JP7192710B2 - 冠水検知装置、冠水検知システム、及び冠水検知プログラム - Google Patents
冠水検知装置、冠水検知システム、及び冠水検知プログラム 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
- 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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
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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
- 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
- B60W40/10—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 vehicle motion
- B60W40/1005—Driving resistance
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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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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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
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
- B60W2050/0031—Mathematical model of the vehicle
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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
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0083—Setting, resetting, calibration
- B60W2050/0088—Adaptive recalibration
-
- 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
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/12—Brake pedal position
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
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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
- 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
-
- 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
- B60W2556/65—Data transmitted between vehicles
-
- 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
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Description
12 車両
14 情報提供装置
16 演算部
36 冠水エリア推定センタ
38 中央処理部
40 予測部
42 判定部
44 冠水エリア推定部
46 モデル更新部
48 中央通信部
50 モデル記憶部
52 CANデータベース
Claims (10)
- 車両の走行に関する複数種類の走行状態データを取得する取得部と、
車両の駆動力と、車両に作用する空気抵抗、車両に作用する勾配抵抗、及び車両に作用する転がり抵抗を含む走行抵抗とで構成された、車両が走行することにより変化する物理量を求める車両挙動モデルと、前記取得部が取得した現在の前記複数種類の走行状態データとに基づいて予測した前記物理量と、前記取得部が取得した現在の前記走行状態データから得られる前記物理量とを用いて、車両が走行する道路の冠水を検知する検知部と、
を含み、
前記車両挙動モデルは、重回帰式を学習モデルとして用いて導出する冠水検知装置。 - 複数の車両から走行に関する複数種類の走行状態データを取得する取得部と、
車両の駆動力と、車両に作用する空気抵抗、車両に作用する勾配抵抗、及び車両に作用する転がり抵抗を含む走行抵抗とで構成された、車両が走行することにより変化する物理量を求める車両挙動モデルを、複数の車両から予め取得した前記複数種類の走行状態データと、予め定めた学習モデルとを用いて導出する導出部と、
前記導出部が導出した前記車両挙動モデルと、予め定めた注目車両から前記取得部が取得した現在の前記複数種類の走行状態データとを用いて予測した前記物理量と、前記注目車両から前記取得部が取得した前記走行状態データから得られる前記物理量とを用いて、前記注目車両が走行する道路の冠水を検知する検知部と、
を含む冠水検知装置。 - 前記車両挙動モデルは、重回帰式を学習モデルとして用いて導出する請求項2に記載の冠水検知装置。
- 前記走行抵抗は、車両に作用する加速抵抗を更に含む請求項1~3の何れか1項に記載の冠水検知装置。
- 前記検知部は、予測した前記物理量と前記走行状態データから得られる前記物理量との差が予め定めた閾値以上の場合に、冠水と判定して冠水を検知する請求項1~3の何れか1項に記載の冠水検知装置。
- 前記車両挙動モデルは、車両の速度、加速度、または、加速度の変化率を前記物理量として、運動方程式を用いて導出する請求項1~5の何れか1項に記載の冠水検知装置。
- 車両の走行に関する複数種類の走行状態データを検出する検出部と、
前記検出部が検出した前記複数種類の走行状態データを複数の車両から取得する取得部と、
車両の駆動力と、車両に作用する空気抵抗、車両に作用する勾配抵抗、及び車両に作用する転がり抵抗を含む走行抵抗と、で構成された、車両が走行することにより変化する物理量を求める車両挙動モデルを、前記取得部が複数の車両から予め取得した前記複数種類の走行状態データと、予め定めた学習モデルとを用いて導出する導出部と、
前記導出部が導出した前記車両挙動モデルと、予め定めた注目車両から前記取得部が取得した現在の前記複数種類の走行状態データとを用いて予測した前記物理量と、前記注目車両から前記取得部が取得した現在の前記走行状態データから得られる前記物理量とを用いて、前記注目車両が走行する道路の冠水を検知する検知部と、
