JP7076303B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W50/082—Selecting or switching between different modes of propelling
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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
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W60/001—Planning or execution of driving tasks
-
- 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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- 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
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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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
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
-
- 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
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating 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
- 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
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- 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
- 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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
(1)車両制御装置50は、自動運転機能を有効化した自動運転モードと自動運転機能を無効化した手動運転モードとに走行モードを切り換え可能な車両100を制御する。この車両制御装置50は、ドライバの操作により入力されたアクチュエータAC(モータ2や転舵アクチュエータ9等)に対する駆動指令を検出する内部センサ群32(操舵センサ5aなど)と、車両100の実進行方向を検出するカメラ31aと、操舵センサ5aにより検出された駆動指令に応じた車両100の目標進行方向とカメラ31aにより検出された車両100の実進行方向との偏差Δαが所定値Δα1以上であるか否かを判定する判定部51と、手動運転モードで走行中に、判定部51により偏差Δαが所定値Δα1以上であると判定されると、走行モードを自動運転モードに切り換えるモード切換部52と、手動運転モード時に内部センサ群32により検出された駆動指令に応じてアクチュエータACを制御する走行制御部46と、を備える(図2,4)。走行制御部46は、モード切換部52により自動運転モードに切り換えられると、車両100の実進行方向が目標進行方向に一致するようにアクチュエータAC(モータ2、転舵アクチュエータ9)を制御する。モード切換部52は、走行モードを自動運転モードに切り換えた後、車両100の実進行方向が目標進行方向に一致されると、自動運転モードから手動運転モードに走行モードを切り換える。
Claims (3)
- 自動運転機能を有効化した自動運転モードと前記自動運転機能を無効化した手動運転モードとに走行モードを切り換え可能な車両を制御する車両制御装置であって、
ドライバの操作により入力された走行用アクチュエータに対する駆動指令を検出する操作検出部と、
前記車両の実進行方向を検出する方向検出部と、
前記操作検出部により検出された駆動指令に応じた前記車両の目標進行方向と前記方向検出部により検出された前記車両の実進行方向との偏差が閾値以上であるか否かを判定する判定部と、
前記手動運転モードで走行中に、前記判定部により前記偏差が前記閾値以上であると判定されると、走行モードを前記自動運転モードに切り換えるモード切換部と、
前記走行用アクチュエータを制御する走行制御部と、を備え、
前記走行用アクチュエータは、車輪の転舵角を変更可能な第1アクチュエータと、左右の駆動輪のトルク配分を変更可能な第2アクチュエータと、を含み、
前記走行制御部は、前記手動運転モード時に、前記車輪の転舵角が前記操作検出部により検出された駆動指令に応じた転舵角となるように前記第1アクチュエータを制御する一方、前記モード切換部により前記自動運転モードに切り換えられると、前記車輪の転舵角が前記車両の実進行方向に一致するように前記第1アクチュエータを制御し、その後、前記左右の車輪のトルク配分を変更することにより前記車両の実進行方向が、前記自動運転モードに切り換えられる直前の前記操作検出部により検出された駆動指令に応じた目標進行方向に一致するように前記第2アクチュエータを制御し、さらに前記車輪の転舵角が前記目標進行方向に一致するように前記第1アクチュエータを制御し、
前記モード切換部は、走行モードを前記自動運転モードに切り換えた後、前記車両の実進行方向が目標進行方向に一致されると、前記自動運転モードから前記手動運転モードに走行モードを切り換えることを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
ドライバのステアリングホイールの操作に対し反力を付与する反力付与部をさらに備え、
前記反力付与部は、前記モード切換部により走行モードが前記手動運転モードから前記自動運転モードに切り換えられると、前記自動運転モードに切り換えられる直前に付与した反力を維持することを特徴とする車両制御装置。 - 請求項1または2に記載の車両制御装置において、
ドライバの選択操作により前記自動運転モードおよび前記手動運転モードのいずれかを選択するモード選択部をさらに備え、
前記モード切換部は、前記モード選択部により前記手動運転モードが選択されることを条件として、前記判定部により前記偏差が前記閾値以上であると判定されるとき、走行モードを前記自動運転モードに切り換えることを特徴とする車両制御装置。
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US16/448,773 US11072341B2 (en) | 2018-06-28 | 2019-06-21 | Vehicle control apparatus |
CN201910571668.4A CN110654391B (zh) | 2018-06-28 | 2019-06-28 | 车辆控制装置 |
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US11144053B2 (en) * | 2019-04-04 | 2021-10-12 | Toyota Research Institute, Inc. | Controlling driving condition components of an autonomous vehicle based on a current driving mode and current conditions |
US11820356B2 (en) * | 2019-12-20 | 2023-11-21 | Humanetics Austria Gmbh | System and method for force compensation in a robotic driving system |
JP7477987B2 (ja) * | 2020-02-25 | 2024-05-02 | 株式会社デンソーテン | 車両制御装置および車両制御方法 |
JP7472698B2 (ja) * | 2020-07-20 | 2024-04-23 | 株式会社デンソー | 車両の制御装置 |
KR20230022570A (ko) * | 2021-08-09 | 2023-02-16 | 현대자동차주식회사 | 자율주행 차량의 제어권 전환 시스템 및 방법 |
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JP2016028927A (ja) | 2014-07-25 | 2016-03-03 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
JP2017208002A (ja) | 2016-05-20 | 2017-11-24 | トヨタ自動車株式会社 | 車両 |
JP2018069940A (ja) | 2016-10-31 | 2018-05-10 | 修一 田山 | 車輌用アクセルペダル装置 |
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JP3647538B2 (ja) * | 1996-02-12 | 2005-05-11 | 本田技研工業株式会社 | 車両操舵装置 |
JP3870911B2 (ja) * | 2003-02-10 | 2007-01-24 | 日産自動車株式会社 | 車線逸脱防止装置 |
KR100602223B1 (ko) * | 2005-01-20 | 2006-07-19 | 엘지전자 주식회사 | 청소기 주행 제어 장치 및 방법 |
JP2012051441A (ja) | 2010-08-31 | 2012-03-15 | Toyota Motor Corp | 自動運転車両制御装置 |
CN107531243B (zh) * | 2015-05-14 | 2020-03-10 | 本田技研工业株式会社 | 自动驾驶控制装置 |
JP6429203B2 (ja) * | 2016-05-19 | 2018-11-28 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
US20190064805A1 (en) * | 2017-08-28 | 2019-02-28 | nuTonomy Inc. | Mixed-mode driving of a vehicle having autonomous driving capabilities |
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JP2016028927A (ja) | 2014-07-25 | 2016-03-03 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
JP2017208002A (ja) | 2016-05-20 | 2017-11-24 | トヨタ自動車株式会社 | 車両 |
JP2018069940A (ja) | 2016-10-31 | 2018-05-10 | 修一 田山 | 車輌用アクセルペダル装置 |
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CN110654391B (zh) | 2022-08-26 |
CN110654391A (zh) | 2020-01-07 |
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