JP2016172548A - 自律的な乗り物の複合自律及び手動制御 - Google Patents
自律的な乗り物の複合自律及び手動制御 Download PDFInfo
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Abstract
Description
Claims (20)
- 乗り物の複合自律及び手動制御方法であって、前記乗り物には、乗り物システムの自律的な動作が、自律制御入力と手動制御入力の組合せによる影響を受ける動作モードが含まれ、前記方法は、
手動制御入力に第1の重み付け、及び自律制御入力に第2の重み付けを割り当てることと、
前記乗り物システムに、割り当てられた第1の重み付け及び第2の重み付けを適用することと、
手動制御入力の受信に応答して、前記乗り物システムの前記自律的な動作が、非作動状態になることなく、前記第1の重み付けに対応する量において、受信された手動制御入力による影響を受けることと、を含む方法。 - 前記乗り物の走行環境を検出することと、
前記走行環境を分類することと、が更に含まれ、手動制御入力に第1の重み付け、及び自律制御入力に第2の重み付けを割り当てることは、前記走行環境の分類に基づくものである請求項1に記載の方法。 - 前記走行環境が、単純な走行環境であると分類される場合、自律制御入力に割り当てられた第2の重み付けを自動的に増加させ、手動制御入力に割り当てられた第1の重み付けを減少させる請求項2に記載の方法。
- 前記走行環境が、複雑な走行環境であると分類される場合、手動制御入力に割り当てられた第1の重み付けを自動的に増加させ、自律制御入力に割り当てられた第2の重み付けを減少させる請求項2に記載の方法。
- 前記走行環境の分類の変化に応答して、手動制御入力に割り当てられた第1の重み付け、及び自律制御入力に割り当てられた第2の重み付けを調節することと、
前記乗り物システムに、調節された第1の重み付け及び前記第2の重み付けを適用すること、を更に含む請求項2に記載の方法。 - 前記第1の重み付け及び前記第2の重み付けが、制御方向において、前記乗り物システムに適用され、前記制御方向が前記乗り物の長手方向である請求項1に記載の方法。
- 前記乗り物システムが、前記乗り物のブレーキシステム及びスロットルシステムのうちの少なくとも1つである請求項6に記載の方法。
- 前記第1の重み付け及び前記第2の重み付けが、制御方向において、前記乗り物システムのうちの少なくとも1つに適用され、前記制御方向が前記乗り物の横方向である請求項1に記載の方法。
- 前記乗り物システムが、前記乗り物のステアリングシステムである請求項8に記載の方法。
- 前記乗り物の運転者の嗜好を決定することが更に含まれ、手動制御入力に第1の重み付け、及び自律制御入力に第2の重み付けを割り当てることは、前記乗り物の前記運転者の決定された嗜好に基づくものである請求項1に記載の方法。
- 乗り物の複合自律及び手動制御のシステムであって、前記乗り物には、乗り物システムの自律的な動作が、自律制御入力と手動制御入力の組合せによる影響を受ける動作モードが含まれ、前記システムは、
プロセッサを備え、該プロセッサが、実行可能な動作であって、
手動制御入力に第1の重み付け、及び自律制御入力に第2の重み付けを割り当てることと、
前記乗り物システムに、割り当てられた第1の重み付け及び第2の重み付けを適用することと、
手動制御入力の受信に応答して、前記乗り物システムの前記自律的な動作が、非作動状態になることなく、前記第1の重み付けに対応する量において、受信された手動制御入力による影響を受けることと、を含む、前記実行可能な動作を開始するようにプログラムされている、システム。 - 前記乗り物の走行環境を検出するように動作可能なセンサシステムを更に含み、
前記実行可能な動作には、
検出された走行環境を分類することが更に含まれ、手動制御入力に第1の重み付け、及び自律制御入力に第2の重み付けを割り当てることが、前記検出された走行環境の分類に基づく請求項10に記載のシステム。 - 前記走行環境が、低い複雑性の環境であると分類される場合、前記実行可能な動作には、自律制御入力に割り当てられた第2の重み付けを自動的に増加させることと、手動制御入力に割り当てられた第1の重み付けを減少させること、が更に含まれる請求項12に記載のシステム。
- 前記走行環境が、高い複雑性の環境であると分類される場合、前記実行可能な動作には、手動制御入力に割り当てられた第1の重み付けを自動的に増加させることと、自律制御入力に割り当てられた第2の重み付けを減少させること、が更に含まれる請求項12に記載のシステム。
- 前記第1の重み付け及び前記第2の重み付けが、制御方向において、前記乗り物システムに適用され、前記制御方向が前記乗り物の長手方向である請求項11に記載のシステム。
- 前記乗り物システムが、ブレーキシステム及びスロットルシステムのうちの少なくとも1つである請求項15に記載のシステム。
- 前記第1の重み付け及び前記第2の重み付けが、制御方向において、前記乗り物システムに適用され、前記制御方向が前記乗り物の横方向である請求項11に記載のシステム。
- 前記乗り物システムがステアリングシステムである請求項17に記載のシステム。
- 前記実行可能な動作には、前記乗り物の現在の運転者の嗜好を決定することが更に含まれ、手動制御入力に第1の重み付け、及び自律制御入力に第2の重み付けを割り当てることが、前記乗り物の前記運転者の決定された嗜好に基づく請求項11に記載のシステム。
- 乗り物の複合自律及び手動制御のコンピュータプログラム製品であって、乗り物には、前記乗り物の自律的な動作が、自律制御入力と手動制御入力の組合せによる影響を受ける動作モードが含まれ、前記コンピュータプログラム製品は、プログラムコードが具体化されたコンピュータ可読記憶媒体を含み、前記プログラムコードが、方法であって、
手動制御入力に第1の重み付け、及び自律制御入力に第2の重み付けを割り当てることと、
乗り物システムに、割り当てられた第1の重み付け及び第2の重み付けを適用することと、
手動制御入力の受信に応答して、前記乗り物システムの前記自律的な動作が、前記乗り物の自律的な動作を非作動状態にすることなく、前記第1の重み付けに対応する量において、受信された手動制御入力による影響を受けること、を含む、前記方法を実行するプロセッサによって実行可能である、コンピュータプログラム製品。
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DE102015120831A1 (de) | 2016-06-09 |
JP2020037402A (ja) | 2020-03-12 |
US20160252903A1 (en) | 2016-09-01 |
DE102015120831B4 (de) | 2023-11-30 |
JP6931026B2 (ja) | 2021-09-01 |
US10101742B2 (en) | 2018-10-16 |
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