JP2020097278A - 運転制御装置 - Google Patents
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Abstract
Description
このフェールオペレーションは、運転制御装置の一箇所が故障した場合に直ちに全ての機能を停止するのではなく、残存する機能を用いて最低限の機能を維持する。運転制御においては、例えば故障が発生しても安全な場所まで移動してから停止できるようにすることで、その場に直ちに停車する場合と比べて安全性を確保できるようにする。
図1は本実施形態による運転制御装置100の全体ブロック図である。運転制御装置100は、第1認識装置1、第2認識装置2、第3認識装置3、自動運転制御部4、駆動装置指令生成部6、インバータ制御部9、バッテリ制御部10、エンジン制御部11、ステアリング制御部12を備えている。
自動運転制御部4は、軌道生成部20、運転シーン判別部21、車両運動制御部22、通信インターフェイス23を備える。
駆動装置指令値生成部6は、通信インターフェイス30、駆動装置指令演算部31、第1発電閾値生成部32、第2発電閾値生成部33、閾値選択部34、SOC推定部35、発電指令生成部36、通信インターフェイス37を備える。
図4(A)は、道路上の車両の軌道を示す。図4(A)に示すように、自車401が他車402を追い越す場合に、自車401が走行している第1走行レーン(走行車線)403から第2走行レーン(追越し車線)404へレーン変更して、加速するものとする。本例では将来の自車401の車両位置40〜45を0.1秒刻みで示している。
図4(B)は、は、図4(A)に示した軌道を追従するための車両挙動指令値の例であり、車両位置40〜45毎に、0.1秒刻みで将来の加速度405、角速度406を設定している。この例では、自車401が第2走行レーン404へレーン変更して車両位置44から加速している。
図6(A)は、車両の運転モードの時間経過を示す。図6(B)は、車両の走行レーンを示す。図6(C)は、バッテリのSOCと、選択された充電閾値SOCthと、第1充電閾値SOCth1と、第2充電閾値SOCth2を示す。図6(D)は、発電指令値GENのオン・オフ状態を示す。各図において横軸は時刻である。
(1)運転制御装置100は、車両の外界を認識する第1〜第3認識装置1〜3からの走行環境情報に基づいて、自動運転車の車両挙動情報を算出する自動運転制御部4と、自動運転制御部4からの車両挙動情報に基づいて、バッテリや発電エンジンを制御する指令値を出力する駆動装置指令生成部6とを備え、駆動装置指令生成部6は、発電エンジンへの発電指令値を、バッテリの充電率SOCと第1〜第3認識装置1〜3による車両の走行環境情報に基づいて定められる充電閾値SOCthとの比較によって出力する。これにより、退避走行させるために必要なバッテリへの充電制御を車両の走行環境に応じて行うことが出来る。
1 第1認識装置
2 第2認識装置
3 第3認識装置
4 自動運転制御部
6 駆動装置指令生成部
9 インバータ制御部
10 バッテリ制御部
11 エンジン制御部
12 ステアリング制御部
20 軌道生成部
21 運転シーン判別部
22 車両運動制御部
23、30、37 通信インターフェイス
31 駆動装置指令演算部
32 第1発電閾値生成部
33 第2発電閾値生成部
34 閾値選択部
35 SOC推定部
36 発電指令生成部
Claims (6)
- 車両の外界を認識する認識装置からの走行環境情報に基づいて、自動運転車の車両挙動情報を算出する自動運転制御部と、前記自動運転制御部からの車両挙動情報に基づいて、バッテリや発電エンジンを制御する指令値を出力する駆動装置指令生成部とを備え、
前記駆動装置指令生成部は、前記発電エンジンへの発電指令値を、前記バッテリの充電率SOCと前記認識装置による前記車両の走行環境情報に基づいて定められる充電閾値SOCthとの比較によって出力する運転制御装置。 - 請求項1に記載の運転制御装置において、
前記駆動装置指令生成部は、前記充電閾値SOCthが前記バッテリの前記充電率SOCを超えた場合に、前記発電指令値を出力する運転制御装置。 - 請求項2に記載の運転制御装置において、
前記発電エンジンは、前記発電指令値に基づいて起動され、前記バッテリを充電する運転制御装置。 - 請求項1から請求項3までのいずれか一項に記載の運転制御装置において、
前記充電閾値SOCthは、予測される回生エネルギーに応じて定められる第1充電閾値SOCth1と必要となる退避動作のエネルギーに応じて定められる第2充電閾値SOCth2との大きい方を選択する運転制御装置。 - 請求項4に記載の運転制御装置において、
前記第1充電閾値SOCth1は、前記車両が下り坂や高速道路を走行する予定であり、予測される回生エネルギーが多い場合は低い値に設定され、前記車両が上り坂や一般道路を走行する予定であり、予測される回生エネルギーが少ない場合は高い値に設定される運転制御装置。 - 請求項4に記載の運転制御装置において、
前記第2充電閾値SOCth2は、前記車両が退避路から遠い走行レーンを走行し、必要となる退避動作のエネルギーが多い場合は高く設定され、前記車両が前記退避路から近い走行レーンを走行し、必要となる退避動作のエネルギーが少ない場合は低く設定される運転制御装置。
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