CN110155044A - Controller of vehicle - Google Patents
Controller of vehicle Download PDFInfo
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- CN110155044A CN110155044A CN201811590325.4A CN201811590325A CN110155044A CN 110155044 A CN110155044 A CN 110155044A CN 201811590325 A CN201811590325 A CN 201811590325A CN 110155044 A CN110155044 A CN 110155044A
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- 230000008859 change Effects 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims description 57
- 238000012545 processing Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 37
- 238000001514 detection method Methods 0.000 description 36
- 238000003860 storage Methods 0.000 description 22
- 230000003287 optical effect Effects 0.000 description 12
- 238000004092 self-diagnosis Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 7
- 230000014509 gene expression Effects 0.000 description 6
- 230000010365 information processing Effects 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 206010011878 Deafness Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000011221 initial treatment Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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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
- 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
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- 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
-
- 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
- B60W2050/143—Alarm means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The present invention, which provides, a kind of solves the problems, such as following controller of vehicle: even if sensor, actuator break down in automatic Pilot, driver is also possible to excessively believe that automatic Pilot is coped with without going.In automatic driving mode, infers the time (TTC) until vehicle reaches detected target, be applied automatically braking when TTC is less than defined braking threshold.Herein, when failure has occurred in sensor, actuator, by by braking threshold be set to it is larger and make to driver send alarm opportunity in advance, improve intensity, prolong it is prolonged in a manner of change, or by make braking opportunity shift to an earlier date, improve braking intensity in a manner of controlled.
Description
Cross reference to related applications
This application claims the Japan Patent Shens for enjoying in entitled " controller of vehicle " that on February 15th, 2018 submit
Please 2018-025337 priority, all the contents of the application are herein incorporated by reference.
Technical field
The present invention relates to a kind of for example for carrying out the automatic Pilot of automobile, driving the controller of vehicle of auxiliary.
Background technique
It perhaps drives in auxiliary using sensor in the automatic Pilot of vehicle to the specific direction of vehicle or omnidirection
It is monitored, the automatic Pilot of the vehicle under appropriate route, appropriate speed is controlled according to its monitoring result, and to by driving
The driving that member executes is assisted.By such composition, in automatic Pilot, such as when the sensors such as video camera, braking, drive
When failure has occurred in driving portion that is dynamic, turning to, vehicle, driver need to be disposed it.Patent Document 1 discloses as follows
Technology: in the vehicle for having two object detection units, according to pass through the first object detection unit and the second object detection list
The both sides of member carry out the case where object detection, only to pass through the case where the first object detection unit carries out object detection, only pass through
The sequence that second object detection unit carries out the case where object detection changes the control of traveling auxiliary to inhibition lateral incision.
Existing technical literature
Patent document
Patent document 1: No. 4193765 specification of Japanese invention patent
Summary of the invention
Problem to be solved by the invention
In automatic Pilot, due to sensor, driving portion failure and be possible to generate control delay, in addition, sometimes
It is also required to that driver is reminded to pay attention to.But in automatic Pilot, when system continues control, it is understood that there may be relative to
The attention of system is reminded and the slack-off situation of reaction of driver.
The present invention is made in view of above-mentioned conventional example, and its purpose is to provide a kind of controller of vehicle, even if hair
Raw failure also continues with automatic Pilot and being easier and arouses driver's note that and reducing the risk of collision.
Means for solving the problems
To achieve the goals above, the present invention has composition below.
That is, according to an aspect of the present invention, the present invention relates to a kind of controller of vehicle, which is characterized in that the vehicle
Control device includes
Environment monitoring unit (41,42,43), is able to carry out the environment monitoring of this vehicle；And
It travels control unit (20~29,315,317), traveling control is carried out according to the output of the periphery monitoring apparatus
System,
In the operating condition of the relativeness based on the target and described vehicle that are detected by the environment monitoring unit
In the case where establishment, the traveling control unit carries out at least the one of the output of alarm or the automatic braking of described vehicle
Side,
Occur at least part of the traveling control unit, the periphery monitoring apparatus, the traveling control unit
In the case where failure, the job change for implementing to change the degree of the operating condition or work handles (step S505).
Alternatively, according to another aspect of the present invention, the present invention relates to a kind of controller of vehicle, which is characterized in that described
Controller of vehicle includes
Environment monitoring unit (41,42,43), is able to carry out the environment monitoring of this vehicle；And
It travels control unit (20~29,315,317), traveling control is carried out according to the output of the periphery monitoring apparatus
System,
In the operating condition of the relativeness based on the target and described vehicle that are detected by the environment monitoring unit
In the case where establishment, the traveling control unit carries out at least the one of the output of alarm or the automatic braking of described vehicle
Side,
Occur at least part of the traveling control unit, the periphery monitoring apparatus, the traveling control unit
In the case where failure, implement for alarm to be changed to do not break down in the case where the different alarm of alarm alarm change
It handles (step S521).
Invention effect
Even if also continuing with automatic Pilot in accordance with the invention it is possible to provide one kind and failure has occurred and reliably mentioning
The controller of vehicle that awake driver pays attention to.
Other features and advantage of the invention by the following description of reference of attached drawing by becoming clear.In addition,
In attached drawing, identical appended drawing reference is marked for identical or same composition.
Detailed description of the invention
Attached drawing is contained in specification and constitutes part of specification, and indicates embodiments of the present invention, and with this
It records together for illustrating the principle of the present invention.
Fig. 1 is the figure for indicating the composition of the Vehicular system of automatic driving vehicle of embodiment.
Fig. 2 is the figure for indicating an example of detection range for automatic driving vehicle involved in embodiment.
Fig. 3 is the block diagram for automatic Pilot control.
Fig. 4 is a part of the self diagnosis and local map production processing step that indicate that drive control section is carried out
Flow chart.
Fig. 5 is one of the behavior candidate decision processing step for indicating that the drive control section in an embodiment is carried out
The flow chart divided.
