JP2019059477A5 - - Google Patents
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- JP2019059477A5 JP2019059477A5 JP2019008910A JP2019008910A JP2019059477A5 JP 2019059477 A5 JP2019059477 A5 JP 2019059477A5 JP 2019008910 A JP2019008910 A JP 2019008910A JP 2019008910 A JP2019008910 A JP 2019008910A JP 2019059477 A5 JP2019059477 A5 JP 2019059477A5
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- vehicle control
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Claims (5)
前記軌道生成判断部は、前記緊急軌道の最終状態が前記運転手に安全に引き渡せる状態となるよう計算し、さらに、
前記安全に引き渡せる状態であることを前記運転手に報知する報知部を有する、ことを特徴とする車両制御システム。 And a trajectory generation determination unit having an emergency trajectory generation unit that calculates an emergency trajectory between the system and the driver switching driving at the time of failure ;
The track generation determination unit calculates so that the final state of the emergency track can be safely delivered to the driver, and further,
A vehicle control system comprising: a notification unit that notifies the driver that the vehicle can be safely delivered .
前記安全に引き渡せる状態は、引き渡し後の軌道とその後の軌道において、ハンドルの操舵角度、又は車体の操舵角度が所定角度以下の状態である、ことを特徴する車両制御システム。 In the vehicle control system according to claim 1,
The vehicle control system according to claim 1, wherein the state in which the safety can be handed over is a steering angle of a steering wheel or a steering angle of a vehicle body at a predetermined angle or less in a trajectory after delivery and a trajectory after that .
前記安全に引き渡せる状態は、引き渡し後の軌道とその後の軌道において、一定力以上のブレーキによる制動が必要ない状態である、ことを特徴とする車両制御システム。 In the vehicle control system according to claim 1 ,
The vehicle control system according to claim 1, wherein the state in which the safety can be handed over is a state in which braking by a brake having a predetermined force or more is not necessary in a path after handing over and a path after that .
複数の認識装置から出力される外界認識情報を統合し、外界認識マップを作成する統合認識部を有し、
前記軌道生成判断部は、前記外界認識マップを使用して、軌道生成を行い、
前記統合認識部は、障害が発生した場合は、前記障害が発生した時刻以降の認識情報を前記外界認識マップの作成には使用せず、
前記障害が発生した時刻とは、障害が発生したと判断された時刻から所定時間を引いた時刻である、ことを特徴とする車両制御システム。 In the vehicle control system according to claim 1 ,
It has an integrated recognition unit that integrates external world recognition information output from a plurality of recognition devices and creates an external world recognition map,
The trajectory generation determination unit performs trajectory generation using the external world recognition map,
When the failure occurs, the integrated recognition unit does not use recognition information after the time when the failure occurs to create the external world recognition map.
The vehicle control system according to claim 1, wherein the time when the failure occurs is a time obtained by subtracting a predetermined time from the time when it is determined that the failure has occurred .
前記緊急軌道を保持する軌道保持部と、認識判断部障害検知部で検知した障害の有無に基づいて前記軌道保持部で保持された緊急軌道で走行するかを切り替える軌道切替部と、を有する運動制御部、を有すること特徴する車両制御システム。
In the vehicle control system according to claim 1,
Movement having a track holding unit for holding the emergency track, and a track switching unit for switching whether to travel on the emergency track held by the track holding unit based on the presence or absence of a failure detected by the recognition determination unit failure detection unit And a control unit .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019008910A JP6997118B2 (en) | 2019-01-23 | 2019-01-23 | Vehicle control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019008910A JP6997118B2 (en) | 2019-01-23 | 2019-01-23 | Vehicle control system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2014160940A Division JP2016037149A (en) | 2014-08-07 | 2014-08-07 | Vehicle control system, and action plan system equipped with the same |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2019059477A JP2019059477A (en) | 2019-04-18 |
| JP2019059477A5 true JP2019059477A5 (en) | 2019-05-30 |
| JP6997118B2 JP6997118B2 (en) | 2022-01-17 |
Family
ID=66176168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019008910A Active JP6997118B2 (en) | 2019-01-23 | 2019-01-23 | Vehicle control system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6997118B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114787892A (en) * | 2020-02-27 | 2022-07-22 | 松下知识产权经营株式会社 | Control system and control method |
| CN116224837B (en) * | 2023-05-06 | 2023-07-28 | 湖南致同工程科技有限公司 | Communication delay resistant multi-unmanned road-pressing vehicle cooperative control simulation system and method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10309960A (en) * | 1997-05-12 | 1998-11-24 | Toyota Motor Corp | Automatic traveling vehicle control device |
| JP4614005B2 (en) * | 2009-02-27 | 2011-01-19 | トヨタ自動車株式会社 | Moving locus generator |
| JP5737197B2 (en) * | 2012-01-20 | 2015-06-17 | トヨタ自動車株式会社 | Vehicle trajectory control device |
| DE102012217002A1 (en) * | 2012-09-21 | 2014-03-27 | Robert Bosch Gmbh | Method and device for operating a motor vehicle in an automated driving operation |
| JP2016037149A (en) * | 2014-08-07 | 2016-03-22 | 日立オートモティブシステムズ株式会社 | Vehicle control system, and action plan system equipped with the same |
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2019
- 2019-01-23 JP JP2019008910A patent/JP6997118B2/en active Active
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