JP2015108860A - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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Abstract
Description
本明細書において「自律自動運転」は、直前を走行する車両に自動追従するのではなく、レーダ及びカメラを使用して前方の障害物を確認しつつ、道路上の車線境界線(断続する白線)や道路脇のガードレールなどに沿って車両を自動走行させる運転を意味する。
この構成によれば、最終停止位置は道路形状に基づいて決定されるので、例えばカーブの途中などでの停止は回避され、見通しのよい直線道路上あるいは路肩に停止スペースが存在する位置で停止させることができ、安全性を向上させることができる。
この構成によれば、最終停止位置は、医療機関の所在情報に基づいて決定されるので、医療機関の近傍に停止させて、直ちに運転者の救命行為を行うことが可能となる。
[第1の実施形態]
図1は本発明の一実施形態にかかる車両制御装置の構成を示すブロック図である。この制御装置は車両1に搭載されており、電子制御ユニット(以下「ECU」という)10と、ECU10に接続されたレーダ11F,11R、車両1の前方及び後方の画像を取得するカメラ12F,12R、車両1の運転者の頭部の画像を取得するカメラ13、車両1の運転者が緊急時、例えば心臓発作などで意識がなくなりかけたときにオンするための緊急スイッチ14、車両1の車速を検出する車速センサ15、車両1のヨーレート(車両重心の上下方向軸回りの回転角速度)を検出するヨーレートセンサ16、及び車両1のステアリングホイールの転舵角ASTを検出する転舵角センサ17と、通信ユニット31と、ナビゲーションユニット32と、車両1を駆動する内燃機関のスロットル弁を駆動するスロットルアクチュエータ21、車両1のブレーキを駆動するブレーキアクチュエータ22と、車両1のステアリングシャフトを駆動する転舵アクチュエータ23とを備えている。ECU10にはさらに車両1が自律自動運転を行うときにそのことを運転者に通知するためのLED表示器41と、車両1を駆動する内燃機関及び変速機を制御するECU42が接続されている。なお、車両1はレーダ電波のリフレクタを車両後部及び前部に備えていることが望ましい。
車両VCが緊急事態情報を受信し、先導車両VRとなり、先導車両VRは、現在位置に近い位置であって進行方向前方の位置を合流位置PJNとして決定し、先導車両情報を送信する。先導車両VRが合流位置PJNに停止すると、通信不能車両VXは先導車両VRを避けて進行する(図3(b))。運転不能車両VEは、現在走行中の道路上を自律自動運転によって走行し、車両間通信によって先導車両VRを認識して、図3(c)に示すように、先導車両VRの直ぐ後ろに停止する。その後は図2に示す例と同様に、最終停止位置PDSTまで隊列走行によって移動する。
ステップS11では、緊急スイッチ(EM−SW)14がオンされたか否かを判別し、その答が否定(NO)であるときは、運転不能状態検知フラグFEMDETが「1」であるか否かを判別する(ステップS12)。運転不能状態検知フラグFEMDETは、図示しない運転不能状態検知処理において、車両1の運転者が運転不能状態となったと判定されたとき「1」に設定される。
ステップS31では、緊急事態情報を受信したか否かを判別し、受信したときはステップS32に進んで運転不能車両VEが同一道路を走行中であるか否かを判別する。この答が否定(NO)であるときは処理を終了する。
本実施形態における位置情報の取得はナビゲーションユニット32によって行われる。また、自律自動運転においてはカメラ12F,12Rによって取得される画像情報が必要に応じて参照される。
上述した実施形態では、運転不能車両VEと先導車両VRとの車両間通信によって、緊急事態情報及び先導車両情報の送受信を行うにしたが、この通信は、運転不能車両VE及び先導車両VRと通信可能な外部サーバ(緊急対応センタ)SVRを介して行うようにしてもよい。その場合には、緊急事態情報は外部サーバSVRを介して他車両VCに送信され、先導車両情報は外部サーバSVRを介して運転不能車両VEに送信される。
