VEHICLE TRAVEL CONTROL SYSTEM

• Main Author: TAKEMAE KASHU
• Format: Patent
• Language: English; Japanese
• Published: 06.02.2020
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PERFORMING OPERATIONS; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TESTING; TRAFFIC CONTROL SYSTEMS; TRANSPORTING; VEHICLES IN GENERAL

To improve accuracy of vehicle travel control based on a target detection result.SOLUTION: A vehicle travel control system includes a target detection device, a road surface height acquisition device, a pitch angle acquisition device, a height correction device, and a vehicle travel control device. The target detection device detects a target around a vehicle by using a sensor, and acquires a detection position and detection height of the target in a vehicle coordinate system fixed to the vehicle. The road surface height acquisition device acquires height at a road surface point under the target in the vehicle coordinate system as road surface height by referring to three-dimensional map information, about the road surface point under the target being the road surface point at the detection position of the target. The pitch angle acquisition part acquires a pitch angle of the vehicle. The height correction device acquires correction height being the height of the target with respect to the road surface point under the target on the basis of the detection height of the target, the road surface height, and the pitch angle. The vehicle travel control device controls travel of the vehicle on the basis of the detection position of the target and the correction height.SELECTED DRAWING: Figure 5 【課題】物標検出結果に基づく車両走行制御の精度を向上させること。【解決手段】車両走行制御システムは、物標検出装置、路面高さ取得装置、ピッチ角取得装置、高さ補正装置、及び車両走行制御装置を備える。物標検出装置は、センサを用いて車両の周囲の物標を検出し、車両に固定された車両座標系における物標の検出位置及び検出高さを取得する。路面高さ取得装置は、物標の検出位置における路面点である物標下路面点に関し、３次元地図情報を参照することによって、車両座標系における物標下路面点の高さを路面高さとして取得する。ピッチ角取得装置は、車両のピッチ角を取得する。高さ補正装置は、物標の検出高さ、路面高さ、及びピッチ角に基づいて、物標下路面点に対する物標の高さである補正高さを取得する。車両走行制御装置は、物標の検出位置及び補正高さに基づいて、車両の走行を制御する。【選択図】図５