JP7198056B2 - 車両制御装置及び車両制御方法 - Google Patents
車両制御装置及び車両制御方法 Download PDFInfo
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- JP7198056B2 JP7198056B2 JP2018216560A JP2018216560A JP7198056B2 JP 7198056 B2 JP7198056 B2 JP 7198056B2 JP 2018216560 A JP2018216560 A JP 2018216560A JP 2018216560 A JP2018216560 A JP 2018216560A JP 7198056 B2 JP7198056 B2 JP 7198056B2
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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
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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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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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
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
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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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
-
- 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
- B60W60/0053—Handover processes from vehicle to occupant
-
- 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
- B60W2050/0072—Controller asks driver to take over
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
Claims (6)
- 複数機能それぞれの性能発揮状態を判定する機能レベル判定部と、
目標安全状態を選択する、安全状態選択部と、
前記目標安全状態と前記性能発揮状態とに基づいて、車両の軌道を含む前記車両の走行条件を決定する軌道生成部と、
前記走行条件に基づいて車両を制御する制御指示部と、
前記複数機能を実現するデバイスの故障の有無に基づき前記複数機能それぞれの冗長度を決定し、前記冗長度に基づき縮退オペレーションの要否を決定する、故障レベル判定部と、を含み、
前記複数機能は、前記車両の異なる方向の認識機能を含み、
前記車両の異なる方向の少なくとも一部の方向それぞれの認識機能に対して、複数種類の認識デバイスが存在し、
前記機能レベル判定部は、前記少なくとも一部の方向の各方向について、前記複数種類の認識デバイスの性能発揮状態において最も高い現在の性能発揮状態を、各方向の認識機能の性能発揮状態と決定し、
前記安全状態選択部は、
前記縮退オペレーションの要否及び前記性能発揮状態に基づき、第1目標安全状態を選択し、かつ、前記第1目標安全状態が達成されない場合の第2目標安全状態の要否を判定し、
前記第2目標安全状態が必要と判定された場合、前記複数機能の性能発揮状態に基づいて、利用可能な車両機能を決定し、
複数の第2目標安全状態候補それぞれの要求車両機能と前記利用可能な車両機能とを比較し、前記第2目標安全状態として、前記利用可能な車両機能が満たす要求車両機能を有する第2目標安全状態候補を選択する、車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記複数機能を実現している動作中デバイスそれぞれの現在の性能を判定するデバイス性能判定部をさらに含み、
前記デバイス性能判定部は、前記動作中デバイスそれぞれによる測定結果に基づき前記動作中デバイスそれぞれの現在の性能を判定する、車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記認識機能の性能発揮状態は認識距離で表わすことができる、車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記機能レベル判定部は、前記性能発揮状態に基づき機能制限を決定し、
前記軌道生成部は、前記機能制限に基づき前記走行条件を決定する、車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記第1目標安全状態はドライバ引き継ぎである、車両制御装置。 - 複数機能それぞれの性能発揮状態を判定し、
目標安全状態を選択し、
前記目標安全状態と前記性能発揮状態とに基づいて、車両の軌道を含む前記車両の走行条件を決定し、
前記走行条件に基づいて車両を制御し、
前記複数機能を実現するデバイスの故障の有無に基づき前記複数機能それぞれの冗長度を決定し、前記冗長度に基づき縮退オペレーションの要否を決定する、ことを含み、
前記複数機能は、前記車両の異なる方向の認識機能を含み、
前記車両の異なる方向の少なくとも一部の方向それぞれの認識機能に対して、複数種類の認識デバイスが存在し、
前記性能発揮状態を判定することは、前記少なくとも一部の方向の各方向について、前記複数種類の認識デバイスの性能発揮状態において最も高い現在の性能発揮状態を、各方向の認識機能の性能発揮状態と決定し、
前記目標安全状態を選択することは、
前記縮退オペレーションの要否及び前記性能発揮状態に基づき、第1目標安全状態を選択し、かつ、前記第1目標安全状態が達成されない場合の第2目標安全状態の要否を判定し、
前記第2目標安全状態が必要と判定された場合、前記複数機能の性能発揮状態に基づいて、利用可能な車両機能を決定し、
複数の第2目標安全状態候補それぞれの要求車両機能と前記利用可能な車両機能とを比較し、前記第2目標安全状態として、前記利用可能な車両機能が満たす要求車両機能を有する第2目標安全状態候補を選択する、ことを含む、車両制御方法。
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JP2018216560A JP7198056B2 (ja) | 2018-11-19 | 2018-11-19 | 車両制御装置及び車両制御方法 |
DE112019005243.8T DE112019005243T5 (de) | 2018-11-19 | 2019-11-05 | Fahrzeugsteuervorrichtung und fahrzeugsteuerverfahren |
PCT/JP2019/043183 WO2020105408A1 (ja) | 2018-11-19 | 2019-11-05 | 車両制御装置及び車両制御方法 |
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JP2018216560A JP7198056B2 (ja) | 2018-11-19 | 2018-11-19 | 車両制御装置及び車両制御方法 |
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JP7397759B2 (ja) * | 2020-05-29 | 2023-12-13 | 日立Astemo株式会社 | 電子制御装置 |
JP2022149043A (ja) * | 2021-03-25 | 2022-10-06 | いすゞ自動車株式会社 | 運転制御装置 |
EP4418063A1 (en) * | 2021-10-15 | 2024-08-21 | Sony Group Corporation | Information processing device, information processing method, and program |
FR3129911A1 (fr) * | 2021-12-06 | 2023-06-09 | Psa Automobiles Sa | Procédé et dispositif de contrôle d’un système d’aide à la conduite |
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JP2017165296A (ja) | 2016-03-17 | 2017-09-21 | 株式会社日立製作所 | 自動運転制御システム |
WO2017208416A1 (ja) | 2016-06-02 | 2017-12-07 | 三菱電機株式会社 | 移動体制御装置、移動体制御方法及び移動体制御プログラム |
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JPH1194946A (ja) * | 1997-07-23 | 1999-04-09 | Denso Corp | 車両用障害物認識装置 |
DE102014221682A1 (de) | 2014-10-24 | 2016-04-28 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
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JP2017165296A (ja) | 2016-03-17 | 2017-09-21 | 株式会社日立製作所 | 自動運転制御システム |
WO2017208416A1 (ja) | 2016-06-02 | 2017-12-07 | 三菱電機株式会社 | 移動体制御装置、移動体制御方法及び移動体制御プログラム |
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WO2020105408A1 (ja) | 2020-05-28 |
JP2020082855A (ja) | 2020-06-04 |
DE112019005243T5 (de) | 2021-07-08 |
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