JP7192685B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP7192685B2 JP7192685B2 JP2019127877A JP2019127877A JP7192685B2 JP 7192685 B2 JP7192685 B2 JP 7192685B2 JP 2019127877 A JP2019127877 A JP 2019127877A JP 2019127877 A JP2019127877 A JP 2019127877A JP 7192685 B2 JP7192685 B2 JP 7192685B2
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- 230000008859 change Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0038—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/16—Sound input; Sound output
- G06F3/167—Audio in a user interface, e.g. using voice commands for navigating, audio feedback
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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
- B60W60/001—Planning or execution of driving tasks
-
- 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
- B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
- B60W60/00139—Planning or execution of driving tasks specially adapted for occupant comfort for sight-seeing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3438—Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3608—Destination input or retrieval using speech input, e.g. using speech recognition
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3617—Destination input or retrieval using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
-
- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
-
- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
Description
図1に示されるように、本車両制御装置10は、制御部12を備えている。制御部12は、車両14(図1では図示省略、図3参照)のアクセル装置16、ブレーキ装置18、ステアリング装置20等の走行操作装置へ電気的に接続されている。
一方、コントローラ52は、モニタ64を備えている。車両制御装置10の制御部12と管制センター38のコントローラ52との相互通信状態では、上述したカメラ32が撮像した映像に基づく映像信号が遠隔操作制御部60を介して車両側遠隔操作装置36から電波として出力される。車両側遠隔操作装置36から出力された映像信号を管制センター38が受信して送受信部62に入力されると、映像信号に基づく車両14の周囲の映像がモニタ64に映し出される。これによって、コントローラ52の疑似運転席に着座したオペレータは、車両14の周囲の状況を視認できる。
次に、本実施の形態の作用並びに効果について出発地から目的地までの過程で高速道路H(図3参照)を利用するモデルを例に説明する。また、このモデルでは、出発地の最寄りの高速道路Hのインターチェンジまでは車両14が手動モードで制御され、高速道路Hでは、自律運転モードで制御され、目的地の最寄りの高速道路Hのインターチェンジからは車両14が遠隔操作モードで制御されるものとする。
12 制御部
14 車両
28 カーナビゲーション装置(目的地入力部、位置情報入力部)
32 カメラ(状況検知装置)
34 測距装置(状況検知装置)
36 車両側遠隔操作装置(遠隔操作信号受信部)
38 管制センター
40 車両側マイク(通話装置)
42 車両側スピーカ(通話装置)
50 車両走行制御システム
52 コントローラ
66 管制センター側スピーカ(通話装置)
68 管制センター側マイク(通話装置)
Claims (2)
- 車両の外部の管制センターのオペレータによる操作に基づいた遠隔操作信号が入力される遠隔操作信号受信部と、
前記管制センター側において前記車両の遠隔操作が可能な状態では、前記管制センターから出力された前記遠隔操作信号に基づいた遠隔操作モードで前記車両を制御する制御部と、
目的地の入力が可能な目的地入力部と、
前記車両の現在の位置情報が入力される位置情報入力部と、
前記車両の乗員と前記管制センターのオペレータとの間での会話を可能とする通話装置と、
を備え、
前記制御部は、前記位置情報入力部に入力された前記位置情報に基づく前記車両の現在地が前記目的地を含んだ所定の範囲に入ることによって前記遠隔操作モードで前記車両を制御する車両制御装置。 - 前記車両の周囲の状況を検知すると共に、検知結果に基づく状況検知信号を出力する状況検知装置を備え、
前記制御部は、前記状況検知信号に基づいて前記車両を制御可能であると共に、前記目的地までの経路のうち、前記所定の範囲を含んだ少なくとも一部の区間では、前記状況検知信号に基づいて前記車両を制御する請求項1に記載の車両制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019127877A JP7192685B2 (ja) | 2019-07-09 | 2019-07-09 | 車両制御装置 |
US15/931,754 US11256475B2 (en) | 2019-07-09 | 2020-05-14 | Vehicle control device and vehicle travel control system |
CN202010406022.3A CN112214008A (zh) | 2019-07-09 | 2020-05-14 | 车辆控制装置以及车辆行驶控制系统 |
US17/570,900 US20220129243A1 (en) | 2019-07-09 | 2022-01-07 | Vehicle control device and vehicle travel control system |
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JP2019127877A JP7192685B2 (ja) | 2019-07-09 | 2019-07-09 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2021012655A JP2021012655A (ja) | 2021-02-04 |
JP7192685B2 true JP7192685B2 (ja) | 2022-12-20 |
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JP2019127877A Active JP7192685B2 (ja) | 2019-07-09 | 2019-07-09 | 車両制御装置 |
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US (2) | US11256475B2 (ja) |
