JP7155985B2 - 車両及び乗員輸送システム - Google Patents
車両及び乗員輸送システム Download PDFInfo
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- JP7155985B2 JP7155985B2 JP2018233593A JP2018233593A JP7155985B2 JP 7155985 B2 JP7155985 B2 JP 7155985B2 JP 2018233593 A JP2018233593 A JP 2018233593A JP 2018233593 A JP2018233593 A JP 2018233593A JP 7155985 B2 JP7155985 B2 JP 7155985B2
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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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- 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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- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F02D41/00—Electrical control of supply of combustible mixture or its constituents
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- F02D41/10—Introducing corrections for particular operating conditions for acceleration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- B60W2540/01—Occupants other than the driver
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/041—Potential occupants
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/043—Identity of occupants
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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
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- B60W2540/049—Number of occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2540/00—Input parameters relating to occupants
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
-
- 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
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- B60W2720/106—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/12—Lateral speed
- B60W2720/125—Lateral acceleration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/70—Input parameters for engine control said parameters being related to the vehicle exterior
- F02D2200/701—Information about vehicle position, e.g. from navigation system or GPS signal
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/70—Input parameters for engine control said parameters being related to the vehicle exterior
- F02D2200/702—Road conditions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
- F02D2250/26—Control of the engine output torque by applying a torque limit
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- General Business, Economics & Management (AREA)
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Description
以下、図1~図5を参照して、本発明の第一実施形態について説明する。図1は、本発明の第一実施形態に係る乗員輸送システムの概略的な構成図である。乗員輸送システム10は、カーシェアサービス、ライドシェアサービス等のモビリティサービスを提供する。具体的には、乗員輸送システム10は、ユーザからの配車依頼に応じて、自律走行する車両1を用いて、ユーザを含む乗員を所望の目的地まで輸送する。ライドシェアサービスでは、目的地の近い複数のユーザが同時に一つの車両1を利用することができる。
以下、図5を参照して、上限値を設定するための制御について詳細に説明する。図5は、第一実施形態における上限値設定処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU70によって所定の実行間隔で繰り返し実行される。
第二実施形態に係る乗員輸送システム及び車両の構成及び制御は、以下に説明する点を除いて、基本的に第一実施形態と同様である。このため、以下、本発明の第二実施形態について、第一実施形態と異なる部分を中心に説明する。
図7は、第二実施形態における上限値設定処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU70によって所定の実行間隔で繰り返し実行される。
第三実施形態に係る乗員輸送システム及び車両の構成及び制御は、以下に説明する点を除いて、基本的に第一実施形態と同様である。このため、以下、本発明の第三実施形態について、第一実施形態と異なる部分を中心に説明する。
図8A~図8Cは、第三実施形態における上限値設定処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU70によって所定の実行間隔で繰り返し実行される。
第四実施形態に係る乗員輸送システム及び車両の構成及び制御は、以下に説明する点を除いて、基本的に第一実施形態と同様である。このため、以下、本発明の第四実施形態について、第一実施形態と異なる部分を中心に説明する。
図9は、第四実施形態における上限値設定処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU70によって所定の実行間隔で繰り返し実行される。
2 サーバ
10 乗員輸送システム
70 電子制御ユニット(ECU)
91 上限値設定部
92 車両制御部
Claims (14)
- 自律走行する車両を制御する、車両の制御装置であって、
前記車両の加減速度の上限値を設定する上限値設定部と、
前記加減速度が前記上限値を超えないように前記車両を制御する車両制御部と
を備え、
前記上限値設定部は、少なくとも一つの所定の条件に応じて前記上限値を変更し、前記車両の乗員に該上限値の変更を伝達する、車両の制御装置。 - 前記上限値設定部は前記車両の乗員の有無に応じて前記上限値を変更する、請求項1に記載の車両の制御装置。
- 前記上限値設定部は、前記車両に乗員が存在している場合、該乗員の姿勢に応じて前記上限値を変更する、請求項1又は2に記載の車両の制御装置。
- 前記上限値設定部は、前記車両に乗員が存在している場合、該乗員のシートベルトの着用の有無に応じて前記上限値を変更する、請求項1から3のいずれか1項に記載の車両の制御装置。
- 前記上限値設定部は、前記車両に乗員が存在している場合、身体障害者の有無に応じて前記上限値を変更する、請求項1から4のいずれか1項に記載の車両の制御装置。
- 前記上限値設定部は、前記車両に乗員が存在している場合、該乗員の年齢に応じて前記上限値を変更する、請求項1から5のいずれか1項に記載の車両の制御装置。
- 前記上限値設定部は、前記車両に乗員が存在している場合、該乗員によって指定された値に前記上限値を設定する、請求項1から6のいずれか1項に記載の車両の制御装置。
- 前記上限値設定部は荷物の有無に応じて前記上限値を変更する、請求項1から7のいずれか1項に記載の車両の制御装置。
- 前記上限値設定部は、前記車両が荷物を輸送している場合、該荷物の総重量に応じて前記上限値を変更する、請求項1から8のいずれか1項に記載の車両の制御装置。
- 前記上限値設定部は、前記車両が荷物を輸送している場合、該車両の積載率に応じて前記上限値を変更する、請求項9に記載の車両の制御装置。
- 前記上限値設定部は、前記車両が荷物を輸送している場合、該荷物の強度に応じて前記上限値を変更する、請求項1から10のいずれか1項に記載の車両の制御装置。
- 前記上限値設定部は、前記車両が荷物を輸送している場合、人によって指定された値に前記上限値を設定する、請求項1から11のいずれか1項に記載の車両の制御装置。
- 前記上限値設定部は目的地への到着希望時刻に応じて前記上限値を変更する、請求項1から12のいずれか1項に記載の車両の制御装置。
- ユーザからの配車依頼に基づいて走行計画を作成するサーバと、
前記走行計画に基づいて車両を制御する車両制御部と、
前記車両の加減速度の上限値を設定する上限値設定部と
を備え、
前記上限値設定部は、少なくとも一つの所定の条件に応じて前記上限値を変更し、前記車両の乗員に該上限値の変更を伝達し、前記車両制御部は、前記加減速度が該上限値を超えないように前記車両を制御する、乗員輸送システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018233593A JP7155985B2 (ja) | 2018-12-13 | 2018-12-13 | 車両及び乗員輸送システム |
US16/682,319 US11577751B2 (en) | 2018-12-13 | 2019-11-13 | Control device for vehicle and occupant transportation system |
CN201911103500.7A CN111319632A (zh) | 2018-12-13 | 2019-11-13 | 车辆的控制装置以及乘员输送系统 |
Applications Claiming Priority (1)
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US11485383B2 (en) * | 2019-12-06 | 2022-11-01 | Robert Bosch Gmbh | System and method for detecting and mitigating an unsafe condition in a vehicle |
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