JP6368957B2 - 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 - Google Patents
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 Download PDFInfo
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Description
図1は、各実施形態の車両制御システム100が搭載される車両(以下、自車両Mと称する)の構成要素を示す図である。車両制御システム100が搭載される車両は、例えば、二輪や三輪、四輪等の自動車であり、ディーゼルエンジンやガソリンエンジン等の内燃機関を動力源とした自動車や、電動機を動力源とした電気自動車、内燃機関および電動機を兼ね備えたハイブリッド自動車等を含む。電気自動車は、例えば、二次電池、水素燃料電池、金属燃料電池、アルコール燃料電池等の電池により放電される電力を使用して駆動される。
図2は、第1の実施形態に係る車両制御システム100を中心とした機能構成図である。自車両Mには、ファインダ20、レーダ30、およびカメラ40などを含む検知デバイスDDと、ナビゲーション装置50と、通信装置55と、車両センサ60と、HMI(Human Machine Interface)70と、車両制御システム100と、走行駆動力出力装置200と、ステアリング装置210と、ブレーキ装置220とが搭載される。これらの装置や機器は、CAN(Controller Area Network)通信線等の多重通信線やシリアル通信線、無線通信網等によって互いに接続される。なお、特許請求の範囲における車両制御システムは、「車両制御システム100」のみを指しているのではなく、車両制御システム100以外の構成(検知デバイスDDやHMI70など)を含んでもよい。
以下、車両制御システム100について説明する。車両制御システム100は、例えば、一以上のプロセッサまたは同等の機能を有するハードウェアにより実現される。車両制御システム100は、CPUなどのプロセッサ、記憶装置、および通信インターフェースが内部バスによって接続されたECU(Electronic Control Unit)、或いはMPU(Micro-Processing Unit)などが組み合わされた構成であってよい。
[モードA]
モードAは、最も自動運転の度合が高いモードである。モードAが実施されている場合、複雑な合流制御など、全ての車両制御が自動的に行われるため、車両乗員は自車両Mの周辺や状態を監視する必要が無い。
[モードB]
モードBは、モードAの次に自動運転の度合が高いモードである。モードBが実施されている場合、原則として全ての車両制御が自動的に行われるが、場面に応じて自車両Mの運転操作が車両乗員に委ねられる。このため、車両乗員は自車両Mの周辺や状態を監視している必要がある。
[モードC]
モードCは、モードBの次に自動運転の度合が高いモードである。モードCが実施されている場合、車両乗員は、場面に応じた確認操作をHMI70に対して行う必要がある。モードCでは、例えば、車線変更のタイミングが車両乗員に通知され、車両乗員がHMI70に対して車線変更を指示する操作を行った場合に、自動的な車線変更が行われる。このため、車両乗員は自車両Mの周辺や状態を監視している必要がある。
以下、第2の実施形態について説明する。第2の実施形態では、運転特性が導出されていない運転区間については、他の運転区間の運転特性に基づいて、当該区間の運転特性を推定する点で第1の実施形態と相違する。以下、係る相違点を中心に説明する。
以下、第3の実施形態について説明する。第3の実施形態では、手動運転モード時の運転特性を自動運転モードに反映させる際に、手動運転モードにおいて車両乗員が感じる体感速度と、自動運転モードにおいて車両乗員が感じる体感速度との差分を打ち消すためのゲインを運転特性に設定する点で第1および第2の実施形態と相違する。以下、係る相違点を中心に説明する。
Claims (10)
- 車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転モードと、前記速度制御および操舵制御の双方を前記車両の乗員の操作に基づき行う手動運転モードとを含む複数の運転モードのうちいずれかを実行する自動運転制御部と、
前記自動運転制御部により、前記手動運転モードが実行される場合に、前記車両の乗員による操作に基づき行われた前記速度制御および操舵制御のうち一方または双方の制御履歴に関する情報を収集する収集部と、
前記収集部により収集された情報に基づいて、前記車両の乗員ごとの運転特性を導出する運転特性導出部と、を備え、
前記自動運転制御部は、前記手動運転モードを実行する前記車両が第1の経路を走行している間に前記収集部によって収集された情報に基づいて前記運転特性導出部が導出した前記運転特性を、前記第1の経路に比して制限速度が大きい、または前記第1の経路と制限速度が同じ第2の経路での前記自動運転モードに反映させる、