Description of symbols
301: extraneous identification part；305: self position identification part；307: local map；309: behavior candidate determination section；
311: route selection portion；315: driving control portion；317: actuator；319: self diagnosis portion；321: state storage unit.
Specific embodiment
< first embodiment >
The summary of automatic Pilot and traveling auxiliary
Next, being illustrated to the summary of an example of automatic Pilot.In automatic Pilot, driver before traveling from
It is equipped on the navigation system setting destination of vehicle, first passes through server, navigation system in advance to determine the route until destination.
When vehicle start, the controller of vehicle (or steering control device) that ECU possessed by vehicle etc. is constituted makes vehicle edge
The route running to destination.During this period, in time according to the external environments such as route, condition of road surface, state of driver etc.
It determines action appropriate, makes vehicle driving such as carrying out drive control, course changing control, control for brake for this action.Have
When also by these control together be referred to as traveling control.
In automatic Pilot, according to percent of automatization (or amount to the tasks of driver requests) and there are several grades (or
Also referred to as operation mode).Such as in the grade of upper, driver can direct attention to the things other than driving.The grade example
It is carried out in the case that such as control is relatively easy to the case where following front vehicles because of the congestion on highway.In addition,
In its next grade, driver can not hold steering wheel, but need to be noted that the situation etc. of surrounding.The grade for example can be with
The case where suitable for maintaining lane on a highway and travelling etc..The grade is also referred to as second mode sometimes in this example.
Furthermore it is possible to detect the case where driver pays attention to surrounding by driver's state-detection video camera, and can be held by steering wheel
Sensor is come the case where detecting gripping steering wheel.In its further the next grade, driver can not advance steering wheel operation,
Throttle operation, but need to guard against the handover towards driver and hold steering wheel and driving is noted that.The grade for example may be used
Suitable for the branch on highway, interflow.The grade is also referred to as first mode sometimes in this example.It is further at it
In the next grade, percent of automatization is further decreased.The lowest class is manual drive, but sometimes also includes driving for partial automation
Sail auxiliary.
Above-mentioned driving auxiliary refers to, by the monitoring on periphery, the automation of part to as the driver institute for driving main body
The function that the driver behavior of execution is assisted.Such as there is only monitoring front and carry out braking control in the case where detecting obstacle
The automatic braking function of system, the rear function for monitoring for detecting the vehicle of rear ramp and driver being promoted to pay attention to stop towards parking space
The parking function etc. of vehicle.
In addition, there may also be the interventions of driver in automatic Pilot.Turn for example, working as the driver in automatic Pilot
When to, brake operating, automatic Pilot grade can be reduced to the grade for driving and assisting, the behaviour of driving performed by preferential driver
Make.It in this case, can be to automatic Pilot corresponding with this vehicle-state and external environment after hang up driver
Grade is set again and continues automatic Pilot.Such as the example as the steering operation in present embodiment, have
By the automatic Pilot of percent of automatization more than above-mentioned first mode travel on a highway in direction instruction lamp stand behaviour
Make.Such as in such a state driver carry out blinker operation when, vehicle think there are lane change instruction and court
Lane change is carried out to the lane for being instructed to side.In this case, vehicle is monitored by the driving control portion that ECU etc. is constituted on one side
Around barrier etc. the control such as turned to, braked, being driven on one side.
In the case where switching automatic Pilot grade (or mode), by sound, display, vibration etc. from vehicle to driver
Notify the situation.It, can to driver's notice such as in the case where automatic Pilot is switched to second mode from above-mentioned first mode
To leave the content of steering wheel.In the opposite case, driver is notified to hold steering wheel.It is sensed until being held by steering wheel
Device repeats to issue the notice until detecting the case where driver holds steering wheel.Then, for example, if limitation the time in or
Still without steering wheel is held until the boundary point of pattern switching, then can carry out to operations such as harbor parkings.Substantially
Automatic Pilot is carried out as described above, and the composition of automatic Pilot and control are illustrated below
The composition of controller of vehicle
Fig. 1 is the block diagram of vehicle console device involved in an embodiment of the invention, is controlled to vehicle 1
System.In Fig. 1, the summary of vehicle 1 is shown with top view and side view.As an example, vehicle 1 is the four-wheel of car-shaped
Passenger car.
The control device of Fig. 1 includes control unit 2.Control unit 2 includes being connected as to communicate by in-vehicle network
Multiple ECU20~ECU29.Each ECU includes storing equipment using CPU as the processor of representative, semiconductor memory etc., setting with outside
Standby interface etc..Program performed by processor, data that processor uses in processes etc. are preserved in storage equipment.Respectively
ECU can also have multiple processors, storage equipment and interface etc..
Hereinafter, being illustrated to each ECU20~ECU29 function of being born etc..In addition, about ECU quantity, burden
Function, can carry out vehicle 1 appropriately designed, more can also refine or be integrated than present embodiment.
ECU20 executes control relevant to the automatic Pilot of vehicle 1.In automatic Pilot, steering to vehicle 1 and add
Either one in speed deceleration carries out automatically controlling.In aftermentioned control example, carried out to turning to the both sides of acceleration-deceleration
It automatically controls.
ECU21 controls electric power steering device 3.Electric power steering device 3 includes according to driver other side
Make the mechanism of front-wheel steer to the driver behavior (steering operation) of disk 31.In addition, electric power steering device 3 includes playing to use
In assisted diversion operation or motor, the sensor detected to steering angle of the driving force that make front-wheel auto-steering etc..?
In the case that the driving condition of vehicle 1 is automatic Pilot, ECU21 is with the instruction from ECU20 correspondingly to electric-powered turn
It is carried out automatically controlling to device 3, and controls the direction of travel of vehicle 1.
