JP7347453B2 - 車両制御装置及び車両制御用コンピュータプログラム - Google Patents
車両制御装置及び車両制御用コンピュータプログラム Download PDFInfo
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- 238000004590 computer program Methods 0.000 title claims description 8
- 238000000034 method Methods 0.000 description 35
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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
- 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
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
- B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
-
- 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
- B60W30/18109—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
- 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
- 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
- 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
- B60W60/001—Planning or execution of driving tasks
-
- 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
- B60W2040/0818—Inactivity or incapacity of driver
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
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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
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
-
- 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
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- 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
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2302/00—Responses or measures related to driver conditions
- B60Y2302/05—Leading to automatic stopping of the vehicle
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Description
まず、道路の勾配が比較的小さい平坦な道路、小さな勾配の上り坂又は小さな勾配の下り坂を車両10が走行している場合には、車両制御装置17は、第1減速度を実現する方法として、駆動装置への燃料の供給を停止してエンジンブレーキを用いるか、又は、タイヤの回転力を用いて電気モータで発電させて回生ブレーキを用いる。車両制御装置17は、車両10の減速度が第1減速度に満たない場合、シフトダウンしてさらに減速度を高めてもよい。また、第1減速度(及び第2減速度)を実現する方法として、車両制御装置17の制御可能な制動方法ではないが、車両10の空気抵抗及びタイヤと路面との摩擦も用いられる。
まず、道路の勾配が比較的小さい平坦な道路、小さな勾配の上り坂又は小さな勾配の下り坂を車両10が走行している場合には、車両制御装置17は、第2減速度を実現する方法として、制動装置を用いる。車両制御装置17は、制動装置を作動している間、制動灯5a、5bを点灯させる。なお、車両制御装置17は、回生ブレーキを用いてもよい。
2 カメラ
3a~3f レーダセンサ
4a~4f 非常時点滅灯(方向指示灯)
5a、5b制動灯
6 測位情報受信機
7 ナビゲーション装置
8 ユーザインターフェース
9 速度センサ
10 車両
11 地図情報記憶装置
12 監視装置
13 位置推定装置
14 物体検出装置
15 走行車線計画装置
16 運転計画装置
17 車両制御装置
18 ドライバ判定装置
19 速度判定装置
22 車内ネットワーク
Claims (5)
- ドライバの運転に対する関与レベルを判定するドライバ判定部と、
車両の速度と所定の基準速度との関係を判定する速度判定部と、
前記ドライバの運転に対する前記関与レベルが所定の基準よりも低く、且つ、前記車両の速度が前記基準速度よりも速いと判定された場合、第1減速度を用いて制動灯を点灯させずに前記車両を減速させる第1の運転計画を生成し、ドライバの運転に対する関与レベルが前記所定の基準よりも低く、且つ、前記車両の速度が前記基準速度以下であると判定された場合、前記第1減速度よりも大きい第2減速度を用いて制動灯を点灯させながら前記車両を減速させる第2の運転計画を生成する、運転計画部と、
を有する車両制御装置。 - 前記第1の運転計画に基づいて前記車両の動作を制御する車両制御部を更に有し、
前記車両制御部は、前記第1の運転計画に基づいて制御されている前記車両の減速度が前記第1減速度よりも大きい場合、前記車両を加速して前記車両の減速度が前記第1減速度になるように前記車両を制御する請求項1に記載の車両制御装置。 - 前記運転計画部は、前記車両を、前記車両が走行している走行車線に隣接する路肩へ移動させて停車させるように前記第2の運転計画を生成する請求項1又は2に記載の車両制御装置。
- 前記運転計画部は、前記ドライバの運転に対する前記関与レベルが、前記所定の基準よりも低い第2の所定の基準よりも低く、且つ、前記車両の速度が前記基準速度以下であると判定された場合、非常点滅表示灯を点滅するか、又は、前記ドライバの運転に対する前記関与レベルが前記第2の所定の基準よりも低いと判定され、且つ、制動装置が用いられる場合、制動灯を点灯し且つ前記非常点滅表示灯を消灯するように、前記第2の運転計画を生成する請求項1~3の何れか一項に記載の車両制御装置。
- ドライバの運転に対する関与レベルを判定し、
車両の速度と所定の基準速度との関係を判定し、
