JP6451512B2 - 運転支援装置、運転支援システム及び運転支援方法 - Google Patents
運転支援装置、運転支援システム及び運転支援方法 Download PDFInfo
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Description
(1)本発明の実施の形態に係る運転支援装置は、交差点に設置された交通信号機の信号情報を受信して車両の運転を支援する運転支援装置であって、車両の速度情報を取得する速度取得部と、前記車両と交差点との距離に関する情報を取得する距離情報取得部と、前記交差点までの距離、前記車両の速度及び前記信号情報に基づいて、前記車両が前記交差点の手前に停止するための停止条件及び前記交差点に進入するための進入条件により決定される危険走行状態を判定する走行状態判定部と、該走行状態判定部で前記危険走行状態にあると判定した場合、前記車両に前記交差点で停止させるか又は該交差点を通過させるかを決定する決定部と、該決定部の決定結果に応じて、前記車両が前記交差点に到達するまでの間、回生制動を伴う走行を行う回生時間帯又は惰性走行を行う惰性時間帯を特定する特定部とを備える。
以下、本発明に係る運転支援装置、運転支援システム及び運転支援方法の実施の形態を示す図面に基づいて説明する。図1は本発明に係る運転支援システムの概要を示す模式図である。本発明に係る運転支援システムでは、停止位置から道路に沿って適長の離隔距離(例えば、200m)を有して路上装置301、302を設置してある。また、路上装置301の上流側(例えば、路上装置301から上流300m程度)に、光ビーコン200を設置している。
a=−(μ×M×G×COSθ+k×V2 +M×G×SINθ)/M
ここで、μは転がり抵抗係数、Mは車両重量、Gは重力加速度、θは路面の傾斜角、kは空気抵抗係数である。目標速度Vrは、図3の進入条件Lを満たす速度―位置軌跡となるような、上述の微分方程式の解の初期値に対応する。なお、路面の傾斜角は地図データベース127から取得し、車両重量、空気抵抗係数及び重力加速度は、予め記憶部13に記憶しておき、転がり抵抗係数は、タイヤ空気圧センサなどを利用して推定すればよい。車両重量は、シートセンサ又は燃料計などを利用して補正してもよい。車両速度は、車速センサ124、車両加速度は、加速度センサ128を用いて取得する。
11 通信部
12 測位部
121 カメラ
122 外界センサ
123 GPS
124 車速センサ
125 ジャイロセンサ
126 距離計
127 地図データベース
128 加速度センサ
13 記憶部
14 HMI
15 走行状態判定部
16 決定部
17 特定部
18 充電状態取得部
19 算出部
20 調整部
21 目標速度算出部
22 走行制御部
50 蓄電池
51 エンジン
52 MG(ALT)
53 変速機
54 ブレーキペダル
100 運転支援装置
200 光ビーコン
301、302 路上装置
400 通信装置
Claims (12)
- 交差点に設置された交通信号機の信号情報を受信して車両の運転を支援する運転支援装置であって、
車両の速度情報を取得する速度取得部と、
前記車両と交差点との距離に関する情報を取得する距離情報取得部と、
前記交差点までの距離、前記車両の速度及び前記信号情報に基づいて、前記車両が前記交差点の手前に停止するための停止条件及び前記交差点に進入するための進入条件により決定される危険走行状態を判定する走行状態判定部と、
該走行状態判定部で前記危険走行状態にあると判定した場合、前記車両に前記交差点で停止させるか又は該交差点を通過させるかを決定する決定部と、
該決定部の決定結果に応じて、前記車両が前記交差点に到達するまでの間、回生制動を伴う走行を行う回生時間帯又は惰性走行を行う惰性時間帯を特定する特定部と
を備える運転支援装置。 - 前記車両に搭載された蓄電池の充電状態を取得する充電状態取得部を備え、
前記特定部は、
前記充電状態取得部で取得した充電状態に応じて、前記回生時間帯又は惰性時間帯を特定するようにしてある請求項1に記載の運転支援装置。 - 前記決定部で前記車両に前記交差点で停止させると決定した場合に、該車両が停止するまでに回収可能な回生エネルギーを算出する算出部を備え、
前記特定部は、
前記算出部で算出した回生エネルギーが、前記蓄電池を満充電状態にするのに要する充電エネルギーよりも大きい場合、前記車両が前記交差点で停止したときに前記蓄電池が満充電状態となるように前記回生時間帯又は惰性時間帯を特定するようにしてある請求項2に記載の運転支援装置。 - 前記充電状態取得部は、
前記蓄電池の充電停止状態を取得するようにしてあり、
前記特定部は、
前記充電状態取得部で充電停止状態を取得したときは、該取得した時点から前記惰性時間帯を特定するようにしてある請求項3に記載の運転支援装置。 - 前記充電状態取得部は、
前記蓄電池の充電開始状態を取得するようにしてあり、
前記特定部は、
前記充電状態取得部で充電開始状態を取得したときは、該取得した時点から前記回生時間帯を特定するようにしてある請求項4に記載の運転支援装置。 - 前記決定部で前記車両に前記交差点で停止させると決定し、前記車両が回生制動を伴う走行をした場合に、前記車両が前記交差点で停止したときに前記蓄電池が満充電状態となるように回生発電量を調整する調整部を備える請求項3から請求項5までのいずれか1項に記載の運転支援装置。
- 前記特定部は、
前記算出部で算出した回生エネルギーが、前記蓄電池を満充電状態にするのに要する充電エネルギーよりも小さい場合、前記回生時間帯を特定するようにしてある請求項3に記載の運転支援装置。 - 前記特定部は、
前記決定部で前記車両に前記交差点を通過させると決定した場合、前記惰性時間帯を特定するようにしてある請求項1又は請求項2に記載の運転支援装置。 - 前記進入条件を満たす目標速度を算出する目標速度算出部を備え、
前記特定部は、
前記車両が加速又は減速し該車両の速度が前記目標速度に達した時点から前記惰性時間帯を特定するようにしてある請求項8に記載の運転支援装置。 - 前記特定部が特定した回生時間帯又は惰性時間帯に応じて前記車両が回生制動を伴う走行又は惰性走行を行うべく制御する走行制御部を備える請求項1から請求項9までのいずれか1項に記載の運転支援装置。
- 請求項1から請求項10までのいずれか1項に記載の運転支援装置と、交差点に設置された交通信号機の信号情報を送信する送信装置とを備え、
前記運転支援装置は、
前記送信装置が送信した信号情報を受信するようにしてある運転支援システム。 - 交差点に設置された交通信号機の信号情報を受信して車両の運転を支援する運転支援方法であって、
車両の速度情報を速度取得部が取得するステップと、
前記車両と交差点との距離に関する情報を距離情報取得部が取得するステップと、
前記交差点までの距離、前記車両の速度及び前記信号情報に基づいて、前記車両が前記交差点の手前に停止するための停止条件及び前記交差点に進入するための進入条件により決定される危険走行状態を走行状態判定部が判定するステップと、
前記危険走行状態にあると判定された場合、前記車両に前記交差点で停止させるか又は該交差点を通過させるかを決定部が決定するステップと、
決定結果に応じて、前記車両が前記交差点に到達するまでの間、回生制動を伴う走行を行う回生時間帯又は惰性走行を行う惰性時間帯を特定部が特定するステップと
を含む運転支援方法。
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