JP2017146723A - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
- Publication number
- JP2017146723A JP2017146723A JP2016027090A JP2016027090A JP2017146723A JP 2017146723 A JP2017146723 A JP 2017146723A JP 2016027090 A JP2016027090 A JP 2016027090A JP 2016027090 A JP2016027090 A JP 2016027090A JP 2017146723 A JP2017146723 A JP 2017146723A
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- JP
- Japan
- Prior art keywords
- driver
- steering
- vehicle
- seat belt
- automatic driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/18—Anchoring devices
- B60R22/195—Anchoring devices with means to tension the belt in an emergency, e.g. means of the through-anchor or splitted reel type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01252—Devices other than bags
- B60R2021/01265—Seat belts
- B60R2021/01272—Belt tensioners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
- B60R21/01512—Passenger detection systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
Description
2 … ステアリング軸
3 …ステアリングコラム
4 … ステアリングホイール
5 … ピニオン軸
6 … ステアリングギヤボックス
7 … ラック軸
8 … タイロッド
9 … フロントナックル
10L,10R … 左右輪
11 … アシスト伝達機構
12 … 電動モータ
20 … 操舵制御部(自動運転解除判定手段、異常判定手段、自動運転解除禁止手段)
21 … モータ駆動部
22 … シートベルト制御部(シートベルト制御手段)
31 … 前方環境認識装置
31 … 前方認識装置
31 … 前方環境認識装置
32 … ナビゲーションシステム
33 … センサ・スイッチ
34 … 報知装置
35 … シートベルトリトラクタ
36 … シートベルト
Claims (3)
- 自車両が走行する走行環境情報と自車両の走行情報を検出し、前記走行環境情報と前記走行情報に基づいて自動運転を実行する車両の走行制御装置において、
ドライバの意識障害の有無を判定する異常判定手段と、
前記異常判定手段においてドライバが意識障害にあると判定したとき、運転席のシートベルトを牽引動作させるシートベルト制御手段と、を備えたことを特徴とする車両の走行制御装置。 - 前記異常判定手段は、運転席のシートベルトの送出量が設定値以上となり、且つ、前記自動運転による操舵方向とは逆方向に操舵トルクが発生しているとき、ドライバが意識障害にあると判定することを特徴とする請求項1に記載の車両の走行制御装置。
- 前記異常判定手段は、ドライバによる操舵の角速度の絶対値が設定値以上となり、且つ、ドライバによる操舵入力が同一方向に設定時間以上維持されているとき、ドライバが意識障害にあると判定することを特徴とする請求項1または請求項2に記載の車両の走行制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016027090A JP6236099B2 (ja) | 2016-02-16 | 2016-02-16 | 車両の走行制御装置 |
CN201611169298.4A CN107082055B (zh) | 2016-02-16 | 2016-12-16 | 车辆的行驶控制装置 |
DE102017100329.0A DE102017100329A1 (de) | 2016-02-16 | 2017-01-10 | Steuerung für die Fahrt eines Fahrzeugs |
US15/404,745 US10012983B2 (en) | 2016-02-16 | 2017-01-12 | Vehicle traveling control apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016027090A JP6236099B2 (ja) | 2016-02-16 | 2016-02-16 | 車両の走行制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017146723A true JP2017146723A (ja) | 2017-08-24 |
JP6236099B2 JP6236099B2 (ja) | 2017-11-22 |
Family
ID=59562163
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016027090A Active JP6236099B2 (ja) | 2016-02-16 | 2016-02-16 | 車両の走行制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10012983B2 (ja) |
JP (1) | JP6236099B2 (ja) |
CN (1) | CN107082055B (ja) |
DE (1) | DE102017100329A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20190079844A (ko) * | 2017-12-28 | 2019-07-08 | 현대자동차주식회사 | 차량 주행보조기능의 자동제어 장치 및 방법 |
JP2019127209A (ja) * | 2018-01-26 | 2019-08-01 | いすゞ自動車株式会社 | 車両制御装置 |
JP2020050121A (ja) * | 2018-09-27 | 2020-04-02 | いすゞ自動車株式会社 | 体調診断システム及び運転状態診断方法 |
US11472374B2 (en) | 2018-11-14 | 2022-10-18 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
