Nissan Motor Company Limited

Renault S.a.s.

Satoshi Tange

Shinji Matsumoto

Kenichi Egawa

Genpei Naito

Takashi Fukushige

Yosuke Kobayashi

Tetsuya Asada

Takeshi Kimura

Akira Higashimata

Masayasu Shimakage

Hiroyuki Yoshizawa

Tatsuya Suzuki

Taku Suzuki

Toshiyuki Murata

Akinobu Gotou

Takeshi Sugano

Hironobu Kikuchi

Akinobu Goto

Motoaki Hosaka

Yuwun Chai

Tomoaki Oida

Yoshifumi Takigawa

Yoji Seto

Yuya Takeda

Tomohiro Yamamura

Hideaki Inoue

Tetsuya Iijima

Yusuke Kobayashi

Yutaka Mikuriya

Yukinori Nishida

Nariaki Etori

Tomoko Kurotobi

Masafumi Tsuji

Tomoyuki Kashiwaya

Naotaka Usui

Hidekazu Nakajima

When a subject vehicle arrives at a destination while traveling, or when a driver of the subject vehicle becomes unable to drive during travel or when a failure occurs that interferes with the travel of the subject vehicle during the travel, a control plan for autonomous stop control is generated, the control plan comprising deceleration control for decreasing a speed of the subject vehicle; pulling over control for moving the subject vehicle from a lane in which the subject vehicle travels to the shoulder of the road; and stop control for stopping the subject vehicle at the shoulder of the road, and on a basis of this control plan, the autonomous stop control is performed to decelerate the subject vehicle and then move it to the shoulder of the road by individually and sequentially performing each of the deceleration control, the pulling over control, and the stop control.

Autonomous control system that performs pull-over operations through sequential steering and deceleration inputs

A travel support method for a vehicle comprises estimating a position of a subject vehicle, generating a subject vehicle traveling route, based on the estimated position of the subject vehicle and map information, calculating a degree of first reliability indicating reliability of the subject vehicle traveling route, detecting a preceding vehicle traveling ahead of the subject vehicle, generating a preceding vehicle traveling route, calculating a degree of second reliability indicating reliability of the preceding vehicle traveling route, based on the preceding vehicle traveling route, calculating, based on the degrees of the first reliability and second reliability, an integration ratio for integrating the subject vehicle traveling route and the preceding vehicle traveling route, calculating a target traveling route of the subject vehicle by integrating the subject vehicle traveling route and the preceding vehicle traveling route at the integration ratio, and controlling the subject vehicle based on the target traveling route.

Travel assistance method and travel assistance device

A method for correcting a travelling trajectory of a vehicle which is executed by a processor includes: generating a subject vehicle travelling route that a subject vehicle travels based on map information stored in a database; calculating a travelling trajectory of the subject vehicle to be a target trajectory when the subject vehicle travels on the subject vehicle travelling route; detecting a position of another vehicle travelling on a lane located in a width direction of the subject vehicle by a sensor provided for the subject vehicle; calculating an offset of a position of the other vehicle in another vehicle lane that the other vehicle travels based on the position of the other vehicle; and correcting the travelling trajectory of the subject vehicle in accordance with the offset.

Traveling trajectory correction method, traveling control method, and traveling trajectory correction device

A target vehicle speed generation device includes a controller for generating a target vehicle speed of a host vehicle in accordance with a speed limit of a travel path of the host vehicle. The controller includes a speed limit information acquisition unit and a target vehicle speed generation unit. The speed limit information acquisition unit acquires the speed limit of the travel path of the host vehicle during travel. The target vehicle speed generation unit generates a target acceleration together with the generation of the target vehicle speed in accordance with the speed limit. The target vehicle speed generation unit has a first acceleration limiter computation unit that, during the generating of the target acceleration, sets an acceleration limiter to increase in a direction of relaxing a limitation on acceleration correspondingly with an increase in the speed limit.

Target vehicle speed generation method and target vehicle speed generation device for driving-assisted vehicle

A travel control method comprises: detecting a travelable road area of the road area in which the subject vehicle can travel; generating a potential field in a space of the travelable road area in which a potential value of a left-side boundary line and a right-side boundary line are set to different values from each other; calculating a travelable road area width by applying the Potential Method; comparing the difference between a lateral position of a travel route set on the basis of the calculated travelable road area width and a lateral position of the travel route set in advance in the travelable road area on the basis of the left-side boundary line or the right-side boundary line; correcting the potential value; regenerating the potential field set to the corrected potential value; generating the travel route applying the Potential Method to the regenerated potential field; executing autonomous travel control.

Vehicle travel control method and travel control device

A travel assisting method for a vehicle which is executed by a processor, comprising: generating a vehicle speed command value based on vehicle information of a subject vehicle; calculating the vehicle speed command value at a predetermined time (a look-ahead time) ahead of a current time based on information of a feature existing ahead of the subject vehicle in a travelling direction, as a look-ahead vehicle speed command value; and controlling the subject vehicle based on the look-ahead vehicle speed command value. Further, a lighting state of a traffic light located around the subject vehicle is detected, and the look-ahead time is set based on the lighting state.

