JP2018156667A - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
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Abstract
【解決手段】車両の走行制御装置は、自車両を運転支援する各種のデバイスの故障の有無を検知する故障検知部と、故障検知部にていずれかのデバイスが故障したことが検知された際に、該デバイスの故障状態を特定し、該デバイスの駆動の可否を判断する故障度合い判断部と、自車両の周囲を認識する外界認識部と、故障度合い判断部による判断情報、および自車両と他車両との位置関係に基づき、他車両の動作変更のための指示信号を生成し、該指示信号を他車両に出力する動作指示部と、を備えている。
【選択図】図1
Description
図1は本発明の走行制御装置を含む車両の構成図である。
走行制御装置100は、故障検知部101、故障度合い判断部102、動作指示部103、受信部104、走行経路変更部105、および制御ECU106を備えている。
ここで、外界認識部200には、ステレオカメラや単眼カメラ、ミリ波レーダ、レーザレーダといった、車両と車両周囲の障害物間の距離のほか、道路標識や道路白線、横断歩道、信号機灯色などのインフラ設備を認識できる装置の全般が包含される。
図2は故障度合い判断部における処理フローを示した図である。
故障度合い判断部102は、デバイス駆動可否仕分部102aと駆動不可デバイス原因抽出部102bを備えている。
ここで、詳細な故障情報に関する一例を以下の表1に示す。
図3は走行経路変更部と動作指示部における処理フローを示した図である。
走行経路変更部105は将来経路推定部105aを備えており、故障度合い判断部102において判断された判断情報に基づいて、故障デバイスを具備する自車両が将来どの経路を通過するか、すなわち将来経路を将来経路推定部105aにて推定する(ステップS20)。
ここで、以下の表2に、発信される指示信号の一例を示す。
図4は走行制御装置100が適用される自動車専用道路の実施の形態1を示した図である。
この適用例では、車両401は故障を起こした自車両であり、故障車両の周囲には先行車402、403が存在し、同一方向に走行しているとする。
図5は走行制御装置100が適用される自動車専用道路の実施の形態2を示した図である。
この適用例は、車両501のアクセル600が閉じなくなったという故障が発生し、その他のデバイスは正常であるといったケースである。
図6は走行制御装置100が適用される自動車専用道路の実施の形態3を示した図である。
この適用例は、車両601のアクセル600が開かなくなったという故障が発生し、その他のデバイスが正常であるといったケースである。
その際、周囲車両への情報発信として、まず、故障車両601より前方を走る先行車両が存在する場合は先行車両と故障車両601との車間距離と相対速度に基づいて、衝突危険があれば、故障車両601は先行車両に対して動作変更の指示信号を発信する。
図7は走行制御装置100が適用される交差路の実施の形態1を示した図である。
この適用例は、走行制御装置100を交差路に適用するものである。ここで、車両701は故障を起こした自車両とする。
図8は走行制御装置100が適用される交差路の実施の形態2を示した図である。
この適用例は、車両803が交差路Aを直進する予定でいる際に、その先の交差路Bで車両801が故障して停車しているケースである。
符号の説明
101 故障検知部
102 故障度合い判断部
103 動作指示部
104 受信部
105 走行経路変更部
106 制御ECU
200 外界認識部
300 ステアリング
400 ブレーキ
500 エンジン
600 アクセル
700 NAVI
Claims (1)
- 自車両を運転支援する各種のデバイスの故障の有無を検知する故障検知部と、
前記故障検知部にていずれかのデバイスが故障したことが検知された際に、該デバイスの故障状態を特定し、該デバイスの駆動の可否を判断する故障度合い判断部と、
前記自車両の周囲を認識する外界認識部と、
前記故障度合い判断部による判断情報、および前記自車両と他車両との位置関係に基づき、前記他車両の動作変更のための指示信号を生成し、該指示信号を前記他車両に出力する動作指示部と、を備えている車両の走行制御装置。
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Application Number | Priority Date | Filing Date | Title |
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JP2014121421 | 2014-06-12 | ||
JP2014121421 | 2014-06-12 |
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JP2016527746A Division JPWO2015190329A1 (ja) | 2014-06-12 | 2015-06-01 | 車両の走行制御装置 |
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JP2018156667A true JP2018156667A (ja) | 2018-10-04 |
JP6608992B2 JP6608992B2 (ja) | 2019-11-20 |
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JP2016527746A Pending JPWO2015190329A1 (ja) | 2014-06-12 | 2015-06-01 | 車両の走行制御装置 |
JP2018083076A Active JP6608992B2 (ja) | 2014-06-12 | 2018-04-24 | 走行制御装置 |
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JP2016527746A Pending JPWO2015190329A1 (ja) | 2014-06-12 | 2015-06-01 | 車両の走行制御装置 |
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US (1) | US10431091B2 (ja) |
EP (1) | EP3156988B1 (ja) |
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EP3156988A4 (en) | 2018-06-27 |
US10431091B2 (en) | 2019-10-01 |
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