WO2012095717A3 - Travel support apparatus - Google Patents

Travel support apparatus Download PDF

Info

Publication number
WO2012095717A3
WO2012095717A3 PCT/IB2012/000007 IB2012000007W WO2012095717A3 WO 2012095717 A3 WO2012095717 A3 WO 2012095717A3 IB 2012000007 W IB2012000007 W IB 2012000007W WO 2012095717 A3 WO2012095717 A3 WO 2012095717A3
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
obstacle
support apparatus
rear sensor
travel support
Prior art date
Application number
PCT/IB2012/000007
Other languages
French (fr)
Other versions
WO2012095717A2 (en
Inventor
Toshihiro Takagi
Mitsuhiko Morita
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Publication of WO2012095717A2 publication Critical patent/WO2012095717A2/en
Publication of WO2012095717A3 publication Critical patent/WO2012095717A3/en

Links

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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/08—Driving in reverse
    • 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
    • B60W2520/04—Vehicle stop
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/16—Ratio selector 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
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing

Abstract

A travel support apparatus includes: a rear sensor (12) that detects an obstacle behind a vehicle (11); and a rear contact prevention device (20) that controls travel of the vehicle (11) to prevent contact between the vehicle (11) and the obstacle detected by the rear sensor (12) as the vehicle (11) backs up. When the obstacle approaches a range in which detection of the obstacle by the rear sensor (12) is impossible as the vehicle (11) backs up, the rear contact prevention device (20) controls travel of the vehicle (11) based on a distance between the obstacle and the vehicle (11) estimated based on a distance traveled by the vehicle (11) from a position in which detection of the obstacle by the rear sensor (12) is possible.
PCT/IB2012/000007 2011-01-12 2012-01-04 Travel support apparatus WO2012095717A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011004312A JP2012144157A (en) 2011-01-12 2011-01-12 Travel support apparatus
JP2011-004312 2011-01-12

Publications (2)

Publication Number Publication Date
WO2012095717A2 WO2012095717A2 (en) 2012-07-19
WO2012095717A3 true WO2012095717A3 (en) 2013-03-28

Family

ID=45809336

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2012/000007 WO2012095717A2 (en) 2011-01-12 2012-01-04 Travel support apparatus

Country Status (2)

Country Link
JP (1) JP2012144157A (en)
WO (1) WO2012095717A2 (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5793868B2 (en) 2011-01-12 2015-10-14 トヨタ自動車株式会社 Driving support device
JP2014034287A (en) * 2012-08-08 2014-02-24 Aisin Seiki Co Ltd Parking support system
CN104755344B (en) * 2012-11-27 2016-05-04 日产自动车株式会社 Vehicle is with accelerating restraining device and vehicle with accelerating inhibition method
GB2512633A (en) 2013-04-04 2014-10-08 Vignal Systems A method of, and apparatus for, operating a vehicle
JP5943039B2 (en) * 2014-06-25 2016-06-29 トヨタ自動車株式会社 Parking assistance device
JP6408860B2 (en) 2014-10-22 2018-10-17 株式会社デンソー Object detection device
JP6075575B2 (en) * 2015-03-02 2017-02-08 マツダ株式会社 Vehicle control device
JP6365403B2 (en) * 2015-05-13 2018-08-01 トヨタ自動車株式会社 Driving assistance device
JP6536508B2 (en) 2016-07-22 2019-07-03 トヨタ自動車株式会社 Parking assistance device
JP2019051830A (en) * 2017-09-15 2019-04-04 ダイハツ工業株式会社 Vehicle control device
JP2020082883A (en) * 2018-11-20 2020-06-04 株式会社Ｓｕｂａｒｕ Vehicle control device
JP7147585B2 (en) 2019-01-23 2022-10-05 トヨタ自動車株式会社 vehicle controller
CN111516676B (en) * 2020-04-30 2022-06-07 重庆长安汽车股份有限公司 Automatic parking method, system, automobile and computer readable storage medium
CN112519768B (en) * 2020-12-10 2021-12-07 大运汽车股份有限公司 Vehicle emergency braking method

