JP6439591B2 - 走行制御装置、走行制御方法 - Google Patents

走行制御装置、走行制御方法 Download PDF

Info

Publication number
JP6439591B2
JP6439591B2 JP2015110991A JP2015110991A JP6439591B2 JP 6439591 B2 JP6439591 B2 JP 6439591B2 JP 2015110991 A JP2015110991 A JP 2015110991A JP 2015110991 A JP2015110991 A JP 2015110991A JP 6439591 B2 JP6439591 B2 JP 6439591B2
Authority
JP
Japan
Prior art keywords
control state
travel control
concentration
vehicle
state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2015110991A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016222129A (ja
JP2016222129A5 (cg-RX-API-DMAC7.html
Inventor
応尚 瀬戸
応尚 瀬戸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2015110991A priority Critical patent/JP6439591B2/ja
Priority to PCT/JP2016/002255 priority patent/WO2016194300A1/ja
Priority to DE112016002444.4T priority patent/DE112016002444B4/de
Priority to CN201680030839.7A priority patent/CN107614347B/zh
Priority to US15/577,678 priority patent/US11027737B2/en
Publication of JP2016222129A publication Critical patent/JP2016222129A/ja
Publication of JP2016222129A5 publication Critical patent/JP2016222129A5/ja
Application granted granted Critical
Publication of JP6439591B2 publication Critical patent/JP6439591B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W60/0051—Handover processes from occupants to vehicle
    • 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
    • B60K28/00—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
    • 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
    • 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
    • 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
    • B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • 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
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • 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
    • B60W2050/0071—Controller overrides driver automatically
    • 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
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0088—Adaptive recalibration
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • 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
    • B60W2540/22—Psychological state; Stress level or workload
    • 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
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Medical Informatics (AREA)
  • Evolutionary Computation (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
JP2015110991A 2015-05-31 2015-05-31 走行制御装置、走行制御方法 Active JP6439591B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2015110991A JP6439591B2 (ja) 2015-05-31 2015-05-31 走行制御装置、走行制御方法
PCT/JP2016/002255 WO2016194300A1 (ja) 2015-05-31 2016-05-07 走行制御装置、走行制御方法
DE112016002444.4T DE112016002444B4 (de) 2015-05-31 2016-05-07 Fortbewegungssteuerungsvorrichtung und Fortbewegungssteuerungsverfahren
CN201680030839.7A CN107614347B (zh) 2015-05-31 2016-05-07 行驶控制装置、行驶控制方法
US15/577,678 US11027737B2 (en) 2015-05-31 2016-05-07 Travel control apparatus and travel control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015110991A JP6439591B2 (ja) 2015-05-31 2015-05-31 走行制御装置、走行制御方法

Publications (3)

Publication Number Publication Date
JP2016222129A JP2016222129A (ja) 2016-12-28
JP2016222129A5 JP2016222129A5 (cg-RX-API-DMAC7.html) 2017-09-07
JP6439591B2 true JP6439591B2 (ja) 2018-12-19

Family

ID=57440817

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015110991A Active JP6439591B2 (ja) 2015-05-31 2015-05-31 走行制御装置、走行制御方法

Country Status (5)

Country Link
US (1) US11027737B2 (cg-RX-API-DMAC7.html)
JP (1) JP6439591B2 (cg-RX-API-DMAC7.html)
CN (1) CN107614347B (cg-RX-API-DMAC7.html)
DE (1) DE112016002444B4 (cg-RX-API-DMAC7.html)
WO (1) WO2016194300A1 (cg-RX-API-DMAC7.html)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6686869B2 (ja) * 2016-12-22 2020-04-22 株式会社デンソー 運転交代制御装置、及び運転交代制御方法
DE102017206485A1 (de) * 2017-04-18 2018-10-18 Robert Bosch Gmbh Vorrichtung und Verfahren zur Steuerung eines Fahrzeugs
US10429842B2 (en) 2017-07-10 2019-10-01 Toyota Research Institute, Inc. Providing user assistance in a vehicle based on traffic behavior models
US10431081B2 (en) 2017-07-10 2019-10-01 Toyota Research Institute, Inc. Providing user assistance in a vehicle based on traffic behavior models
US10147324B1 (en) 2017-07-10 2018-12-04 Toyota Research Institute, Inc. Providing user assistance in a vehicle based on traffic behavior models
US11485230B2 (en) * 2017-11-24 2022-11-01 Volvo Truck Corporation Control panel for a vehicle
JP6974220B2 (ja) * 2018-03-12 2021-12-01 矢崎総業株式会社 車載システム
JP7027268B2 (ja) * 2018-06-25 2022-03-01 株式会社クボタ 作業車両
CN112367829B (zh) * 2018-06-25 2023-01-13 株式会社久保田 作业车辆
JP7182999B2 (ja) * 2018-11-08 2022-12-05 本田技研工業株式会社 運転支援装置
JP7560434B2 (ja) * 2021-10-19 2024-10-02 本田技研工業株式会社 走行制御システム
JP2023097576A (ja) * 2021-12-28 2023-07-10 パイオニア株式会社 通信システム、通信装置、サーバ装置、通信方法、通信プログラム及び記憶媒体