ECU22 and ECU23 carries out control and the detection knot of the detection unit 41~43 of the peripheral situation of detection vehicle
The information processing of fruit.Detection unit 41 is the video camera that is shot to the front of vehicle 1 (hereinafter, being expressed as video camera sometimes
41.), in this case, two are arranged in the compartment of vehicle 1.By to figure taken by video camera 41
As being analyzed, can the profile to target, the lane on road differentiation line (white line etc.) extract.Detection unit 41a
It is the video camera for detecting the state of driver (hereinafter, being expressed as driver's state-detection video camera 41a sometimes.), it is arranged to
It can capture the expression of driver, although not shown, but connect with the ECU for the processing for carrying out image data.In addition, as examining
The sensor of driver's state is surveyed, there is steering wheel (not shown) to hold sensor.Thereby, it is possible to detect driver whether the side of hold
To disk.
Detection unit 42 is optical radar (Light Detection and Ranging or Laser Imaging
Detection and Ranging) (hereinafter, being expressed as optical radar 42 sometimes), the target around vehicle 1 is examined
It surveys, to the progress ranging at a distance from target.In this case, there are five optical radars 42 for setting, in vehicle 1
Each corner of front is each provided with one, and posterior central is provided with one, is each provided with one in each side in rear portion.Detection is single
Member 43 is millimetre-wave radar (being expressed as radar 43 sometimes below), the target around vehicle 1 is detected, to target
Distance carries out ranging.In this case, there are five radars 43 for setting, and the front, center of vehicle 1 is provided with one
It is a, it is each provided with one in each corner in front, is each provided with one in each corner in rear portion.
ECU22 carries out video camera 41, the control of each optical radar 42 and the information processing of testing result of a side.
ECU23 carries out video camera 41, the control of each radar 43 and the information processing of testing result of another party.By having two groups pairs
The device that the peripheral situation of vehicle is detected can be improved the reliability of testing result, in addition, by having video camera, light
Diverse detection unit as radar, radar is learned, the analysis of the surrounding enviroment of vehicle can be carried out in many aspects.
ECU24 carry out gyro sensor 5, GPS sensor 24b, the control of communication device 24c and testing result or
The information processing of result of communication.The rotary motion of the detection vehicle 1 of gyro sensor 5.It can be according to the inspection of gyro sensor 5
Result, wheel velocity etc. is surveyed to judge the travelling route of vehicle 1.The current location of GPS sensor 24b detection vehicle 1.It is logical
T unit 24c is carried out wireless communication with the server for providing cartographic information, traffic information, and obtains these information.ECU24 can
The database 24a, ECU24 for accessing the cartographic information constructed in storage equipment carry out the route from current location to destination and visit
Rope etc..
ECU25 has the communication device 25a of communication between vehicle and vehicle.Other vehicles of communication device 25a and periphery
It carries out wireless communication, the information exchange between driving of going forward side by side.
ECU26 controls power device 6.Power device 6 is the driving force that output rotates the driving wheel of vehicle 1
Mechanism, for example including engine and speed changer.ECU26 for example with the operation detection sensor 7a by being arranged on gas pedal 7A
The driver behavior (throttle operation or accelerating operation) of the driver detected correspondingly controls the output of engine,
Or switch the shift gear of speed changer based on information such as the vehicle speed sensor 7c speeds detected.In the driving condition of vehicle 1
In the case where automatic Pilot, ECU26 correspondingly carries out automatically controlling power device 6 with the instruction from ECU20, and controls
The acceleration-deceleration of vehicle 1 processed.
ECU27 controls the illuminating device (headlamp, taillight etc.) for including direction indicator 8.In the example of Fig. 1
In the case of, direction indicator 8 is set to front, door mirror and the rear portion of vehicle 1.
The control of ECU28 progress input/output unit 9.Input/output unit 9 carries out the defeated of the information relative to driver
Out and the receiving of the input of the information from driver.Instantaneous speech power 91 is by voice to Pilot Report's information.Display
Device 92 is by the display of image to Pilot Report's information.Display device 92 for example configures in the front of driver's seat, and constitutes
Instrument board etc..In addition, illustrated herein voice and display, but can also be by vibration, light come report information.In addition,
Multiple be combined in voice, display, vibration or light can be carried out into report information.Further, it is possible to according to be reported
The grade (such as urgency) of information and change combination, or change report manner.Input unit 93 is arranged in driver's energy
Switching group of the position and progress enough operated relative to the instruction of vehicle 1, also may include speech input device.
ECU29 controls brake apparatus 10, parking brake (not shown).Brake apparatus 10 is, for example, disc type brake
Device is set to each wheel of vehicle 1, so that vehicle 1 is slowed down or is stopped and the rotation to wheel applies resistance.ECU29
Such as driver behavior (the braking behaviour with the driver detected by the operation detection sensor 7b being arranged on brake pedal 7B
Make) correspondingly the work of brake apparatus 10 is controlled.In the case where the driving condition of vehicle 1 is automatic Pilot,
ECU29 correspondingly carries out automatically controlling brake apparatus 10 with the instruction from ECU20, and deceleration to vehicle 1 and stops
Only controlled.Brake apparatus 10, parking brake can also work to maintain the halted state of vehicle 1.In addition, dynamic
In the case that the speed changer of power device 6 has parking locking mechanism, also this can be made to stay in order to maintain the halted state of vehicle 1
The work of lock locking mechanism.
In addition, for example failure has occurred in sensor, the driving portion as its control object in each ECU in addition to ECU20
When, it detects its state and is for example notified to ECU20, in this case, ECU20 saves as the state received aftermentioned
Sensor states, driving portion state.The state of failure when movement for example can be by from driving portions such as motor, solenoids
The signal of (actuator) or sensor is judged from common level of signal, delay time deviation etc..
Periphery monitoring apparatus
Video camera 41 shown in FIG. 1, optical radar 42, radar 43 constitute the week detected to target of vehicle periphery etc.
