JP2020154624A - 自動運転車両の交通制御システム - Google Patents
自動運転車両の交通制御システム Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- Engineering & Computer Science (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
Description
第2自動運転制御部22は、走行可能領域SRの幅方向の中央位置(幅Wsの1/2の位置)を自動運転の目標ルートとして再設定し、再設定した目標ルートに追従するよう第2の自動運転制御を実施する。
第2自動運転制御部22は、走行可能領域SRの自車両から相対的に遠方側となる側端から1/4の位置を、自動運転の目標ルートとして再設定し、再設定した目標ルートに追従するよう第2の自動運転制御を実施する。
10 車両制御システム
20 自動運転制御ユニット
21 第1自動運転制御部
22 第2自動運転制御部
30 外部環境認識ユニット
40 ロケータユニット
50 制駆動制御ユニット
60 操舵制御ユニット
70 情報報知ユニット
100 除雪車の制御システム
101 除雪作業情報送信部
200 管制システム
201 除雪情報収集部
202 除雪走行環境情報算出部
Claims (6)
- 自動運転によって走行可能な自動運転車両の車両制御システムと、前記自動運転車両に道路の積雪区間の走行環境情報を配信する管制システムとを含む自動運転車両の交通制御システムであって、
前記管制システムは、
前記積雪区間の除雪済み領域に係る除雪情報を、前記積雪区間の除雪作業を実施する除雪車両と前記積雪区間の前記除雪済み領域を走行する前記自動運転車両との少なくとも一方から収集する除雪情報収集部と、
前記除雪情報収集部で収集した前記除雪情報に基づいて、前記積雪区間における前記除雪済み領域の前記走行環境情報を算出する除雪走行環境情報算出部と
を備え、
前記車両制御システムは、
自車両が保持する地図情報と自車両の位置情報とに基づく前記自動運転の制御系と、自車両の外部環境を自律的に認識した外部環境認識情報に基づく前記自動運転の制御系とによって冗長化される第1の自動運転制御を実施する第1自動運転制御部と、
前記除雪済み領域の前記走行環境情報で補正した前記地図情報と自車両の前記位置情報とに基づく前記自動運転の制御系と、自車両の外部環境を自律的に認識した前記外部環境認識情報に基づく前記自動運転の制御系とによって冗長化される第2の自動運転制御を実施する第2自動運転制御部と
を備えることを特徴とする自動運転車両の交通制御システム。 - 前記第2自動運転制御部は、前記第1自動運転制御部による前記第1の自動運転制御の冗長性を確保できない場合に、前記第2の自動運転制御を実施することを特徴とする請求項1に記載の自動運転車両の交通制御システム。
- 除雪情報収集部は、前記除雪済み領域において車両が走行可能な走行可能領域の情報を含む前記除雪情報を収集することを特徴とする請求項1又は2に記載の自動運転車両の交通制御システム。
- 前記第2自動運転制御部は、前記除雪済み領域における前記走行可能領域の幅を閾値と比較し、前記走行可能領域の幅と前記閾値との大小関係に応じて、前記除雪済み領域における前記第2の自動運転制御の目標ルートを設定することを特徴とする請求項3に記載の自動運転車両の交通制御システム。
- 前記第2自動運転制御部は、前記走行可能領域の幅が前記閾値未満であり、且つ前記走行可能領域内に先行車両を認識したとき、前記第2の自動運転制御を、前記先行車両の走行軌跡に追従する先行車両追従制御に切り換えることを特徴とする請求項3に記載の自動運転車両の交通制御システム。
- 前記第2自動運転制御部は、前記走行可能領域の幅が前記閾値未満であり、且つ前記走行可能領域内に対向車両を認識したとき、前記第2の自動運転制御を中止するとともに、車両の乗員に運転の引継ぎを要求することを特徴とする請求項3に記載の自動運転車両の交通制御システム。
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JP2019051704A JP7252801B2 (ja) | 2019-03-19 | 2019-03-19 | 自動運転車両の交通制御システム |
US16/733,040 US11538335B2 (en) | 2019-03-19 | 2020-01-02 | Traffic control system for automatic driving vehicle |
CN202010030180.3A CN111724614B (zh) | 2019-03-19 | 2020-01-13 | 自动驾驶车辆的交通控制系统 |
DE102020102574.2A DE102020102574A1 (de) | 2019-03-19 | 2020-02-03 | Verkehrssteuersystem für automatisch fahrendes Fahrzeug |
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JP2019051704A JP7252801B2 (ja) | 2019-03-19 | 2019-03-19 | 自動運転車両の交通制御システム |
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Cited By (3)
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JPWO2022144963A1 (ja) * | 2020-12-28 | 2022-07-07 | ||
JPWO2022144959A1 (ja) * | 2020-12-28 | 2022-07-07 | ||
CN116147938A (zh) * | 2023-04-18 | 2023-05-23 | 中国汽车技术研究中心有限公司 | 自动驾驶车辆的道路测试控制方法、设备及介质 |
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CN113189610B (zh) * | 2021-04-28 | 2024-06-14 | 中国科学技术大学 | 地图增强的自动驾驶多目标追踪方法和相关设备 |
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- 2020-02-03 DE DE102020102574.2A patent/DE102020102574A1/de active Pending
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US20200302787A1 (en) | 2020-09-24 |
DE102020102574A1 (de) | 2020-09-24 |
JP7252801B2 (ja) | 2023-04-05 |
US11538335B2 (en) | 2022-12-27 |
CN111724614A (zh) | 2020-09-29 |
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