JP6815925B2 - 車両の電子制御装置 - Google Patents
車両の電子制御装置 Download PDFInfo
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- JP6815925B2 JP6815925B2 JP2017085139A JP2017085139A JP6815925B2 JP 6815925 B2 JP6815925 B2 JP 6815925B2 JP 2017085139 A JP2017085139 A JP 2017085139A JP 2017085139 A JP2017085139 A JP 2017085139A JP 6815925 B2 JP6815925 B2 JP 6815925B2
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- 230000005856 abnormality Effects 0.000 claims description 74
- 238000000034 method Methods 0.000 claims description 63
- 238000001514 detection method Methods 0.000 claims description 48
- 238000004364 calculation method Methods 0.000 claims description 26
- 230000002093 peripheral effect Effects 0.000 description 35
- 238000007499 fusion processing Methods 0.000 description 30
- 230000006399 behavior Effects 0.000 description 25
- 230000001360 synchronised effect Effects 0.000 description 15
- 238000004092 self-diagnosis Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000012795 verification Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
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- 230000000295 complement effect Effects 0.000 description 1
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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
- 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
- B60W50/04—Monitoring the functioning of the control 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N5/00—Computing arrangements using knowledge-based models
- G06N5/04—Inference or reasoning models
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
-
- 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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- 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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- 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
- B60W2420/408—Radar; Laser, e.g. lidar
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
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- Theoretical Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Artificial Intelligence (AREA)
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- General Engineering & Computer Science (AREA)
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- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Traffic Control Systems (AREA)
- Geophysics And Detection Of Objects (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
Claims (7)
- 車両の電子制御装置であって、
前記車両の外界情報を検出する外界情報検出部から取得する外界情報に基づいて、前記車両周辺の物体の行動を予測する行動予測部と、
前記行動予測部の予測結果に対応する時刻における前記外界情報検出部から取得した外界情報と前記行動予測部の予測結果とを比較することで、前記外界情報検出部または前記行動予測部に異常が生じたか判定する検出部用判定部を備える、
車両の電子制御装置。 - 複数の前記外界情報を同期させる統合演算部と、
前記行動予測部の予測結果に対応する時刻における前記統合演算部の演算結果と前記行動予測部の予測結果とを比較することで、前記外界情報検出部、前記統合演算部または前記行動予測部に異常が生じたか判定する演算部用判定部とをさらに備える、
請求項1に記載の車両の電子制御装置。 - 前記検出部用判定部の判定結果と前記演算部用判定部の判定結果とに基づいて、前記外界情報検出部、前記統合演算部、前記行動予測部、前記検出部用判定部または前記演算部用判定部に異常が生じたか総合判定を実行する総合判定部をさらに備える、
請求項2に記載の車両の電子制御装置。 - 前記総合判定部が異常ありと判定した場合、異常状態の検出を示す異常通知を前記車両の運転者に向けて出力する通知部をさらに備える、
請求項3に記載の車両の電子制御装置。 - 予め設定される所定回数以上、前記総合判定部が異常ありと判定した場合に、前記通知部は前記異常通知を出力する、
請求項4に記載の車両の電子制御装置。 - 前記通知部が前記異常通知を出力した後、予め設定される他の所定回数以上、前記総合判定部が異常ありと判定した場合に、前記車両の操作を運転者に移行させる処理を開始させる、
請求項5に記載の車両の電子制御装置。 - 前記外界情報検出部は、レーダまたはカメラのうち少なくともいずれか一方を含む、
請求項1に記載の車両の電子制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017085139A JP6815925B2 (ja) | 2017-04-24 | 2017-04-24 | 車両の電子制御装置 |
PCT/JP2018/008904 WO2018198547A1 (ja) | 2017-04-24 | 2018-03-08 | 車両の電子制御装置 |
DE112018001402.9T DE112018001402T5 (de) | 2017-04-24 | 2018-03-08 | Elektronische steuervorrichtung für fahrzeug |
