JP6042794B2 - 車両制御方法 - Google Patents
車両制御方法 Download PDFInfo
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- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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Description
[第1の実施形態]
図1は本発明の一実施形態にかかる車両制御装置の構成を示すブロック図である。この制御装置は車両1に搭載されており、電子制御ユニット(以下「ECU」という)10と、ECU10に接続されたレーダ11F,11R、車両1の前方及び後方の画像を取得するカメラ12F,12R、車両1の運転者の頭部の画像を取得するカメラ13、車両1の運転者が緊急時、例えば心臓発作などで意識がなくなりかけたときにオンするための緊急スイッチ14、車両1の車速を検出する車速センサ15、車両1のヨーレート(車両重心の上下方向軸回りの回転角速度)を検出するヨーレートセンサ16、及び車両1のステアリングホイールの転舵角ASTを検出する転舵角センサ17と、通信ユニット31と、ナビゲーションユニット32と、車両1を駆動する内燃機関のスロットル弁を駆動するスロットルアクチュエータ21、車両1のブレーキを駆動するブレーキアクチュエータ22と、車両1のステアリングシャフトを駆動する転舵アクチュエータ23とを備えている。ECU10にはさらに車両1が自律自動運転を行うときにそのことを運転者に通知するためのLED表示器41と、車両1を駆動する内燃機関及び変速機を制御するECU42が接続されている。なお、車両1はレーダ電波のリフレクタを車両後部及び前部に備えていることが望ましい。
車両VCが緊急事態情報を受信し、先導車両VRとなり、先導車両VRは、現在位置に近い位置であって進行方向前方の位置を合流位置PJNとして決定し、先導車両情報を送信する。先導車両VRが合流位置PJNに停止すると、通信不能車両VXは先導車両VRを避けて進行する(図3(b))。運転不能車両VEは、現在走行中の道路上を自律自動運転によって走行し、車両間通信によって先導車両VRを認識して、図3(c)に示すように、先導車両VRの直ぐ後ろに停止する。その後は図2に示す例と同様に、最終停止位置PDSTまで隊列走行によって移動する。
ステップS11では、緊急スイッチ(EM−SW)14がオンされたか否かを判別し、その答が否定(NO)であるときは、運転不能状態検知フラグFEMDETが「1」であるか否かを判別する(ステップS12)。運転不能状態検知フラグFEMDETは、図示しない運転不能状態検知処理において、車両1の運転者が運転不能状態となったと判定されたとき「1」に設定される。
ステップS31では、緊急事態情報を受信したか否かを判別し、受信したときはステップS32に進んで運転不能車両VEが同一道路を走行中であるか否かを判別する。この答が否定(NO)であるときは処理を終了する。
本実施形態における位置情報の取得はナビゲーションユニット32によって行われる。また、自律自動運転においてはカメラ12F,12Rによって取得される画像情報が必要に応じて参照される。
上述した実施形態では、運転不能車両VEと先導車両VRとの車両間通信によって、緊急事態情報及び先導車両情報の送受信を行うにしたが、この通信は、運転不能車両VE及び先導車両VRと通信可能な外部サーバ(緊急対応センタ)SVRを介して行うようにしてもよい。その場合には、緊急事態情報は外部サーバSVRを介して他車両VCに送信され、先導車両情報は外部サーバSVRを介して運転不能車両VEに送信される。
本実施形態は、運転者が運転不能状態となったときは、その運転不能状態の検知または判定結果の外部への通知後であって合流位置PJNの取得前に運転不能車両VEを停止させ、その停止位置PSTPを合流位置PJNとして、先導車両VRが合流位置PJNに向かうようにしたものである。さらに、上述した実施形態では、同じ車両制御装置を備える車両VCが同一道路上を走行している場合のみ、先導車両VRとして機能するようにしたが、本実施形態では、運転不能車両VEが停止している停止道路RSTPまでは、ナビゲーションユニットによる案内を行い、車両VCの運転者に先導車両VRとなるように促し、車両VCが停止道路RSTPに到達した時点以後に、先導車両VRとして合流位置PJNまでの自律自動運転を行うようにしたものである。以下に説明する点以外は、第1の実施形態と同一である。
なお、ステップS43の答が否定(NO)である状態が所定時間継続したときは、処理を終了する。
10 電子制御ユニット
11F,11R レーダ
12F,12R カメラ
13 カメラ
14 緊急スイッチ
21 スロットルアクチュエータ
22 ブレーキアクチュエータ
23 ステアリングアクチュエータ
31 通信ユニット
32 ナビゲーションユニット
42 電子制御ユニット
VE 運転不能車両(第1車両)
VR 先導車両(第2車両)
Claims (2)
- 第1及び第2車両を制御する車両制御方法であって、
a)前記第1車両において、該第1車両の運転者の運転不能状態を検知または判定し、
b)前記第1車両において、前記運転者が運転不能状態となったと検知または判定されたときに、該検知判定結果を外部に通知し、
c)前記第2車両において、前記ステップb)の通知に基づいて、前記第1車両の運転者が運転不能状態となったことを認識し、
d)前記第1車両において前記第2車両との合流位置を取得し、
e)前記第2車両において前記第1車両との合流位置を取得し、
f)前記第1及び第2車両において、前記合流位置までの自律自動運転を実行し、
g)前記第1車両において前記合流位置で前記第2車両を認識し、
h)前記第2車両において前記合流位置で前記第1車両を認識し、
i)前記第1車両において前記第2車両を自動追従する追従走行制御を実行するとともに、前記第2車両において前記第1車両を医療機関の近傍の最終停止位置まで先導する先導走行制御を実行するステップを含み、
前記第1車両において、前記運転者が運転不能状態となったと検知または判定されたときに、前記ステップb)の実行後であって前記ステップd)の実行前に前記第1車両を停止させ、その停止位置を前記合流位置とすることを特徴とする車両制御方法。 - 前記第1車両の運転者による操作を受け付ける操作系を無効化するステップをさらに含む請求項1に記載の車両制御方法。
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JP2013250030A JP6042794B2 (ja) | 2013-12-03 | 2013-12-03 | 車両制御方法 |
US14/547,701 US9429941B2 (en) | 2013-12-03 | 2014-11-19 | Control apparatus of vehicle |
DE102014224645.8A DE102014224645A1 (de) | 2013-12-03 | 2014-12-02 | Steuer-/Regeleinrichtung eines Fahrzeugs |
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JP2013250030A JP6042794B2 (ja) | 2013-12-03 | 2013-12-03 | 車両制御方法 |
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JP2015108860A JP2015108860A (ja) | 2015-06-11 |
JP6042794B2 true JP6042794B2 (ja) | 2016-12-14 |
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JP (1) | JP6042794B2 (ja) |
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US11334092B2 (en) | 2011-07-06 | 2022-05-17 | Peloton Technology, Inc. | Devices, systems, and methods for transmitting vehicle data |
WO2014145918A1 (en) | 2013-03-15 | 2014-09-18 | Peloton Technology, Inc. | Vehicle platooning systems and methods |
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