JP2016133984A - 車両システム - Google Patents
車両システム Download PDFInfo
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Abstract
Description
この車両システムによれば、表示部によって、車両の運転状態を切り換えるための第1の閾値及び第2の閾値に対する操作量の状態が表示されるので、運転者が意図に沿ったタイミングで操作量による運転状態の切り換えを行うことができる。
上述した実施形態では、自動運転状態から協調運転状態への切り換えの閾値と、協調運転状態から自動運転状態への切り換えの閾値とを、同一の閾値を用いた場合を説明したが、同一でない閾値を用いてもよい。図14(A)は、操作量Tの増加による運転状態の遷移の他の例を説明する図である。図14(A)に示すように、車両システム100は、例えば、自動運転状態から協調運転状態への切り換えの閾値を介入判定閾値Tkとし、協調運転状態から自動運転状態への切り換えの閾値を自動運転開始閾値Tfとすることができる。つまり、車両システム100は、車両Vの運転状態が自動運転状態から協調運転状態へ切り換えられた後、操作量Tが介入判定閾値Tk未満になったときであっても自動運転開始閾値Tf以上である場合には、車両Vの運転状態を協調運転状態に維持する。このようにヒステリシスを設けることにより、閾値付近で状態の切り換えが頻発することを避けることができる。自動運転開始閾値Tfは、介入判定閾値Tkよりも小さい任意の値である。具体的には、操作量が介入判定閾値T1にほぼ等しいときに、運転状態の切り換えが頻発することを回避することができる。
上述した実施形態の協調運転状態では、運転者の操作量と、走行計画に基づく制御目標値とを重み付けした値を用いて協調運転を行ってもよい。このように設定することで、協調運転状態におけるシステム介入度合いを変更することができるので、車両挙動を考慮して運転状態の推移を行うことができる。例えば、制御目標が操舵トルクの場合、運転者の操舵トルクをTD、システム入力トルクをTsとすると、以下の数式を用いて目標操舵トルクTRを導出してもよい。
TR=w1・TD+w2・Ts
なお、w1及びw2が重みである。重みw1,w2は、定数であってもよいし、可変であってもよい。重みw1,w2は、例えば車両Vの速度に応じて変更してもよい。
Claims (2)
- 車両の周辺情報及び前記車両が予め有する地図情報に基づいて生成された走行計画を用いて前記車両の走行を制御する自動運転状態、及び、前記車両の周辺情報に基づく車両制御と運転者の運転操作とを協調させて前記車両を走行させる協調運転状態のうち少なくとも一方を含む第1の運転状態と、前記運転者の運転操作を前記車両の走行に反映させる第2の運転状態と、を切換可能な車両システムであって、
前記車両のステアリング操作、アクセル操作及びブレーキ操作のうち少なくとも1つに関する前記運転者の運転操作の操作量を取得する運転操作情報取得部と、
前記車両が前記第1の運転状態である場合、前記操作量が第1の閾値以上になったときに前記車両を前記第2の運転状態に切り換える運転状態切換部と、
前記第1の閾値に対する前記操作量の状態を表示する表示部と、
を備える、車両システム。 - 前記第1の運転状態には、前記自動運転状態及び前記協調運転状態の両方が含まれ、
前記運転状態切換部は、前記車両が前記自動運転状態である場合に前記操作量が第2の閾値以上かつ前記第1の閾値未満になったとき前記車両を前記協調運転状態に切り換え、前記車両が協調運転状態である場合に前記操作量が前記第2の閾値未満になったとき前記車両を前記自動運転状態に切り換え、前記車両の運転状態が協調運転状態である場合に前記操作量が前記第1の閾値以上になったとき前記車両を前記第2の運転状態に切り換え、
前記表示部は、前記第1の閾値及び前記第2の閾値に対する前記操作量の状態を表示する、請求項1に記載の車両システム。
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015008122A JP6237656B2 (ja) | 2015-01-19 | 2015-01-19 | 車両システム |
US14/996,973 US10227073B2 (en) | 2015-01-19 | 2016-01-15 | Vehicle system |
CN201610031807.0A CN105807763B8 (zh) | 2015-01-19 | 2016-01-18 | 车辆系统 |
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RU2016101232A (ru) | 2017-07-24 |
US10227073B2 (en) | 2019-03-12 |
US20160207537A1 (en) | 2016-07-21 |
CN105807763B (zh) | 2019-07-30 |
RU2641023C2 (ru) | 2018-01-15 |
BR102016001200B1 (pt) | 2022-06-07 |
EP3045996B1 (en) | 2017-11-08 |
KR20160089291A (ko) | 2016-07-27 |
EP3045996A1 (en) | 2016-07-20 |
MY188033A (en) | 2021-11-11 |
CN105807763A (zh) | 2016-07-27 |
JP6237656B2 (ja) | 2017-11-29 |
BR102016001200A2 (pt) | 2018-02-27 |
KR101795902B1 (ko) | 2017-12-01 |
CN105807763B8 (zh) | 2019-11-15 |
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