JP7188322B2 - 車両走行システム - Google Patents
車両走行システム 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G3/00—Ambulance aspects of vehicles; Vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances, e.g. for facilitating access of, or for loading, wheelchairs
- A61G3/001—Vehicles provided with medical equipment to perform operations or examinations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60K28/02—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 driver
- B60K28/06—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 driver responsive to incapacity of driver
-
- 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
-
- 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
-
- 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
- B60W60/007—Emergency override
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Atmospheric Sciences (AREA)
- Mathematical Physics (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Emergency Management (AREA)
- Business, Economics & Management (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Description
図1は、第1実施形態に係る車両走行システムの概略構成を示す図である。
図2は、車両12に搭載される機器のハードウェア構成を示すブロック図である。なお、本実施形態の車両12は、第1車両14及び第2車両15において同様の構成を有している。図2に示されるように、車両12は、上述した車両制御装置20の他、GPS(Global Positioning System)装置31と、外部センサ32と、内部センサ33と、入力装置34と、アクチュエータ35と、生体センサ36と、スピーカ37とを含んでいる。
図4は、遠隔操作装置16に搭載される機器のハードウェア構成を示すブロック図である。遠隔操作装置16は、上述した遠隔制御装置50の他、表示装置61と、スピーカ62と、入力装置63と、を含んでいる。
次に、車両走行システム10の作用について説明する。なお、作用を時系列に並べるため、図6-図8を用いて、車両12の車両制御装置20の第1の作用、遠隔制御装置50の作用、車両12の車両制御装置20の第2の作用を順に説明する。
次に、第2実施形態に係る車両走行システムについて説明する。なお、前述した第1実施形態と同一構成部分については、同一番号を付してその説明を省略する。
図13は、サーバ装置72に搭載される機器のハードウェア構成を示すブロック図である。
12 車両
14 第1車両(手動運転の車両)
15 第2車両(第1車両から所定範囲内の車両)
32D ドライブレコーダ
36 生体センサ
68 病院
70 車両走行システム
205 運転者状態取得部(取得部)
206 検出部
208 報知部
505 切替制御部
507 病院情報取得部
508 行先設定部
509 生体情報送信部
802 切替制御部(他の切替制御部)
804 報知部
N2 車車間通信(第1車両と第2車両との間の通信)
Claims (10)
- 手動運転により第1車両を運転する運転者の状態に関する情報を取得する取得部と、
前記取得部により取得された前記情報により前記運転者が運転困難であると確認されると、前記第1車両を手動運転からリモート運転に切り替える切替制御部と、
前記切替制御部によりリモート運転に切り替えられると、前記第1車両から所定の範囲内に存在する第2車両に、前記第1車両が緊急車両化したことを報知する報知部と、
を有し、
前記報知部は、前記第2車両に前記第1車両の走行方向から退避してもらうことを報知する車両走行システム。 - 手動運転により第1車両を運転する運転者の状態に関する情報を取得する取得部と、
前記取得部により取得された前記情報により前記運転者が運転困難であると確認されると、前記第1車両を手動運転からリモート運転に切り替える切替制御部と、
前記切替制御部によりリモート運転に切り替えられると、前記第1車両から所定の範囲内に存在する第2車両に、前記第1車両が緊急車両化したことを報知する報知部と、
前記報知部により前記第1車両が緊急車両化したことが報知されたときに、前記第2車両をリモート運転に切り替える他の切替制御部と、
を有する車両走行システム。 - 前記取得部により取得された前記情報により、前記運転者が運転困難な状況であることを検出する検出部を有する請求項1又は請求項2に記載の車両走行システム。
- 前記報知部による前記第1車両から前記第2車両への報知は、前記第1車両と前記第2車両との通信より行う請求項1から請求項3までのいずれか1項に記載の車両走行システム。
- 前記取得部は、前記第1車両に設置され、又は前記第1車両の前記運転者が携帯している請求項1から請求項4までのいずれか1項に記載の車両走行システム。
- 前記取得部は、前記第1車両の運転者の生体情報を検出する生体センサである請求項5に記載の車両走行システム。
- 前記生体センサで検出された前記生体情報に応じて、前記第1車両から所定範囲内で前記運転者の受け入れが可能な病院の情報を取得する病院情報取得部を有する請求項6に記載の車両走行システム。
