JP2019156058A - 車両の走行制御システム - Google Patents
車両の走行制御システム Download PDFInfo
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- JP2019156058A JP2019156058A JP2018043333A JP2018043333A JP2019156058A JP 2019156058 A JP2019156058 A JP 2019156058A JP 2018043333 A JP2018043333 A JP 2018043333A JP 2018043333 A JP2018043333 A JP 2018043333A JP 2019156058 A JP2019156058 A JP 2019156058A
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- 238000000034 method Methods 0.000 description 8
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- 238000007562 laser obscuration time method Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
- B60W60/0055—Handover processes from vehicle to occupant only part of driving tasks shifted to occupants
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/12—Brake pedal position
-
- 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
-
- 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
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
Abstract
Description
10 状態量検出装置、
20 外部環境認識装置、
30 加減速制御装置、
40 操舵制御装置、
50 操作検出装置、
50a アクセルペダルセンサ、
50b ブレーキペダルセンサ、
50s ステアリングセンサ、
60 警報制御装置、
100 走行制御装置、
150 情報通信ネットワーク、
201 操作部、
201a アクセルペダル、
201b ブレーキペダル、
201s ステアリングホイール、
202 報知装置、
202a 聴覚情報出力装置、
202v 視覚情報出力装置。
Claims (2)
- 車両に搭載され、前記車両の操舵および加減速の制御を含む自動走行制御を行う走行制御システムであって、
前記車両の運転者の操作に従って前記車両の操舵および加減速を実施する手動運転モード、前記運転者によるステアリングホイールの保持を前提として前記自動走行制御を実施する第1運転支援モード、および前記運転者による前記ステアリングホイールの保持を必要とせずに前記自動走行制御を実施する第2運転支援モード、を選択的に実行して前記車両の走行制御を行う走行制御装置と、
前記運転者による操作を検出する操作検出装置と、
前記車両が備える報知装置を制御して視覚情報および聴覚情報を出力する警報制御装置と、
を備え、
前記走行制御装置は、
前記第2運転支援モードの実行時において、当該第2運転支援モードが継続できないと判定した場合に、前記手動運転モードまたは前記第1運転支援モードを開始する走行制御切り替えステップと、
前記走行制御切り替えステップの実行時または前記走行制御切り替えステップの実行の所定時間前において、前記操作検出装置の検出結果に基づき、前記運転者が前記手動運転モードまたは前記第1運転支援モードの開始に対応できる体勢を整えているか否かを判定する第1ステップと、
前記第1ステップの後に、前記第1ステップにおいて、前記運転者が前記手動運転モードまたは前記第1運転支援モードの開始に対応できる体勢を整えていないと判定した場合には、前記警報制御装置を制御して前記走行制御切り替えステップの実行を前記視覚情報および前記聴覚情報を用いて出力し、前記運転者が前記手動運転モードまたは前記第1運転支援モードの開始に対応できる体勢を整えていると判定した場合には、前記警報制御装置を制御して前記走行制御切り替えステップの実行を前記視覚情報のみを用いて出力する第2ステップと、
を実行することを特徴とする走行制御システム。 - 前記操作検出装置は、前記運転者による前記ステアリングホイールの保持の有無を検出するステアリングセンサを含み、
前記走行制御装置は、前記第1ステップにおいて、前記ステアリングセンサによって前記運転者による前記ステアリングホイールの保持を検出している場合に、前記運転者が前記手動運転モードまたは前記第1運転支援モードの開始に対応できる体勢を整えていると判定する
ことを特徴とする請求項1に記載の走行制御システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018043333A JP6655111B2 (ja) | 2018-03-09 | 2018-03-09 | 車両の走行制御システム |
US16/209,645 US10747222B2 (en) | 2018-03-09 | 2018-12-04 | Traveling control system |
DE102019100162.5A DE102019100162A1 (de) | 2018-03-09 | 2019-01-07 | Fahrsteuersystem |
CN201910046991.XA CN110239530A (zh) | 2018-03-09 | 2019-01-18 | 车辆的行驶控制系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018043333A JP6655111B2 (ja) | 2018-03-09 | 2018-03-09 | 車両の走行制御システム |
Publications (2)
Publication Number | Publication Date |
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JP2019156058A true JP2019156058A (ja) | 2019-09-19 |
JP6655111B2 JP6655111B2 (ja) | 2020-02-26 |
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JP2018043333A Active JP6655111B2 (ja) | 2018-03-09 | 2018-03-09 | 車両の走行制御システム |
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US (1) | US10747222B2 (ja) |
JP (1) | JP6655111B2 (ja) |
CN (1) | CN110239530A (ja) |
DE (1) | DE102019100162A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020050384A1 (ja) | 2018-09-07 | 2020-03-12 | マックス株式会社 | 結束機 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6821644B2 (ja) * | 2018-12-28 | 2021-01-27 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
JP2021077099A (ja) * | 2019-11-08 | 2021-05-20 | トヨタ自動車株式会社 | 情報提供システム |
CN111319625A (zh) * | 2020-03-30 | 2020-06-23 | 三一汽车制造有限公司 | 车辆行驶控制系统、车辆、牵引系统和车辆行驶控制方法 |
JP2021160632A (ja) * | 2020-04-01 | 2021-10-11 | マツダ株式会社 | 自動運転制御システム |
CN113911118A (zh) * | 2020-07-09 | 2022-01-11 | 奥迪股份公司 | 驾驶辅助方法和系统、车辆及计算机可读存储介质 |
FR3121902A1 (fr) * | 2021-04-19 | 2022-10-21 | Psa Automobiles Sa | Pilotage autonome d’un véhicule sous la supervision du conducteur |
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-
2018
- 2018-03-09 JP JP2018043333A patent/JP6655111B2/ja active Active
- 2018-12-04 US US16/209,645 patent/US10747222B2/en active Active
-
2019
- 2019-01-07 DE DE102019100162.5A patent/DE102019100162A1/de active Pending
- 2019-01-18 CN CN201910046991.XA patent/CN110239530A/zh active Pending
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JP2017159885A (ja) * | 2016-03-08 | 2017-09-14 | 株式会社デンソー | 運転交代制御装置及び運転交代制御方法 |
WO2018042592A1 (ja) * | 2016-09-01 | 2018-03-08 | 三菱電機株式会社 | 自動運転レベル低下可否判定装置、自動運転レベル低下可否判定方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2020050384A1 (ja) | 2018-09-07 | 2020-03-12 | マックス株式会社 | 結束機 |
Also Published As
Publication number | Publication date |
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CN110239530A (zh) | 2019-09-17 |
US20190278264A1 (en) | 2019-09-12 |
US10747222B2 (en) | 2020-08-18 |
JP6655111B2 (ja) | 2020-02-26 |
DE102019100162A1 (de) | 2019-09-12 |
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