を含む冠水検知システム。 - 複数の車両に対する前記検知部の検知結果を収集する結果収集部と、
前記結果収集部が収集した前記検知結果に基づいて、冠水エリアを推定する推定部と、
を更に含む請求項7に記載の冠水検知システム。 - 前記推定部の推定結果を配信する配信部を更に含む請求項8に記載の冠水検知システム。
- コンピュータを、請求項1~6のいずれか1項に記載の冠水検知装置の各部として機能させるための冠水検知プログラム。
Priority Applications (4)
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JP2019148408A JP7192710B2 (ja) | 2019-08-13 | 2019-08-13 | 冠水検知装置、冠水検知システム、及び冠水検知プログラム |
EP20189735.2A EP3778330A1 (en) | 2019-08-13 | 2020-08-06 | Flood sensing device, flood sensing system, and flood sensing program |
CN202010782825.9A CN112389441B (zh) | 2019-08-13 | 2020-08-06 | 水淹检知装置、水淹检知系统及计算机可读介质 |
US16/987,516 US11453399B2 (en) | 2019-08-13 | 2020-08-07 | Flood sensing device, flood sensing system, and non-transitory computer readable medium |
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JP2019148408A JP7192710B2 (ja) | 2019-08-13 | 2019-08-13 | 冠水検知装置、冠水検知システム、及び冠水検知プログラム |
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JP7192710B2 true JP7192710B2 (ja) | 2022-12-20 |
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US (1) | US11453399B2 (ja) |
EP (1) | EP3778330A1 (ja) |
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CN (1) | CN112389441B (ja) |
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JP7238684B2 (ja) * | 2019-08-13 | 2023-03-14 | トヨタ自動車株式会社 | 冠水検知装置、冠水検知システム、及び冠水検知プログラム |
US20220371599A1 (en) * | 2021-05-20 | 2022-11-24 | Geotab Inc. | Methods and systems for estimating local weather conditions of roadways |
US20220412756A1 (en) * | 2021-06-25 | 2022-12-29 | Toyota Jidosha Kabushiki Kaisha | Information processing apparatus, information processing method, and storage medium |
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JP2017024460A (ja) | 2015-07-16 | 2017-02-02 | トヨタ自動車株式会社 | 路面の冠水推定装置 |
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JP7238684B2 (ja) * | 2019-08-13 | 2023-03-14 | トヨタ自動車株式会社 | 冠水検知装置、冠水検知システム、及び冠水検知プログラム |
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- 2019-08-13 JP JP2019148408A patent/JP7192710B2/ja active Active
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- 2020-08-06 CN CN202010782825.9A patent/CN112389441B/zh active Active
- 2020-08-06 EP EP20189735.2A patent/EP3778330A1/en not_active Withdrawn
- 2020-08-07 US US16/987,516 patent/US11453399B2/en active Active
Patent Citations (5)
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JP2000110925A (ja) | 1998-10-02 | 2000-04-18 | Denso Corp | 無段変速機の変速比制御装置及び記録媒体 |
JP2002127773A (ja) | 2000-10-20 | 2002-05-08 | Fuji Heavy Ind Ltd | 4輪駆動車の駆動力配分装置 |
JP2002225590A (ja) | 2001-02-02 | 2002-08-14 | Denso Corp | 車両の走行制御装置 |
JP2007139090A (ja) | 2005-11-18 | 2007-06-07 | Toyota Motor Corp | 車両用走行制御装置 |
JP2017024460A (ja) | 2015-07-16 | 2017-02-02 | トヨタ自動車株式会社 | 路面の冠水推定装置 |
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EP3778330A1 (en) | 2021-02-17 |
CN112389441B (zh) | 2024-07-30 |
US11453399B2 (en) | 2022-09-27 |
CN112389441A (zh) | 2021-02-23 |
JP2021033312A (ja) | 2021-03-01 |
US20210046937A1 (en) | 2021-02-18 |
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