車両制御システム。 - 前記運転特性は、前記車両の速度、加速度、躍度、ヨーレート、横方向加速度、または操舵角に関する特性のうち少なくとも一部を含む、
請求項1に記載の車両制御システム。 - 前記自動運転制御部は、前記車両を走行させる経路を含む計画に基づいて、前記複数の運転モードのうちいずれかを実行し、
前記収集部は、前記車両が走行する経路の種別ごとに前記制御履歴に関する情報を収集し、
前記運転特性導出部は、前記計画において前記車両が第1の経路を走行する際に前記自動運転モードの実行が予定されている場合、前記収集部により収集された情報のうち、前記第1の経路に設定された速度制限に比して同等のまたは厳しい速度制限が設定された第2の経路を前記車両が前記手動運転モードで走行した際に収集された情報に基づいて、前記第2の経路での乗員の運転特性を導出することで、前記第1の経路での自動運転モードに前記第2の経路での運転特性を反映させる、
請求項1または2に記載の車両制御システム。 - 前記運転特性導出部は、前記収集部により収集された情報に基づいて、第1の速度領域と、前記第1の速度領域に比して速度が大きい第2の速度領域であって、前記第1の経路に設定された速度制限以下である第2の速度領域とのそれぞれについて、前記運転特性を導出すると共に、前記速度領域ごとに導出した前記運転特性に基づいて、前記第2の速度領域に比して速度が大きい第3の速度領域に該当する前記第1の経路での運転特性を推定し、
前記自動運転制御部は、前記運転特性導出部により推定された前記運転特性を反映させた前記自動運転モードを、前記第1の経路において実行する、
請求項3に記載の車両制御システム。 - 前記運転特性導出部は、前記収集部により収集された情報のうち、収集頻度の高い情報を参照して、前記車両の乗員ごとの運転特性を導出する、
請求項1から4のうちいずれか1項に記載の車両制御システム。 - 前記運転特性導出部は、前記導出した運転特性に対して、前記手動運転モードにおいて前記車両の乗員が感じる体感速度と、前記自動運転モードにおいて前記車両の乗員が感じる体感速度との差分を打ち消すためのゲインを設定する、
請求項5に記載の車両制御システム。 - 前記車両の乗員から、前記ゲインの設定を変更するための操作を受け付ける操作部を更に備え、
前記運転特性導出部は、前記操作部に対してなされた操作に基づいて、前記導出した運転特性に対して設定したゲインを変更する、
請求項6に記載の車両制御システム。 - 前記運転特性導出部は、前記導出した運転特性に対して設定したゲインを、変更頻度が高い設定に変更する、
請求項7に記載の車両制御システム。 - 車載コンピュータが、
車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転モードと、前記速度制御および操舵制御の双方を前記車両の乗員の操作に基づき行う手動運転モードとを含む複数の運転モードのうちいずれかを実行し、
前記手動運転モードを実行する場合に、前記車両の乗員による操作に基づき行われた前記速度制御および操舵制御のうち一方または双方の制御履歴に関する情報を収集し、
前記収集した情報に基づいて、前記車両の乗員ごとの運転特性を導出し、
前記手動運転モードを実行する前記車両が第1の経路を走行している間に収集した情報に基づいて導出した前記運転特性を、前記第1の経路に比して制限速度が大きい、または前記第1の経路と制限速度が同じ第2の経路での前記自動運転モードに反映させる、
車両制御方法。 - 車載コンピュータに、
車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転モードと、前記速度制御および操舵制御の双方を前記車両の乗員の操作に基づき行う手動運転モードとを含む複数の運転モードのうちいずれかを実行させる処理と、
前記手動運転モードを実行させる場合に、前記車両の乗員による操作に基づき行われた前記速度制御および操舵制御のうち一方または双方の制御履歴に関する情報を収集させる処理と、
前記収集させた情報に基づいて、前記車両の乗員ごとの運転特性を導出させる処理と、
前記手動運転モードを実行する前記車両が第1の経路を走行している間に収集した情報に基づいて導出した前記運転特性を、前記第1の経路に比して制限速度が大きい、または前記第1の経路と制限速度が同じ第2の経路での前記自動運転モードに反映させる処理と、
を実行させるための車両制御プログラム。
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US11794786B2 (en) | 2019-01-21 | 2023-10-24 | Suzuki Motor Corporation | Vehicle control apparatus |
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CN107444405A (zh) | 2017-12-08 |
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