vehicle satisfies the prescribed condition, generating a target travel trajectory (68) such that a turn end point or a turn start point coincides with a prescribed sideward position in the width direction of the road in which the parked vehicle is parked, wherein the turn end point is the end point of a turn which is made by the host vehicle at a position in the path on the near side of the parked vehicle, and which is such that the host vehicle passes along a side of the parked vehicle at a prescribed sideward position that is a prescribed distance away from the side of the parked vehicle, and wherein the turn start point is the start point of a turn made by the host vehicle after the host vehicle has passed along the side of the parked vehicle in the path; and a process (S15, S36) for performing travel control on the basis of the target travel trajectory.
(FR)
La présente invention concerne un dispositif de commande (40) effectuant : un processus (S9, S29) pour déterminer s'il existe ou non un véhicule (65) stationné dans le trajet devant un véhicule hôte (63); un processus (S5, S25) permettant de déterminer s'il faut ou non faire tourner le véhicule hôte; un processus (S11, S31) pour déterminer si la distance (D) entre le véhicule stationné et la position de virage à laquelle tourner le véhicule hôte satisfait une condition prescrite; un processus de génération de trajectoire (S13, S34) pour, si la distance (D) entre la position de virage et le véhicule stationné satisfait à la condition prescrite, générer une trajectoire de déplacement cible (68) de telle sorte qu'un point d'extrémité de virage ou un point de début de virage coïncide avec une position latérale prescrite dans la direction de la largeur de la route dans laquelle le véhicule stationné est stationné, le point d'extrémité de virage étant le point d'extrémité d'un virage qui est effectué par le véhicule hôte à une position dans le trajet sur le côté proche du véhicule stationné, et qui est tel que le véhicule hôte passe le long d'un côté du véhicule stationné à une position latérale prescrite qui est une distance prescrite à l'opposé du côté du véhicule stationné, et le point de début de virage étant le point de départ d'un virage effectué par le véhicule hôte après que le véhicule hôte soit passé le long du côté du véhicule stationné dans le trajet; et un processus (S15, S36) pour effectuer une commande de déplacement sur la base de la trajectoire de déplacement cible.
(JA)
コントローラ(40)は、自車両(63)の経路前方の駐車車両(65)の有無を判断する処理(S9,S29)と、自車両の旋回を行うか否かを判断する処理(S5,S25)と、旋回が行われる旋回位置と駐車車両との間の距離(D)が所定条件を満たすか否かを判断する処理(S11,S31)と、旋回位置と駐車車両との間の距離(D)が所定条件を満たす場合に、駐車車両の側方にいて所定の間隔をあけた所定の側方位置で駐車車両の側方を通過するとともに、経路上において駐車車両の位置よりも手前の位置で旋回する場合の旋回終了位置もしくは経路上において駐車車両の側方を通過した後に旋回する場合の旋回開始位置が、駐車車両が駐車している道路幅方向において所定の側方位置と一致するように目標走行軌道(68)を生成する軌道生成処理(S13、S34)と、目標走行軌道に基づいて走行制御を行う処理(S15,S36)と、を実行する。
Also published as
JP2020561951
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