JP7310424B2 - 車両走行システム - Google Patents
車両走行システム Download PDFInfo
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- JP7310424B2 JP7310424B2 JP2019144308A JP2019144308A JP7310424B2 JP 7310424 B2 JP7310424 B2 JP 7310424B2 JP 2019144308 A JP2019144308 A JP 2019144308A JP 2019144308 A JP2019144308 A JP 2019144308A JP 7310424 B2 JP7310424 B2 JP 7310424B2
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- 238000004891 communication Methods 0.000 description 25
- 230000006870 function Effects 0.000 description 25
- 230000006399 behavior Effects 0.000 description 24
- 238000003860 storage Methods 0.000 description 20
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- 230000001133 acceleration Effects 0.000 description 15
- 230000002093 peripheral effect Effects 0.000 description 11
- 238000012545 processing Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 6
- 238000010801 machine learning Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000010365 information processing Effects 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000036772 blood pressure Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008921 facial expression Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- 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
- 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
- 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
-
- 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
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- 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
- B60W2040/0881—Seat occupation; Driver or passenger presence
-
- 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
-
- 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
- B60W2540/30—Driving style
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mathematical Physics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Description
まず、本実施の形態に係る車両走行システムの概要について説明する。
図2には、本実施形態の形態に係る車両走行システムに用いられる車両12に搭載される機器のハードウェア構成を示すブロック図が示されている。
図6は、本実施形態の遠隔操作装置16に搭載される機器のハードウェア構成を示すブロック図である。
図8には、本実施の形態に係る車両走行システムに用いられる情報サーバ18のハードウェア構成を示すブロック図が示されている。
次に、本実施の形態に係る車両の作用及び効果について説明する。
12 車両
20 車両制御装置
25 学習済みモデル
26 内部センサ(挙動センサ)
34 生体センサ
262 判定部
280 通知部
290 操作切替部(切替部)
Claims (4)
- 手動運転とリモート運転を切り替え可能な車両を手動運転する運転者にとって、苦手な場所及び苦手な状態のうち少なくとも一方を含む手動運転時の苦手な状況下において収集された少なくとも前記車両の周辺の状況を示す画像情報及び前記手動運転時の状態を示す運転時情報を用いて生成された学習済みモデルに対して、現在の車両走行時において取得された少なくとも現在の前記車両の周辺の状況を示す画像情報及び現在の前記手動運転時の状態を示す運転時情報を入力して、現在の状況が前記苦手な状況か否かを判定する判定部と、
前記判定部によって前記苦手な状況と判定された場合に、前記手動運転を前記リモート運転に切り替え可能な切替部と、
を有する車両走行システム。 - 前記手動運転時の状態を示す運転時情報は、前記車両の挙動を検出する挙動センサで検出された挙動情報を含む請求項1に記載の車両走行システム。
- 前記手動運転時の状態を示す運転時情報は、前記運転者の生体状態を検出する生体センサで検出された生体情報を含む請求項1又は請求項2に記載の車両走行システム。
- 前記切替部により前記手動運転から前記リモート運転に切り替える場合に、前記リモート運転を行うオペレータ側に当該手動運転から当該リモート運転に切り替える切替通知を送信する通知部を更に有する請求項1~請求項3の何れか1項に記載の車両走行システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019144308A JP7310424B2 (ja) | 2019-08-06 | 2019-08-06 | 車両走行システム |
US16/901,084 US20210039677A1 (en) | 2019-08-06 | 2020-06-15 | Vehicle travel system |
