JP6655624B2 - 条件付き自動化を伴う運転支援システムのためのアーキテクチャ - Google Patents
条件付き自動化を伴う運転支援システムのためのアーキテクチャ Download PDFInfo
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Description
−レベル1は、車両の縦方向の制御のみに関連する運転支援システム(例えば、頭字語ACC、すなわち、「Autonomous Cruise Control」によって知られるシステム)、又は、車両の横方向の制御のみに関連する運転支援システム(例えば、車線内での進路保持を支援するためのシステム、或いは、追い越しの際に、追い越し後に道路脇に寄る際に、又は、回避行為の際に使用される車線変更を支援するためのシステム)に対応する。
−車両の前方の領域を観察するための少なくとも3つの異なる技術のセンサのセットと、
−第1の上流側データ通信ネットワークを介してセンサの前記セットから情報を受信できるとともに、第1の下流側通信ネットワークを介してコマンドをエンジン制御システムの第1のコンピュータ、制動システムの第2のコンピュータ、及び、操向制御システムの第3のコンピュータへ送信できるメインコンピュータと、
−第2の上流側データ通信ネットワークを介してセンサの前記セットから情報を受信できるバックアップコンピュータと、
−各コンピュータに接続される主電源と、
−バックアップ電源と、
を備える、車両の自動緊急停止を制御できる条件付き自動化を伴う運転支援システムのためのアーキテクチャであって、
コマンドの送信のためにバックアップコンピュータを制動システムの前記第2のコンピュータのみに接続する第2の下流側通信ネットワークを備え、バックアップ電源が、メインコンピュータ、バックアップコンピュータ、及び、制動システムの第2のコンピュータにのみ接続されることを特徴とするアーキテクチャである。
−第1及び第2の上流側及び下流側データ通信ネットワークは、シリアルデータバスネットワークであり、好ましくはCANネットワークである;
−バックアップコンピュータがメインコンピュータと同一であり、この場合、これらの両方のコンピュータは、同じ障害危険レベル、好ましくはレベルASIL Dを有する;
−変形例として、バックアップコンピュータは、メインコンピュータの障害危険レベルよりも低い障害危険レベル、例えばメインコンピュータがASIL DであればレベルASIL Bを有することができる;
−センサのセットは、例えば、少なくとも1つのイメージセンサ、1つのレーダーセンサ、及び、1つのレーザーセンサを備える;
−バックアップコンピュータは、メインコンピュータに接続され得るとともに、メインコンピュータに関連する障害の場合にのみ第2の上流側データ通信ネットワークを介してセンサの前記セットから情報を受信するように制御され得る;
−変形例として、バックアップコンピュータは、メインコンピュータに関連する障害がない場合でも、第2の上流側データ通信ネットワークを介して、センサの前記セットから情報を恒久的に受信する。
−一方では、第1の上流側データ通信ネットワークを介して、車両の前方の領域を観察できるセンサのセット2から情報を受信できるメインコンピュータ10と、
−他方では、メインコンピュータ10に接続されるとともに、第2の上流側データ通信ネットワークを介して、センサの前記セット2から情報を受信できるバックアップコンピュータ11と、
を備える。
−エンジン制御システムの第1のコンピュータ3に対して、
−制動システムの第2のコンピュータ4に対して、及び、
−操向制御システムの第3のコンピュータ5に対して、
それぞれ適切なコマンドを送信できる。
Claims (9)
- −車両の前方の領域を観察するための少なくとも3つの異なる技術のセンサのセット(2)と、
−第1の上流側データ通信ネットワークを介してセンサの前記セット(2)から情報を受信できるとともに、第1の下流側通信ネットワークを介してコマンドをエンジン制御システムの第1のコンピュータ(3)、制動システムの第2のコンピュータ(4)、及び、操向制御システムの第3のコンピュータ(5)へ送信できるメインコンピュータ(10)と、
−第2の上流側データ通信ネットワークを介してセンサの前記セットから情報を受信できるバックアップコンピュータ(11)と、
−各コンピュータに接続される主電源と、
−バックアップ電源と、
を備える、車両の自動緊急停止を制御できる条件付き自動化を伴う運転支援システムのためのアーキテクチャであって、
コマンドの送信のために前記バックアップコンピュータ(11)を前記制動システムの前記第2のコンピュータ(4)のみに接続する第2の下流側通信ネットワークを備え、前記バックアップ電源は、前記メインコンピュータ(10)、前記バックアップコンピュータ(11)、及び、前記制動システムの前記第2のコンピュータ(4)にのみ接続されることを特徴とするアーキテクチャ。 - 前記第1及び第2の上流側及び下流側データ通信ネットワークがシリアルデータバスネットワークであることを特徴とする請求項1に記載のアーキテクチャ。
- 前記第1及び第2の上流側及び下流側データ通信ネットワークがCANネットワークであることを特徴とする請求項2に記載のアーキテクチャ。
- 前記バックアップコンピュータ(11)が前記メインコンピュータ(10)と同一であることを特徴とする請求項1から3のいずれか一項に記載のアーキテクチャ。
- 前記バックアップコンピュータ(11)は、前記メインコンピュータ(10)の障害危険レベルよりも低い障害危険レベルを有することを特徴とする請求項1から4のいずれか一項に記載のアーキテクチャ。
- 前記メインコンピュータ(10)の障害危険レベルがASIL Dであり、前記バックアップコンピュータ(11)の障害危険レベルがASIL Bであることを特徴とする請求項5に記載のアーキテクチャ。
- センサの前記セット(2)は、少なくとも1つのイメージセンサ、1つのレーダーセンサ、及び、1つのレーザーセンサを備えることを特徴とする請求項1から6のいずれか一項に記載のアーキテクチャ。
- 前記バックアップコンピュータ(11)は、前記メインコンピュータ(10)に接続されるとともに、前記メインコンピュータ(10)に関連する障害の場合にのみ前記第2の上流側データ通信ネットワークを介してセンサの前記セットから情報を受信するように制御されることを特徴とする請求項1から7のいずれか一項に記載のアーキテクチャ。
- 前記バックアップコンピュータ(11)は、前記メインコンピュータ(10)に関連する障害がない場合でも、前記第2の上流側データ通信ネットワークを介して、センサの前記セットから情報を恒久的に受信することを特徴とする請求項1から7のいずれか一項に記載のアーキテクチャ。
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PCT/EP2016/050025 WO2016110464A1 (fr) | 2015-01-05 | 2016-01-04 | Architecture pour système d'aide à la conduite à automatisation conditionnelle |
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2016
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FR3031406A1 (fr) | 2016-07-08 |
CN107428247B (zh) | 2020-04-21 |
EP3242823A1 (fr) | 2017-11-15 |
FR3031406B1 (fr) | 2017-07-28 |
WO2016110464A1 (fr) | 2016-07-14 |
EP3242823B1 (fr) | 2018-10-03 |
US20180267535A1 (en) | 2018-09-20 |
JP2018504309A (ja) | 2018-02-15 |
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