JP6733535B2 - 運転支援装置 - Google Patents
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- JP6733535B2 JP6733535B2 JP2016245490A JP2016245490A JP6733535B2 JP 6733535 B2 JP6733535 B2 JP 6733535B2 JP 2016245490 A JP2016245490 A JP 2016245490A JP 2016245490 A JP2016245490 A JP 2016245490A JP 6733535 B2 JP6733535 B2 JP 6733535B2
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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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- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
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- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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Description
以下、第1実施形態について、図1ないし図20を参照して説明する。図1に示すように、車両の運転支援装置1は、運転者運転動作検知器2と、運転者生体情報検知器3と、運転者状況判定器4と、カメラ5と、周辺監視ECU(electronic control unit)6と、レーダ7と、車間制御ECU8と、第1走行制御ECU9と、第2走行制御ECU10と、第3走行制御ECU15と、自車位置計測部11と、コントローラ12と、記憶部13と、通信部14と、ゲートウェー機器16と、表示装置17と、運転者選択部18とを備えている。
また、上記ステップS260において、車車間通信を行わない車両の動きを設定信頼度以上で予測可能できないときには(NO)、ステップS280へ進み、上述した処理を実行するように構成されている。
Claims (5)
- 通信機能を持っている周囲の車両の、自動運転か手動運転かを含む走行状況、走行速度、車間距離、加速制御、制動制御、操舵制御の各データを取得する車両データ取得部(12)と、
通信機能を持っていない周囲の車両を検出する検出部(12)と、
通信機能を持っていない周囲の車両の動きをカメラにより追跡して走行状況を検出し、当該車両の動きを所定信頼度以上で予測可能かどうかにより、当該車両が自動運転車両か手動運転車両かを判定する走行状況検出部(12)と、
前記車両データ取得部により取得された走行状況データと、前記走行状況検出部により得られた走行状況データとに基づいて、周囲の車両の走行状態を予測する走行予測部(12)とを備え、
前記走行予測部(12)は、予測結果をユーザに報知する報知部(17)を有し、
前記走行予測部(12)は、予測結果の予測精度が十分でないと判定されたときには、ユーザに運転モードの変更を提案するように構成され、更に、
運転モードを自動運転から手動運転に変更することをユーザが承認したときに、ユーザの手動運転の準備が十分であるか否かを判定する準備判定部(12)を備えるように構成された運転支援装置。 - 前記準備判定部(12)は、運転者の座席のリクライニングの傾きが適切であるか否か、運転者が目を開けて進行方向を向いているか否か、運転者がハンドルを握っているか否か、または、運転者がアクセルペダルを踏んでいるか否かを判断するように構成された請求項1記載の運転支援装置。
- 通信機能を持っている周囲の車両の、自動運転か手動運転かを含む走行状況、走行速度、車間距離、加速制御、制動制御、操舵制御の各データを取得する車両データ取得部(12)と、
通信機能を持っていない周囲の車両を検出する検出部(12)と、
通信機能を持っていない周囲の車両の動きをカメラにより追跡して走行状況を検出し、当該車両の動きを所定信頼度以上で予測可能かどうかにより、当該車両が自動運転車両か手動運転車両かを判定する走行状況検出部(12)と、
前記車両データ取得部により取得された走行状況データと、前記走行状況検出部により得られた走行状況データとに基づいて、周囲の車両の走行状態を予測する走行予測部(12)と、
運転者の身体情報を取得するユーザ情報取得部(12)と、
前記運転者の身体情報に基づいて運転者が自車を手動運転する技量を検出する技量検出部(12)と、
運転者により手動運転モードへの切り替えが選択されたときに、前記検出された運転者の技量に基づいて、前記走行予測部により予測された周囲の車両の走行状態に運転者が対処できる手動運転の十分な技量を有するか否かを判定する運転対処判定部(12)と、
を備えた運転支援装置。 - 前記運転対処判定部(12)により運転者が対処できないと判定された場合に、運転者が対処できる走行状態になるまで手動運転モードへの切り替えを制限する手動切替制限部(12)を備えた請求項3記載の運転支援装置。
- 前記走行予測部(12)により予測された周囲の車両の走行状態が、自動運転に不適であるか否かを判定する自動運転判定部(12)と、
自動運転に適した走行状態になるまで自動運転モードへの切り替えを制限する自動切替制限部(12)とを備えた請求項1または3記載の運転支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2016245490A JP6733535B2 (ja) | 2016-12-19 | 2016-12-19 | 運転支援装置 |
