JP6555648B2 - 車両運転支援システム - Google Patents
車両運転支援システム Download PDFInfo
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- JP6555648B2 JP6555648B2 JP2017068381A JP2017068381A JP6555648B2 JP 6555648 B2 JP6555648 B2 JP 6555648B2 JP 2017068381 A JP2017068381 A JP 2017068381A JP 2017068381 A JP2017068381 A JP 2017068381A JP 6555648 B2 JP6555648 B2 JP 6555648B2
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- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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Description
これにより、要求運転能力と現在運転能力のバランス状態をより正確に判定することが可能となる。また、本発明によれば、バランス判定部は、所定時間の走行又は所定距離の走行における基準走行経路と実走行経路との間の差分の時間変動に基づいて差分のベースラインを設定し、このベースラインと差分とに基づいて、バランス状態を判定することができる。
運転ディマンドD=交通環境要因Dt−運転支援要因Da
運転支援要因Da=情報関連要因Di+自動運転要因Dd
運転パフォーマンスP=運転技量要因Ps−身体要因Pp−精神要因Pm
図3に示すように、車両運転支援システムSは、車載コントローラ(ECU)1と、車両センサ3と、情報提示装置5と、車両駆動制御システム7を備えている。
生体センサは、運転者の心拍,脈拍,発汗,脳波等を計測し、生体データを出力する。
マイクは、運転者や他の乗員の音声を取集し、音声データを出力する。
車外カメラは、車両の前方,側方,後方の画像を撮像し、車外画像データを出力する。
ナビゲーション装置は、車両位置情報を取得し、内部地図情報,外部から取得した交通渋滞情報,入力情報(目的地,経由地等)と組み合わせて、ナビゲーションデータ(複数のルート情報,運転者により選択されたルート情報等)を出力する。
自動運転支援モードは、代表的には、レーンキープアシストモード,自動速度制御モード,先行車追従モード等を含む。
レーンキープアシストモードでは、車両が車線を逸脱することを防止するように、ステアリング駆動装置が自動的に制御される。
自動速度制御モードでは、車両が設定速度での走行を維持するように、エンジン駆動装置が自動的に制御される。
先行車追従モードでは、所定の車間距離を維持した状態で先行車に追従するように、エンジン駆動装置が自動的に制御される。なお、このモードでは、車線中央を走行するように、ステアリング駆動装置も自動的に制御される。
また、支援実行部22は、判定されたバランス状態に応じて、変更テーブル25に基づいて、運転ディマンドD及び運転パフォーマンスPを増減する処理を実行する。
先ず、図10〜図12を参照して、走行安全性指標の典型的な時間変動について説明する。
図10では、走行安全性指標は、時間t0までは安定状態であったが、時間t0から時間t1の間の所定期間Tの間における変動幅(変動幅G3,G4)がベースラインFBの上下方向で閾値変動幅Gthよりも大きくなっている。
上記実施形態では、運転者の運転操作に関連した物理量として、走行経路に関連した走行安全性指標を用いているが、これに限らず、他の物理量を用いてもよい。他の物理量は、例えば、運転者の上体位置,ステアリング操舵角,運転者の視認実行状態である。
本実施形態の車両運転支援システムSは、車両周囲の交通環境と車両Vにより運転者へ提供されている運転支援とに応じて交通環境において車両Vを運転するために運転者に要求される運転ディマンドD(要求運転能力)と、運転者の運転パフォーマンスP(現在運転能力)と、のバランス状態に基づいて、運転支援制御を実行する制御部11を備え、制御部11は、運転者の運転操作に関連する物理量に基づいて、運転ディマンドDと運転パフォーマンスPのバランス状態を判定するバランス判定部21を備えている。
3 車両センサ
5 情報提示装置
7 車両駆動制御システム
11 制御部
13 記憶部
21 バランス判定部
22 支援実行部
D 運転ディマンド
P 運転パフォーマンス
Ra 基準走行経路
Rb 実走行経路
S 車両運転支援システム
Claims (7)
- 車両運転支援システムであって、
車両周囲の交通環境と車両により運転者へ提供されている運転支援とに応じて前記交通環境において前記車両を運転するために前記運転者に要求される要求運転能力と、前記運転者の現在運転能力と、のバランス状態に基づいて、運転支援制御を実行する制御部を備え、
前記制御部は、前記運転者の運転操作に関連する物理量に基づいて、前記要求運転能力と前記現在運転能力のバランス状態を判定するバランス判定部を備え、
前記物理量は、前記交通環境に基づいて算出された少なくとも位置により規定される基準走行経路と、前記交通環境において前記車両が実際に走行した実走行経路と、の間の差分であり、
前記バランス判定部は、所定時間の走行又は所定距離の走行における前記基準走行経路と前記実走行経路との間の差分の時間変動に基づいて前記差分のベースラインを設定し、このベースラインと前記差分とに基づいて、前記バランス状態を判定する、車両運転支援システム。 - 前記バランス判定部は、前記基準走行経路と前記実走行経路との間の差分の時間変動が所定閾値以内である場合に、前記要求運転能力と前記現在運転能力が釣り合っていると判定する、請求項1に記載の車両運転支援システム。
- 前記バランス判定部は、前記ベースラインと前記差分との差が所定閾値以内である場合に、前記要求運転能力と前記現在運転能力が釣り合っていると判定する、請求項1または請求項2に記載の車両運転支援システム。
- 前記ベースラインは、前記車両が所定の走行路を走行した場合に設定される、請求項1〜3のいずれか1項に記載の車両運転支援システム。
- 前記所定の走行路は、複数の異なる走行路を含み、各走行路に対してそれぞれベースラインが設定される、請求項4に記載の車両運転支援システム。
- 前記バランス判定部は、前記基準走行経路と前記実走行経路との間の差分が大きいほど、前記車両の走行安全性が低いと判定する走行安全性判定部を備え、
前記走行安全性判定部は、前記基準走行経路と前記実走行経路との間の差分の時間変動が所定閾値以内である場合に、前記要求運転能力と前記現在運転能力が釣り合っていると判定する、請求項1〜5のいずれか1項に記載の車両運転支援システム。 - 前記制御部は、判定されたバランス状態に基づいて、前記要求運転能力と前記現在運転能力が釣り合うように前記運転支援制御を実行する支援実行部を備えている、請求項1〜6のいずれか1項に記載の車両運転支援システム。
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