JP6508095B2 - 車両の自動運転制御システム - Google Patents
車両の自動運転制御システム Download PDFInfo
- Publication number
- JP6508095B2 JP6508095B2 JP2016048834A JP2016048834A JP6508095B2 JP 6508095 B2 JP6508095 B2 JP 6508095B2 JP 2016048834 A JP2016048834 A JP 2016048834A JP 2016048834 A JP2016048834 A JP 2016048834A JP 6508095 B2 JP6508095 B2 JP 6508095B2
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- Prior art keywords
- driver
- alertness
- target
- control unit
- reliability
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Images
Classifications
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Description
本開示は以下を含む。
[構成1]
ドライバの状態を検出するドライバ状態センサと、前記ドライバに対する働き掛けを行うことが可能な働き掛け部と、電子制御ユニットと、を備えた、マニュアル運転と自動運転とを切り換え可能な車両の自動運転制御システムであって、
前記電子制御ユニットは、
自動運転を制御するように構成されている自動運転制御部と、
前記自動運転制御部の出力の信頼性の度合いを表す自動運転出力信頼度を算出するように構成されている信頼度算出部と、
前記自動運転に対するドライバの用心の度合いを表すドライバ用心度を前記ドライバ状態センサにより検出されたドライバの状態に基づいて算出するように構成されている用心度算出部と、
前記働き掛け部を制御して前記ドライバへの働き掛けの強さを制御するように構成されている働き掛け制御部と、
を備え、
前記自動運転出力信頼度及び前記ドライバ用心度により定まる動作点が属しうる領域に、前記自動運転出力信頼度が低くなるにつれて前記ドライバ用心度が高くなるように延びる少なくとも1本の境界線により複数の領域部分が区画されており、
前記働き掛け制御部は、前記動作点が属する領域部分に応じて異なるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
車両の自動運転制御システム。
[構成2]
前記複数の領域部分のうちの一部が目標領域部分に設定されており、
前記働き掛け制御部は、前記動作点が前記目標領域部分内に維持されるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
構成1に記載の車両の自動運転制御システム。
[構成3]
前記動作点が属しうる領域に少なくとも2本の前記境界線により少なくとも3つの領域部分が区画されており、
前記境界線のうち2本の境界線の間の領域部分が前記目標領域部分に設定されている、
構成2に記載の車両の自動運転制御システム。
[構成4]
前記目標領域部分外の前記領域に、前記境界線により、前記目標領域部分に近い前記領域部分と前記目標領域部分から遠い前記領域部分とが区画されており、
前記働き掛け制御部は、前記動作点が前記目標領域部分外にあるときにおいて、前記動作点が前記目標領域部分に近い前記領域部分に属するときと、前記動作点が前記目標領域部分から遠い前記領域部分に属するときとで、互いに異なるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
構成2又は3に記載の車両の自動運転制御システム。
[構成5]
ドライバの状態を検出するドライバ状態センサと、前記ドライバに対する働き掛けを行うことが可能な働き掛け部と、電子制御ユニットと、を備えた、マニュアル運転と自動運転とを切り換え可能な車両の自動運転制御システムであって、
前記電子制御ユニットは、
自動運転を制御するように構成されている自動運転制御部と、
前記自動運転制御部の出力の信頼性の度合いを表す自動運転出力信頼度を算出するように構成されている信頼度算出部と、
前記自動運転に対するドライバの用心の度合いを表すドライバ用心度を前記ドライバ状態センサにより検出されたドライバの状態に基づいて算出するように構成されている用心度算出部と、
前記ドライバ用心度の下限目標値である下限目標用心度を前記自動運転出力信頼度に基づいて算出するように構成されている目標用心度算出部であって、前記下限目標用心度は前記自動運転出力信頼度が低くなるにつれて高くなる、目標用心度算出部と、
前記下限目標用心度に対する前記ドライバ用心度の偏差である用心度偏差を算出するように構成されている用心度偏差算出部と、
前記働き掛け部を制御して前記ドライバへの働き掛けの強さを制御するように構成されている働き掛け制御部と、
を備え、
前記働き掛け制御部は、前記ドライバ用心度が前記下限目標用心度以上に維持されるようにかつ前記用心度偏差に応じて異なるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
車両の自動運転制御システム。
[構成6]
前記働き掛け制御部は、前記用心度偏差が小さいときには、前記用心度偏差が大きいときに比べて、強くなるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
構成5に記載の車両の自動運転制御システム。
[構成7]
ドライバの状態を検出するドライバ状態センサと、前記ドライバが視認可能な表示部と、電子制御ユニットと、を備えた、マニュアル運転と自動運転とを切り換え可能な車両の自動運転制御システムであって、
前記電子制御ユニットは、
自動運転を制御するように構成されている自動運転制御部と、
前記自動運転制御部の出力の信頼性の度合いを表す自動運転出力信頼度を算出するように構成されている信頼度算出部と、
前記自動運転に対するドライバの用心の度合いを表すドライバ用心度を前記ドライバ状態センサにより検出されたドライバの状態に基づいて算出するように構成されている用心度算出部と、
前記表示部を制御して前記表示部に前記自動運転出力信頼度及び前記ドライバ用心度を同時に表示するように構成されている表示制御部と、
を備える、車両の自動運転制御システム。
[構成8]
