JP7238721B2 - 自動運転装置 - Google Patents
自動運転装置 Download PDFInfo
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- JP7238721B2 JP7238721B2 JP2019186859A JP2019186859A JP7238721B2 JP 7238721 B2 JP7238721 B2 JP 7238721B2 JP 2019186859 A JP2019186859 A JP 2019186859A JP 2019186859 A JP2019186859 A JP 2019186859A JP 7238721 B2 JP7238721 B2 JP 7238721B2
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- vehicle
- automatic driving
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- 230000004807 localization Effects 0.000 claims description 24
- 238000000034 method Methods 0.000 description 33
- 230000001133 acceleration Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 1
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Classifications
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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
- B60W60/0051—Handover processes from occupants to 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
-
- 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
- B60W50/082—Selecting or switching between different modes of propelling
-
- 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
- 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
- B60W2050/146—Display means
-
- 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
- B60W2540/215—Selection or confirmation of options
-
- 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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- 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
- B60W2556/40—High definition maps
-
- 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
Landscapes
- 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
自動運転装置10では、スイッチ24により実行予約が受け付けられた場合(即ち、上述したステップS103の処理において、スイッチが押下されたと判定された場合)、ステップS105の処理において、自動運転可能であると判定され、且つ、ステップS106の処理において、車両1が車線中央付近を走行していると判定された場合にだけ、自動運転制御が実行される。つまり、自動運転装置10では、自動運転開始条件及び走行状態条件の両方が成立した場合にだけ、自動運転制御が実行される。従って、自動運転装置10によれば、実行予約が受け付けられた後、自動運転開始条件のみが成立したことを条件に自動運転制御が実行される比較例に係る装置に比べて、自動運転制御を安全に実施することができる。
Claims (2)
- 自動運転開始可能条件が成立しているときに、自車両を自動運転する自動運転制御を実行可能な自動運転装置であって、
前記自動運転開始可能条件が成立する前に、前記自動運転制御の実行予約を受け付け可能な受付手段と、
前記受付手段により前記実行予約が受け付けられた後、前記自動運転開始可能条件が成立し、且つ、前記自車両の走行状態に係る走行状態条件が成立している場合に、前記自動運転制御を自動的に実行する制御手段と、
を備え、
前記走行状態条件は、ドライバによる運転にて前記自車両が車線中央付近を走行していること、及び、前記ドライバによる運転にて前記自車両の挙動が安定していること、を含む
ことを特徴とする自動運転装置。 - 前記受付手段は、前記自動運転開始可能条件が成立した後に、前記自動運転制御の実行指示を受け付け可能であり、
前記自動運転開始可能条件は、前記自車両についてローカライズが完了していることを含み、
前記受付手段により前記実行予約が受け付けられた場合は、前記受付手段により前記実行指示が受け付けられた場合に比べて、前記自車両についてローカライズが完了しているか否かを判定する際のローカライズ誤差に係る閾値が小さい
ことを特徴とする請求項1に記載の自動運転装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019186859A JP7238721B2 (ja) | 2019-10-10 | 2019-10-10 | 自動運転装置 |
CN202010959770.4A CN112644515A (zh) | 2019-10-10 | 2020-09-14 | 自动驾驶装置 |
US17/023,743 US20210107525A1 (en) | 2019-10-10 | 2020-09-17 | Automatic operating apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019186859A JP7238721B2 (ja) | 2019-10-10 | 2019-10-10 | 自動運転装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021064038A JP2021064038A (ja) | 2021-04-22 |
JP7238721B2 true JP7238721B2 (ja) | 2023-03-14 |
Family
ID=75346303
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2019186859A Active JP7238721B2 (ja) | 2019-10-10 | 2019-10-10 | 自動運転装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20210107525A1 (ja) |
JP (1) | JP7238721B2 (ja) |
CN (1) | CN112644515A (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11702110B2 (en) * | 2020-01-06 | 2023-07-18 | Nio Technology (Anhui) Co., Ltd. | Methods and systems to enhance safety of bi-directional transition between autonomous and manual driving modes |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002079953A (ja) | 2000-09-06 | 2002-03-19 | Nissan Motor Co Ltd | 車線追従制御装置 |
WO2014102884A1 (ja) | 2012-12-28 | 2014-07-03 | トヨタ自動車株式会社 | 車両の制御装置 |
JP2018079835A (ja) | 2016-11-17 | 2018-05-24 | トヨタ自動車株式会社 | 車両の車線内走行支援装置 |
WO2018122966A1 (ja) | 2016-12-27 | 2018-07-05 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP2018176959A (ja) | 2017-04-11 | 2018-11-15 | トヨタ自動車株式会社 | 自動運転システム |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8825258B2 (en) * | 2012-11-30 | 2014-09-02 | Google Inc. | Engaging and disengaging for autonomous driving |
US10279682B2 (en) * | 2014-10-30 | 2019-05-07 | Mitsubishi Electric Corporation | In-vehicle device, autonomous vehicle, autonomous driving assistance system, autonomous driving monitoring device, road management device, and autonomous driving information gathering device |
BR112019001508B1 (pt) * | 2016-07-26 | 2022-11-01 | Nissan Motor Co., Ltd | Método de estimativa de autoposição e dispositivo de estimativa de autoposição |
JP6686869B2 (ja) * | 2016-12-22 | 2020-04-22 | 株式会社デンソー | 運転交代制御装置、及び運転交代制御方法 |
US10518776B2 (en) * | 2017-01-18 | 2019-12-31 | Denso International America, Inc. | Vehicle system, vehicle controller, and method of controlling vehicle |
JP6705413B2 (ja) * | 2017-03-28 | 2020-06-03 | トヨタ自動車株式会社 | 自動運転システム |
JP6637932B2 (ja) * | 2017-08-03 | 2020-01-29 | 株式会社Subaru | 車両用運転支援装置 |
US20190064803A1 (en) * | 2017-08-28 | 2019-02-28 | nuTonomy Inc. | Mixed-mode driving of a vehicle having autonomous driving capabilities |
CN112703540B (zh) * | 2018-09-11 | 2022-06-07 | 日产自动车株式会社 | 驾驶辅助方法和驾驶辅助装置 |
-
2019
- 2019-10-10 JP JP2019186859A patent/JP7238721B2/ja active Active
-
2020
- 2020-09-14 CN CN202010959770.4A patent/CN112644515A/zh active Pending
- 2020-09-17 US US17/023,743 patent/US20210107525A1/en not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002079953A (ja) | 2000-09-06 | 2002-03-19 | Nissan Motor Co Ltd | 車線追従制御装置 |
WO2014102884A1 (ja) | 2012-12-28 | 2014-07-03 | トヨタ自動車株式会社 | 車両の制御装置 |
JP2018079835A (ja) | 2016-11-17 | 2018-05-24 | トヨタ自動車株式会社 | 車両の車線内走行支援装置 |
WO2018122966A1 (ja) | 2016-12-27 | 2018-07-05 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP2018176959A (ja) | 2017-04-11 | 2018-11-15 | トヨタ自動車株式会社 | 自動運転システム |
Also Published As
Publication number | Publication date |
---|---|
US20210107525A1 (en) | 2021-04-15 |
JP2021064038A (ja) | 2021-04-22 |
CN112644515A (zh) | 2021-04-13 |
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