CN202010549821.6A CN112429014B (zh) | 2019-08-06 | 2020-06-16 | 车辆行驶系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019144308A JP7310424B2 (ja) | 2019-08-06 | 2019-08-06 | 車両走行システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021026524A JP2021026524A (ja) | 2021-02-22 |
JP7310424B2 true JP7310424B2 (ja) | 2023-07-19 |
Family
ID=74501819
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019144308A Active JP7310424B2 (ja) | 2019-08-06 | 2019-08-06 | 車両走行システム |
Country Status (3)
Country | Link |
---|---|
US (1) | US20210039677A1 (ja) |
JP (1) | JP7310424B2 (ja) |
CN (1) | CN112429014B (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113276886B (zh) * | 2021-05-28 | 2022-11-25 | 华能煤炭技术研究有限公司 | 车辆驾驶模式确定方法、装置及无人车辆 |
CN113382294B (zh) * | 2021-06-04 | 2023-05-12 | 广州小鹏汽车科技有限公司 | 远程驾驶舱的画面显示处理方法、装置、驾驶舱及系统 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006301963A (ja) | 2005-04-20 | 2006-11-02 | Toyota Motor Corp | 遠隔操作システム |
JP2008056059A (ja) | 2006-08-30 | 2008-03-13 | Equos Research Co Ltd | 運転者状態推定装置及び運転支援装置 |
JP2016052881A (ja) | 2014-09-03 | 2016-04-14 | 株式会社デンソー | 車両の走行制御システム |
WO2018087828A1 (ja) | 2016-11-09 | 2018-05-17 | 本田技研工業株式会社 | 車両制御装置、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 |
JP2018077649A (ja) | 2016-11-09 | 2018-05-17 | 本田技研工業株式会社 | 遠隔運転制御装置、車両制御システム、遠隔運転制御方法、および遠隔運転制御プログラム |
JP2019026412A (ja) | 2017-07-28 | 2019-02-21 | 三菱ロジスネクスト株式会社 | 運転支援システムおよび運転支援方法 |
JP2019051998A (ja) | 2017-09-12 | 2019-04-04 | 三菱ロジスネクスト株式会社 | 運転支援システム |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6201916B2 (ja) * | 2014-07-04 | 2017-09-27 | 株式会社デンソー | 車両の運転モード制御装置 |
CN104802801B (zh) * | 2015-05-12 | 2017-11-21 | 李春普 | 机动车驾驶员智能穿戴设备、评测方法及系统 |
EP3378722B1 (en) * | 2015-11-19 | 2024-02-21 | Sony Group Corporation | Drive assistance device and drive assistance method, and moving body |
CN108688675B (zh) * | 2017-03-29 | 2021-06-29 | 马自达汽车株式会社 | 车辆驾驶支援系统 |
-
2019
- 2019-08-06 JP JP2019144308A patent/JP7310424B2/ja active Active
-
2020
- 2020-06-15 US US16/901,084 patent/US20210039677A1/en not_active Abandoned
- 2020-06-16 CN CN202010549821.6A patent/CN112429014B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006301963A (ja) | 2005-04-20 | 2006-11-02 | Toyota Motor Corp | 遠隔操作システム |
JP2008056059A (ja) | 2006-08-30 | 2008-03-13 | Equos Research Co Ltd | 運転者状態推定装置及び運転支援装置 |
JP2016052881A (ja) | 2014-09-03 | 2016-04-14 | 株式会社デンソー | 車両の走行制御システム |
WO2018087828A1 (ja) | 2016-11-09 | 2018-05-17 | 本田技研工業株式会社 | 車両制御装置、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 |
JP2018077649A (ja) | 2016-11-09 | 2018-05-17 | 本田技研工業株式会社 | 遠隔運転制御装置、車両制御システム、遠隔運転制御方法、および遠隔運転制御プログラム |
JP2019026412A (ja) | 2017-07-28 | 2019-02-21 | 三菱ロジスネクスト株式会社 | 運転支援システムおよび運転支援方法 |
JP2019051998A (ja) | 2017-09-12 | 2019-04-04 | 三菱ロジスネクスト株式会社 | 運転支援システム |
Also Published As
Publication number | Publication date |
---|---|
US20210039677A1 (en) | 2021-02-11 |
JP2021026524A (ja) | 2021-02-22 |
CN112429014B (zh) | 2024-06-18 |
CN112429014A (zh) | 2021-03-02 |
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