前記電子制御ユニットは、前記ドライバ用心度の下限目標である下限目標用心度を前記自動運転出力信頼度に基づいて算出するように構成されている目標用心度算出部であって、前記下限目標用心度は前記自動運転出力信頼度が低くなるにつれて高くなる、目標用心度算出部を更に備え、
前記表示制御部は前記表示部に、前記自動運転出力信頼度が高くなるにつれて第1の軸線に沿いつつ第1の端部から第2の端部に向かうように前記自動運転出力信頼度を表示し、前記ドライバ用心度が高くなるにつれて前記第1の軸線に沿いつつ前記第2の端部から前記第1の端部に向かうように前記ドライバ用心度を表示し、更に、前記ドライバ用心度が前記下限目標用心度に等しいときに、表示された前記自動運転出力信頼度と表示された前記ドライバ用心度とが前記第1の軸線に垂直な第2の軸線方向に見て互いに一致するように、前記自動運転出力信頼度及び前記ドライバ用心度を表示するように構成されている、
構成7に記載の車両の自動運転制御システム。
10 働き掛け部
20 電子制御ユニット
22 自動運転制御部
23 信頼度算出部
24 用心度算出部
25 働き掛け制御部
Claims (6)
- ドライバの状態を検出するドライバ状態センサと、前記ドライバに対する働き掛けを行うことが可能な働き掛け部と、電子制御ユニットと、を備えた、マニュアル運転と自動運転とを切り換え可能な車両の自動運転制御システムであって、
前記電子制御ユニットは、
自動運転を制御するように構成されている自動運転制御部と、
前記自動運転制御部の出力の信頼性の度合いを表す自動運転出力信頼度を算出するように構成されている信頼度算出部と、
前記自動運転に対するドライバの用心の度合いを表すドライバ用心度を前記ドライバ状態センサにより検出されたドライバの状態に基づいて算出するように構成されている用心度算出部と、
前記働き掛け部を制御して前記ドライバへの働き掛けの強さを制御するように構成されている働き掛け制御部と、
を備え、
前記自動運転出力信頼度及び前記ドライバ用心度により定まる動作点が属しうる領域に、前記自動運転出力信頼度が低くなるにつれて前記ドライバ用心度が高くなるように延びる少なくとも1本の境界線により複数の領域部分が区画されており、
前記働き掛け制御部は、前記動作点が属する領域部分に応じて異なるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
車両の自動運転制御システム。 - 前記複数の領域部分のうちの一部が目標領域部分に設定されており、
前記働き掛け制御部は、前記動作点が前記目標領域部分内に維持されるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
請求項1に記載の車両の自動運転制御システム。 - 前記動作点が属しうる領域に少なくとも2本の前記境界線により少なくとも3つの領域部分が区画されており、
前記境界線のうち2本の境界線の間の領域部分が前記目標領域部分に設定されている、
請求項2に記載の車両の自動運転制御システム。 - 前記目標領域部分外の前記領域に、前記境界線により、前記目標領域部分に近い前記領域部分と前記目標領域部分から遠い前記領域部分とが区画されており、
前記働き掛け制御部は、前記動作点が前記目標領域部分外にあるときにおいて、前記動作点が前記目標領域部分に近い前記領域部分に属するときと、前記動作点が前記目標領域部分から遠い前記領域部分に属するときとで、互いに異なるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
請求項2又は3に記載の車両の自動運転制御システム。 - ドライバの状態を検出するドライバ状態センサと、前記ドライバに対する働き掛けを行うことが可能な働き掛け部と、電子制御ユニットと、を備えた、マニュアル運転と自動運転とを切り換え可能な車両の自動運転制御システムであって、
前記電子制御ユニットは、
自動運転を制御するように構成されている自動運転制御部と、
前記自動運転制御部の出力の信頼性の度合いを表す自動運転出力信頼度を算出するように構成されている信頼度算出部と、
前記自動運転に対するドライバの用心の度合いを表すドライバ用心度を前記ドライバ状態センサにより検出されたドライバの状態に基づいて算出するように構成されている用心度算出部と、
前記ドライバ用心度の下限目標値である下限目標用心度を前記自動運転出力信頼度に基づいて算出するように構成されている目標用心度算出部であって、前記下限目標用心度は前記自動運転出力信頼度が低くなるにつれて高くなる、目標用心度算出部と、
前記下限目標用心度に対する前記ドライバ用心度の偏差である用心度偏差を算出するように構成されている用心度偏差算出部と、
前記働き掛け部を制御して前記ドライバへの働き掛けの強さを制御するように構成されている働き掛け制御部と、
を備え、
前記働き掛け制御部は、前記ドライバ用心度が前記下限目標用心度以上に維持されるようにかつ前記用心度偏差に応じて異なるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
車両の自動運転制御システム。 - 前記働き掛け制御部は、前記用心度偏差が小さいときには、前記用心度偏差が大きいときに比べて、強くなるように前記ドライバに対する働き掛けの強さを制御するように構成されている、
請求項5に記載の車両の自動運転制御システム。
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DE102017204039.4A DE102017204039B4 (de) | 2016-03-11 | 2017-03-10 | Autonomes fahrsteuersystem für ein fahrzeug |
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US10338584B2 (en) | 2019-07-02 |
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US20170261982A1 (en) | 2017-09-14 |
US10120380B2 (en) | 2018-11-06 |
US20190049956A1 (en) | 2019-02-14 |
CN107176169A (zh) | 2017-09-19 |
CN107176169B (zh) | 2019-10-08 |
US9864373B2 (en) | 2018-01-09 |
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