JP6704876B2 - 自動走行制御システム - Google Patents
自動走行制御システム Download PDFInfo
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Classifications
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- 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
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- G—PHYSICS
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- 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
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0072—Controller asks driver to take over
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2554/00—Input parameters relating to objects
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
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- G—PHYSICS
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- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
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- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Electromagnetism (AREA)
- Human Computer Interaction (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Instructional Devices (AREA)
- Navigation (AREA)
Description
本発明の他の態様によると、前記自動走行制御システムは、前記車両の自動走行区間に前記所定区間が含まれる場合には、前記所定区間に到達する前に前記自動走行の機能の少なくとも一部を制限して手動運転へと変更する。
本発明の他の態様によると、前記車両の自動走行区間に前記所定区間が含まれる場合には、前記所定区間を通過して所定距離を走行した後に自動走行の前記制限を解除する。
本発明の他の態様によると、前記変更情報が前記道路構造マップの道路の形状の変更を示す情報である場合には、前記変更情報に基づいて前記道路構造マップを更新する。
本発明の他の態様によると、前記変更情報が舗装の更新、補修、路面清掃、除草、または事故のうち少なくとも一つを含む情報である場合に、前記所定区間の一時的な変更を示す情報であると判断し、前記変更情報が道路の新設、車線の増減、カーブの曲率の変更、車線の変更、または路面標示の変更のうち少なくとも一つを含む情報である場合に、前記所定区間の一時的な変更を示す情報ではないと判断する。
Claims (5)
- 記憶装置に記憶された道路構造マップに基づいて車両の自動走行を制御する車両制御装置と、前記道路構造マップの変更情報を外部から受信する受信装置と、前記変更情報に基づいて前記道路構造マップの更新を実行する更新装置と、を備える自動走行制御システムにおいて、
前記受信装置により外部から受信された前記変更情報が、前記道路構造マップに含まれる所定区間の一時的な変更を示す情報であるか否かを判定し、
前記変更情報が前記道路構造マップに含まれる所定区間の一時的な変更を示す情報であると判定した場合には、前記道路構造マップを更新することなく、前記所定区間における前記車両の自動走行を制限し、
前記変更情報が前記道路構造マップに含まれる所定区間の一時的な変更を示す情報でないと判定した場合には、前記外部から変更後の道路構造マップを取得して前記記憶装置に記憶された道路構造マップを更新し、前記所定区間における前記車両の自動走行を制御する、
自動走行制御システム。 - 前記車両の自動走行区間に前記所定区間が含まれる場合には、前記所定区間に到達する前に前記自動走行の機能の少なくとも一部を制限して手動運転へと変更する、
請求項1に記載の自動走行制御システム。 - 前記車両の自動走行区間に前記所定区間が含まれる場合には、前記所定区間を通過して所定距離を走行した後に自動走行の前記制限を解除する、
請求項1または2に記載の自動走行制御システム。 - 前記変更情報が前記道路構造マップの道路の形状の変更を示す情報である場合には、前記変更情報に基づいて前記道路構造マップを更新する、
請求項1ないし3のいずれか一項に記載の自動走行制御システム。 - 前記変更情報が舗装の更新、補修、路面清掃、除草、または事故のうち少なくとも一つを含む情報である場合に、前記所定区間の一時的な変更を示す情報であると判断し、前記変更情報が道路の新設、車線の増減、カーブの曲率の変更、車線の変更、または路面標示の変更のうち少なくとも一つを含む情報である場合に、前記所定区間の一時的な変更を示す情報ではないと判断する、
請求項1ないし4のいずれか一項に記載の自動走行制御システム。
Priority Applications (3)
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JP2017110246A JP6704876B2 (ja) | 2017-06-02 | 2017-06-02 | 自動走行制御システム |
US15/990,971 US10647317B2 (en) | 2017-06-02 | 2018-05-29 | Automatic traveling control system and server device |
CN201810535627.5A CN108983766B (zh) | 2017-06-02 | 2018-05-29 | 自动行驶控制系统 |
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JP2017110246A JP6704876B2 (ja) | 2017-06-02 | 2017-06-02 | 自動走行制御システム |
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JP6704876B2 true JP6704876B2 (ja) | 2020-06-03 |
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EP3460406B1 (en) * | 2017-08-28 | 2024-04-03 | Panasonic Intellectual Property Corporation of America | Information processing apparatus, vehicle, information processing method, running control method, and map updating method |
JP2019104315A (ja) * | 2017-12-11 | 2019-06-27 | トヨタ紡織株式会社 | 乗物のモニター装置 |
JP7001030B2 (ja) * | 2018-09-14 | 2022-01-19 | 株式会社デンソー | 地図更新システム、地図更新サーバ及び車載端末 |
US11084503B2 (en) * | 2018-12-26 | 2021-08-10 | Baidu Usa Llc | Mutual nudge algorithm for self-reverse lane of autonomous driving |
CN109862084B (zh) * | 2019-01-16 | 2021-10-08 | 北京百度网讯科技有限公司 | 地图数据更新方法、装置、系统及存储介质 |
KR102644324B1 (ko) * | 2019-05-20 | 2024-03-07 | 현대모비스 주식회사 | 자율 주행 장치 및 방법 |
JP7239744B2 (ja) * | 2020-01-08 | 2023-03-14 | 株式会社Nttドコモ | 情報処理システム |
JP2021116781A (ja) * | 2020-01-29 | 2021-08-10 | トヨタ自動車株式会社 | 車両制御方法、車両用制御装置及びサーバ |
JP2021144336A (ja) * | 2020-03-10 | 2021-09-24 | トヨタ自動車株式会社 | 情報処理装置、情報処理システム、及び、情報処理方法 |
US11703335B2 (en) * | 2020-06-19 | 2023-07-18 | Toyota Research Institute, Inc. | Coordinating and learning maps dynamically |
JP7275238B2 (ja) * | 2021-01-29 | 2023-05-17 | 三菱電機株式会社 | 運転支援情報配信装置、交通システム、車両、車両制御装置およびコンピュータプログラム |
JP6992205B1 (ja) | 2021-01-29 | 2022-01-13 | 三菱電機株式会社 | 運転支援情報配信装置、交通システム、車両、車両制御装置およびコンピュータプログラム |
WO2023006392A1 (en) | 2021-07-29 | 2023-02-02 | Memjet Technology Limited | Thread-coating module |
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JP2016153832A (ja) | 2015-02-20 | 2016-08-25 | パイオニア株式会社 | 地図データ記憶装置、制御方法、プログラム及び記憶媒体 |
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JP2016192028A (ja) * | 2015-03-31 | 2016-11-10 | 株式会社デンソー | 自動走行制御装置および自動走行制御システム |
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