JP2019069774A5

JP2019069774A5 -

Info

Publication number: JP2019069774A5
Application number: JP2019005457A
Authority: JP
Filing date: 2019-01-16
Publication date: 2019-06-13
Anticipated expiration: 2035-11-18

Description

自動運転技術を採用する場合は、必要に応じて、自動で実行中の制御の少なくとも一部を無効としてドライバーの操作に委ねたり、車両の挙動を安全な方向へ強制的に制御したりすることができるようにすることが望ましい。 When employing automatic driving skills, if necessary, or left to the driver of the operation at least a portion of the control being executed automatically as invalid, or forcibly control the behavior of the vehicle in a safe direction It is desirable to be able to

本開示の１つの局面における自動運転制御装置は、サスペンションを備えた車両に搭載される。自動運転制御装置は、周囲情報取得部と、運転モード設定部と、自動制御部と、サスペンション挙動判断部とを備える。
周囲情報取得部は、車両の周囲の情報である周囲情報を取得するように構成されている。
運転モード設定部は、車両の運転モードを自動化モード及び基本モードの何れかに設定するように構成されている。自動化モードは、車両の走行に必要な複数種類の運転動作の少なくとも一部を周囲情報に基づいて自動で実行する運転モードである。基本モードは、自動で実行する運転動作である自動運転動作の種類が高度自動化モードよりも少ないか若しくはゼロである運転モードである。
自動制御部は、運転モード設定部により設定された運転モードに基づき、その運転モードにおいて設定されている自動運転動作を実行するように構成されている。
サスペンション挙動判断部は、サスペンションの挙動が正常であるか否か判断するように構成されている。
そして、自動制御部は、運転モードが少なくとも高度自動化モードに設定されている場合に、サスペンション挙動判断部によりサスペンションの挙動が正常ではないと判断された場合は、実行するように設定されている自動運転動作の少なくとも１つについてその実行を停止するように構成されている。
このように構成された自動運転制御装置では、自動で実行中の制御の少なくとも一部を適切なタイミングで強制停止させることができる。
本開示の自動運転制御装置は、さらに、サスペンションの伸縮量を検出する伸縮量検出部を備えていてもよい。サスペンション挙動判断部は、伸縮量検出部により検出された伸縮量、及び伸縮量検出部により検出された伸縮量の変化率、のうち少なくとも一方に基づいて、サスペンションの挙動が正常であるか否か判断するように構成されていてもよい。
また、サスペンション挙動判断部は、伸縮量検出部により検出された伸縮量が伸縮量閾値以下であること、及び伸縮量検出部により検出された伸縮量の変化率が変化率閾値以下であること、のうち少なくとも一方が成立した場合に、サスペンションの挙動が正常であると判断するように構成されていてもよい。
本開示の別の１つの局面における自動運転制御装置は、車両に搭載され、周囲情報取得部と、運転モード設定部と、自動制御部と、要解除事象判断部と、を備える。
周囲情報取得部は、車両の周囲の情報である周囲情報を取得する。周囲情報とは、より具体的には、車両の周囲の状態を示す情報であって、且つ、車両の走行に必要な複数種類の運転動作を運転者の操作を要することなく自動で実行させるために必要な情報である。 The autonomous driving control system in one aspect of the present disclosure is mounted on a vehicle provided with a suspension. The automatic driving control device includes an ambient information acquisition unit, an operation mode setting unit, an automatic control unit, and a suspension behavior determination unit.
The ambient information acquisition unit is configured to acquire ambient information that is information on the surroundings of the vehicle.
The driving mode setting unit is configured to set the driving mode of the vehicle to either the automation mode or the basic mode. The automation mode is an operation mode in which at least a part of a plurality of types of driving operations necessary for traveling the vehicle is automatically performed based on the surrounding information. The basic mode is an operation mode in which the type of automatic operation operation, which is an operation operation to be automatically performed, is less or zero than the advanced automation mode.
The automatic control unit is configured to execute the automatic driving operation set in the operation mode based on the operation mode set by the operation mode setting unit.
The suspension behavior determination unit is configured to determine whether the behavior of the suspension is normal.
The automatic control unit is automatically set to execute when the suspension behavior determination unit determines that the behavior of the suspension is not normal, at least when the operation mode is set to the advanced automation mode. It is configured to stop the execution of at least one of the driving operations.
In the automatic operation control device configured as described above, at least a part of the control currently being executed can be forcibly stopped at an appropriate timing.
The automatic driving control device of the present disclosure may further include an expansion / contraction amount detection unit that detects an expansion / contraction amount of the suspension. The suspension behavior determination unit determines whether the behavior of the suspension is normal based on at least one of the expansion / contraction amount detected by the expansion / contraction amount detection unit and the change rate of the expansion / contraction amount detected by the expansion / contraction amount detection unit. It may be configured to make a decision.
In the suspension behavior determination unit, the expansion / contraction amount detected by the expansion / contraction amount detection unit is equal to or less than the expansion / contraction amount threshold, and the change rate of the expansion / contraction amount detected by the expansion / contraction amount detection unit is equal to or less than the change rate threshold. The vehicle may be configured to determine that the behavior of the suspension is normal when at least one of the above is established.
The automatic driving control apparatus according to another aspect of the present disclosure is mounted on a vehicle, and includes an ambient information acquiring unit, a driving mode setting unit, an automatic control unit, and a cancellation required event judging unit.
A surrounding information acquisition part acquires surrounding information which is information around the vehicle. More specifically, the ambient information is information indicating the state of the surroundings of the vehicle, and in order to automatically execute a plurality of types of driving operations necessary for the traveling of the vehicle without requiring the driver's operation. Information necessary for

Claims

An automatic driving control device mounted on a vehicle provided with a suspension ,
An ambient information acquisition unit configured to acquire ambient information that is information about the vehicle;
An advanced automation mode for automatically executing at least a part of a plurality of types of driving operations necessary for traveling of the vehicle based on the surrounding information, and the driving operation for automatically performing the operation mode of the vehicle An operation mode setting unit configured to set to any one of a basic mode in which the type of automatic operation operation is less than or zero from the advanced automation mode;
An automatic control unit configured to execute the automatic driving operation set in the operation mode based on the operation mode set by the operation mode setting unit;
A suspension behavior determining unit configured to determine whether the behavior of the suspension is normal;
Equipped with
The automatic control unit is set to execute when it is determined by the suspension behavior determination unit that the behavior of the suspension is not normal when the operation mode is set to at least the advanced automation mode. Configured to stop its execution for at least one of said automated driving operations,
Automatic operation control device.

The automatic operation control device according to claim 1, wherein
And an expansion / contraction amount detection unit that detects the expansion / contraction amount of the suspension.
The suspension behavior determination unit has a behavior of the suspension based on at least one of the expansion amount detected by the expansion amount detection unit and a change rate of the expansion amount detected by the expansion amount detection unit. Configured to determine if it is normal,
Automatic operation control device.

The automatic operation control device according to claim 2 , wherein
In the suspension behavior determination unit, the expansion / contraction amount detected by the expansion / contraction amount detection unit is equal to or less than the expansion / contraction amount threshold, and the change ratio of the expansion / contraction amount detected by the expansion / contraction amount detection unit is equal to or less than the change ratio threshold The system is configured to determine that the behavior of the suspension is normal if at least one of the following is established.
Automatic operation control device.