JP6946728B2 - 車両の運転制御システム及び車両の運転制御方法 - Google Patents
車両の運転制御システム及び車両の運転制御方法 Download PDFInfo
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- JP6946728B2 JP6946728B2 JP2017094574A JP2017094574A JP6946728B2 JP 6946728 B2 JP6946728 B2 JP 6946728B2 JP 2017094574 A JP2017094574 A JP 2017094574A JP 2017094574 A JP2017094574 A JP 2017094574A JP 6946728 B2 JP6946728 B2 JP 6946728B2
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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
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0071—Controller overrides driver automatically
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/22—Psychological state; Stress level or workload
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
-
- 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
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
Description
2 制御装置
2a ストレス耐性判定手段
2b ストレス耐性記憶手段
2c 運転切替判定手段
2d 運転者補助形式選定手段
2e 運転者補助実施手段
3 車両、自車両
4 落石、前方の車両(障害物)
X ストレス耐性
ΔHR 運転者の心拍数の上昇度合い
AC 運転者の回答内容に基づく数値
Claims (4)
- 車両を自動走行させる機能を備えて構成される車両の運転制御システムにおいて、
この運転制御システムを制御する制御装置が、
前記車両の運転者のストレス耐性を判定するストレス耐性判定手段と、
このストレス耐性判定手段により判定したストレス耐性を記憶するストレス耐性記憶手段と、
前記車両の自動走行中に運転者による手動走行に強制的に切り替える必要があるか否かを判定する運転切替判定手段と、
この運転切替判定手段で自動走行から手動走行への切替が必要であると判定したときに、運転者による手動走行を促すための情報の提供形式として、ストレス耐性の高低に応じて、予め設定された複数の運転者補助形式の中から前記ストレス耐性記憶手段に記憶したストレス耐性に基づいた運転者補助形式を選定する運転者補助形式選定手段と、
この運転者補助形式選定手段により選定した運転者補助形式に基づいて、前記車両の自動走行から手動走行に強制的に切り替える際の運転者補助を行う運転者補助実施手段とを備えて構成されて、
前記運転者補助形式は、警報と運転操作の指示からなり、前記運転者補助形式の提供によりストレス耐性が高い運転者が受ける切迫感よりもストレス耐性が低い運転者が受ける切迫感が小さくなるように、ストレス耐性が低い場合の前記警報の音量がストレス耐性が高い場合に比して小さく、かつ、ストレス耐性が低い場合の前記警報の周波数がストレス耐性が高い場合に比して低くなるとともに、ストレス耐性が低い場合の前記運転操作の指示がストレス耐性が高い場合に比して細やかになる車両の運転制御システム。 - 前記ストレス耐性判定手段は、運転者の心拍数または前記ストレス耐性判定手段から運転者への質問に対する回答内容に基づいて運転者のストレス耐性を判定する手段として構成される請求項1に記載の車両の運転制御システム。
- 前記運転切替判定手段は、前記車両の前方に位置する障害物に前記車両が衝突するまでの衝突余裕時間が予め設定された設定時間閾値以下となったときに、または、前記車両と前記障害物との間の距離が車速に応じて予め設定された設定距離閾値以下となったときに、前記車両の自動走行から手動走行に切り替える必要があると判定する手段として構成される請求項1または2に記載の車両の運転制御システム。
- 車両を自動走行させる機能を備えて構成される車両の運転制御方法において、
前記車両の運転者のストレス耐性を予め判定しておき、
前記車両の自動走行中に運転者による手動走行に強制的に切り替える必要があるときに、運転者による手動走行を促すための情報の提供形式として、ストレス耐性の高低に応じて、予め設定された複数の運転者補助形式の中から予め判定した運転者のストレス耐性に基づいた運転者補助形式を選定するとともに、この選定した運転者補助形式に基づいて、前記車両の自動走行から手動走行に切り替える際の運転者補助を行い、