US16/607,631 US11352019B2 (en) | 2017-04-24 | 2018-03-08 | Electronic control device for vehicle |
CN201880025466.3A CN110536821B (zh) | 2017-04-24 | 2018-03-08 | 车辆的电子控制装置 |
Applications Claiming Priority (1)
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JP2017085139A JP6815925B2 (ja) | 2017-04-24 | 2017-04-24 | 車両の電子制御装置 |
Publications (2)
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JP2018184021A JP2018184021A (ja) | 2018-11-22 |
JP6815925B2 true JP6815925B2 (ja) | 2021-01-20 |
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US (1) | US11352019B2 (ja) |
JP (1) | JP6815925B2 (ja) |
CN (1) | CN110536821B (ja) |
DE (1) | DE112018001402T5 (ja) |
WO (1) | WO2018198547A1 (ja) |
Families Citing this family (20)
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WO2016065375A1 (en) * | 2014-10-27 | 2016-05-06 | Fts Computertechnik Gmbh | Computer vision monitoring for a computer vision system |
JP6521468B2 (ja) * | 2017-06-15 | 2019-05-29 | 株式会社Subaru | 自動操舵制御装置 |
JP6923458B2 (ja) * | 2018-01-22 | 2021-08-18 | 日立Astemo株式会社 | 電子制御装置 |
US11145146B2 (en) * | 2018-01-31 | 2021-10-12 | Mentor Graphics (Deutschland) Gmbh | Self-diagnosis of faults in an autonomous driving system |
JP7210906B2 (ja) * | 2018-05-31 | 2023-01-24 | 株式会社デンソー | 車両の自動運転制御装置及びプログラム |
JP6922852B2 (ja) * | 2018-06-12 | 2021-08-18 | 株式会社デンソー | 電子制御装置および電子制御システム |
EP3598259B1 (en) * | 2018-07-19 | 2021-09-01 | Panasonic Intellectual Property Management Co., Ltd. | Information processing method and information processing system |
JP7078763B2 (ja) * | 2019-02-13 | 2022-05-31 | 日立Astemo株式会社 | 車両制御装置および電子制御システム |
JP2020131860A (ja) * | 2019-02-18 | 2020-08-31 | 日立オートモティブシステムズ株式会社 | 車両搭載機器の制御装置 |
JP7363118B2 (ja) * | 2019-06-14 | 2023-10-18 | マツダ株式会社 | 外部環境認識装置 |
US11142214B2 (en) * | 2019-08-06 | 2021-10-12 | Bendix Commercial Vehicle Systems Llc | System, controller and method for maintaining an advanced driver assistance system as active |
DE102019216517B3 (de) * | 2019-10-25 | 2021-03-18 | Daimler Ag | Verfahren zur Synchronisation zumindest zweier Sensor-Systeme |
US11639184B2 (en) * | 2020-02-13 | 2023-05-02 | Wipro Limited | Method and system for diagnosing autonomous vehicles |
JP7466396B2 (ja) * | 2020-07-28 | 2024-04-12 | 株式会社Soken | 車両制御装置 |
JP2023547484A (ja) * | 2020-10-30 | 2023-11-10 | 華為技術有限公司 | 情報伝送方法、制御装置、電磁信号トランシーバ装置、および信号処理デバイス |
JP7380542B2 (ja) * | 2020-12-23 | 2023-11-15 | トヨタ自動車株式会社 | 自動運転システム、及び異常判定方法 |
CN112622935B (zh) * | 2020-12-30 | 2022-04-19 | 一汽解放汽车有限公司 | 一种车辆自动驾驶方法、装置、车辆及存储介质 |
JP7351321B2 (ja) | 2021-04-13 | 2023-09-27 | トヨタ自動車株式会社 | センサ異常推定装置 |
KR102418566B1 (ko) * | 2021-12-22 | 2022-07-08 | 재단법인 지능형자동차부품진흥원 | 엣지 인프라 기반의 자율 주행 안전 제어 시스템 및 방법 |
CN114248790B (zh) * | 2022-03-02 | 2022-05-03 | 北京鉴智科技有限公司 | 一种视觉报警方法、装置及系统 |
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2017
- 2017-04-24 JP JP2017085139A patent/JP6815925B2/ja active Active
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2018
- 2018-03-08 DE DE112018001402.9T patent/DE112018001402T5/de active Pending
- 2018-03-08 WO PCT/JP2018/008904 patent/WO2018198547A1/ja active Application Filing
- 2018-03-08 US US16/607,631 patent/US11352019B2/en active Active
- 2018-03-08 CN CN201880025466.3A patent/CN110536821B/zh active Active
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US20200070847A1 (en) | 2020-03-05 |
DE112018001402T5 (de) | 2019-12-19 |
WO2018198547A1 (ja) | 2018-11-01 |
US11352019B2 (en) | 2022-06-07 |
CN110536821A (zh) | 2019-12-03 |
JP2018184021A (ja) | 2018-11-22 |
CN110536821B (zh) | 2022-08-02 |
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