- 前記病院情報取得部により取得された前記病院の情報に応じて、前記第1車両の行先を前記運転者の受け入れが可能な受入先病院に設定する行先設定部を有する請求項7に記載の車両走行システム。
- 前記受入先病院に、前記運転者の生体情報を送信する生体情報送信部を有する請求項8に記載の車両走行システム。
- 前記取得部は、前記第1車両の前後を走行する前記第2車両に設けられたドライブレコーダにより、前記第1車両の運転者の状態に関する情報を取得する請求項1から請求項4までのいずれか1項に記載の車両走行システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019147196A JP7188322B2 (ja) | 2019-08-09 | 2019-08-09 | 車両走行システム |
CN202010758731.8A CN112339776B (zh) | 2019-08-09 | 2020-07-31 | 车辆行驶系统 |
US16/986,457 US20210039681A1 (en) | 2019-08-09 | 2020-08-06 | Vehicle driving system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2019147196A JP7188322B2 (ja) | 2019-08-09 | 2019-08-09 | 車両走行システム |
Publications (2)
Publication Number | Publication Date |
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JP2021028735A JP2021028735A (ja) | 2021-02-25 |
JP7188322B2 true JP7188322B2 (ja) | 2022-12-13 |
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JP2019147196A Active JP7188322B2 (ja) | 2019-08-09 | 2019-08-09 | 車両走行システム |
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US (1) | US20210039681A1 (ja) |
JP (1) | JP7188322B2 (ja) |
CN (1) | CN112339776B (ja) |
Families Citing this family (2)
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JP7367723B2 (ja) * | 2021-03-30 | 2023-10-24 | トヨタ自動車株式会社 | 自動運転装置、自動運転方法、及びプログラム |
CN114715197B (zh) * | 2022-06-10 | 2022-08-30 | 深圳市爱云信息科技有限公司 | 基于数字孪生DaaS平台的自动驾驶安全方法及系统 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017177932A (ja) | 2016-03-29 | 2017-10-05 | 株式会社デンソー | 運転者緊急対応システム及び車両側対応装置 |
JP2018062223A (ja) | 2016-10-12 | 2018-04-19 | 矢崎総業株式会社 | 車両システム |
JP2019079150A (ja) | 2017-10-20 | 2019-05-23 | オムロン株式会社 | 危険予兆判定装置、危険予兆判定システム、車両、およびプログラム |
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JP6728558B2 (ja) * | 2016-01-25 | 2020-07-22 | 日立オートモティブシステムズ株式会社 | 自動運転制御装置および自動運転制御方法 |
JP6923306B2 (ja) * | 2016-11-09 | 2021-08-18 | 株式会社野村総合研究所 | 車両運転支援システム |
CN108177685A (zh) * | 2018-02-08 | 2018-06-19 | 深圳市歌航科技有限公司 | 一种基于健康监测的新型交通工具 |
-
2019
- 2019-08-09 JP JP2019147196A patent/JP7188322B2/ja active Active
-
2020
- 2020-07-31 CN CN202010758731.8A patent/CN112339776B/zh active Active
- 2020-08-06 US US16/986,457 patent/US20210039681A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017177932A (ja) | 2016-03-29 | 2017-10-05 | 株式会社デンソー | 運転者緊急対応システム及び車両側対応装置 |
JP2018062223A (ja) | 2016-10-12 | 2018-04-19 | 矢崎総業株式会社 | 車両システム |
JP2019079150A (ja) | 2017-10-20 | 2019-05-23 | オムロン株式会社 | 危険予兆判定装置、危険予兆判定システム、車両、およびプログラム |
Also Published As
Publication number | Publication date |
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JP2021028735A (ja) | 2021-02-25 |
CN112339776B (zh) | 2024-05-14 |
CN112339776A (zh) | 2021-02-09 |
US20210039681A1 (en) | 2021-02-11 |
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