Side monitoring arrangement.Fig. 2 indicates the example of the range detected by the periphery monitoring apparatus.In Fig. 2, indicated by site
The detection range of the expression such as region 204,206,207 radar 43.Especially, region 204 is the region in the front of vehicle 1, region
206,207 be rear region.Corresponding radar 43 detects the targets such as barrier, the vehicle for being in each region, and
Measure its distance.Moreover, by the radar 43, such as be able to detect in the vehicle of front and behind, barrier etc..By
Region 201,202,205 that dotted line surrounds etc. indicates the detection range of optical radar 42.Especially, region 201,202 is vehicle 1
Front region, region 205 be vehicle 1 rear region.Corresponding optical radar 42 is to the obstacle for being in each region
The targets such as object, vehicle are detected, and measure its distance.Moreover, by the optical radar 42, such as be able to detect in right back
The vehicle of traveling, the vehicle overtaken other vehicles in right lane etc..The detection model of video camera 41 is indicated by the region 203 that oblique line indicates
It encloses.In this example, have two video cameras 41, but set detection range for the region being almost overlapped, therefore only show one.
Image recognition is carried out to the image taken by video camera 41, such as determines the white line etc. for indicating traveling lane from image, is used
Make the reference that lane maintains, lane is changed.
In this way, the detection range due to different sensors is overlapped, the redundant of sensor is realized.Thereby, it is possible to
Increase reliability further, and by the testing result to the different sensors that the same area is set as to detection range into
A possibility that row compares, and can determine the failure or failure of sensor.Such as using optical radar 42 and radar 43 this two
Kind sensor detects the same area, and detects target in the sensor of a side, in the sensor of another party
Target is not detected.In this case, it can conclude that and failure have occurred for either one.Alternatively, also can by it is (not shown) from
I monitors the output signal etc. of sensor diagnostic circuit, thus knows the failure of sensor itself.So can
Infer sensor, that is, periphery monitoring apparatus failure.
Local map
Local map refers to, by indicating targets, the lanes such as a certain range of vehicle, barrier centered on this vehicle etc.
Information constitute cartographic information.Local map can be the form suitable for information processing, for example including indicate target position,
Range, the information of distance, expression road, the information of boundary in lane etc..Local map is in a certain range centered on vehicle
The target for the vehicle periphery that interior expression each sensor as shown in Figure 2 detects, with the traveling of vehicle correspondingly for example periodically into
Row updates.Such as the relative velocity etc. of this vehicle Yu opposite vehicle is also allowed for, as long as the interval of update, which is that by, to be ensured
During the degree of the control of safety.It, can be in real time referring to around this vehicle by the continuous updating local map 307
Barrier, condition of road surface etc..In addition, forwards or in the case that rear is advanced, such as based on this vehicle relative to row
The relative velocity of target on route line can calculate the time (TTC) needed for this vehicle reaches the target.In addition, examining
In the case where measuring multiple targets, select relative to the minimum value in the TTC of each target.When the TTC is lower than defined threshold value
(braking threshold is called it as herein.) when, if steering control device is to vehicle in automatic running or in traveling auxiliary
Implement automatic braking, if giving a warning in the manual drive without traveling auxiliary to driver.Namely based on target and this
The relativeness of vehicle and the establishment of the operating condition that judges automatic braking etc..In addition, above-mentioned braking threshold for example can be
For being decelerated to from this vehicle is relative to the current relative velocity of target, the relative velocity is 0 or this vehicle speed is 0
In a relatively early side until needed for time in plus the time made of the delay and nargin (margin) of Vehicular system.Certainly this
It is only an example.Either in the case where advancing or retreating, above content is all same.In addition, relative to target
The relative velocity be greater than this vehicle speed in the case where, there may come a time when but not accounting in the present embodiment with turning to etc.
To that stage.
Steering control device
The functional block diagram for automatic Pilot or the steering control device for driving auxiliary is indicated in Fig. 3.The driving control
Device processed is, for example, to execute Fig. 4 step as shown below by ECU20 shown in FIG. 1 to realize.Certainly, Fig. 4 is as shown below
The step of be only steering control device realized automatic Pilot, drive involved by the present embodiment involved in assisted in function
And minimum a part.Such as ECU20 according to being explored by ECU24 when by driver's indicative purpose and when automatic Pilot, arriving
Guiding route, carried out automatically controlling towards traveling of the destination to vehicle 1.When automatically controlling, ECU20 from ECU22 and
The acquisitions such as ECU23 information relevant to the peripheral situation of vehicle 1, based on the information got to ECU21, ECU26 and
ECU29 etc. is indicated, steering, the acceleration-deceleration of vehicle 1 are controlled.It is suitable that the step is expressed as content made of functional block diagram
In Fig. 3.
Extraneous identification part 301 is got according to expression by periphery monitoring apparatus such as video camera 41, optical radar 42, radars 43
Periphery situation external environmental information, such as generate relative velocity, position and the shape of the target that indicate periphery, Yi Jitu
The information 303 of picture etc..Then, it is based on information 303, self position identification part 305 determines the position of this vehicle on road, in week
The shape and configuration of the structure of the shape and configuration, periphery centered on this vehicle of the vehicle of side traveling, thus raw
At local map 307.In addition, except information 303, being also referred to cartographic information etc. from week to make local map 307
The information obtained other than the monitoring arrangement of side.In addition, in this example, on the basis of local map 307, will indicate the spirit of sensor
The state of this vehicle such as the information of sensitivity (detecting distance, detection range) is also supplied to behavior candidate with local map together and determines
Determine portion 309.
