JP6475543B2 - 車両制御装置、及び車両制御方法 - Google Patents
車両制御装置、及び車両制御方法 Download PDFInfo
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Description
Claims (5)
- 自車両(50)の周囲の物標を検出する物標検出手段(21)が取り付けられた車両に適用され、前記物標検出手段の検出結果に基づいて前記車両の走行制御を実施する車両制御装置(10)であって、
前記物標検出手段による前記物標の検出位置に基づき算出された前記物標検出手段の角度ずれ情報を所定周期で取得する取得手段と、
前記取得手段により取得した前記角度ずれ情報について起動後における履歴を統計処理することで、前記物標検出手段の取付角度のずれ量である軸ずれ角度を算出する角度算出手段と、
前記起動後における、前記角度算出手段が前記履歴を統計処理することで前記軸ずれ角度を算出するよりも前の初期期間が経過するまでにおいて、前記物標検出手段の取付角度のずれ量をあらかじめ定めた初期角度として、その状態で前記初期角度に基づいて前記走行制御の実施及びその作動制限を行う第1制御手段と、
前記起動後に前記初期期間が経過した後において、前記角度算出手段で算出した前記軸ずれ角度に基づいて前記走行制御の作動制限を行う第2制御手段と、
前記起動後に前記初期期間が経過するまでにおいて、前記角度算出手段により算出した前記軸ずれ角度が所定の許容範囲にあるか否かを判定する第1判定手段と、を備え、
前記第1制御手段は、前記取得手段により取得した前記角度ずれ情報の起動後の取得回数が所定の第1閾値よりも小さい場合に前記初期期間であるとし、前記初期角度に基づいて前記走行制御の作動制限を行い、
前記第2制御手段は、前記取得手段により取得した前記角度ずれ情報の起動後の取得回数が前記第1閾値よりも大きい場合に前記初期期間ではないとし、前記角度算出手段により算出した前記軸ずれ角度に基づいて前記走行制御の作動制限を行うとともに、前記初期期間が経過した時点で、前記第1判定手段により前記軸ずれ角度が前記許容範囲内にあると判定されていれば前記走行制御の作動制限を行わない通常モードに移行し、前記第1判定手段により前記軸ずれ角度が前記許容範囲内にないと判定されていれば、前記軸ずれ角度に基づいて前記走行制御の作動制限を行う制限モードに移行する車両制御装置。 - 前記起動後に前記初期期間が経過した後において、前記角度算出手段により算出した前記軸ずれ角度が所定の許容範囲にあるか否かを判定する第2判定手段を備え、
前記第2制御手段は、前記通常モードの状況下において前記第2判定手段により前記軸ずれ角度が前記許容範囲内にないと判定されると前記制限モードに移行し、前記制限モードの状況下において前記第2判定手段により前記軸ずれ角度が前記許容範囲内にあると判定されると前記通常モードに移行する請求項1に記載の車両制御装置。 - 前記角度ずれ情報の取得回数が前記第1閾値よりも大きい第2閾値に達した際に、前記角度算出手段により算出した前記軸ずれ角度が前記許容範囲にあるか否かを判定する第3判定手段を備え、
前記第2制御手段は、前記角度ずれ情報の取得回数が前記第2閾値に達した際に、前記第3判定手段により前記軸ずれ角度が前記許容範囲内にないと判定された場合には、前記走行制御の作動制御を禁止する請求項1又は2に記載の車両制御装置。 - 前記取得手段で取得された軸ずれ角度に基づいて前記物標検出手段で検出した前記物標の位置に関する情報を補正する位置情報補正手段を備えている請求項1乃至3のいずれか1項に記載の車両制御装置。
- 自車両(50)の周囲の物標を検出する物標検出手段(21)が取り付けられた車両に適用され、前記物標検出手段の検出結果に基づいて前記車両の走行制御を実施する車両制御装置(10)により実行される車両制御方法であって、
前記物標検出手段による前記物標の検出位置に基づき算出された前記物標検出手段の角度ずれ情報を所定周期で取得する取得ステップと、
前記角度ずれ情報について起動後における履歴を統計処理することで、前記物標検出手段の取付角度のずれ量である軸ずれ角度を算出する角度算出ステップと、
前記起動後における、前記角度算出ステップにより前記履歴を統計処理することで前記軸ずれ角度を算出するよりも前の初期期間が経過するまでにおいて、前記物標検出手段の取付角度のずれ量をあらかじめ定めた初期角度として、その状態で前記初期角度に基づいて前記走行制御の実施及びその作動制限を行う第1制御ステップと、
前記起動後に前記初期期間が経過した後において、前記角度算出ステップで算出した前記軸ずれ角度に基づいて前記走行制御の作動制限を行う第2制御ステップと、
前記起動後に前記初期期間が経過するまでにおいて、前記角度算出ステップにより算出した前記軸ずれ角度が所定の許容範囲にあるか否かを判定する第1判定ステップと、を有し、
前記第1制御ステップは、前記取得ステップにより取得した前記角度ずれ情報の起動後の取得回数が所定の第1閾値よりも小さい場合に前記初期期間であるとし、前記初期角度に基づいて前記走行制御の作動制限を行い、
前記第2制御ステップは、前記取得ステップにより取得した前記角度ずれ情報の起動後の取得回数が前記第1閾値よりも大きい場合に前記初期期間ではないとし、前記角度算出ステップにより算出した前記軸ずれ角度に基づいて前記走行制御の作動制限を行うとともに、前記初期期間が経過した時点で、前記第1判定ステップにより前記軸ずれ角度が前記許容範囲内にあると判定されていれば前記走行制御の作動制限を行わない通常モードに移行し、前記第1判定ステップにより前記軸ずれ角度が前記許容範囲内にないと判定されていれば、前記軸ずれ角度に基づいて前記走行制御の作動制限を行う制限モードに移行する車両制御方法。
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