JP6521468B2 - 自動操舵制御装置 - Google Patents
自動操舵制御装置 Download PDFInfo
- Publication number
- JP6521468B2 JP6521468B2 JP2017117963A JP2017117963A JP6521468B2 JP 6521468 B2 JP6521468 B2 JP 6521468B2 JP 2017117963 A JP2017117963 A JP 2017117963A JP 2017117963 A JP2017117963 A JP 2017117963A JP 6521468 B2 JP6521468 B2 JP 6521468B2
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- Prior art keywords
- steering
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- 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.)
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- 230000005856 abnormality Effects 0.000 claims description 41
- 230000002159 abnormal effect Effects 0.000 claims description 12
- 238000003745 diagnosis Methods 0.000 description 17
- 238000000034 method Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- 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
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
- G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
Description
2 操舵装置
3 外部環境認識装置
4 地図情報認識装置
4a 測位装置
4b 地図情報記憶部
5 異常診断装置
6 報知装置
10 操舵指示装置
11 指示値演算部
12 推定指示値演算部
20 操舵制御装置
21 記憶部
22 指示値診断部
23 異常時処理部
24 操舵制御部
100 自動操舵システム。
Claims (2)
- 車両の操舵装置の動作を制御する自動操舵制御装置であって、
前記車両の外部環境情報及び前記車両が走行している道路の地図情報の少なくとも一方の最新の情報に基づいて、前記車両の直前の道路の形状に応じた最新進路を算出し、当該最新進路に沿って前記車両を走行させるために前記操舵装置に出力する指示値を算出する指示値演算部、
前記外部環境情報及び前記地図情報の少なくとも一方の情報に基づいて、前記車両が将来走行する道路の形状に応じた将来進路を算出し、当該将来進路に沿って前記車両を走行させる場合に前記操舵装置に出力すべきと推定される推定指示値を算出する推定指示値演算部、
を備える操舵指示装置と、
過去の所定の期間中において前記推定指示値演算部から受信した前記推定指示値を記憶する記憶部、
前記車両が走行中の現在の地点における前記指示値と、前記車両が走行中の現在の地点に対応して前記記憶部に記憶されている前記推定指示値とを比較し、前記操舵指示装置の異常の有無を診断する指示値診断部、
前記指示値に基づいて前記操舵装置の動作を制御する操舵制御部、
を備える操舵制御装置と、
を有することを特徴とする自動操舵制御装置。 - 前記指示値診断部は、前記指示値と前記推定指示値とが所定の閾値に範囲内にある場合には、前記操舵指示装置は正常であると判断して、前記操舵制御部に前記指示値を出力し、前記指示値と前記推定指示値とが所定の閾値に範囲外に乖離している場合、前記操舵指示装置は異常であると判断して、前記指示値の出力を停止することを特徴とする請求項1に記載の自動操舵制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017117963A JP6521468B2 (ja) | 2017-06-15 | 2017-06-15 | 自動操舵制御装置 |
US15/951,035 US10824161B2 (en) | 2017-06-15 | 2018-04-11 | Automatic steering control apparatus |
DE102018111114.2A DE102018111114A1 (de) | 2017-06-15 | 2018-05-09 | Automatische Lenksteuerungsvorrichtung |
CN201810466086.5A CN109131551B (zh) | 2017-06-15 | 2018-05-16 | 自动转向控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017117963A JP6521468B2 (ja) | 2017-06-15 | 2017-06-15 | 自動操舵制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019001316A JP2019001316A (ja) | 2019-01-10 |
JP6521468B2 true JP6521468B2 (ja) | 2019-05-29 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017117963A Active JP6521468B2 (ja) | 2017-06-15 | 2017-06-15 | 自動操舵制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10824161B2 (ja) |
JP (1) | JP6521468B2 (ja) |
CN (1) | CN109131551B (ja) |
DE (1) | DE102018111114A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7363118B2 (ja) * | 2019-06-14 | 2023-10-18 | マツダ株式会社 | 外部環境認識装置 |
CN114954647A (zh) * | 2022-07-19 | 2022-08-30 | 松果新能源汽车有限公司 | 一种新能源汽车转向控制系统及方法 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3795299B2 (ja) * | 2000-04-07 | 2006-07-12 | 本田技研工業株式会社 | 車両制御装置 |
JP2002175597A (ja) | 2000-12-07 | 2002-06-21 | Hitachi Ltd | 自動車の走行制御システム |
JP4379793B2 (ja) * | 2004-03-12 | 2009-12-09 | 株式会社デンソー | 車両用電子制御装置 |
CN103249632B (zh) * | 2010-12-01 | 2016-05-04 | 丰田自动车株式会社 | 车辆的转向控制装置 |
US9168924B2 (en) * | 2012-03-26 | 2015-10-27 | GM Global Technology Operations LLC | System diagnosis in autonomous driving |
US9406177B2 (en) * | 2013-12-20 | 2016-08-02 | Ford Global Technologies, Llc | Fault handling in an autonomous vehicle |
JP2015214250A (ja) * | 2014-05-12 | 2015-12-03 | 株式会社ジェイテクト | 自動操舵装置 |
JP6331784B2 (ja) * | 2014-07-08 | 2018-05-30 | 株式会社ジェイテクト | 自動操舵装置 |
US9493159B2 (en) * | 2014-11-13 | 2016-11-15 | GM Global Technology Operations LLC | High assurance lane fusion system |
JP2016159868A (ja) * | 2015-03-05 | 2016-09-05 | 株式会社ジェイテクト | 自動運転装置 |
JP2017001597A (ja) * | 2015-06-15 | 2017-01-05 | トヨタ自動車株式会社 | 自動運転装置 |
JP6803657B2 (ja) * | 2015-08-31 | 2020-12-23 | 日立オートモティブシステムズ株式会社 | 車両制御装置および車両制御システム |
JP2017117963A (ja) | 2015-12-24 | 2017-06-29 | トヨタ自動車株式会社 | 半導体装置の製造方法 |
JP6815925B2 (ja) * | 2017-04-24 | 2021-01-20 | 日立オートモティブシステムズ株式会社 | 車両の電子制御装置 |
-
2017
- 2017-06-15 JP JP2017117963A patent/JP6521468B2/ja active Active
-
2018
- 2018-04-11 US US15/951,035 patent/US10824161B2/en active Active
- 2018-05-09 DE DE102018111114.2A patent/DE102018111114A1/de active Pending
- 2018-05-16 CN CN201810466086.5A patent/CN109131551B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US10824161B2 (en) | 2020-11-03 |
CN109131551B (zh) | 2022-04-12 |
DE102018111114A1 (de) | 2018-12-20 |
JP2019001316A (ja) | 2019-01-10 |
US20180364733A1 (en) | 2018-12-20 |
CN109131551A (zh) | 2019-01-04 |
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