Local map 307 is determined behavior candidate from now on as input by behavior candidate determination section 309.Behavior candidate is
The information of the action candidate as it is indicated when determining the action of this vehicle.Not only with reference to local map 307, referring to straight
The action of this vehicle is determined on the basis of to the route information of destination referring to state of this vehicle etc..The state example of this vehicle
As included that sensors, the brake apparatus 10 such as video camera 41, optical radar 42, sensor 43 included by periphery monitoring apparatus etc. cause
State that dynamic device breaks down, the state for a possibility that there are failures etc..For example, detect direction of travel (front or after
Side) target in the case where, infer the time (TTC) needed for this vehicle reaches the target, if TTC lower than defined threshold value (on
The braking threshold stated), then behavior candidate will be determined as with the braking of the warning to driver.Here, relative to multiple targets
In the case where obtaining each TTC, minimum value therein is compared with braking threshold.That is, TTC is lower than the feelings of defined threshold value
Condition can be described as the operating condition for making braking operation.Behavior candidate for example can be including indicating the information taken action, indicating the row
The information of the information of dynamic degree etc., the action determined be braking in the case where, such as may include expressions action be make
Dynamic information, indicate to start the opportunity of braking, braking intensity etc. information.In addition, being system in one of behavior candidate of decision
In the case where dynamic, can both prepare other behavior candidates, or after shortening the step of required time and only will
Braking is set as candidate.In addition, behavior candidate determination section 309 is referred to the biography that aftermentioned status information storage unit 321 is saved
The state of sensor, actuator etc. determines behavior candidate.In this regard, being described below referring to Fig. 4 etc..Certainly this is only one
A example also can will be determined as candidate with other action for the control for turning to, driving.
Route selection portion 311 selects an action among the behavior candidate determined by behavior candidate determination section 309.The row
It is dynamic to become the action being performed, for this purpose, being controlled by controller of vehicle steering, driving, braking.Due in behavior candidate
Nonoptional leeway in the case where being one, therefore selection is only one behavior candidate.Various bases can be passed through
Standard come determine from it is multiple candidate among select which candidate.It, can also be with such as in the case where in behavior candidate including braking
Preferential selection braking.Highest behavior candidate is evaluated alternatively, it is also possible to be evaluated each behavior candidate and selected.In a word these
It is simply to select an example of benchmark, other benchmark can also be applied.In addition, route selection portion 311 generates the action with selection
The route information and velocity information 313 suited.Route information and velocity information 313 are input to driving control portion 315.Or
Person, in the case where the action selected is brakes, opportunity, intensity of braking etc., which also can be generated, indicates the journey of work of brake
The information of degree.In addition, route selection portion 311 is also referred to sensor, the cause that aftermentioned status information storage unit 321 is saved
It moves the state of device etc. and selects to take action.
The work of route information and velocity information 313 pair steerings, driving, braking etc. of the driving control portion 315 based on input
Make portion's (actuator) to be controlled.Further, also based on the obstacle of this vehicle periphery detected by periphery monitoring apparatus etc.
Situation correspondingly controls steering, driving, braking.In addition, self position identification part 305, behavior candidate determination section
309, route selection portion 311 can be realized by ECU20, but driving control portion 315 is further by by ECU21, ECU26, ECU29
It is realized etc. traveling control is carried out.Certainly if necessary, also may include the processing that other ECU are carried out.Driving control portion 315
Can be used for example by the route of input, speed it is corresponding with the foundation of the control amount of each actuator 317 made of conversion map etc., will
Route, rate conversion at actuator control amount.Then, traveling control is carried out using the control amount after conversion.
In the present embodiment, controller of vehicle also has self diagnosis portion 319 and state storage unit 321.In state
It include sensor states storage unit 3211 and work department state storage unit 3212 in storage unit 321.Self diagnosis portion 319 is used as example
A part of initial treatment when the power supply of vehicle to be such as set as to energized state, or automatic Pilot automation grade compared with
It is low and in run at a low speed medium processing load it is relatively light in the state of be carried out.Moreover, its object for example can be to image
Machine 41, optical radar 42, radar 43 are that the sensor class of representative, brake apparatus 10 (such as the motor for making brake action) etc. cause
Dynamic device and its control circuit etc..If brake apparatus 10, then in actuator can using the work departments such as the motor of transfer tube as
The object of diagnosis.It can certainly be using the part other than recording herein as object.Information for self diagnosis can be from outer
Boundary identification part 301 and driving control portion 315 obtain.Diagnosis is for example by being based on extraneous identification part 301, driving control portion 315
The state judged from the signal that sensor device, actuator receive is collected, or again believes defined pilot tone
Number its response is sent and received to sensor, actuator, and the judgement state based on the response signal.For each sensor
And respective state is stored in by driving portion (actuator) and their control circuit and the self diagnosis portion 319 that obtains state
In sensor states storage unit 3211 and work department state storage unit 3212.In addition, the state of control circuit can be stored in
In state storage unit corresponding with its control object.
Further, even if not in self diagnosis, for example, multiple sensors detection zone be overlapped region in have
In the case where the sensor for being able to detect that target and the sensor that can not detect target, self position identification part 305 can
It is judged as that arbitrary sensor is likely to occur failure.In this case, self position identification part 305 can would be possible to occur
The sensor and its state of failure are stored in sensor states storage unit 3211.In addition, driving control portion 315 can also will be
The state detected when controlling actuator is stored in work department state storage unit 3212.
The preservation of sensor and actuator status
(A) in Fig. 4 indicates the example for the processing step that self diagnosis portion 319 is carried out.Step example on hardware
Such as executed by ECU20.Firstly, by extraneous identification part 301, driving control portion 315, specifically constitute their ECU collected from
My diagnostic result (step S401).It include sending diagnosis using sensor, actuator as object in self diagnosis result
Signal and the result being diagnosed to be based on its response.Then, the diagnostic result being collected into is stored in state storage unit 321
(step S403).The state of sensor is held in sensor states storage unit 3211, and the state of work department is stored in work
Make in portion's state storage unit 3212.Then, judge in the state saved, i.e. in diagnostic result whether comprising warning should be exported
Content (step S405).If comprising the content, first at this stage under, pass through display, voice, vibration etc. export the warning
(S407).In addition, if manual drive mode, then can also be only to rest on to be indicated the display for being likely to occur failure
Degree.So, by self diagnosis, obtain and save the state of sensor, actuator etc..
