JP7307550B2 - 車両の運転制御システム - Google Patents
車両の運転制御システム Download PDFInfo
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Description
10 外部環境認識装置
11 カメラユニット
12 レーダ装置
20 測位装置
21 受信機
22 ジャイロセンサ
23 車速センサ
30 地図情報処理装置
40 運転者監視装置(運転者監視部)
41 視覚センサ
42 生体センサ
43 解除スイッチ
50 制駆動制御装置
60 操舵制御装置
61 電動パワーステアリング装置
70 情報提示装置
100 自動運転制御装置
101 運転モード遷移制御部
102 運転者状態判断部
103 オーバーライド検出部
104 運転制御部
105 退避モード制御部
106 退避モード解除部
Claims (4)
- 運転者の運転操作を要することなく走行可能な自動運転モードと前記運転者の運転操作を支援する運転支援モードとを備える車両の運転制御システムであって、
前記自動運転モードを解除して前記運転者の運転操作による手動運転モードに遷移させるオーバーライド操作を検出するオーバーライド検出部と、
車室内の運転操作が可能な乗員を前記運転者として監視し、運転者状態を検出する運転者監視部と、
前記運転者状態に基づいて、前記運転者が正常に運転可能な状態であるか否かを判断する運転者状態判断部と、
前記自動運転モードによる走行中に、前記運転者状態判断部によって前記運転者が正常に運転可能な状態でないと判断されたとき、前記オーバーライド操作を無効として自車両を安全に停車可能な地点まで退避走行させる退避モードを制御する退避モード制御部と、
前記退避走行中に、前記運転者状態判断部により前記運転者が正常に運転可能な状態に復帰したと判断されたとき、前記退避モードを解除して前記オーバーライド操作を有効とする退避モード解除部とを備え、
前記退避モード解除部は、前記退避走行中に前記退避モードを解除したとき、前記オーバーライド操作による前記手動運転モードと前記運転支援モードとの間の遷移のみを可能とし、前記自動運転モードへの遷移を制限することを特徴とする車両の運転制御システム。 - 前記退避モード解除部は、前記自動運転モードへの遷移の制限下で前記運転者が前方を確認してハンドルを保舵した状態で一定時間走行した場合、前記自動運転モードへの遷移の制限を解除することを特徴とする請求項1に記載の車両の運転制御システム。
- 前記運転者状態判断部は、前記退避走行中に、前記運転者状態から前記運転者が少なくとも進行方向を注視していることを検出した場合、前記運転者が正常に運転可能な状態に復帰したと判断することを特徴とする請求項1又は2に記載の車両の運転制御システム。
- 前記運転者状態判断部は、更に、前記運転者がハンドルを保持していること、前記運転者の手の動きが予め登録しておいた特定の手の動きと同じ動きであることの少なくとも一方を検出した場合、前記運転者が正常に運転可能な状態に復帰したと判断することを特徴とする請求項3に記載の車両の運転制御システム。
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JP2019025796A JP7307550B2 (ja) | 2019-02-15 | 2019-02-15 | 車両の運転制御システム |
US16/708,057 US11209819B2 (en) | 2019-02-15 | 2019-12-09 | Vehicle driving control system |
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Families Citing this family (9)
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JP6951906B2 (ja) * | 2017-08-22 | 2021-10-20 | 株式会社アイシン | 中止地点管理システム、中止地点通知システム、中止地点案内システムおよび中止地点管理プログラム |
JP6912509B2 (ja) * | 2019-03-27 | 2021-08-04 | 本田技研工業株式会社 | 車両制御装置、車両および車両制御方法 |
JP7124963B2 (ja) * | 2019-05-15 | 2022-08-24 | 日産自動車株式会社 | 運転支援方法及び運転支援装置 |
KR20210120395A (ko) * | 2020-03-26 | 2021-10-07 | 현대자동차주식회사 | 차량의 자율 주행 제어 장치 및 방법 및 그 방법 |
KR20220119229A (ko) * | 2021-02-19 | 2022-08-29 | 주식회사 에이치엘클레무브 | 운전자 보조 시스템 및 그를 가지는 차량 |
CN113119991A (zh) * | 2021-04-15 | 2021-07-16 | 前海七剑科技(深圳)有限公司 | 驾驶模式切换方法、装置、设备及存储介质 |
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CN114103998B (zh) * | 2021-12-03 | 2024-03-19 | 智己汽车科技有限公司 | 一种基于驾驶员视线的智能驾驶车辆控制方法、系统及装置 |
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