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001219760A (ja) * 2000-02-09 2001-08-14 Hitachi Ltd 移動体運転支援装置
JP2002329300A (ja) * 2001-04-27 2002-11-15 Honda Motor Co Ltd 車両の走行安全装置
JP3980868B2 (ja) 2001-11-02 2007-09-26 パイオニア株式会社 車両自動誘導システム、車両自動誘導システムにおける制御装置、車両自動誘導方法および自動誘導処理プログラム。
JP4203857B2 (ja) 2004-03-01 2009-01-07 株式会社デンソー 安全運転支援システム
JP5018258B2 (ja) 2007-06-11 2012-09-05 トヨタ自動車株式会社 運転支援装置案内システム、表示装置
JP5493842B2 (ja) * 2009-12-25 2014-05-14 トヨタ自動車株式会社 走行支援装置
JP5607409B2 (ja) 2010-04-06 2014-10-15 トヨタ自動車株式会社 対象物リスク予測装置
US8509982B2 (en) * 2010-10-05 2013-08-13 Google Inc. Zone driving
JP2015099406A (ja) * 2012-03-05 2015-05-28 アイシン精機株式会社 運転支援装置
WO2014013985A1 (ja) 2012-07-17 2014-01-23 日産自動車株式会社 運転支援システム及び運転支援方法
KR20140043536A (ko) * 2012-09-24 2014-04-10 현대자동차주식회사 자율주행 차량의 차량 제어권 전환 방법
WO2014083649A1 (ja) * 2012-11-29 2014-06-05 トヨタ自動車 株式会社 運転支援装置及び運転支援方法
US8825258B2 (en) * 2012-11-30 2014-09-02 Google Inc. Engaging and disengaging for autonomous driving
US8676431B1 (en) * 2013-03-12 2014-03-18 Google Inc. User interface for displaying object-based indications in an autonomous driving system
US20150066284A1 (en) * 2013-09-05 2015-03-05 Ford Global Technologies, Llc Autonomous vehicle control for impaired driver
JP6164165B2 (ja) 2013-11-01 2017-07-19 トヨタ自動車株式会社 車両用自動変速機
US10001777B2 (en) * 2014-04-25 2018-06-19 Nissan Motor Co., Ltd. Information presenting apparatus and information presenting method
JP6135618B2 (ja) * 2014-08-08 2017-05-31 トヨタ自動車株式会社 車両制御装置
JP6278565B2 (ja) * 2014-08-11 2018-02-14 本田技研工業株式会社 自動運転車両制御装置
JP2016090274A (ja) * 2014-10-30 2016-05-23 トヨタ自動車株式会社 警報装置、警報システム及び携帯端末
JP6079761B2 (ja) * 2014-12-04 2017-02-15 トヨタ自動車株式会社 運転支援装置、運転支援方法および運転支援プログラム
US10101742B2 (en) * 2014-12-07 2018-10-16 Toyota Motor Engineering & Manufacturing North America, Inc. Mixed autonomous and manual control of autonomous vehicles
JP6176263B2 (ja) * 2015-01-19 2017-08-09 トヨタ自動車株式会社 自動運転装置
JP6260544B2 (ja) * 2015-01-19 2018-01-17 トヨタ自動車株式会社 自動運転装置
KR101659034B1 (ko) * 2015-01-20 2016-09-23 엘지전자 주식회사 차량의 주행 모드 전환 장치 및 그 방법
US9944291B2 (en) * 2015-10-27 2018-04-17 International Business Machines Corporation Controlling driving modes of self-driving vehicles
US9958865B2 (en) * 2015-12-18 2018-05-01 GM Global Technology Operations LLC Systems and methods to enable or disable autonomous driving

Also Published As

Publication number Publication date
DE112016002444B4 (de) 2025-03-20
US20180154896A1 (en) 2018-06-07
US11027737B2 (en) 2021-06-08
CN107614347A (zh) 2018-01-19
DE112016002444T5 (de) 2018-02-22
JP2016222129A (ja) 2016-12-28
WO2016194300A1 (ja) 2016-12-08
CN107614347B (zh) 2020-03-13

Similar Documents

Publication Publication Date Title
JP6439591B2 (ja) 走行制御装置、走行制御方法
JP6528583B2 (ja) 運転支援制御装置
CN105564441B (zh) 警报装置、警报系统、警报方法及便携终端
EP3136366B1 (en) Information presentation device and information presentation method
JP6494782B2 (ja) 報知制御装置及び報知制御方法
CN109689476B (zh) 驾驶模式切换控制装置、方法以及存储介质
JP2006119965A (ja) 車載型警報システム
CN109843690B (zh) 驾驶模式切换控制装置、系统以及方法
JPWO2018042592A1 (ja) 自動運転レベル低下可否判定装置、自動運転レベル低下可否判定方法
US8013747B2 (en) Driving safety warning method and device for a drowsy or distracted driver
US20140210604A1 (en) Control system for controlling display device
JP2018132533A (ja) 警報装置、警報システム及び携帯端末
JP2020047165A (ja) 注意喚起報知装置、注意喚起報知方法、及びプログラム
JP2002342899A (ja) 運転支援装置及びプログラム
JP6524510B1 (ja) 自動運転車
JP7163077B2 (ja) 駐車支援装置、及び駐車支援方法
US20210244326A1 (en) System, information processing apparatus, and information processing method
JP2004310260A (ja) 一時停止警報装置
JP3945305B2 (ja) 運転者将来状況予測装置
JP2007001402A (ja) 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両
JP4265992B2 (ja) 運転支援装置
JP4506617B2 (ja) 車両用運転支援装置
KR101448793B1 (ko) 음성신호기반 안전 운행 장치 및 방법
JP4414175B2 (ja) 情報提供システムおよび情報提供方法
KR101202639B1 (ko) 교통 정보 알림 기능을 갖는 장치 및 그 동작방법

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170726

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170726

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180515

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20181023

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20181105

R151 Written notification of patent or utility model registration

Ref document number: 6439591

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250