JP7272329B2 - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
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- JP7272329B2 JP7272329B2 JP2020124362A JP2020124362A JP7272329B2 JP 7272329 B2 JP7272329 B2 JP 7272329B2 JP 2020124362 A JP2020124362 A JP 2020124362A JP 2020124362 A JP2020124362 A JP 2020124362A JP 7272329 B2 JP7272329 B2 JP 7272329B2
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- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
-
- 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
- B60W40/09—Driving style or behaviour
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- 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
- B60W60/005—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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
- B60W60/0055—Handover processes from vehicle to occupant only part of driving tasks shifted to occupants
-
- 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
- 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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60W2040/0872—Driver physiology
-
- 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
- B60W2050/143—Alarm 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
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
-
- 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
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Description
(1)本線への合流時や先行車接近の可能性があるときなど、操舵に関する運転操作の準備をドライバに対して要求するシーン
(2)ドライバが居眠りや長時間脇見をしていると判断された後など、運転に対する意識付けを図ってドライバの回避能力(ドライバ自身が運転操作を行って危険等を回避する能力)を高める必要があるシーン
(3)雨や積雪、凍結などによる路面状況の変化によって制動距離が延びる可能性があるときなど、制動に関する運転操作の準備(すなわちブレーキペダルを踏む準備)をドライバに対して要求するシーン
(4)逆光やドライバモニタカメラ31の不具合等によってドライバの状態が把握できないシーン
61 情報提供装置
80 電子制御ユニット(制御装置)
Claims (6)
- 車両の制御装置であって、
前記車両の運転操作を自動的に行う自動運転を実施する自動運転制御部を備え、
前記自動運転制御部は、
所定の運転シーンとなったときに、ドライバに対してステアリングを把持することを要求する把持要求部と、
ステアリングに対するドライバからの入力情報に基づいて、ステアリング把持状態が片手把持状態であるか、又は両手把持状態であるかを判定する把持状態判定部と、
ステアリングの把持が要求されているときに、ステアリング把持状態に基づいて、ステアリングの把持が完了している把持完了状態であるか否かを判定する把持完了判定部と、
を備え、
前記把持完了判定部は、
少なくとも前記片手把持状態であれば前記把持完了状態と判定するのか、又は前記両手把持状態であった場合のみ前記把持完了状態と判定するのかを、前記運転シーンに応じて変更する、
車両の制御装置。 - 前記把持完了判定部は、
前記運転シーンが、操舵に関する運転操作の準備をドライバに対して要求するシーンであった場合は、ステリング把持状態が前記両手把持状態であった場合のみ、前記把持完了状態と判定する、
請求項1に記載の車両の制御装置。 - 前記把持完了判定部は、
前記運転シーンが、ドライバの回避能力を高める必要があるシーンであった場合は、ステリング把持状態が前記両手把持状態であった場合のみ、前記把持完了状態と判定する、
請求項1又は請求項2に記載の車両の制御装置。 - 前記把持完了判定部は、
前記運転シーンが、制動に関する運転操作の準備をドライバに対して要求するシーンであった場合は、ステリング把持状態が少なくとも前記片手把持状態であれば、前記把持完了状態と判定する、
請求項1から請求項3までのいずれか1項に記載の車両の制御装置。 - 前記把持完了判定部は、
前記運転シーンが、ドライバの状態を把握することができないシーンであった場合は、ステリング把持状態が少なくとも前記片手把持状態であれば、前記把持完了状態と判定する、
請求項1から請求項4までのいずれか1項に記載の車両の制御装置。 - 前記自動運転制御部は、
前記把持完了状態と判定するステリング把持状態が前記両手把持状態とされている場合のドライバのステアリング把持状態が前記片手把持状態であったときは、ドライバに情報を提供するための情報提供装置を介してドライバにステアリングを両手で把持するように第1の警告を実施する警告部をさらに備え、
前記警告部は、
前記第1の警告を実施してから所定時間が経過した後もステアリング把持状態が前記片手把持状態であったときは、前記情報提供装置を介して前記第1の警告よりも警告度合の強い第2の警告を実施する、
請求項1から請求項5までのいずれか1項に記載の車両の制御装置。
Priority Applications (4)
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JP2020124362A JP7272329B2 (ja) | 2020-07-21 | 2020-07-21 | 車両の制御装置 |
US17/366,926 US11897482B2 (en) | 2020-07-21 | 2021-07-02 | Autonomous vehicle control for changing grip completion status in real-time to prevent unnecessary warning issuance |
CN202110792543.1A CN113954861A (zh) | 2020-07-21 | 2021-07-14 | 车辆的控制装置 |
DE102021118761.3A DE102021118761A1 (de) | 2020-07-21 | 2021-07-20 | Steuerungsvorrichtung für ein Fahrzeug |
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JP2020124362A JP7272329B2 (ja) | 2020-07-21 | 2020-07-21 | 車両の制御装置 |
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JP7272329B2 true JP7272329B2 (ja) | 2023-05-12 |
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JP (1) | JP7272329B2 (ja) |
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DE (1) | DE102021118761A1 (ja) |
Citations (1)
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JP2018116429A (ja) | 2017-01-17 | 2018-07-26 | トヨタ自動車株式会社 | 車両の制御装置 |
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JP6278565B2 (ja) | 2014-08-11 | 2018-02-14 | 本田技研工業株式会社 | 自動運転車両制御装置 |
KR101994694B1 (ko) * | 2015-12-10 | 2019-09-30 | 엘지전자 주식회사 | 차량용 조향 입력 장치 및 차량 |
JP6473734B2 (ja) * | 2016-12-16 | 2019-02-20 | 本田技研工業株式会社 | 車両制御装置 |
DE102017208762A1 (de) * | 2017-05-23 | 2018-11-29 | Bayerische Motoren Werke Aktiengesellschaft | Fahrsystem zum automatisierten Fahren mit Mitteln zum Markieren von Bereichen am Lenkrad und entsprechendes Verfahren |
DE102017112068A1 (de) * | 2017-06-01 | 2018-12-06 | Man Truck & Bus Ag | Verfahren und Anzeigevorrichtung zur Signalisierung einer Aufforderung zur Übernahme einer Fahrfunktion eines Kraftfahrzeugs |
CN109849919B (zh) * | 2017-11-30 | 2020-09-11 | 财团法人车辆研究测试中心 | 自动驾驶接管的安全警示系统及其方法 |
JP7087623B2 (ja) * | 2018-04-19 | 2022-06-21 | トヨタ自動車株式会社 | 車両の制御装置 |
KR20200075933A (ko) * | 2018-12-12 | 2020-06-29 | 현대자동차주식회사 | 스티어링휠의 핸즈온오프 감지시스템 및 방법 |
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CN111753589B (zh) * | 2019-03-28 | 2022-05-03 | 虹软科技股份有限公司 | 手握方向盘状态的检测方法及装置 |
JP7149918B2 (ja) * | 2019-10-16 | 2022-10-07 | 本田技研工業株式会社 | 車両用接触回避支援装置 |
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- 2021-07-02 US US17/366,926 patent/US11897482B2/en active Active
- 2021-07-14 CN CN202110792543.1A patent/CN113954861A/zh active Pending
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CN113954861A (zh) | 2022-01-21 |
JP2022021024A (ja) | 2022-02-02 |
DE102021118761A1 (de) | 2022-01-27 |
US11897482B2 (en) | 2024-02-13 |
US20220024462A1 (en) | 2022-01-27 |
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