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5314037A (en) * 1993-01-22 1994-05-24 Shaw David C H Automobile collision avoidance system
GB2334560A (en) * 1998-02-24 1999-08-25 Daimler Chrysler Ag Method for automatically triggering a braking action of a vehicle
DE19831262A1 (en) * 1998-07-11 2000-01-13 Wabco Gmbh Method and device for assisting the driver of a vehicle when reversing
US6114951A (en) * 1996-12-27 2000-09-05 Fuji Jukogyo Kabushiki Kaisha Vehicle collision preventing apparatus
US6268803B1 (en) * 1998-08-06 2001-07-31 Altra Technologies Incorporated System and method of avoiding collisions
US20030055596A1 (en) * 2000-04-17 2003-03-20 Studt David Glen Vehicle back-up aid system
US20070132563A1 (en) * 2005-12-08 2007-06-14 Balbale Uzmaa H Speed-sensitive rear obstacle detection and avoidance system
DE102006045418A1 (en) * 2006-09-26 2008-04-10 GM Global Technology Operations, Inc., Detroit Motor vehicle, has parking assistance system with sensors for distance measurement to obstacle, in particular for detecting moving direction of moving object, where presence of moving object is determined in detection range of sensors
WO2008068620A2 (en) * 2006-12-08 2008-06-12 Toyota Jidosha Kabushiki Kaisha Vehicle control apparatus, and vehicle control method
US20080167781A1 (en) * 2007-01-08 2008-07-10 Gm Global Technology Operations, Inc. Threat Assessment State Processing for Collision Warning, Mitigation and/or Avoidance in Ground-Based Vehicles
EP1990786A1 (en) * 2006-02-28 2008-11-12 Toyota Jidosha Kabushiki Kaisha Object course prediction method, device, program, and automatic driving system
US20100030439A1 (en) * 2008-07-29 2010-02-04 Nissan Motor Co., Ltd. Vehicle control apparatus for avoiding contact with obstacle locating backward

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006123711A (en) 2004-10-28 2006-05-18 Mitsubishi Motors Corp Vehicle safety controller

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5314037A (en) * 1993-01-22 1994-05-24 Shaw David C H Automobile collision avoidance system
US6114951A (en) * 1996-12-27 2000-09-05 Fuji Jukogyo Kabushiki Kaisha Vehicle collision preventing apparatus
GB2334560A (en) * 1998-02-24 1999-08-25 Daimler Chrysler Ag Method for automatically triggering a braking action of a vehicle
DE19831262A1 (en) * 1998-07-11 2000-01-13 Wabco Gmbh Method and device for assisting the driver of a vehicle when reversing
US6268803B1 (en) * 1998-08-06 2001-07-31 Altra Technologies Incorporated System and method of avoiding collisions
US20030055596A1 (en) * 2000-04-17 2003-03-20 Studt David Glen Vehicle back-up aid system
US20070132563A1 (en) * 2005-12-08 2007-06-14 Balbale Uzmaa H Speed-sensitive rear obstacle detection and avoidance system
EP1990786A1 (en) * 2006-02-28 2008-11-12 Toyota Jidosha Kabushiki Kaisha Object course prediction method, device, program, and automatic driving system
DE102006045418A1 (en) * 2006-09-26 2008-04-10 GM Global Technology Operations, Inc., Detroit Motor vehicle, has parking assistance system with sensors for distance measurement to obstacle, in particular for detecting moving direction of moving object, where presence of moving object is determined in detection range of sensors
WO2008068620A2 (en) * 2006-12-08 2008-06-12 Toyota Jidosha Kabushiki Kaisha Vehicle control apparatus, and vehicle control method
US20080167781A1 (en) * 2007-01-08 2008-07-10 Gm Global Technology Operations, Inc. Threat Assessment State Processing for Collision Warning, Mitigation and/or Avoidance in Ground-Based Vehicles
US20100030439A1 (en) * 2008-07-29 2010-02-04 Nissan Motor Co., Ltd. Vehicle control apparatus for avoiding contact with obstacle locating backward

Also Published As

Publication number Publication date
WO2012095717A2 (en) 2012-07-19
JP2012144157A (en) 2012-08-02

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