JP (1) | JP7192685B2 (ja) |
CN (1) | CN112214008A (ja) |
Families Citing this family (1)
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WO2023149115A1 (ja) * | 2022-02-02 | 2023-08-10 | 株式会社デンソー | 自動運転制御装置及び自動運転制御プログラム |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2019040522A (ja) | 2017-08-28 | 2019-03-14 | 株式会社東芝 | 移動体運行支援システム |
Family Cites Families (18)
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JP4736979B2 (ja) * | 2006-06-30 | 2011-07-27 | 日産自動車株式会社 | 車載装置、交通情報取得方法、交通情報提供システム及び交通情報提供方法 |
US8326524B2 (en) * | 2007-07-23 | 2012-12-04 | Clarion Co., Ltd. | Navigation device |
JP5070318B2 (ja) * | 2010-06-21 | 2012-11-14 | 本田技研工業株式会社 | 車載遠隔操作装置 |
JP5240316B2 (ja) * | 2010-10-26 | 2013-07-17 | 株式会社デンソー | 車両乗員非操作運転システム |
WO2012111489A1 (ja) * | 2011-02-15 | 2012-08-23 | 富士通株式会社 | オペレータ選択装置、オペレータ選択プログラム及びオペレータ選択方法 |
FR3029157B1 (fr) * | 2014-12-02 | 2018-03-02 | Renault S.A.S. | Procede d'assistance a au moins un occupant d'un vehicule accidente et systeme d'assistance dedie |
US9857190B2 (en) * | 2015-12-31 | 2018-01-02 | Gt Gettaxi Limited | System for generating travel route to be serviced by primary transportation service and secondary transportation service |
US9964948B2 (en) | 2016-04-20 | 2018-05-08 | The Florida International University Board Of Trustees | Remote control and concierge service for an autonomous transit vehicle fleet |
US10684811B2 (en) * | 2016-12-28 | 2020-06-16 | Fca Us Llc | Vehicle communication between peripheral electronic devices, lighting systems, and methods |
KR102387613B1 (ko) * | 2017-06-26 | 2022-04-15 | 엘지전자 주식회사 | 차량용 인터페이스 시스템 |
JP6993258B2 (ja) * | 2018-02-15 | 2022-01-13 | トヨタ自動車株式会社 | サーバ装置 |
US10801849B2 (en) * | 2018-04-02 | 2020-10-13 | Ford Global Technologies, Llc | Unobserved content for on demand tours |
US10663977B2 (en) * | 2018-05-16 | 2020-05-26 | Direct Current Capital LLC | Method for dynamically querying a remote operator for assistance |
DK201870683A1 (en) * | 2018-07-05 | 2020-05-25 | Aptiv Technologies Limited | IDENTIFYING AND AUTHENTICATING AUTONOMOUS VEHICLES AND PASSENGERS |
US11068893B2 (en) * | 2018-07-20 | 2021-07-20 | Ford Global Technologies, Llc | Decentralized cloud-based authentication for vehicles and associated transactions |
US11170228B2 (en) * | 2018-09-19 | 2021-11-09 | Here Global B.V. | One-dimensional vehicle ranging |
US20200200556A1 (en) * | 2018-12-19 | 2020-06-25 | Ford Global Technologies, Llc | Systems and methods for vehicle-based tours |
US11225262B2 (en) * | 2019-06-28 | 2022-01-18 | Beijing Didi Infinity Technology And Development Co., Ltd. | Remotely supervised passenger intervention of an autonomous vehicle |
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2019
- 2019-07-09 JP JP2019127877A patent/JP7192685B2/ja active Active
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2020
- 2020-05-14 US US15/931,754 patent/US11256475B2/en active Active
- 2020-05-14 CN CN202010406022.3A patent/CN112214008A/zh active Pending
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2022
- 2022-01-07 US US17/570,900 patent/US20220129243A1/en not_active Abandoned
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2019040522A (ja) | 2017-08-28 | 2019-03-14 | 株式会社東芝 | 移動体運行支援システム |
Also Published As
Publication number | Publication date |
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US11256475B2 (en) | 2022-02-22 |
US20220129243A1 (en) | 2022-04-28 |
JP2021012655A (ja) | 2021-02-04 |
US20210011683A1 (en) | 2021-01-14 |
CN112214008A (zh) | 2021-01-12 |
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