(B) in Fig. 4 indicates the step of production processing for the local map that self position identification part 305 is carried out.It is first
First, based on self position, the vehicle shape of the vehicle of surrounding and configuration, the structure shape and configuration of surrounding etc., production is with this
Local map (step S411) on the basis of vehicle.At this point, judging in the sensor that detection range is overlapped, if exist and do not examine
Measure the sensor (step S412) of same target, if it exists such sensor, then as the state of these sensors and incite somebody to action
The case where being likely to occur failure is stored in sensor states storage unit 3211 (step S415).If without such sensing
Device then will not have faulty normal condition to be stored in sensor states storage unit 3211 as the state of these sensors
(step S413).In addition, in the case where there is the sensor that same target is not detected in the sensor of detection range overlapping,
It is preferred that making local map to detect the sensor of target.It so, also can be by the sensor in movement come really
Determine and keeps its state.Although not shown, but also can in the same manner as above content by driving control portion 315 from brake apparatus 10 etc.
It is judged as that the state in movement is stored in work department state storage unit 3212 in actuator (work department).
One of each processing executed by behavior candidate determination section 309 and route selection portion 311 is indicated in Fig. 5
Point.As described above, these processing are realized by ECU20, therefore the step of Fig. 5 is also the processing executed by ECU20.Behavior candidate
Determination section 309 obtains the status information (step S501) saved in local map 307 and state storage unit 321.Next,
Status information based on acquisition and judge whether to be possible in sensor or work department break down (step S503).Judging
Status information for reference indicate failure or a possibility that there are failures in the case where, braking threshold is changed to from standard value
Greater than the threshold value (step S505) of standard value.Standard value refers to the threshold value under normal condition.Increase braking threshold in step S505
The degree of value can for example be predetermined fixed value, can also be changed according to the degree of failure.The degree of failure refers to,
If such as sensor, referring to the quantity etc. for being likely to occur the sensor of failure.In addition, if being directed to actuator, it can
To be in response to the delay etc. of time.In addition, being branched off into step S507 in the case where skipping step S505, setting in this case
Calibrate quasi- threshold value.
Next, it is judged that among according to the target of the calculated direction of travel of local map (front or behind), if
Time (TTC) needed for until reaching the target there are this vehicle is than the small target (step S507) of braking threshold after setting.
Such target if it exists is then that automatic Pilot or manual drive are judged (step S509) to current driving mode.
In the case where being judged as manual drive, further determine whether to be possible to break down (step in sensor or work department
S511).The judgement is carried out with identical with step S503 benchmark.Here, for example, the sensor for becoming object is that detection is advanced
The sensor in direction, the actuator for becoming object is actuator relevant to braking, e.g. brake apparatus 10.If it is possible that sending out
Raw failure, then for corresponding sensor, work department and carry out malfunction coefficient (step S513).On the other hand, there is no
In the case where a possibility that failure, directly terminate.In addition, at this point, can also export and exist in above-mentioned system before step S511
The alarm (or warning) of the target reached in the time of dynamic threshold value.In the case where manual drive mode, due to do not need into
Row is controlled according to the traveling of action plan, therefore can be ended processing herein.
On the other hand, in the case where being judged as automatic Pilot in step S509, for being judged as tool in step s 507
The action stopped until reaching the target is determined as behavior candidate (step S515) by some targets.The row determined herein
In dynamic, (alarm) is alerted including applying braking (opportunity, the intensity etc. that can further include braking) and exporting it.At this time
Warning is common content, and be the sensor of vehicle, work department regular event in the case where warning.Next, it is judged that
Whether it is likely to occur in sensor or work department failure (step S519).The judgement is come with benchmark same as step S511
It carries out.If being likely to occur failure, the degree of the warning determined in step S515 is reset to stronger degree (step
Rapid S521).Later, the processing for selecting route is moved to.On the other hand, no corresponding target is being judged as by step S507
In the case where, the action for meeting situation at this time is determined as to the candidate (step S517) of action.If multiple action can be obtained,
Multiple action are then determined as candidate.Later, to step S519 branch.
In addition, in step S521, by by way of caution and the alarm that exports for example reinforced, make opportunity in advance,
Or extend the warning, degree is strengthened.Reinforcement refers to, if it is the alarm of voice, such as increases volume or raising
Interval.If it is the alarm of display, such as brightness is improved, makes its flashing, shown i.e. with eye-catching color, appearance
It can.If it is the alarm of vibration, such as increase amplitude, or reduces the vibration period.Refer to opportunity in advance, according to literal
The meaning makes the output opportunity of alarm in advance.Extension refers to the lasting period that can extend alarm.In addition, being carried out to alarm strong
The degree of change can be depending on degree a possibility that failure or failure.Such as multiple sensor redundancies the case where
Under, alarm can be strengthened according to the sensor therein to break down or the quantity with the sensor of the possibility.It should
In the case of, it is possible to the number of sensors to break down is more, keeps alarm stronger, perhaps more shifts to an earlier date or more extends.Such as it closes
In the quantity of the sensor to break down, as long as alarm is extended 1 second for each sensor.In addition,
Above-mentioned several situations can be combined.Alternatively, can also be according to the degree of the degree of failure or its possibility come strong
Change alarm.For example, it may be shooting image captured by delay or video camera 41 relative to input signal is unsharp
Degree is bigger, then improves the intensity of alarm, shift to an earlier date opportunity, extend the duration.In addition, if event occurs for actuator
Barrier, then can also with such as sensor failure the case where compared with and the higher alarm of output intensity.It is further possible to
Change alarm intensity according to the type of the actuator to break down.Such as it can also be possible to send out being judged as brake apparatus 10
In the case where raw failure, output intensity alarm more higher than other actuators.In addition, in the journey for the failure for being able to detect actuator
In the case where degree, the alarm of intensity corresponding with the degree can be exported.
Further in step S521, it can also can not only be changed according to degree, quantity of failure etc. with changing warning
The content of work.If such as brake apparatus 10 is likely to occur failure, the opportunity for starting braking can also be made to shift to an earlier date, Huo Zhezeng
Force power.More than, it is illustrated in case where the action mainly executed is braking, but be turning, lane in action
Change when turning left to turn right, also can be set to same processing.That is, if sensor relevant to the action of execution, actuating
Device is likely to occur failure, then alarm can be set as to the alarm different from common alarm.Alternatively, can also make to realize the row
The content of the work of dynamic actuator when usual from failure when it is different.