前記運転者補助形式は、警報と運転操作の指示からなり、前記運転者補助形式の提供によりストレス耐性が高い運転者が受ける切迫感よりもストレス耐性が低い運転者が受ける切迫感が小さくなるように、ストレス耐性が低い場合の前記警報の音量がストレス耐性が高い場合に比して小さく、かつ、ストレス耐性が低い場合の前記警報の周波数がストレス耐性が高い場合に比して低くなるとともに、ストレス耐性が低い場合の前記運転操作の指示がストレス耐性が高い場合に比して細やかになることを特徴とする車両の運転制御方法。
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JP2017094574A JP6946728B2 (ja) | 2017-05-11 | 2017-05-11 | 車両の運転制御システム及び車両の運転制御方法 |
CN201880030974.0A CN110651311A (zh) | 2017-05-11 | 2018-05-11 | 车辆的驾驶控制系统及车辆的驾驶控制方法 |
DE112018002415.6T DE112018002415T5 (de) | 2017-05-11 | 2018-05-11 | Fahrzeugantriebssteuerungssystem und fahrzeugantriebs-steuerungsverfahren |
US16/612,625 US20200062272A1 (en) | 2017-05-11 | 2018-05-11 | Vehicle driving control system and vehicle driving control method |
PCT/JP2018/018243 WO2018207901A1 (ja) | 2017-05-11 | 2018-05-11 | 車両の運転制御システム及び車両の運転制御方法 |
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JP2867856B2 (ja) * | 1993-11-15 | 1999-03-10 | トヨタ自動車株式会社 | 車両走行制御装置 |
JP5343879B2 (ja) * | 2010-02-01 | 2013-11-13 | 株式会社デンソー | 覚醒支援装置 |
JP6213282B2 (ja) * | 2014-02-12 | 2017-10-18 | 株式会社デンソー | 運転支援装置 |
MX358325B (es) * | 2014-03-26 | 2018-08-15 | Nissan Motor | Aparato de presentacion de informacion y metodo de presentacion de informacion. |
WO2015145605A1 (ja) * | 2014-03-26 | 2015-10-01 | 日産自動車株式会社 | 車両用情報呈示装置 |
JP6135618B2 (ja) * | 2014-08-08 | 2017-05-31 | トヨタ自動車株式会社 | 車両制御装置 |
JP6520506B2 (ja) * | 2014-09-03 | 2019-05-29 | 株式会社デンソー | 車両の走行制御システム |
JP6287728B2 (ja) * | 2014-09-25 | 2018-03-07 | 株式会社デンソー | 車載システム、車両制御装置、および車両制御装置用のプログラム |
JP6191633B2 (ja) * | 2015-02-20 | 2017-09-06 | トヨタ自動車株式会社 | 運転支援装置 |
JP2016215658A (ja) | 2015-05-14 | 2016-12-22 | アルパイン株式会社 | 自動運転装置および自動運転システム |
CN204833607U (zh) * | 2015-08-04 | 2015-12-02 | 深圳榕亨实业集团有限公司 | 一种基于脑电波识别的机动车驾驶监测提醒装置 |
US20170080948A1 (en) * | 2015-09-18 | 2017-03-23 | Faraday&Future Inc. | Vehicle mode adjusting system |
JP6567376B2 (ja) * | 2015-09-25 | 2019-08-28 | パナソニック株式会社 | 装置 |
JP2017094574A (ja) | 2015-11-24 | 2017-06-01 | パナソニックIpマネジメント株式会社 | 断熱材の製造方法 |
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- 2018-05-11 US US16/612,625 patent/US20200062272A1/en not_active Abandoned
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CN110651311A (zh) | 2020-01-03 |
US20200062272A1 (en) | 2020-02-27 |
JP2018190321A (ja) | 2018-11-29 |
DE112018002415T5 (de) | 2020-01-16 |
WO2018207901A1 (ja) | 2018-11-15 |
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