JP2020164075A - 車両制御システム - Google Patents
車両制御システム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2540/00—Input parameters relating to occupants
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Abstract
Description
2 :車両システム
10 :運転操作装置(介入検知装置、ステアリングホイール、アクセルペダル、ブレーキペダル)
11 :乗員監視装置(介入検知装置)
13 :自動運転レベル切替スイッチ(介入検知装置)
15 :制御装置
31 :表示装置(報知インタフェース)
32 :音発生装置(報知インタフェース)
33 :入力装置(介入検知装置)
Claims (8)
- 車両制御システムであって、
車両の自動運転を実施するように構成された制御装置と、
前記制御装置による運転者に対する運転介入要求を報知する報知インタフェースと、
運転への介入の前記運転者の受諾意志を検知する介入検知装置とを備え、
前記自動運転は、少なくとも操舵又は加減速について前記運転者の介入を必要としない運行状態を実施する自動運転モードと、前記車両の走行中に前記制御装置又は前記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領域内に停止させる自動停車モードとを含み、
前記介入検知装置は、前記運転者による操舵及び/又は加減速の操作を受け付ける運転操作装置を含み、
前記制御装置は、前記自動運転中における前記運転操作装置の操作量が閾値を超える場合に少なくとも前記運転操作装置に関する運転権限を前記運転者に委譲すると共に、前記自動運転モードの実行中の前記閾値を第1閾値に設定し、前記自動停車モードの実行中の前記閾値を前記第1閾値よりも大きな第2閾値に設定するように構成されたことを特徴とする車両制御システム。 - 前記閾値は、前記自動停車モードの実行による前記車両の停車後、時間の経過に従って徐々に又は段階的に小さくなることを特徴とする請求項1に記載の車両制御システム。
- 前記制御装置は、前記自動停車モードの実行による前記車両の停車後、イグニッションキー、変速レバー又はドアロック装置が操作されたときにも、少なくとも一部の運転権限を前記運転者に委譲することを特徴とする請求項1又は2に記載の車両制御システム。
- 前記運転操作装置は、ステアリングホイール、アクセルペダル及びブレーキペダルを含み、
前記制御装置は、前記ステアリングホイール及び前記アクセルペダルの双方の操作量がそれぞれの前記第2閾値を超えた場合、又は前記ステアリングホイール及び前記ブレーキペダルの双方の操作量がそれぞれの前記第2閾値を超えた場合に、少なくとも前記運転操作装置に関する運転権限を前記運転者に委譲するように構成されたことを特徴とする請求項1〜3のいずれか一項に記載の車両制御システム。 - 前記運転操作装置は、ステアリングホイール、アクセルペダル及びブレーキペダルを含み、
前記介入検知装置は、前記運転者が前記ステアリングホイールを把持しているか否かを検出するべく前記ステアリングホイールに設けられた把持センサを含み、
前記制御装置は、前記自動運転モードでは、前記把持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把持が検出された場合にも、少なくとも前記運転操作装置に関する運転権限を前記運転者に委譲し、前記自動停車モードでは、前記把持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把持が検出され、かつ前記運転操作装置の操作量が前記第2閾値を超える場合に、少なくとも前記運転操作装置に関する運転権限を前記運転者に委譲することを特徴とする請求項1〜3のいずれか一項に記載の車両制御システム。 - ハザードランプと、前記ハザードランプの点滅及び消灯を切り替えるスイッチとを更に備え、
前記制御装置は、前記自動停車モードでは、前記ハザードランプを点滅させ、前記スイッチが押されることによっても、少なくとも前記運転操作装置に関する運転権限を前記運転者に委譲することを特徴とする請求項1〜3のいずれか一項に記載の車両制御システム。 - 前記運転操作装置は、ステアリングホイールを含み、
前記制御装置は、前記ステアリングホイールの前記操作量が前記閾値以下の場合、前記ステアリングホイールに該操作量を打ち消す方向に働く反力を加えるように構成されたことを特徴とする請求項1〜3のいずれか一項に記載の車両制御システム。 - 前記制御装置は、前記自動停車モードの実行中に開始された操作の前記操作量が、前記第2閾値よりも大きい所定の値を超える場合、前記操作量の前記所定の値を超えた分の量は、前記車両の制御に反映させないように構成されたことを特徴とする請求項1〜7のいずれか一項に記載の車両制御システム。
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JP2019067650A JP7121681B2 (ja) | 2019-03-29 | 2019-03-29 | 車両制御システム |
CN202010212921.XA CN111762186A (zh) | 2019-03-29 | 2020-03-24 | 车辆控制系统 |
US16/832,648 US20200307642A1 (en) | 2019-03-29 | 2020-03-27 | Vehicle control system |
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JP7077083B2 (ja) * | 2018-03-15 | 2022-05-30 | 本田技研工業株式会社 | 表示システム、表示方法、およびプログラム |
JP7381230B2 (ja) * | 2019-06-28 | 2023-11-15 | トヨタ自動車株式会社 | 自動運転車両の操作装置 |
JP7200853B2 (ja) | 2019-06-28 | 2023-01-10 | トヨタ自動車株式会社 | 自動運転車両の車速制御装置 |
KR20210152095A (ko) * | 2020-06-05 | 2021-12-15 | 현대자동차주식회사 | 자율 주행 제어 방법 및 장치 |
KR102317921B1 (ko) * | 2020-06-09 | 2021-10-27 | 현대모비스 주식회사 | 전동식 조향시스템의 제어 장치 및 방법 |
KR20220008013A (ko) * | 2020-07-13 | 2022-01-20 | 현대모비스 주식회사 | 전동식 파워 스티어링 시스템의 제어 장치 및 방법 |
KR20220052430A (ko) * | 2020-10-20 | 2022-04-28 | 현대자동차주식회사 | 자율주행차량의 거동 제어 장치 및 그 방법 |
KR20220064445A (ko) * | 2020-11-11 | 2022-05-19 | 현대모비스 주식회사 | 전동식 조향시스템의 제어 장치 및 방법 |
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CN112722075B (zh) * | 2021-01-29 | 2022-09-06 | 重庆长安汽车股份有限公司 | 一种智能驾驶方向盘的接管方法 |
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- 2020-03-24 CN CN202010212921.XA patent/CN111762186A/zh not_active Withdrawn
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US20220204005A1 (en) * | 2020-12-28 | 2022-06-30 | Honda Motor Co., Ltd. | Vehicle control system and vehicle control method |
US11396303B2 (en) * | 2020-12-28 | 2022-07-26 | Honda Motor Co., Ltd. | Vehicle control system and vehicle control method |
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