As described above, the candidate action of action next time can be decided to become.Later, a row is determined among candidate
It is dynamic.Therefore, firstly, route selection portion 311 judge behavior candidate whether be it is multiple, if one, then the candidate is selected as down
Secondary action, and determine the route of this action, velocity information.On the other hand, with multiple candidate, selection is wherein
One.Therefore, the candidate action message of each behavior candidate is evaluated.Then, by the candidate action selection of highest evaluation
It takes action for next time, and determines the route of this action, velocity information.The route information and velocity information produced in this way are entered
Travel controlling system (or driving control portion) to control each operating member and realizes the action of selection according to its route and speed.
In the case where travel controlling system is made of multiple ECU, each ECU controls each control according to the route and speed that determine
The actuator of object.In the case where action is brakes, so that brake apparatus 10 is worked according to setting and carry out control for brake.In addition
In the case where the action selected is exports alarm, passes through voice, display, vibration etc. and export alarm.
In this way, determining and realizing the action in traveling.Then, in the case where carrying out control for brake by automatic Pilot,
Monitoring sensor, the state of work department, if being likely to occur failure, the braking threshold quilt of an example as operating condition
It is changed to more easily apply braking.Further, the alarm relative to driver's output is set in the case where being likely to occur failure
Surely it is changed to alarm different from usual.Further, the content of the work of actuator quilt in the case where being likely to occur failure
It is changed to content different from usual.As a result, by that will alert, alarm be set as in failure with it is usual when it is different, thus
Prevent driver from turning a deaf ear to warning, alarm.Further by make opportunity of work, content in failure with it is usual when it is different,
It can be realized safer automatic Pilot.
In addition, in the present embodiment, being braked based on local map.But it such as is detected for that will be directed to
The TTC of target and local map be managed respectively and using TTC become smaller than as defined in threshold value the case where as operating condition and
It, also being capable of equally applicable above embodiment for the system for applying braking.Such system is that automatic Pilot is not so good as
Say it is to drive auxiliary.I.e. invention involved in present embodiment is applicable not only to automatic Pilot, can also be suitable for driving auxiliary
System.
The summary of embodiment
As described below, it summarizes to present embodiment described above.
(1) first method of present embodiment is related to a kind of controller of vehicle, which is characterized in that the vehicle control dress
It sets and includes
Environment monitoring unit (41,42,43), is able to carry out the environment monitoring of this vehicle；And
It travels control unit (20~29,315,317), traveling control is carried out according to the output of the periphery monitoring apparatus
System,
In the operating condition of the relativeness based on the target and described vehicle that are detected by the environment monitoring unit
In the case where establishment, the traveling control unit carries out at least the one of the output of alarm or the automatic braking of described vehicle
Side,
Occur at least part of the traveling control unit, the periphery monitoring apparatus, the traveling control unit
In the case where failure, the job change for implementing to change the degree of the operating condition or work handles (step S505).
With this configuration, it is able to carry out the journey for considering safety in failure and suitably changing operating condition or work
The control of degree.
(2) second method of present embodiment is related to a kind of controller of vehicle, which is characterized in that the vehicle control dress
It sets and includes
Environment monitoring unit (41,42,43), is able to carry out the environment monitoring of this vehicle；And
It travels control unit (20~29,315,317), traveling control is carried out according to the output of the periphery monitoring apparatus
System,
In the operating condition of the relativeness based on the target and described vehicle that are detected by the environment monitoring unit
In the case where establishment, the traveling control unit carries out at least the one of the output of alarm or the automatic braking of described vehicle
Side,
Occur at least part of the traveling control unit, the periphery monitoring apparatus, the traveling control unit
In the case where failure, implement for alarm to be changed to from do not break down in the case where the different alarm of alarm alarm change at
It manages (step S521).
According to this constitution, being able to carry out the consideration safety in failure and the suitably control of changing warning.
(3) on the basis of the Third Way of present embodiment controller of vehicle described in (1) or (2), feature exists
In,
The environment monitoring unit has multiple sensors (41,42,43),
Event of at least one party of the job change processing or the alarm exception processes based on the multiple sensor
The degree of barrier or the quantity of the multiple sensor to break down and the change that determines the operating condition or the alarm
Content.
According to this constitution, the ground changing warning that can be consistent with the degree of the failure of sensor etc..
(4) on the basis of the fourth way of present embodiment controller of vehicle described in (1) or (2), feature exists
In,
The traveling control unit has the working cell of judging unit (309) and the result based on the judging unit
(317),
It is described traveling failure of the control unit based on the working cell degree and determine the operating condition or institute
State the degree of the change of work.
According to this constitution, the change of operating condition or work can be changed with the degree of the failure of working cell with being consistent
Degree, suitably to driver report state.
(5) on the basis of controller of vehicle of the 5th mode of present embodiment described in (1), which is characterized in that
The traveling control unit is able to carry out the automatic braking of described vehicle in the case where driving secondary status,
Under the driving secondary status, failure has occurred in the periphery monitoring apparatus or the traveling control unit
In the case of, implement the output of the job change processing and the alarm for the purport that failure has occurred, and drive not described
In the state of sailing secondary status, the alarm of the purport of failure is had occurred in output.
According to this constitution, being also able to carry out work in the event of a failure only in the case where automatic Pilot.
(6) on the basis of controller of vehicle of the 6th mode of present embodiment described in (2), which is characterized in that
The traveling control unit is able to carry out the automatic braking of described vehicle in the case where driving secondary status,
Under the driving secondary status, failure has occurred in the periphery monitoring apparatus or the traveling control unit
In the case of, implement the output of the alarm of the alarm exception processes and the purport that failure has occurred, and drive not described
In the state of sailing secondary status, the alarm of the purport of failure is had occurred in output.
