JP6577480B2 - 自動車の自律動作型の走行安全システム又はドライバ支援システムを動作させる方法 - Google Patents
自動車の自律動作型の走行安全システム又はドライバ支援システムを動作させる方法 Download PDFInfo
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Description
Claims (17)
- 自動車(1)の自律動作型の走行安全システム又はドライバ支援システム(12)を動作させる方法であって、
車両に関係する及び/又は車両の周辺環境に関係するデータを絶えず検出し、
これらのデータに基づいて、走行安全システム又はドライバ支援システムプロセスを自律的に開始すべきか或いは実行すべきかどうかについて、絶えず繰り返し判断を行い、
走行安全システム又はドライバ支援システム(12)の主動作すなわち通常動作に必要なセンサデータ及びパラメータ設定をその信頼性について検査する検査プロセスを実行する方法において、
自動車(1)の走行開始直後に検査プロセスを実行し、
自動車(1)の走行開始と、走行安全システム又はドライバ支援システム(12)の通常動作開始との間の期間に、機能範囲を制限して走行安全システム又はドライバ支援システム(12)を即時かつ確実に補助動作させるための補助工程を検査期間中に使用し、
検査プロセス終了した後、補助工程の動作は終了され、走行安全システム又はドライバ支援システム(12)の通常動作に切り替えられることを特徴とする方法。 - 請求項1に記載の方法において、
前記走行安全システム又はドライバ支援システム(12)は、自律動作型の緊急ブレーキシステムとして、間隔制御システム及び速度制御システムとして並びに/又はステアリング介入システムとして、働いていることを特徴とする方法。 - 請求項1又は2に記載の方法において、
緊急ブレーキシステムとして働く走行安全システム又はドライバ支援システム(12)の補助動作中、緊急ブレーキシステムによって操作可能な自動車(1)のブレーキ装置(4,11)の最大有効制動力に対する限界値を下げることを特徴とする方法。 - 請求項1乃至3のいずれか一項に記載の方法において、
緊急ブレーキシステムとして働く走行安全システム又はドライバ支援システム(12)の場合に、自動車(1)の駆動関連のデータ、走行区間に関係するデータ、交通に関係するデータ及び/又は環境に関係するデータ並びに自動車(1)のドライバの運転行動を判定するためのデータを絶えず検出し、
前を走る少なくとも一つの自動車の位置、速度及び加速度並びに/又は位置不変の少なくとも一つの障害物の位置を絶えず検出し、
検出されたデータに基づいて、前を走る少なくとも一つの車両及び/又は少なくとも一つの前方に横たわる位置不変の障害物と前記自動車(1)との衝突を防止する或いは少なくともそのような衝突の影響を小さくする緊急ブレーキプロセスを自律的に開始すべきか或いは実行すべきかどうかについて、絶えず繰り返し判断を行い、
前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程は、予め設定された前提、及び/又は、直ぐに利用できるデータであって自動車(1)の運転状態についてのデータ、現在の走行区間の形状についてのデータ、自動車(1)の現在の走行速度範囲についてのデータ、現在の交通状況についてのデータ及びドライバの現在の運転行動についてのデータを使用し、
前記補助工程の経過中に、前記主動作のための主工程の動作に必要なセンサデータ及びパラメータ設定をその信頼性について検査し、
前記補助工程の経過中に、信頼性のある尤もらしいセンサデータ及びパラメータ設定から、機能範囲を制限しない走行安全システム又はドライバ支援システム(12)の主動作すなわち通常動作を開始させるための初期センサデータ及び初期パラメータ設定を用いた開始シナリオを生成することを特徴とする方法。 - 請求項1乃至4のいずれか一項に記載の方法において、
前記補助工程の動作中に用いられる予め設定されたデータ及びパラメータを、検出されてその信頼性が検査されたデータ及びパラメータにより順次置換及び/又は補完することを特徴とする方法。 - 請求項1乃至5のいずれか一項に記載の方法において、
前記検査プロセスを実行する前記検査期間であって、前記検査プロセス中に前記走行安全システム又はドライバ支援システム(12)を動作させるために必要な前記センサデータ及びパラメータ設定をその信頼性について検査するとともに前記検査プロセスにおいて前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程を使用する前記検査期間は、前記走行開始から検査作業及び信頼性確認作業の全てが無事終了するまでの期間であることを特徴とする方法。 - 請求項1乃至5のいずれか一項に記載の方法において、
前記検査プロセスを実行する前記検査期間であって、前記検査プロセスにおいて前記走行安全システム又はドライバ支援システム(12)を動作させるために必要な前記センサデータ及びパラメータ設定をその信頼性について検査するとともに前記検査プロセスにおいて前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程を使用する前記検査期間は、前記自動車(1)が、決められた最小長さの走行区間を走行する期間であることを特徴とする方法。 - 請求項7に記載の方法において、
前記走行区間は、走行開始地点から、2kmと15kmの間の所定の地点までであることを特徴とする方法。 - 請求項1乃至8のいずれか一項に記載の方法において、
前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程に対する第一の前提として、カーブのない走行区間を前提として設定することを特徴とする方法。 - 請求項1乃至8のいずれか一項に記載の方法において、
前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程に対する第一の前提として、カーブ半径|rcurve|>1000mの走行区間を前提として設定することを特徴とする方法。 - 請求項1乃至10のいずれか一項に記載の方法において、
前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程に対する第二の前提として、限定された走行速度範囲を前提として設定することを特徴とする方法。 - 請求項11に記載の方法において、
前記補助工程のための走行速度範囲は、60km/h<vvehicle<90km/hを前提として設定することを特徴とする方法。 - 請求項1乃至12のいずれか一項に記載の方法において、
前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程に対する第三の前提として、前を走る車両が、自車両に対して相対的に限られた速度で当自動車(1)の主走行方向に対して横方向に移動することを前提として設定することを特徴とする方法。 - 請求項13に記載の方法において、
前記補助工程に関して、識別された前を走る自動車の相対的な横方向速度は、|vy|<0.5m/sを前提として設定することを特徴とする方法。 - 請求項1乃至14のいずれか一項に記載の方法において、
前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程に対する第四の前提として、検知された対象が車両周辺環境に最低時間は存在することを前提として設定することを特徴とする方法。 - 請求項15に記載の方法において、
前記補助工程に関して、検知された対象が車両周辺環境に存在する最低時間は、tobj>3sを前提として設定することを特徴とする方法。 - 請求項1乃至16のいずれか一項に記載の方法において、
前記走行安全システム又はドライバ支援システム(12)の前記補助動作のための前記補助工程に対する第五の前提として、停止した車両を静止した障害物として前提として設定することを特徴とする方法。
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