JP2020163984A - 車両制御システム - Google Patents
車両制御システム Download PDFInfo
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- JP2020163984A JP2020163984A JP2019065722A JP2019065722A JP2020163984A JP 2020163984 A JP2020163984 A JP 2020163984A JP 2019065722 A JP2019065722 A JP 2019065722A JP 2019065722 A JP2019065722 A JP 2019065722A JP 2020163984 A JP2020163984 A JP 2020163984A
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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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/26—Incapacity
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
2 :車両システム
6 :外界認識装置
17 :レーダ
18 :ライダ
19 :車外カメラ
35 :自動運転制御部
38 :走行制御部
40 :外界認識部
42 :行動計画部
101 :車道外側線
102 :車線
103 :路肩
104 :路端
106 :車両
107 :停車位置
108 :目標軌道
109 :軌道点
Claims (8)
- 車両制御システムであって、
車両の速度制御および操舵制御のいずれかを自動で行う制御装置と、
前記車両の周囲の状況を検出可能な外界認識装置とを有し、
前記制御装置は、前記車両の走行中に前記制御装置又は運転者による前記車両の走行の継続が困難である所定の条件が満たされたときに、前記車両を所定の停車位置に停止させる停車処理を実行し、
前記制御装置は、前記停車処理において、前記外界認識装置の検出結果に基づいて前記停車位置を決定すると共に、路肩の状態を取得し、前記路肩の状態に応じて前記路肩に進入する速度、及び前記路肩に進入する位置と前記停車位置との距離の少なくとも一方を変更する車両制御システム。 - 前記制御装置は、前記停車処理において、前記路肩の状態に基づいて判定値を設定し、前記判定値が、前記路肩の状態に対して前記車両が安全に走行することができる走行基準値以上である場合に第1減速処理を実行し、前記判定値が前記走行基準値未満の場合に第2減速処理を実行し、前記第2減速処理では前記第1減速処理に比べて前記路肩に進入するときの速度を小さくする請求項1に記載の車両制御システム。
- 前記制御装置は、前記第2減速処理では前記第1減速処理に比べて前記路肩に進入する位置と前記停車位置との距離を短くする請求項2に記載の車両制御システム。
- 前記制御装置は、前記第2減速処理では前記第1減速処理に比べて前記路肩に進入する前の減速量を大きくする請求項2又は請求項3に記載の車両制御システム。
- 前記制御装置は、前記第1減速処理において速度が第1基準速度以下になった後に前記車両を前記路肩に進入させ、前記第2減速処理において速度が第1基準速度よりも低い第2基準速度以下になった後に前記車両を前記路肩に進入させる請求項2〜請求項4のいずれか1つの項に記載の車両制御システム。
- 前記制御装置は、前記第1減速処理において前記第2減速処理に比べて前記路肩内での減速量を大きくする請求項2〜請求項5のいずれか1つの項に記載の車両制御システム。
- 前記制御装置は、前記判定値が、前記路肩の状態に対して前記車両が安全に停車することができる停車基準値未満である場合に、前記停車位置を走行車線内に設定し、前記走行車線内において減速を行なう第3減速処理を行う請求項2〜請求項6のいずれか1つの項に記載の車両制御システム。
- 前記路肩の状態は、前記路肩及び車線の境界線の認識度合い、路端の認識度合い、前記路肩の路面状態、及び前記路肩の幅の少なくとも1つを含む請求項1〜請求項7のいずれか1つの項に記載の車両制御システム。
Priority Applications (2)
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---|---|---|---|
JP2019065722A JP6917406B2 (ja) | 2019-03-29 | 2019-03-29 | 車両制御システム |
CN202010227355.XA CN111824127B (zh) | 2019-03-29 | 2020-03-27 | 车辆控制系统 |
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JP2019065722A JP6917406B2 (ja) | 2019-03-29 | 2019-03-29 | 車両制御システム |
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JP2020163984A true JP2020163984A (ja) | 2020-10-08 |
JP6917406B2 JP6917406B2 (ja) | 2021-08-11 |
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JP2019065722A Active JP6917406B2 (ja) | 2019-03-29 | 2019-03-29 | 車両制御システム |
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JP (1) | JP6917406B2 (ja) |
CN (1) | CN111824127B (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022109032A1 (de) | 2021-04-22 | 2022-10-27 | Toyota Jidosha Kabushiki Kaisha | Fahrzeugsystem |
WO2023067879A1 (ja) * | 2021-10-20 | 2023-04-27 | 日立Astemo株式会社 | 車両制御装置、車両制御方法、及び車両制御システム |
DE102022210705A1 (de) | 2021-11-05 | 2023-05-11 | Mitsubishi Electric Corporation | Evakuierungsfahrt-assistenzvorrichtung, evakuierungsfahrt-assistenzverfahren, evakuierungsfahrt-assistenzprogramm und speichermedium |
JP7412812B2 (ja) | 2021-02-24 | 2024-01-15 | アナウト株式会社 | 手術内容評価システム、手術内容評価方法及びコンピュータプログラム |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115309169B (zh) * | 2022-10-11 | 2022-12-20 | 天地科技股份有限公司 | 一种井下无人车控制方法及装置 |
Citations (1)
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JP2007331652A (ja) * | 2006-06-16 | 2007-12-27 | Toyota Motor Corp | 車両停止装置 |
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DE102004019337A1 (de) * | 2004-04-21 | 2005-11-17 | Siemens Ag | Assistenzsystem für Kraftfahrzeuge |
DE102011086241B4 (de) * | 2011-11-14 | 2018-04-05 | Robert Bosch Gmbh | Verfahren zum sicheren Abstellen eines Fahrzeuges |
JP6096157B2 (ja) * | 2014-09-12 | 2017-03-15 | アイシン精機株式会社 | 駐車支援装置 |
US10246086B2 (en) * | 2016-09-08 | 2019-04-02 | Ford Global Technologies, Llc | Echelon parking |
-
2019
- 2019-03-29 JP JP2019065722A patent/JP6917406B2/ja active Active
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2020
- 2020-03-27 CN CN202010227355.XA patent/CN111824127B/zh active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2007331652A (ja) * | 2006-06-16 | 2007-12-27 | Toyota Motor Corp | 車両停止装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7412812B2 (ja) | 2021-02-24 | 2024-01-15 | アナウト株式会社 | 手術内容評価システム、手術内容評価方法及びコンピュータプログラム |
DE102022109032A1 (de) | 2021-04-22 | 2022-10-27 | Toyota Jidosha Kabushiki Kaisha | Fahrzeugsystem |
WO2023067879A1 (ja) * | 2021-10-20 | 2023-04-27 | 日立Astemo株式会社 | 車両制御装置、車両制御方法、及び車両制御システム |
DE102022210705A1 (de) | 2021-11-05 | 2023-05-11 | Mitsubishi Electric Corporation | Evakuierungsfahrt-assistenzvorrichtung, evakuierungsfahrt-assistenzverfahren, evakuierungsfahrt-assistenzprogramm und speichermedium |
Also Published As
Publication number | Publication date |
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CN111824127B (zh) | 2024-04-05 |
JP6917406B2 (ja) | 2021-08-11 |
CN111824127A (zh) | 2020-10-27 |
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