According to this constitution, being also able to carry out work in the event of a failure only in the case where automatic Pilot.
(7) on the basis of the 7th mode controller of vehicle described in (1) or (5) of present embodiment, feature exists
In,
The environment monitoring unit monitors the target of at least direction of travel of described vehicle,
The traveling control unit would be possible to be set as the work item the case where reaching the target at the appointed time
Part,
In the case where failure has occurred in a part of the periphery monitoring apparatus or the traveling control unit,
It is handled by the job change, the stipulated time is set as the longer time.
Threshold according to this constitution, in the case where being likely to occur failure, a possibility that by that will judge relative to target
Value is set as the longer time, and the alarm for the situation that is more in line with can be issued to driver.
(8) on the basis of the eighth mode of present embodiment controller of vehicle described in (2) or (6), feature exists
In,
The environment monitoring unit monitors the target of at least direction of travel of described vehicle,
The traveling control unit would be possible to be set as the work item the case where reaching the target at the appointed time
Part,
In the case where failure has occurred in a part of the periphery monitoring apparatus or the traveling control unit,
By the alarm exception processes, shift to an earlier date the opportunity of the alarm, perhaps improve the intensity of alarm or extends
The time of alarm.
According to this constitution, in the case where being likely to occur failure, by making the opportunity of alarm in advance and enhancing alarm
Intensity, driver can be issued and be more in line with the alarm of situation.
(9) on the basis of controller of vehicle of the 9th mode of present embodiment described in (7), which is characterized in that
It is handled by the job change, further shifts to an earlier date the opportunity of the automatic braking, or improved described automatic
The intensity of braking.
According to this constitution, being not only alarm, additionally it is possible to the opportunity of automatic braking be made to shift to an earlier date and realize safer control.
Claims (9)
1. a kind of controller of vehicle, which is characterized in that
The controller of vehicle includes
Environment monitoring unit (41,42,43), is able to carry out the environment monitoring of this vehicle；And
It travels control unit (20~29,315,317), traveling control is carried out according to the output of the periphery monitoring apparatus,
It is set up in the operating condition of the relativeness based on the target and described vehicle that are detected by the environment monitoring unit
In the case where, the traveling control unit carries out at least one party of the output of alarm or the automatic braking of described vehicle,
Event has occurred at least part of the traveling control unit, the periphery monitoring apparatus, the traveling control unit
In the case where barrier, the job change for implementing to change the degree of the operating condition or work handles (step S505).
2. a kind of controller of vehicle, which is characterized in that
The controller of vehicle includes
Environment monitoring unit (41,42,43), is able to carry out the environment monitoring of this vehicle；And
It travels control unit (20~29,315,317), traveling control is carried out according to the output of the periphery monitoring apparatus,
It is set up in the operating condition of the relativeness based on the target and described vehicle that are detected by the environment monitoring unit
In the case where, the traveling control unit carries out at least one party of the output of alarm or the automatic braking of described vehicle,
Event has occurred at least part of the traveling control unit, the periphery monitoring apparatus, the traveling control unit
In the case where barrier, implement for alarm to be changed to from do not break down in the case where the different alarm of alarm alarm exception processes
(step S521).
3. controller of vehicle according to claim 1 or 2, which is characterized in that
The environment monitoring unit has multiple sensors (41,42,43),
At least one party of the job change processing or the alarm exception processes is based on the failure of the multiple sensor
Degree or have occurred failure the multiple sensor quantity and the change that determines the operating condition or the alarm it is interior
Hold.
4. controller of vehicle according to claim 1 or 2, which is characterized in that
The traveling control unit has the working cell (317) of judging unit (309) and the result based on the judging unit,
It is described traveling failure of the control unit based on the working cell degree and determine the operating condition or the work
The degree of the change of work.
5. controller of vehicle according to claim 1, which is characterized in that
The traveling control unit is able to carry out the automatic braking of described vehicle in the case where driving secondary status,
Under the driving secondary status, the case where failure has occurred in the periphery monitoring apparatus or the traveling control unit
Under, implement the output of the job change processing and the alarm for the purport that failure has occurred, and auxiliary in the not described driving
It helps in the state of state, the alarm of the purport of failure has occurred in output.
6. controller of vehicle according to claim 2, which is characterized in that
The traveling control unit is able to carry out the automatic braking of described vehicle in the case where driving secondary status,
Under the driving secondary status, the case where failure has occurred in the periphery monitoring apparatus or the traveling control unit
Under, implement the output of the alarm of the alarm exception processes and the purport that failure has occurred, and auxiliary in the not described driving
It helps in the state of state, the alarm of the purport of failure has occurred in output.
7. controller of vehicle according to claim 1 or 5, which is characterized in that
The environment monitoring unit monitors the target of at least direction of travel of described vehicle,
The traveling control unit would be possible to be set as the operating condition the case where reaching the target at the appointed time,
In the case where failure has occurred in a part of the periphery monitoring apparatus or the traveling control unit,
It is handled by the job change, the stipulated time is set as the longer time.
8. the controller of vehicle according to claim 2 or 6, which is characterized in that
The environment monitoring unit monitors the target of at least direction of travel of described vehicle,
The traveling control unit would be possible to be set as the operating condition the case where reaching the target at the appointed time,
In the case where failure has occurred in a part of the periphery monitoring apparatus or the traveling control unit,
By the alarm exception processes, so that the opportunity of the alarm is shifted to an earlier date or improve the intensity of alarm or extend alarm
Time.
9. controller of vehicle according to claim 7, which is characterized in that
It is handled by the job change, further shifts to an earlier date the opportunity of the automatic braking, or improve the automatic braking
Intensity.
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| JP2018025337A JP7018330B2 (en) | 2018-02-15 | 2018-02-15 | Vehicle control device |
| JP2018-025337 | 2018-02-15 |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP7018330B2 (en) | 2022-02-10 |
| CN110155044B (en) | 2022-03-01 |
| JP2019142246A (en) | 2019-08-29 |
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