A travel control method for a vehicle having an autonomous travel control function includes: detecting an oncoming vehicle travelling in the opposite lane of the travel lane in which the subject vehicle travels; predicting whether or not the oncoming vehicle enters into the travel lane in which the subject vehicle travels; when it is predicted that the oncoming vehicle enters into the travel lane in which the subject vehicle travels, setting initial deceleration of the subject vehicle in a case of time until the subject vehicle and the oncoming vehicle pass each other being relatively long to a smaller value than the initial deceleration in a case of the time being relatively short; and executing deceleration travel control of the subject vehicle.

Vehicle travel control method and vehicle travel control device

A vehicle position correction device corrects a position error of an host vehicle provided with a navigation control unit that includes a target route corrector that corrects a target route. The target route corrector detects a lane boundary of a lane in which the host vehicle travels. The target route corrector compares positional relationships between a detect lane boundary and a target route on a map, and calculates a lateral correction amount for the target route in situations where the target route is within a prescribed distance of the lane boundary, or in situations where the target route is on an opposite side of the lane boundary to the host vehicle. Upon calculating the lateral correction amount, the target route corrector moves the target route sideways in a lateral direction by the lateral correction amount to correct the target route.

Vehicle position correction method and vehicle position correction device for drive-assisted vehicle

A target vehicle speed generation device generates a target vehicle speed of a driving-assisted vehicle (autonomously driven vehicle). The target vehicle speed generation device includes a controller that includes a plurality of vehicle speed command generation units and generates a target vehicle speed for when the vehicle is to travel/stop. The controller includes a look-ahead vehicle speed command calculation unit and a lowest vehicle speed command mediation unit. The look-ahead vehicle speed command calculation unit calculates a look-ahead vehicle speed command value that comes after the elapse of a prescribed amount of time from a present time for each vehicle speed command value generated by the plurality of vehicle speed command generation units. The lowest vehicle speed command mediation unit selects a lowest value among the plurality of look-ahead vehicle speed command values calculated by the look-ahead vehicle speed command calculation unit.

A vehicle travel control method is provided for controlling a host vehicle so as to follow a preceding vehicle. A first area where the host vehicle can possibly travel is calculated from a travel trajectory of the new preceding vehicle upon detecting a new preceding vehicle cutting in between the preceding vehicle and the host vehicle. A second area is set to a previous travelable area of the host vehicle that was determined up to a previous time. The first area and the second area are added to define a defined travelable area. A target travel trajectory of the host vehicle is generated within the defined travelable area. The host vehicle is controlled along the generated target travel trajectory.

A vehicle position correction device is provided with a controller for correcting a position error of an autonomous host vehicle. The controller detects a lane boundary of a lane in which the host vehicle travels. The controller calculates a target value for a lateral correction amount of the target route by comparing positional relationships between lane boundary detection results and the target route on a map, and changes a lateral movement speed of the target route to calculate the target value for the lateral correction amount according to a bearing of the host vehicle in which the bearing being a vehicle attitude angle. The controller corrects the target route by moving the target route sideways in a lateral direction by an amount equal to the lateral correction amount upon the calculation of the lateral correction amount.

Vehicle position control method and device vehicle position control device for correcting position in drive-assisted vehicle

A target vehicle speed generation device includes a controller that includes a target travel route generation unit, a peripheral object information acquisition unit, and a target vehicle speed generation unit. The target travel route generation unit generates a target travel route of the vehicle. The peripheral object information acquisition unit acquires position information pertaining to an obstacle on a travel path of the vehicle, and position information pertaining to an obstacle that is located toward the side and is outside of the travel path of the vehicle. The target vehicle speed generation unit calculates a plurality of lateral deviations to the obstacle with respect to the target travel route, and generates a lower target vehicle speed for an obstacle having a lesser lateral deviation than for an obstacle having a greater lateral deviation.

A travel control device includes a controller for controlling travel of an autonomous host vehicle. The controller detects left and right lane boundaries and controls travel of the host vehicle based on a result of lane boundary detection. The controller includes a road geometry distinguishing unit and a rate limiter unit. The road geometry distinguishing unit distinguishes a curve, and a direction of the curve, based on road geometry information. When traveling through the curve, the rate limiter unit sets a result of lane boundary detection at an inside of a corner to a value for which change in a lateral direction approaching the host vehicle is restricted.

Travel control method and travel control device for drive-assisted vehicle

A parking assistance device generates a route along which a vehicle is to travel to a parking spot via a reversing position. The parking assistance device looks up attitude angles of the vehicle at the reversing position based on the width of the vehicle passage to enable generation of the route in which a front portion of the vehicle will not interfere at the reversing position with an obstacle adjacent to the vehicle passage in a width direction thereof.

Parking assistance device and parking assistance method

Lateral displacement reference positions LXL, LXR are set on left and right from a center in a width direction of a traffic lane L where a vehicle travels. Then, at least in a case where the vehicle is positioned on an inner side of the left and right lateral displacement reference position LXL, LXR, the vehicle is feedback-controlled so as to decrease a yaw angle deviation. Further, in a case where the vehicle is positioned at an outer side of the left and right lateral displacement reference position LXL, LXR with respect to the traffic lane center, the feedback control is performed so as to decrease the angle deviation and a lateral displacement deviation.

Growing community of inventors

Kanagawa, Japan

Satoshi Tange