JP2016224794A - 車両制御装置、及び車両制御方法 - Google Patents
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Abstract
【解決手段】レーダ装置13及び車載カメラ装置12が搭載された自車両と、物標との衝突を回避又は軽減する装置としてブレーキ装置31を作動させる車両制御装置20であって、レーダ装置13と車載カメラ装置12とを組み合わせて、物標の位置を取得する物標取得部と、取得された物標の位置に基づいて、ブレーキ装置31の作動を判定する作動判定部と、取得された物標の位置に基づいて、作動判定部とは別の演算処理によりブレーキ装置31の作動を判定するとともに、作動判定部の判定結果を診断する作動診断部と、ブレーキ装置31の駆動処理を行う制御処理部と、判定結果が正常と診断された場合には、作動判定部の判定結果を制御処理部へ送信し、判定結果が異常と診断された場合には、作動判定部の判定結果を前記制御処理部へ送信しない作動規制部と、を備える。
【選択図】 図1
Description
まず、本実施形態に係る車両制御装置の構成について、図1を参照して説明する。本実施形態に係る車両制御装置は、ECU20から構成されている。ECU20は、CPU、ROM、RAM、及びI/O等を備えたコンピュータである。ECU20は、CPUがROMに格納されているプログラムを実行することにより、後述する各機能を実現する。
次に、第2実施形態に係る車両制御装置について、第1実施形態に係る車両制御装置と異なる点を説明する。まず、本実施形態に係る車両制御装置であるECU20の構成について、図5を参照して説明する。本実施形態に係るECU20は、維持部28の機能を有する。
・第1実施形態において、無効部24aの機能を有する方がよいが、無効部24aの機能を有していなくてもよい。すなわち、診断処理の無効期間を設けなくてもよい。この場合、図4のフローチャートにおいて、S19〜S23、S28及びS29の処理を省略すればよい。
Claims (8)
- レーダ装置(13)及び車載カメラ装置(12)が搭載された自車両と、前記自車両の進行方向前方に存在する物標とが衝突する危険性が高まった際に、前記自車両と前記物標との衝突を回避する又は衝突の被害を軽減する装置として安全装置(31,32)を作動させる車両制御装置(20)であって、
前記レーダ装置により検知された前記物標の位置情報と、前記車載カメラ装置により検知された前記物標の位置情報とを組み合わせて、前記物標の位置を取得する物標取得部と、
前記物標取得部により取得された前記物標の位置に基づいて、前記安全装置を作動させるか否かを判定する作動判定部と、
前記物標取得部により取得された前記物標の位置に基づいて、前記作動判定部とは別の演算処理により前記安全装置を作動させるか否かを判定するとともに、前記作動判定部の判定結果を診断する作動診断部と、
前記安全装置の駆動処理を行う制御処理部と、
前記作動診断部により前記作動判定部の判定結果が正常と診断された場合には、前記作動判定部の判定結果を前記制御処理部へ送信し、前記作動診断部により前記作動判定部の判定結果が異常と診断された場合には、前記作動判定部の判定結果を前記制御処理部へ送信しない作動規制部と、
を備える、車両制御装置。 - 前記作動診断部は、前記物標取得部により取得された前記物標の位置と、前記レーダ装置又は前記車載カメラ装置の検知情報であって、前記物標取得部により組み合わせ処理が行われる前の前記物標の位置情報に基づいて、前記安全装置を作動させるか否かを判定する請求項1に記載の車両制御装置。
- 前記作動診断部は、前記作動判定部により前記安全装置を作動させると判定されていることを条件として、前記判定結果を診断する請求項1又は2に記載の車両制御装置。
- 前記車両制御装置は、前記安全装置の作動として、第1作動と、その第1作動よりも前記衝突の危険度が高い場合に実施される第2作動とを行わせるものであり、
前記第2作動は、前記安全装置としてのブレーキ装置を運転者の操作の有無に関わらず自動で作動させるものであり、
前記作動診断部は、前記作動判定部により前記ブレーキ装置を自動で作動させると判定されていることを条件として、その判定結果を診断する請求項1〜3のいずれか1項に記載の車両制御装置。 - 前記作動判定部は、
前記自車両の幅の範囲を前記進行方向前方に延長した領域の内に存在する前記物標の位置に基づいて、前記安全装置を作動させるか否かを判定する前方作動判定部と、
前記進行方向前方において前記領域の外に存在する前記物標の位置に基づいて、前記安全装置を作動させるか否かを判定する横断作動判定部と、を含み、
前記作動診断部は、前記前方作動判定部の判定結果と前記横断作動判定部の判定結果とを組み合わせた判定結果を、前記作動判定部の判定結果として診断する請求項1〜4のいずれか1項に記載の車両制御装置。 - 前記作動診断部により前記作動判定部による判定結果が正常と診断された場合に、所定時間、前記作動診断部による診断処理を無効にする無効部を備え、
前記作動規制部は、前記無効部により前記診断処理が無効にされている間、前記作動判定部の判定結果を、前記制御処理部へ送信する請求項1〜5のいずれか1項に記載の車両制御装置。 - 前記安全装置は、前記自車両のブレーキ装置を含み、
前記ブレーキ装置が自動で作動された場合に、前記自車両の停止後に、前記ブレーキ装置を作動状態で維持する維持部と、
前記維持部により前記ブレーキ装置が作動状態で維持されている場合、前記作動診断部による診断処理を無効にする無効部と、
を備える請求項1〜5のいずれか1項に記載の車両制御装置。 - レーダ装置(13)及び車載カメラ装置(12)が搭載された自車両と、前記自車両の進行方向前方に存在する物標とが衝突する危険性が高まった際に、前記自車両と前記物標との衝突を回避する又は衝突の被害を軽減する装置として安全装置(31,32)を作動させる処理装置が実行する車両制御方法であって、
前記レーダ装置により検知された前記物標の位置情報と、前記車載カメラ装置により検知された前記物標の位置情報とを組み合わせて、前記物標の位置を取得する第1ステップと、
前記第1ステップにおいて取得された前記物標の位置に基づいて、前記安全装置を作動させるか否かを判定する第2ステップと、
前記第1ステップにおいて取得された前記物標の位置に基づいて、前記第2ステップとは別の演算処理により、前記安全装置を作動させるか否かを判定するとともに、前記第2ステップの判定結果を診断する第3ステップと、
前記第3ステップにおいて前記第2ステップの判定結果が正常と診断された場合には、前記第2ステップの判定結果を、前記安全装置の制御処理部へ送信し、前記第3ステップにおいて前記第2ステップの判定結果が異常と診断された場合には、前記第2ステップの判定結果を、前記安全装置の制御処理部へ送信しない第4ステップと、
を備える、車両制御方法。
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