US11507089B2 (en) | 2018-11-14 | 2022-11-22 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
US11609588B2 (en) | 2018-11-14 | 2023-03-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6504040B2 (ja) * | 2015-12-01 | 2019-04-24 | 株式会社デンソー | 報知処理装置 |
FR3063958B1 (fr) * | 2017-03-20 | 2019-03-22 | Peugeot Citroen Automobiles Sa | Procede et dispositif d’assistance d’un conducteur de vehicule a conduite autonome, notamment lors d’une reprise de controle manuel |
WO2019116458A1 (ja) * | 2017-12-13 | 2019-06-20 | 本田技研工業株式会社 | 車両並びにその制御システム及び制御方法 |
JP6848912B2 (ja) * | 2018-03-23 | 2021-03-24 | 株式会社デンソー | 状態判定装置、状態判定プログラム及びコンピュータ読み出し可能持続的有形記録媒体 |
WO2020031586A1 (ja) * | 2018-08-10 | 2020-02-13 | 古野電気株式会社 | 船舶操縦支援システム、船舶制御装置、船舶制御方法、及びプログラム |
KR102621247B1 (ko) * | 2018-12-07 | 2024-01-08 | 현대자동차주식회사 | 차량, 차량 제어 방법 및 안전 벨트 장치 |
US11577734B2 (en) * | 2018-12-20 | 2023-02-14 | Nauto, Inc. | System and method for analysis of driver behavior |
JP7238495B2 (ja) * | 2019-03-12 | 2023-03-14 | トヨタ自動車株式会社 | 車両運転システム |
DE102019218079A1 (de) * | 2019-11-22 | 2021-05-27 | Zf Friedrichshafen Ag | Bestimmen einer Steuerung eines zumindest teilweise autonom fahrenden Fahrzeugs |
US11514147B2 (en) * | 2019-12-30 | 2022-11-29 | EMC IP Holding Company LLC | Increasing security of a computing device based on determining a user's state of consciousness |
JP2022119498A (ja) * | 2021-02-04 | 2022-08-17 | 本田技研工業株式会社 | 車両用シートベルト装置 |
DE102022123169A1 (de) | 2022-09-12 | 2024-03-14 | Bayerische Motoren Werke Aktiengesellschaft | Steuereinheit und verfahren zur steuerung einer fahrt eines kraftfahrzeugs |
KR20240074565A (ko) * | 2022-11-21 | 2024-05-28 | 경북대학교 산학협력단 | 개선된 가변 전방주시거리를 이용한 자율이동체의 경로추종 장치 및 그 방법 |
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- 2016-12-16 CN CN201611169298.4A patent/CN107082055B/zh active Active
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2017
- 2017-01-10 DE DE102017100329.0A patent/DE102017100329A1/de active Pending
- 2017-01-12 US US15/404,745 patent/US10012983B2/en active Active
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JP2005173635A (ja) * | 2003-12-05 | 2005-06-30 | Fujitsu Ten Ltd | 居眠り検出装置、カメラ、光遮断センサおよびシートベルトセンサ |
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Cited By (11)
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KR20190079844A (ko) * | 2017-12-28 | 2019-07-08 | 현대자동차주식회사 | 차량 주행보조기능의 자동제어 장치 및 방법 |
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US11507089B2 (en) | 2018-11-14 | 2022-11-22 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
US11609588B2 (en) | 2018-11-14 | 2023-03-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
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Also Published As
Publication number | Publication date |
---|---|
US20170235306A1 (en) | 2017-08-17 |
US10012983B2 (en) | 2018-07-03 |
CN107082055B (zh) | 2019-09-03 |
JP6236099B2 (ja) | 2017-11-22 |
CN107082055A (zh) | 2017-08-22 |
DE102017100329A1 (de) | 2017-08-31 |
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