JP7037454B2 - 車両の走行制御システム - Google Patents
車両の走行制御システム Download PDFInfo
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- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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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
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
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- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- G—PHYSICS
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- 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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- 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
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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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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
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Description
[横風時自動運転安定車速Vd1_w]
ステップS1Aにおける横風時自動運転安定車速Vd1_wは、目標経路に対して自車両の横位置を許容範囲内に維持する操舵性能を確保できる車速として算出される。詳細には、図4の最初のステップS101において、一定時間の横位置の分散が設定値以上(例えば、±10cm以上)か否かを調べる。
[雨天時自動運転安定車速Vd1_r]
ステップS1Bにおける雨天時自動運転安定車速Vd1_rは、目標経路への追従走行の操舵及び前後位置制御に必要な視程距離を確保できる車速として算出される。すなわち、図5のサブルーチンにおいて、先ずステップS201で車載のカメラユニット11或いは地図情報処理装置30からの地図情報による車線の検知範囲が操舵制御可能な車線検知距離未満か否かを調べ、ステップS202で地図情報を使用できない場合にカメラユニット11の白線検知距離が操舵制御可能な検知距離未満か否かを調べる。また、ステップS203において、現在の視程距離が前方の車両等に対する前後位置をブレーキ制御等を介して制御可能な視程距離未満か否かを調べる。
[降雪時自動運転安定車速Vd1_s]
ステップS1Cにおける降雪時自動運転安定車速Vd1_sは、車載のカメラユニット11を用いることなく操舵制御に必要な視程距離を確保できる車速として算出される。詳細には、図6のサブルーチンのステップS301,S302において、測位装置20及び地図情報処理装置30によるローカライゼーションの信頼度が自動運転の操舵制御可能な位置信頼度未満か否か、前後位置制御可能な視程距離未満か否かを調べる。
[路面自動運転安定車速Vd1_μ]
ステップS1Dにおける路面自動運転安定車速Vd1_μは、滑りやすい路面においても目標とするヨーレートを得るための操舵ヨーゲインを維持して操舵性能を確保することのできる車速として算出される。
10 外部環境認識装置
20 測位装置
30 地図情報処理装置
40 エンジン制御装置
50 変速機制御装置
60 ブレーキ制御装置
70 操舵制御装置
80 警報制御装置
100 走行制御装置
101 自動運転可能車速算出部
102 運転支援モード継続判断部
103 運転支援モード選択部
104 運転支援モード継続部
Claims (4)
- 手動運転モードと、ドライバによるステアリングの保舵を前提として運転支援制御を行う第1の運転支援モードと、ドライバによるステアリングの保舵を必要とすることなく運転支援制御を行う第2の運転支援モードとを備える車両の走行制御システムであって、
前記第2の運転支援モードでの走行中に走行環境の悪化のレベルを評価し、前記走行環境の悪化のレベルに基づいて前記第2の運転支援モードを継続可能な自動運転可能車速を算出する自動運転可能車速算出部と、
前記第2の運転支援モードにおけるセット車速と前記自動運転可能車速とを比較し、前記第2の運転支援モードによる運転支援制御を継続可能か否かを判断する運転支援モード継続判断部と、
前記運転支援モード継続判断部で前記第2の運転支援モードによる運転支援制御を前記セット車速で継続することが不可と判断されたとき、前記第2の運転支援モードを前記セット車速よりも車速を下げて継続させるか、又は前記第1の運転支援モードに遷移して前記セット車速を維持するかをドライバに選択させる運転支援モード選択部と、
前記運転支援モード選択部で前記第1の運転支援モードへの遷移が選択されたとき、前記第1の運転支援モードで前記第2の運転支援モードの前記セット車速を維持可能とする一方、前記運転支援モード選択部で前記第2の運転支援モードの継続が選択されたとき、前記第2の運転支援モードの前記セット車速を前記自動運転可能車速まで低減することにより前記第2の運転支援モードによる運転支援制御を継続可能とする運転支援モード継続部と
を備えることを特徴とする車両の走行制御システム。 - 前記自動運転可能車速算出部は、前記走行環境の悪化のレベルを車両制御状態の変化から評価することを特徴とする請求項1に記載の車両の走行制御システム。
