JP2017102907A - 最適化された軌道の選択方法 - Google Patents
最適化された軌道の選択方法 Download PDFInfo
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- JP2017102907A JP2017102907A JP2016205717A JP2016205717A JP2017102907A JP 2017102907 A JP2017102907 A JP 2017102907A JP 2016205717 A JP2016205717 A JP 2016205717A JP 2016205717 A JP2016205717 A JP 2016205717A JP 2017102907 A JP2017102907 A JP 2017102907A
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
【解決手段】先ず、車両201を安全なシステム状態へ移行させるための必要性の特定が実施される。続いて、現在の車両位置が含まれる車両状態が検出される。本発明の核心は、以下のステップの実施である。即ち、少なくとも一つの目標位置208、209を特定するステップと、現在の車両位置から少なくとも一つの目標位置208、209までの複数の走行軌道204、205を特定するステップと、複数の走行軌道204、205を評価するステップと、実施された評価に基づいて、複数の走行軌道204、205のうちの一つを選択するステップと、選択された走行軌道204、205に基づいて、信号を形成するステップとである。
【選択図】図2
Description
本発明によれば、部分自動化又は高度自動化された車両を、目標位置において安全なシステム状態へ移行させるための信号を形成する方法が提案される。ここでは先ず、前記車両を、安全なシステム状態へ移行させるための必要性が特定される。続いて、車両状態が検出され、この車両状態には現在の車両位置が含まれる。本発明の核心は、以下のようなステップの実施にある。即ち、
少なくとも一つの目標位置を特定するステップと、
現在の車両位置から前記少なくとも一つの目標位置までの複数の走行軌道を特定するステップと、
前記複数の走行軌道を評価するステップと、
前記実施された評価に基づいて、前記複数の走行軌道のうちの一つを選択するステップと、
前記選択された走行軌道に基づいて信号を形成するステップと、
である。
図1には、車両201における本発明に係る方法の例示的なフローチャートが示されている。この車両201は、ここでは、本発明に係る方法を実施するためのコンピュータプログラムを含む、相応の第1の装置を備えている。この車両201はさらに、周囲をセンシングするセンサを備えており、また室内をセンシングするセンサも任意選択的に備えている。その他に第2の装置を車両201内に設けることも可能である。この第2の装置は、選択された走行軌道204,205に基づいて生成された第1の装置の信号を受信し、この信号に基づいて車両201の対応するアクチュエータの駆動制御を実施する。それにより当該車両は自動化されて、選択された軌道204,205に沿って誘導される。
1)マップサーバとの安定した通信、及び、十分な性能の周囲検出システムが保証されるならば、走行軌道204,205は、マップ関連システムにおいて用いられる。このようにして、マップによる相対的位置決定が実施されることによって、不正確な走行距離計による車両位置の評価におけるドリフトは発生しない。
2)著しい機能制限、特にマップサーバとの通信において著しい機能制限が伴い、さらに限定的な周辺認知伴う車両システムに対して好ましい際だつ変化形態によれば、車両関連システムにおいて走行軌道の情報提供がなされる。なぜならこれによって安全な走行がマップ材料なしでも可能になるからである。
1)マップサーバとの安定した通信、及び、十分な性能の周囲検出システムが保証されるならば、走行軌道204,205は、マップ関連システムにおいて用いられる。このようにして、マップによる相対的位置決定が実施されることによって、不正確な走行距離計による車両位置の評価におけるドリフトは発生しない。
2)著しい機能制限、特にマップサーバとの通信において著しい機能制限が伴い、さらに限定的な周辺認知を伴う車両システムに対して好ましい際だつ変化形態によれば、車両関連システムにおいて走行軌道の情報提供がなされる。なぜならこれによって安全な走行がマップ材料なしでも可能になるからである。
Claims (13)
- 部分自動化又は高度自動化された車両(201)を、目標位置(208,209)において安全なシステム状態へ移行させるための信号を形成する方法であって、
前記車両(201)を、前記安全なシステム状態へ移行させるための必要性を特定するステップと、
車両状態を検出するステップと、
を含み、前記車両状態には現在の車両位置が含まれる、方法において、
少なくとも一つの目標位置(208,209)を特定するステップと、
現在の車両位置から前記少なくとも一つの目標位置(208,209)までの複数の走行軌道(204,205)を特定するステップと、
前記複数の走行軌道(204,205)を評価するステップと、
前記実施された評価に基づいて、前記複数の走行軌道(204,205)のうちの一つを選択するステップと、
前記選択された走行軌道(204,205)に基づいて、信号を形成するステップと、
を含むことを特徴とする方法。 - 前記必要性を特定するために、車両状態及び/又は運転者状態が検出される、請求項1に記載の方法。
- 前記車両(201)の能力の検出が実施され、当該検出された能力が、前記複数の走行軌道(204,205)の評価のために用いられる、請求項1又は2に記載の方法。
- 前記特定された複数の走行軌道(204,205)に沿って、期待される位置決定精度が算出され、当該位置決定精度が、前記複数の走行軌道(204,205)の評価のために用いられる、請求項1乃至3のいずれか一項に記載の方法。
- 一つの走行軌道(204,205)に対して期待される位置決定精度の算出は、当該走行軌道(204,205)に沿った複数のランドマーク(206,207)に基づいて行われる、請求項4に記載の方法。
- 前記車両の能力の検出の際に、当該車両(201)内の既存の周囲センサシステムの能力が検出され、当該能力が、期待される位置決定精度の算出のために用いられる、請求項3乃至5のいずれか一項に記載の方法。
- 前記特定された複数の走行軌道(204,205)の曲率が検出され、当該曲率が、前記複数の走行軌道(204,205)の評価のために用いられる、請求項1乃至6のいずれか一項に記載の方法。
- 第1及び少なくとも一つの第2の目標位置(208,209)が特定され、当該特定された複数の目標位置(208,209)が評価される、請求項1乃至7のいずれか一項に記載の方法。
- 前記複数の走行軌道(204,205)のうちの一つの選択は、さらに、少なくとも二つの前記目標位置(208,209)の評価に基づいて行われる、請求項8に記載の方法。
- 前記少なくとも一つの目標位置(208,209)を特定するために、確率値が用いられ、当該確率値は、当該目標位置(208,209)における他の交通参加者との衝突の確率及び/又は他の交通参加者の妨害の確率から算出される、請求項1乃至9のいずれか一項に記載の方法。
- 前記少なくとも一つの目標位置(208,209)を特定する際に、複数のマップ情報が考慮される、請求項1乃至10のいずれか一項に記載の方法。
- 部分自動化又は高度自動化された車両(201)を、目標位置(208,209)において安全なシステム状態へ移行させるための信号を形成する装置において、
前記装置は、請求項1乃至11のいずれか一項に記載の方法を実施するように構成されていることを特徴とする装置。 - 請求項1乃至11のいずれか一項に記載の方法の総てのステップを実行するために構成されていることを特徴とするコンピュータプログラム。
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JP2017224168A (ja) * | 2016-06-15 | 2017-12-21 | 国立大学法人東京農工大学 | 運転支援装置及び運転支援方法 |
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