本実施形態は、運転者が運転不能状態となったときは直ちに運転不能車両VEを停止させ、その停止位置PSTPを合流位置PJNとして、先導車両VRが合流位置PJNに向かうようにしたものである。さらに、上述した実施形態では、同じ車両制御装置を備える車両VCが同一道路上を走行している場合のみ、先導車両VRとして機能するようにしたが、本実施形態では、運転不能車両VEが停止している停止道路RSTPまでは、ナビゲーションユニットによる案内を行い、車両VCの運転者に先導車両VRとなるように促し、車両VCが停止道路RSTPに到達した時点以後に、先導車両VRとして合流位置PJNまでの自律自動運転を行うようにしたものである。以下に説明する点以外は、第1の実施形態と同一である。
なお、ステップS43の答が否定(NO)である状態が所定時間継続したときは、処理を終了する。
10 電子制御ユニット(検知判定手段、通知手段、先導車両認識手段、追従走行制御手段、無効化手段、合流位置取得手段、自動合流運転手段、運転不能車両認識手段、先導走行制御手段、最終停止位置取得手段)
11F,11R レーダ(追従走行制御手段、自動合流運転手段、先導走行制御手段)
12F,12R カメラ(自動合流運転手段、先導走行制御手段)
13 カメラ(検知判定手段)
14 緊急スイッチ(検知判定手段)
21 スロットルアクチュエータ(追従走行制御手段、自動合流運転手段、先導走行制御手段)
22 ブレーキアクチュエータ(追従走行制御手段、自動合流運転手段、先導走行制御手段
23 ステアリングアクチュエータ(追従走行制御手段、自動合流運転手段、先導走行制御手段
31 通信ユニット(運転不能車両認識手段、先導走行制御手段、自動合流運転手段)
32 ナビゲーションユニット(合流位置取得手段、最終停止位置取得手段)
42 電子制御ユニット
VE 運転不能車両
VR 先導車両
Claims (9)
- 自車両の運転者の運転不能状態を検知または判定する検知判定手段と、
前記運転者が運転不能状態となったと検知または判定されたときに、該検知判定結果を外部に通知する通知手段と、
前記通知に基づいて自車両を先導することとなった先導車両を認識する先導車両認識手段と、
前記先導車両に自車両を自動追従させる追従走行制御手段とを備えることを特徴とする車両制御装置。 - 自車両の運転者による操作を受け付ける操作系を無効化する無効化手段をさらに備えることを特徴とする請求項1に記載の車両制御装置。
- 前記先導車両との合流位置を取得する合流位置取得手段と、
前記合流位置まで自車両を自律自動運転する自動合流運転手段とをさらに備えることを特徴とする請求項1または2に記載の車両制御装置。 - 運転者が運転不能状態となった運転不能車両を認識する運転不能車両認識手段と、
前記運転不能車両を自車両に追従させる先導走行制御を行う先導走行制御手段とを備えることを特徴とする車両制御装置。 - 前記運転不能車両の運転者による操作を受け付ける操作系を無効化する無効化手段をさらに備えることを特徴とする請求項4に記載の車両制御装置。
- 前記運転不能車両との合流位置を取得する合流位置取得手段と、
前記合流位置まで自車両を自律自動運転する自動合流運転手段とをさらに備えることを特徴とする請求項4または5に記載の車両制御装置。 - 前記運転不能車両を先導して停止させる最終停止位置を取得する最終停止位置取得手段をさらに備え、
前記先導走行制御手段は、自律自動運転によって前記運転不能車両を前記最終停止位置まで先導することを特徴とする請求項4から6の何れか1項に記載の車両制御装置。 - 前記最終停止位置は、道路形状に基づいて決定されることを特徴とする請求項7に記載の車両制御装置。
- 前記最終停止位置は、医療機関の所在情報に基づいて決定されることを特徴とする請求項7に記載の車両制御装置。
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JP2021123862A (ja) * | 2020-01-31 | 2021-08-30 | 株式会社小松製作所 | 作業機械の誤操作を防止するためのシステム、制御方法、およびショベル |
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US9429941B2 (en) | 2016-08-30 |
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