JP7272338B2 - 自動運転システム - Google Patents
自動運転システム Download PDFInfo
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- JP7272338B2 JP7272338B2 JP2020159621A JP2020159621A JP7272338B2 JP 7272338 B2 JP7272338 B2 JP 7272338B2 JP 2020159621 A JP2020159621 A JP 2020159621A JP 2020159621 A JP2020159621 A JP 2020159621A JP 7272338 B2 JP7272338 B2 JP 7272338B2
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Images
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
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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
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- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- G—PHYSICS
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- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/225—Direction of gaze
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/10—Number of lanes
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—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
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
図1は、本発明の実施形態に係る自動運転システム1の構成を概略的に示す図である。自動運転システム1は、車両に搭載され、車両の自律走行を行う。車両の自律走行では、車両の加速、操舵及び制動の一部又は全部が自動的に実行される。
以下、図5及び図6のフローチャートを参照して、自律走行によって車線変更を行うための制御について詳細に説明する。図5は、要求フラグ設定処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU8によって所定の時間間隔で繰り返し実行される。本制御ルーチンでは、車線変更の要求に応じて要求フラグFが設定される。
図6は、車線変更処理の制御ルーチンを示すフローチャートである。本制御ルーチンはECU8によって繰り返し実行される。
2 車両検出装置
3 車内カメラ
8 電子制御ユニット(ECU)
10 車両
83 プロセッサ
84 視点検出部
85 判定部
86 車両制御部
Claims (5)
- 車両のドライバの顔を撮影して該ドライバの顔画像を生成する車内カメラと、
前記車両の周囲に存在する他車両を検出する車両検出装置と、
前記顔画像に基づいて前記ドライバの顔向き又は視線の角度を検出する視点検出部と、
前記角度に基づいて前記ドライバが前記車両の周囲の安全を確認したか否かを判定する判定部と、
前記車両の自律走行を制御する車両制御部と
を備え、
前記車両制御部は、前記ドライバが前記車両の周囲の安全を確認したと判定され且つ前記ドライバが車線変更を承認したときに前記車両の車線変更を開始し、
前記判定部は、前記車両検出装置によって移動先の車線に他車両が検出されていないときには、第1の条件が満たされた場合に前記ドライバが前記車両の周囲の安全を確認したと判定し、前記車両検出装置によって前記車線に他車両が検出されているときには、前記第1の条件よりも厳しい第2の条件が満たされた場合に前記ドライバが前記車両の周囲の安全を確認したと判定する、自動運転システム。 - 前記他車両は、前記車両の後側方を走行する他車両である、請求項1に記載の自動運転システム。
- 前記第1の条件は前記ドライバが一つの動作を行うことであり、前記第2の条件は前記ドライバが複数の動作を行うことである、請求項1又は2に記載の自動運転システム。
- 前記車両が走行している車線が被合流車線である場合、前記第1の条件及び前記第2の条件は前記ドライバが前記被合流車線に合流する合流車線の方向を見ることを含む、請求項1又は2に記載の自動運転システム。
- 前記第1の条件は前記ドライバが所定の動作を行うことであり、前記第2の条件は前記ドライバが前記所定の動作及び追加の動作を行うことである、請求項1から4のいずれか1項に記載の自動運転システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020159621A JP7272338B2 (ja) | 2020-09-24 | 2020-09-24 | 自動運転システム |
CN202111085350.9A CN114312826B (zh) | 2020-09-24 | 2021-09-16 | 自动驾驶系统 |
US17/448,448 US11834073B2 (en) | 2020-09-24 | 2021-09-22 | Autonomous driving system |
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JP2020159621A JP7272338B2 (ja) | 2020-09-24 | 2020-09-24 | 自動運転システム |
Publications (2)
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JP2022053040A JP2022053040A (ja) | 2022-04-05 |
JP7272338B2 true JP7272338B2 (ja) | 2023-05-12 |
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JP2020159621A Active JP7272338B2 (ja) | 2020-09-24 | 2020-09-24 | 自動運転システム |
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US (1) | US11834073B2 (ja) |
JP (1) | JP7272338B2 (ja) |
CN (1) | CN114312826B (ja) |
Families Citing this family (1)
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JP2022152694A (ja) * | 2021-03-29 | 2022-10-12 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、及びプログラム |
Citations (2)
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JP2017100562A (ja) | 2015-12-02 | 2017-06-08 | 株式会社デンソーアイティーラボラトリ | 運転制御装置、運転制御方法及びプログラム |
WO2017094316A1 (ja) | 2015-11-30 | 2017-06-08 | 株式会社デンソー | 運転支援装置 |
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US7884705B2 (en) * | 2005-12-12 | 2011-02-08 | Panasonic Corporation | Safety-drive assistance device |
US7839292B2 (en) * | 2007-04-11 | 2010-11-23 | Nec Laboratories America, Inc. | Real-time driving danger level prediction |
JP5354514B2 (ja) * | 2008-03-31 | 2013-11-27 | 現代自動車株式会社 | 脇見運転検出警報システム |
JP2009294753A (ja) * | 2008-06-03 | 2009-12-17 | Toyota Motor Corp | 画像処理装置および画像処理方法 |
JP5803274B2 (ja) * | 2011-05-25 | 2015-11-04 | 富士通株式会社 | 運転技術判別装置および運転技術判別プログラム |
JP6020371B2 (ja) * | 2013-06-27 | 2016-11-02 | 株式会社デンソー | 車両用情報提供装置 |
JP2017151694A (ja) | 2016-02-24 | 2017-08-31 | 株式会社デンソー | 安全確認診断システム及び安全確認診断方法 |
DE112016006386T5 (de) * | 2016-03-11 | 2018-10-25 | Mitsubishi Electric Corporation | Fahrzeugseitige vorrichtung, warnungsausgabeverfahren und warnungsausgabeprogramm |
JP6777060B2 (ja) * | 2017-11-15 | 2020-10-28 | オムロン株式会社 | 脇見判定装置、運転支援システム、脇見判定方法及び脇見判定のためのプログラム |
US11046247B1 (en) * | 2018-01-10 | 2021-06-29 | North Carolina A&T State University | System and method for predicting effects of forward glance durations on latent hazard detection |
CN113474787A (zh) * | 2019-01-22 | 2021-10-01 | 阿达姆认知科技有限公司 | 驾驶员的认知状态的检测 |
US11235776B2 (en) * | 2019-01-31 | 2022-02-01 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for controlling a vehicle based on driver engagement |
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- 2020-09-24 JP JP2020159621A patent/JP7272338B2/ja active Active
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2021
- 2021-09-16 CN CN202111085350.9A patent/CN114312826B/zh active Active
- 2021-09-22 US US17/448,448 patent/US11834073B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2017094316A1 (ja) | 2015-11-30 | 2017-06-08 | 株式会社デンソー | 運転支援装置 |
JP2017100562A (ja) | 2015-12-02 | 2017-06-08 | 株式会社デンソーアイティーラボラトリ | 運転制御装置、運転制御方法及びプログラム |
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Publication number | Publication date |
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JP2022053040A (ja) | 2022-04-05 |
CN114312826B (zh) | 2023-12-12 |
CN114312826A (zh) | 2022-04-12 |
US20220089188A1 (en) | 2022-03-24 |
US11834073B2 (en) | 2023-12-05 |
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