JP2022053086A - 自己位置推定システム及び自己位置推定方法 - Google Patents
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
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- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
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Abstract
Description
最初に、図1~図5を参照して、本発明の第一実施形態について説明する。
図1は、本発明の第一実施形態に係る自己位置推定システムが設けられるハイブリッド車両1の構成の一例を示す図である。ハイブリッド車両1は、撮像装置11a、内燃機関31、第1電動発電機32、動力分割機構33、第2電動発電機34、パワーコントロールユニット(PCU)35、バッテリ36及び減速機37を備える。
図2は、本発明の第一実施形態に係る自己位置推定システム10の構成を概略的に示す図である。自己位置推定システム10は、ハイブリッド車両1に搭載され、ハイブリッド車両1の位置(現在位置)を推定する。
以下、図5のフローチャートを用いて、上述した制御について詳細に説明する。図5は、本発明の第一実施形態における自己位置推定処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU20によって所定の実行間隔で繰り返し実行される。
第二実施形態に係る自己位置推定システムの構成及び制御は、以下に説明する点を除いて、基本的に第一実施形態に係る自己位置推定システムの構成及び制御と同様である。このため、以下、本発明の第二実施形態について、第一実施形態と異なる部分を中心に説明する。
図8は、本発明の第二実施形態における自己位置推定処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU20によって所定の実行間隔で繰り返し実行される。
第三実施形態に係る自己位置推定システムの構成及び制御は、以下に説明する点を除いて、基本的に第一実施形態に係る自己位置推定システムの構成及び制御と同様である。このため、以下、本発明の第三実施形態について、第一実施形態と異なる部分を中心に説明する。
図10は、本発明の第三実施形態における自己位置推定処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU20によって所定の実行間隔で繰り返し実行される。
第四実施形態に係る自己位置推定システムの構成及び制御は、以下に説明する点を除いて、基本的に第一実施形態に係る自己位置推定システムの構成及び制御と同様である。このため、以下、本発明の第四実施形態について、第一実施形態と異なる部分を中心に説明する。
10、10’、10” 自己位置推定システム
11a 撮像装置
11b 路車間通信機
12 GNSS受信機
20 電子制御ユニット(ECU)
25 識別部
26 位置推定部
31 内燃機関
34 第2電動発電機
36 バッテリ
Claims (9)
- 内燃機関、電気モータ及びバッテリを備えるハイブリッド車両の位置を推定する自己位置推定システムであって、
GNSS受信機と、
前記ハイブリッド車両の周囲の物体を検出する物体検出装置と、
前記物体検出装置によって検出された物体を識別する識別部と、
前記GNSS受信機の出力に基づいて前記ハイブリッド車両の位置を推定する位置推定部と
を備え、
前記位置推定部は、所定条件が満たされ、且つ、前記識別部によって識別された物体が、前記内燃機関の停止を要求する低排出ゾーンの境界を示す物体である場合には、前記GNSS受信機の出力に関わらず、前記識別部による識別結果に基づいて、前記ハイブリッド車両が前記低排出ゾーン内に位置しているか否かを判定する、自己位置推定システム。 - 前記物体検出装置は、前記ハイブリッド車両の外部を撮影して画像を生成する撮像装置であり、
前記低排出ゾーンの境界を示す物体は表示物である、請求項1に記載の自己位置推定システム。 - 前記識別部は、識別結果と該識別結果の確信度とを出力する学習済みのニューラルネットワークモデルを用いて、前記物体検出装置によって検出された物体を識別し、
前記所定条件は、前記確信度が所定値以上であることを含む、請求項2に記載の自己位置推定システム。 - 前記所定条件は、前記ハイブリッド車両の現在の走行環境が、前記撮像装置による検出精度が悪化する所定の走行環境ではないことを含む、請求項2に記載の自己位置推定システム。
- 前記物体検出装置は路車間通信機であり、
前記低排出ゾーンの境界を示す物体は路側機である、請求項1に記載の自己位置推定システム。 - 前記所定条件は、前記ハイブリッド車両が前記低排出ゾーン近傍に位置していることを含む、請求項1から5のいずれか1項に記載の自己位置推定システム。
- 前記GNSS受信機の出力結果の信頼度を算出する信頼度算出部を更に備え、
前記所定条件は前記信頼度が基準値以下であることを含む、請求項1から6のいずれか1項に記載の自己位置推定システム。 - 前記位置推定部は前記ハイブリッド車両の外部のサーバから該ハイブリッド車両の位置情報を受信し、
前記所定条件は、前記ハイブリッド車両と前記サーバとの間の通信が遮断されていることを含む、請求項1から7のいずれか1項に記載の自己位置推定システム。 - 内燃機関、電気モータ及びバッテリを備えるハイブリッド車両の位置を推定する自己位置推定方法であって、
前記ハイブリッド車両の周囲の物体を物体検出装置によって検出することと、
前記物体検出装置によって検出された物体を識別することと、
GNSS受信機の出力に基づいて前記ハイブリッド車両の位置を推定することと、
所定条件が満たされ、且つ、識別された物体が、前記内燃機関の停止を要求する低排出ゾーンの境界を示す物体である場合には、前記GNSS受信機の出力に関わらず、前記物体検出装置によって検出された物体の識別結果に基づいて、前記ハイブリッド車両が前記低排出ゾーン内に位置しているか否かを判定することと
を含む、自己位置推定方法。
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JP2020159696A JP2022053086A (ja) | 2020-09-24 | 2020-09-24 | 自己位置推定システム及び自己位置推定方法 |
US17/412,267 US11772631B2 (en) | 2020-09-24 | 2021-08-26 | Home position estimation system and home position estimation method |
CN202111073108.XA CN114248755A (zh) | 2020-09-24 | 2021-09-14 | 自身位置推定系统及自身位置推定方法 |
EP21197954.7A EP3974267A1 (en) | 2020-09-24 | 2021-09-21 | Position estimation system and position estimation method |
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