JP2021008160A - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP2021008160A JP2021008160A JP2019121674A JP2019121674A JP2021008160A JP 2021008160 A JP2021008160 A JP 2021008160A JP 2019121674 A JP2019121674 A JP 2019121674A JP 2019121674 A JP2019121674 A JP 2019121674A JP 2021008160 A JP2021008160 A JP 2021008160A
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- 230000001133 acceleration Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/007—Emergency override
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
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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
- 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
- B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
-
- 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
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/143—Touch sensitive instrument input devices
- B60K2360/1438—Touch screens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/143—Touch sensitive instrument input devices
- B60K2360/1438—Touch screens
- B60K2360/1442—Emulation of input devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/167—Vehicle dynamics information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/175—Autonomous driving
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0073—Driver overrides controller
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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
- B60W2540/00—Input parameters relating to occupants
-
- 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
- B60W2540/215—Selection or confirmation of options
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
自動運転モードでの走行中、オペレータは、緊急停止ボタン34を押す操作を行うことで、自動運転車両10を緊急停止させることができる。例えば、オペレータが自動運転車両10の周囲の状況を見て緊急停止をすることが考えられる。
自動運転モードでの走行中、オペレータは、SLOWDOWNボタン80を押す操作を行うことで、自動運転車両10の速度を低下させることができる。例えば、オペレータは、自動運転車両10が眺望のよい位置にいる場合、周囲に珍奇な物や人を見かけた場合、周囲に危険が予見される物がある場合などに、停止せずに低速走行を継続できるSLOWDOWNボタン80が有用となる。
自動運転モードでの走行中、オペレータは、SPEEDUPボタン92を押す操作を行うことで、自動運転車両10の速度を加速させることができる。加速とは、減速操作の取り消し、あるいは、以前の状態に向けた速度の回復ということもできる。
Claims (8)
- 自動運転モードでの走行が可能な自動運転車両に設けられる車両制御装置であって、
前記自動運転モードでの走行中に、オペレータの操作を受け付けて、前記自動運転車両を停止させる第1操作手段と、
前記自動運転モードでの走行中に、前記オペレータの操作を受け付けて、前記自動運転車両の速度を変更し、変更した後に前記自動運転モードでの走行を継続させる第2操作手段と、
を備えることを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記第2操作手段は、前記自動運転車両を所定の速度まで減速し、減速した後に当該速度を維持して前記自動運転モードでの走行を継続させる、ことを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記第1操作手段は、前記オペレータの押し操作または接触操作を受け付ける第1ボタンであり、
前記第2操作手段は、前記オペレータの押し操作または接触操作を受け付ける第2ボタンである、ことを特徴とする車両制御装置。 - 請求項3に記載の車両制御装置において、
前記第2ボタンは、前記オペレータが操作を継続した場合にも、前記自動運転車両を停止させることなく前記自動運転モードでの走行を継続させる、ことを特徴とする車両制御装置。 - 請求項3に記載の車両制御装置において、
前記第2ボタンは、前記オペレータの操作回数又は操作継続時間に応じた速度に前記自動運転車両を減速させた後に、当該速度を維持して前記自動運転モードでの走行を継続させる、ことを特徴とする車両制御装置。 - 請求項5に記載の車両制御装置において、
前記第2ボタンは、減速して走行している状態で前記オペレータが操作した場合に、操作回数または操作継続時間に応じた速度に前記自動運転車両を加速させた後に、当該速度を維持して前記自動運転モードでの走行を継続させる、ことを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記第1操作手段は、前記オペレータの押し操作を受け付けて前記自動運転車両を緊急停止させる緊急停止ボタンであり、
前記第2操作手段は、タッチパネルに設けられ、前記オペレータの押し操作または接触操作を受け付けて、前記自動運転車両を所定の速度まで減速させた後に、当該速度を維持して前記自動運転モードでの走行を継続させるボタンである、ことを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記自動運転車両は、アクセルペダル及びブレーキペダルを備えない車両である、ことを特徴とする車両制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019121674A JP7143822B2 (ja) | 2019-06-28 | 2019-06-28 | 車両制御装置 |
