JP6431594B2 - 自動運転制御装置 - Google Patents
自動運転制御装置 Download PDFInfo
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- JP6431594B2 JP6431594B2 JP2017509441A JP2017509441A JP6431594B2 JP 6431594 B2 JP6431594 B2 JP 6431594B2 JP 2017509441 A JP2017509441 A JP 2017509441A JP 2017509441 A JP2017509441 A JP 2017509441A JP 6431594 B2 JP6431594 B2 JP 6431594B2
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
-
- 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
Description
Claims (5)
- 外界を認識する外界認識センサと前記外界認識センサの情報によってドライバーの操作によらず自動的に道路を走行するために車両のアクチュエータを制御する自動運転制御装置において、
ドライバーが運転しているときの外界認識情報および車両の状態情報を記録する学習記録装置と、
前記学習記録装置に記録されたデータに基づき自動運転時の制御量を算出する自動運転制御量算出装置と、
前記自動運転制御量算出装置で算出された制御量および前記学習記録装置から取得した自車縦方向速度、自車横方向速度、周辺物体位置に基づき周辺物体の相対縦方向位置および相対横方向位置からなる自動運転時の予測走行時データを算出する外界認識情報予測算出装置と、
前記予測走行時データと前記学習記録装置に記録された情報を比較する出力比較装置と、
前記出力比較装置で比較した結果がドライバーの運転に近づくように制御パラメータを設定する制御パラメータ設定装置と、を有し、
前記外界認識情報予測算出装置は、地図上の所定の区間毎の開始地点において、自動運転時の予測走行時データの算出を初期化し、
前記出力比較装置は、地図上の所定の区間毎に、ドライバー運転時と自動運転時の予測走行時データの差の二乗の積分値を算出し、
前記制御パラメータ設定装置は、前記積分値が所定の閾値を超えた場合、制御パラメータ変更することを特徴とする自動運転制御装置。 - 請求項1に記載の制御装置において、
前記制御パラメータ設定装置で設定された制御パラメータを地図上に記録することを特徴とする自動運転制御装置。 - 請求項2に記載の制御装置において、
前記地図上に設定された制御パラメータを、地図上から再度読み取って制御を実行する自動運転制御装置。 - 外界を認識する外界認識センサを有し、前記外界認識センサの情報によってドライバーの操作によらず自動的に道路を走行するために車両のアクチュエータを制御する自動運転制御装置において、
前記ドライバーが運転しているときの外界認識情報および車両の状態情報を記録する学習記録装置と、
前記学習記録装置に記録されたデータに基づき自動運転時の制御量を算出する自動運転制御量算出装置と、
前記自動運転制御量算出装置で算出された制御量および前記学習記録装置から取得した自車縦方向速度、自車横方向速度、周辺物体位置に基づき周辺物体の相対縦方向位置および相対横方向位置からなる自動運転時の予測走行時データを算出する外界認識情報予測算出装置と、
前記学習記録装置に記録された情報と前記予測走行時データとを比較する出力比較装置と、
前記出力比較装置で比較した結果がドライバーの運転に近づくように制御パラメータを設定する制御パラメータ設定装置と、を有し、
前記外界認識情報予測算出装置は、地図上の所定の区間毎の開始地点において、自動運転時の予測走行時データの算出を初期化し、
前記出力比較装置は、地図上の所定の区間毎に、ドライバー運転時と自動運転時の予測走行時データの差の二乗の積分値を算出し、
前記制御パラメータ設定装置は、前記積分値が所定の閾値を超えた場合、制御パラメータ変更し、
前記自動運転制御量算出装置の重み付け部は、前記出力比較装置で比較した結果がドライバーの運転に近づくように前記外界認識センサによって認識された認識物体の重み付けを変更することを特徴とする自動運転制御装置。 - 請求項4に記載の制御装置において、
前記認識物体の重み付けを制御パラメータとして地図上に記録し、同じ地図の位置に自車が達したときに、前記記録された制御パラメータ呼び出して使用することを特徴とする自動運転制御装置。
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JP2015070616 | 2015-03-31 | ||
JP2015070616 | 2015-03-31 | ||
PCT/JP2016/056696 WO2016158197A1 (ja) | 2015-03-31 | 2016-03-04 | 自動運転制御装置 |
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US (1) | US10518783B2 (ja) |
EP (1) | EP3279052A4 (ja) |
JP (1) | JP6431594B2 (ja) |
CN (1) | CN107207010B (ja) |
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