JP7312054B2 - 車両の走行制御システム - Google Patents
車両の走行制御システム Download PDFInfo
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- JP7312054B2 JP7312054B2 JP2019144788A JP2019144788A JP7312054B2 JP 7312054 B2 JP7312054 B2 JP 7312054B2 JP 2019144788 A JP2019144788 A JP 2019144788A JP 2019144788 A JP2019144788 A JP 2019144788A JP 7312054 B2 JP7312054 B2 JP 7312054B2
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- 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
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
-
- 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
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
-
- 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
- B60W30/02—Control of vehicle driving stability
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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
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/103—Side slip angle of vehicle body
-
- 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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- 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
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- 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
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- 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
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
-
- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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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
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
20 自動運転制御ユニット
21 パスプラン設定部
22 走行挙動制御部
30 クラウド情報取得ユニット(クラウド情報取得部)
40 自車走行情報取得ユニット(自車走行情報取得部)
50 制駆動制御ユニット
60 操舵制御ユニット
70 情報報知ユニット
100 エッジサーバ
200 クラウドサーバ
CL クラウド環境
DB 地図データベース
Claims (3)
- エッジ環境を含むクラウド環境と通信し、少なくとも前記エッジ環境から他車両の走行情報を含むクラウド情報を取得するクラウド情報取得部と、
自車両の走行環境を認識するとともに、認識した前記走行環境と前記自車両の車両制御状態とを含む自車走行情報を取得する自車走行情報取得部と、
前記自車両を自動走行させる自動運転のパスプランを設定するパスプラン設定部と、
前記パスプラン及び前記自動運転を制御する自動運転制御の変更の要否を判断し、前記変更の要否に応じて前記自車両の走行挙動を制御する走行挙動制御部とを備え、
前記走行挙動制御部は、
前記パスプラン及び前記自動運転制御の変更の要否を、前記自車両の前方に危険事象が認識されるか否かによって判断し、前記自車両の前方に危険事象が認識される場合、前記危険事象を前記自動運転制御で回避可能か否かを、前記パスプランの変更に要する時間を考慮して前記危険事象毎に設定される余裕時間に基づいて判断し、
前記危険事象を前記自動運転制御で回避可能と判断した場合、前記パスプランを変更した回避パスプランに基づく前記自動運転制御で前記自車両の走行挙動を制御し、
前記危険事象を前記自動運転制御で回避不可と判断した場合、前記自動運転制御を、前記クラウド情報と前記自車走行情報とを入力とする多層ニューラルネットワークから前記危険事象に応じて単独或いは組み合わせて出力される最適な高運動の制御系による高運動制御に切り換え、前記自車両の走行挙動を制御し、
前記高運動制御は、スリップを抑制する車体滑り抑制制御、外乱の影響を抑制する外乱抑制制御、被害軽減を含む危険回避のための危険回避制御を含む
ことを特徴とする車両の走行制御システム。 - 前記走行挙動制御部は、前記危険事象を前記自動運転制御で回避可能と判断した場合、前記回避パスプランを運転者に提示し、前記回避パスプランに基づく前記自動運転と前記運転者による手動運転との何れか一方を選択可能とすることを特徴とする請求項1に記載の車両の走行制御システム。
- 前記クラウド情報は、前記他車両の走行情報として、加速度、減速度、操舵速度、ヨーレート、アンチロックブレーキシステムの作動状態、横滑り防止装置の作動状態を含むことを特徴とする請求項1又は請求項2に記載の車両の走行制御システム。
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JP2019144788A JP7312054B2 (ja) | 2019-08-06 | 2019-08-06 | 車両の走行制御システム |
US16/890,732 US11661080B2 (en) | 2019-08-06 | 2020-06-02 | Vehicle traveling control system |
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JP2019144788A JP7312054B2 (ja) | 2019-08-06 | 2019-08-06 | 車両の走行制御システム |
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JP2021024457A JP2021024457A (ja) | 2021-02-22 |
JP7312054B2 true JP7312054B2 (ja) | 2023-07-20 |
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Families Citing this family (6)
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KR102585254B1 (ko) * | 2021-05-14 | 2023-10-05 | 호남대학교 산학협력단 | 자율 주행 실시간(real-time) 데이터 획득 및 분석을 위한 엣지디바이스 |
JP2022186227A (ja) * | 2021-06-04 | 2022-12-15 | トヨタ自動車株式会社 | 情報処理サーバ、情報処理サーバの処理方法、プログラム |
JP7051164B1 (ja) | 2021-06-14 | 2022-04-11 | 祐次 廣田 | 自動運転トラム |
CN113276889B (zh) * | 2021-06-29 | 2023-05-05 | 东风汽车集团股份有限公司 | 自动驾驶汽车控制方法、装置、设备及可读存储介质 |
CN113442950B (zh) * | 2021-08-31 | 2021-11-23 | 国汽智控(北京)科技有限公司 | 基于多车辆的自动驾驶控制方法、装置和设备 |
CN113619608B (zh) * | 2021-09-16 | 2023-01-24 | 东软睿驰汽车技术(大连)有限公司 | 基于驾驶辅助系统的车辆行驶方法、装置和电子设备 |
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JP2017182129A (ja) | 2016-03-28 | 2017-10-05 | ソニー株式会社 | 情報処理装置。 |
JP2017182568A (ja) | 2016-03-31 | 2017-10-05 | 株式会社Subaru | 周辺リスク表示装置 |
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US20210039673A1 (en) | 2021-02-11 |
US11661080B2 (en) | 2023-05-30 |
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