DE102020116387.8A DE102020116387A1 (de) | 2019-06-28 | 2020-06-22 | Fahrzeugsteuerungsvorrichtung |
US16/909,181 US20200406932A1 (en) | 2019-06-28 | 2020-06-23 | Vehicle control device |
CN202010587701.5A CN112141133B (zh) | 2019-06-28 | 2020-06-24 | 车辆控制装置 |
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JP2019121674A JP7143822B2 (ja) | 2019-06-28 | 2019-06-28 | 車両制御装置 |
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JP2021008160A true JP2021008160A (ja) | 2021-01-28 |
JP7143822B2 JP7143822B2 (ja) | 2022-09-29 |
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JP2019121674A Active JP7143822B2 (ja) | 2019-06-28 | 2019-06-28 | 車両制御装置 |
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US (1) | US20200406932A1 (ja) |
JP (1) | JP7143822B2 (ja) |
CN (1) | CN112141133B (ja) |
DE (1) | DE102020116387A1 (ja) |
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CN112937296B (zh) * | 2021-02-26 | 2023-08-08 | 深圳安途智行科技有限公司 | 自动驾驶车辆 |
KR20220163127A (ko) * | 2021-06-02 | 2022-12-09 | 현대자동차주식회사 | 자율주행 차량용 통합조작장치 |
CN113608463A (zh) * | 2021-07-16 | 2021-11-05 | 一汽奔腾轿车有限公司 | 一种整车试验用车速控制装置及方法 |
US11565719B1 (en) * | 2022-03-31 | 2023-01-31 | Plusai, Inc. | Methods and apparatus for causing a lane change maneuver of an autonomous vehicle |
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JP2011000935A (ja) * | 2009-06-17 | 2011-01-06 | Denso Corp | 車両用速度制御装置 |
JP2018055446A (ja) * | 2016-09-29 | 2018-04-05 | 株式会社デンソー | 車両運行管理システム |
WO2018135143A1 (ja) * | 2017-01-18 | 2018-07-26 | ヤンマー株式会社 | 無線通信端末装置 |
JP2018190317A (ja) * | 2017-05-11 | 2018-11-29 | 株式会社Zmp | 統合タクシー配車システム |
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GB2505024B (en) * | 2012-08-16 | 2015-02-18 | Jaguar Land Rover Ltd | System and method for controlling the speed of vehicle |
JP6375237B2 (ja) * | 2015-01-28 | 2018-08-15 | 日立オートモティブシステムズ株式会社 | 自動運転制御装置 |
WO2017138702A1 (ko) * | 2016-02-12 | 2017-08-17 | 엘지전자 주식회사 | 차량용 사용자 인터페이스 장치 및 차량 |
CN109562758B (zh) * | 2016-08-08 | 2020-07-17 | 日产自动车株式会社 | 自动驾驶车辆的控制方法及控制装置 |
JP6916647B2 (ja) * | 2017-03-31 | 2021-08-11 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
US10753763B2 (en) * | 2017-04-10 | 2020-08-25 | Chian Chiu Li | Autonomous driving under user instructions |
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2019
- 2019-06-28 JP JP2019121674A patent/JP7143822B2/ja active Active
-
2020
- 2020-06-22 DE DE102020116387.8A patent/DE102020116387A1/de active Pending
- 2020-06-23 US US16/909,181 patent/US20200406932A1/en not_active Abandoned
- 2020-06-24 CN CN202010587701.5A patent/CN112141133B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011000935A (ja) * | 2009-06-17 | 2011-01-06 | Denso Corp | 車両用速度制御装置 |
JP2018055446A (ja) * | 2016-09-29 | 2018-04-05 | 株式会社デンソー | 車両運行管理システム |
WO2018135143A1 (ja) * | 2017-01-18 | 2018-07-26 | ヤンマー株式会社 | 無線通信端末装置 |
JP2018190317A (ja) * | 2017-05-11 | 2018-11-29 | 株式会社Zmp | 統合タクシー配車システム |
Also Published As
Publication number | Publication date |
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CN112141133A (zh) | 2020-12-29 |
CN112141133B (zh) | 2024-04-02 |
DE102020116387A1 (de) | 2020-12-31 |
US20200406932A1 (en) | 2020-12-31 |
JP7143822B2 (ja) | 2022-09-29 |
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