JP2017226309A - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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Abstract
Description
まず、第1実施形態について説明する。図1は、第1実施形態に係る車両制御装置100の構成を示すブロック図である。図2は、図1の車両制御装置100におけるECU(Electronic Control Unit)10を説明するブロック図である。図1に示すように、車両制御装置100は、乗用車などの車両Vに搭載される。車両制御装置100は、外部センサ1、GPS(Global Positioning System)受信部2、内部センサ3、地図データベース4、切替ペダル5、ナビゲーションシステム6、アクチュエータ7、HMI(Human Machine Interface)8、及び、ECU10を備えている。
TR=w×TD+(1−w)×TS ・・・ (1)
ここで、wは、重み係数であり、運転状態決定部17aで算出された介入度pを用いる(すなわち、w=p)。これにより、介入度pが小さい場合、目標操舵トルクTRは、システム入力トルクTSの影響を大きく受ける。介入度pが大きくなるにしたがって、目標操舵トルクTRは、システム入力トルクTSの影響が小さくなり、運転者によって操作された操舵トルクTDの影響が大きくなる。介入度pが最大の場合(p=1の場合)、目標操舵トルクTRは、運転者によって操作された操舵トルクTDの影響のみを受け、操舵トルクTDと等しくなる。
次に、第2実施形態について説明する。図9は、第2実施形態に係る車両制御装置100Aの構成を示すブロック図である。図10は、図9の車両制御装置100AにおけるECU10Aを説明するブロック図である。なお、本実施形態の説明では、第1実施形態と同一の構成及び処理については説明を省略し、第1実施形態と異なる点について説明する。本実施形態の車両制御装置100Aは、第1実施形態の車両制御装置100のストロークセンサ50に代えて踏力センサ50Aを備えている。また、第2実施形態のECU10Aは、第1実施形態のECU10の踏込状態検出部15及び運転状態切替部17に代えて、処理内容の異なる踏込状態検出部15A及び運転状態切替部17Aを備えている。
Claims (2)
- 車両の周辺環境と前記車両の状態とに基づいて生成された走行計画、又は、前記車両の位置と前記車両の周辺環境と前記車両の状態と地図情報とに基づいて生成された走行計画を利用して走行する前記車両の運転状態を切り替え可能な車両制御装置であって、
前記車両の運転席に着座する運転者が足を置く載置部において、前記車両のアクセルペダル及びブレーキペダルよりも前記車両の左側に設けられた切替ペダルと、
前記切替ペダルの踏み込み状態を検出する踏込状態検出部と、
前記車両の運転状態を、前記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、前記車両のステアリングの操作、前記アクセルペダルの操作、及び前記ブレーキペダルの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と前記走行計画とに基づいて前記運転操作と協調して前記車両を走行させる協調運転状態、並びに、前記運転者の運転操作の操作量を前記車両の走行に反映させる手動運転状態に切り替える運転状態切替部と、を備え、
前記運転状態切替部は、前記車両の運転状態が前記自動運転状態のときに前記踏込状態検出部によって前記切替ペダルの踏み込みが検出された場合、前記車両の運転状態を前記協調運転状態に切り替える、車両制御装置。 - 前記踏込状態検出部は、前記踏み込み状態として前記切替ペダルの踏み込み量又は踏み込み力を検出し、
前記運転状態切替部は、前記踏込状態検出部で検出された前記切替ペダルの踏み込み量又は踏み込み力に基づいて、前記協調運転状態における前記運転者の運転操作の操作量の介入度合いを変更する、請求項1に記載の車両制御装置。
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