PCT/JP2017/038157 WO2018116618A1 (ja) | 2016-12-19 | 2017-10-23 | 運転支援装置 |
US16/442,589 US20190304309A1 (en) | 2016-12-19 | 2019-06-17 | Driving assistance device |
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JP2016245490A JP6733535B2 (ja) | 2016-12-19 | 2016-12-19 | 運転支援装置 |
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JP2018101199A JP2018101199A (ja) | 2018-06-28 |
JP2018101199A5 JP2018101199A5 (ja) | 2019-03-14 |
JP6733535B2 true JP6733535B2 (ja) | 2020-08-05 |
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EP3437949B1 (en) * | 2016-03-28 | 2023-12-27 | Nippon Seiki Co., Ltd. | Display device |
US10732627B1 (en) | 2017-05-25 | 2020-08-04 | State Farm Mutual Automobile Insurance Company | Driver re-engagement system |
KR102056377B1 (ko) * | 2017-12-15 | 2019-12-16 | 엘지전자 주식회사 | 차량에 구비된 차량 제어 장치 및 차량의 제어방법 |
JP2020006858A (ja) * | 2018-07-10 | 2020-01-16 | 三菱自動車工業株式会社 | 走行状態通知装置 |
JP7210929B2 (ja) * | 2018-08-07 | 2023-01-24 | トヨタ自動車株式会社 | 運転意識推定装置 |
JP7018852B2 (ja) * | 2018-08-29 | 2022-02-14 | ヤフー株式会社 | 判定装置、判定方法および判定プログラム |
US10861183B2 (en) * | 2019-01-31 | 2020-12-08 | StradVision, Inc. | Method and device for short-term path planning of autonomous driving through information fusion by using V2X communication and image processing |
JP7147627B2 (ja) * | 2019-02-25 | 2022-10-05 | 株式会社Jvcケンウッド | 運転支援装置、運転支援システム、運転支援方法およびプログラム |
JP2020167607A (ja) * | 2019-03-29 | 2020-10-08 | マツダ株式会社 | 自動車用演算システム及び受信データの処理方法 |
JP7047821B2 (ja) * | 2019-07-18 | 2022-04-05 | トヨタ自動車株式会社 | 運転支援装置 |
JP7156210B2 (ja) * | 2019-08-09 | 2022-10-19 | トヨタ自動車株式会社 | 車両用情報提供システム |
JP7159137B2 (ja) * | 2019-09-25 | 2022-10-24 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
JP7264086B2 (ja) | 2020-02-27 | 2023-04-25 | トヨタ自動車株式会社 | 車両制御装置及び車両制御方法 |
JP7354905B2 (ja) * | 2020-04-01 | 2023-10-03 | 株式会社デンソー | 走行支援要求装置 |
CN112132993A (zh) * | 2020-08-07 | 2020-12-25 | 南京市德赛西威汽车电子有限公司 | 一种基于v2x的交通事故场景还原方法 |
US11634144B2 (en) * | 2020-09-24 | 2023-04-25 | Zhejiang University | Sensing method and sensing device for human driven vehicles under partial VANET (vehicular ad hoc network) environment |
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WO2022163227A1 (ja) * | 2021-01-27 | 2022-08-04 | 株式会社デンソー | 自動運転制御装置、自動運転制御プログラム、提示制御装置及び提示制御プログラム |
WO2023080060A1 (ja) * | 2021-11-03 | 2023-05-11 | 株式会社デンソー | 運転者用車両制御装置および運転者用車両制御方法 |
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