- 前記運転支援モード選択部は、ドライバがステアリングを保舵したことを検出したとき、前記第1の運転支援モードが選択されたと判断して、前記第2の運転支援モードから前記第1の運転支援モードに遷移させることを特徴とする請求項1に記載の車両の走行制御システム。
- 前記運転支援モード継続判断部は、前記自動運転可能車速が予め定められた下限車速を下回ったとき、前記手動運転モード若しくは車両を安全な場所に自動的に停止させる自動停車モードに遷移させることを特徴とする請求項1に記載の車両の走行制御システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018157533A JP7037454B2 (ja) | 2018-08-24 | 2018-08-24 | 車両の走行制御システム |
CN201910396851.5A CN110857093A (zh) | 2018-08-24 | 2019-05-14 | 车辆的行驶控制系统 |
US16/433,805 US11609568B2 (en) | 2018-08-24 | 2019-06-06 | Travel control system for vehicle |
DE102019117657.3A DE102019117657A1 (de) | 2018-08-24 | 2019-07-01 | Fahrsteuersystem für ein Fahrzeug |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018157533A JP7037454B2 (ja) | 2018-08-24 | 2018-08-24 | 車両の走行制御システム |
Publications (2)
Publication Number | Publication Date |
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JP2020029238A JP2020029238A (ja) | 2020-02-27 |
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JP6643297B2 (ja) * | 2017-11-16 | 2020-02-12 | 株式会社Subaru | 運転支援装置 |
US11130497B2 (en) * | 2017-12-18 | 2021-09-28 | Plusai Limited | Method and system for ensemble vehicle control prediction in autonomous driving vehicles |
US20190185012A1 (en) | 2017-12-18 | 2019-06-20 | PlusAI Corp | Method and system for personalized motion planning in autonomous driving vehicles |
US11273836B2 (en) * | 2017-12-18 | 2022-03-15 | Plusai, Inc. | Method and system for human-like driving lane planning in autonomous driving vehicles |
US10795357B2 (en) * | 2018-09-14 | 2020-10-06 | Guangzhou Automobile Group Co., Ltd | Method and device for controlling vehicle and autonomous driving vehicle |
US11208107B2 (en) * | 2018-11-26 | 2021-12-28 | Toyota Research Institute, Inc. | Systems and methods for selecting among different driving modes for autonomous driving of a vehicle |
JP6990221B2 (ja) * | 2019-08-22 | 2022-01-12 | 本田技研工業株式会社 | 車両並びにその制御装置及び制御方法 |
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 |
WO2022009848A1 (ja) * | 2020-07-07 | 2022-01-13 | 株式会社デンソー | 自車位置推定装置、走行制御装置 |
WO2022064877A1 (ja) | 2020-09-28 | 2022-03-31 | ソニーグループ株式会社 | 情報処理装置、情報処理システム、および方法、並びにプログラム |
CN116490911A (zh) | 2020-11-27 | 2023-07-25 | 索尼集团公司 | 信息处理设备、信息处理系统和信息处理方法 |
CN112947390B (zh) * | 2021-04-02 | 2022-09-06 | 清华大学 | 基于环境风险评估的智能网联汽车安全控制方法和系统 |
JP7237121B1 (ja) * | 2021-08-26 | 2023-03-10 | 三菱電機株式会社 | 測位装置 |
JP7396377B2 (ja) * | 2022-01-17 | 2023-12-12 | いすゞ自動車株式会社 | 範囲設定装置 |
US11654938B1 (en) * | 2022-02-11 | 2023-05-23 | Plusai, Inc. | Methods and apparatus for disengaging an autonomous mode based on lateral error of an autonomous vehicle |
US20240083465A1 (en) * | 2022-09-14 | 2024-03-14 | Gm Cruise Holdings Llc | Autonomous vehicle control based on changing weather conditions |
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