前記ドライバの運転に対する前記関与レベルが所定の基準よりも低く、且つ、前記車両の速度が前記基準速度よりも速いと判定された場合、第1減速度を用いて制動灯を点灯させずに前記車両を減速させる第1の運転計画を生成し、前記ドライバの運転に対する前記関与レベルが前記所定の基準よりも低く、且つ、前記車両の速度が前記基準速度以下であると判定された場合、前記第1減速度よりも大きい第2減速度を用いて制動灯を点灯させながら前記車両を減速させる第2の運転計画を生成する、
ことをプロセッサに実行させる車両制御用コンピュータプログラム。
Priority Applications (3)
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JP2021008735A JP7347453B2 (ja) | 2021-01-22 | 2021-01-22 | 車両制御装置及び車両制御用コンピュータプログラム |
US17/532,659 US11932259B2 (en) | 2021-01-22 | 2021-11-22 | Vehicle control device, storage medium for storing computer program for vehicle control, and method for controlling vehicle |
CN202210057653.8A CN114802243A (zh) | 2021-01-22 | 2022-01-19 | 车辆控制装置、非易失性的存储介质及车辆控制方法 |
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JP2021008735A JP7347453B2 (ja) | 2021-01-22 | 2021-01-22 | 車両制御装置及び車両制御用コンピュータプログラム |
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JP7347453B2 true JP7347453B2 (ja) | 2023-09-20 |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2000289523A (ja) | 1999-04-12 | 2000-10-17 | Mitsuharu Nishikawa | 自動車高速道路、自動車制動安全灯 |
JP2008037218A (ja) | 2006-08-03 | 2008-02-21 | Aisin Aw Co Ltd | 車両制御装置 |
JP2018020692A (ja) | 2016-08-04 | 2018-02-08 | トヨタ自動車株式会社 | 車両制御装置 |
JP2019123327A (ja) | 2018-01-15 | 2019-07-25 | 本田技研工業株式会社 | 車両用制御装置及び車載装置 |
Family Cites Families (10)
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JP3401855B2 (ja) | 1993-08-31 | 2003-04-28 | 三菱自動車工業株式会社 | 自動車の走行制御装置 |
JPH09249104A (ja) | 1996-03-18 | 1997-09-22 | Nissan Motor Co Ltd | 車両用自動ブレーキ |
JP3433642B2 (ja) | 1997-03-13 | 2003-08-04 | 三菱自動車工業株式会社 | 減速度付加制御装置 |
JP4400236B2 (ja) | 2004-02-06 | 2010-01-20 | トヨタ自動車株式会社 | 車両用制動灯制御装置 |
DE102011102435A1 (de) * | 2011-05-25 | 2012-11-29 | Audi Ag | Verfahren zum Betrieb eines längsführenden Fahrerassistenzsystems und Kraftfahrzeug |
EP3232286B1 (en) * | 2016-04-15 | 2018-12-26 | Volvo Car Corporation | Device and method for safety stoppage of an autonomous road vehicle |
CN111032472B (zh) * | 2017-09-01 | 2023-06-06 | 本田技研工业株式会社 | 车辆及其控制装置以及控制方法 |
US10696214B2 (en) * | 2018-01-10 | 2020-06-30 | Toyota Motor Engineering & Manufacturing North America, Inc. | Automatic brake light activation system |
KR20210149954A (ko) * | 2020-06-02 | 2021-12-10 | 현대자동차주식회사 | 전기 모터를 구비한 자동차 및 그를 위한 충돌 방지 제어 방법 |
US20220072962A1 (en) * | 2020-09-10 | 2022-03-10 | Zero Electric Vehicles Corp. | Power Management Method |
-
2021
- 2021-01-22 JP JP2021008735A patent/JP7347453B2/ja active Active
- 2021-11-22 US US17/532,659 patent/US11932259B2/en active Active
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- 2022-01-19 CN CN202210057653.8A patent/CN114802243A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000289523A (ja) | 1999-04-12 | 2000-10-17 | Mitsuharu Nishikawa | 自動車高速道路、自動車制動安全灯 |
JP2008037218A (ja) | 2006-08-03 | 2008-02-21 | Aisin Aw Co Ltd | 車両制御装置 |
JP2018020692A (ja) | 2016-08-04 | 2018-02-08 | トヨタ自動車株式会社 | 車両制御装置 |
JP2019123327A (ja) | 2018-01-15 | 2019-07-25 | 本田技研工業株式会社 | 車両用制御装置及び車載装置 |
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US20220234597A1 (en) | 2022-07-28 |
JP2022112786A (ja) | 2022-08-03 |
CN114802243A (zh) | 2022-07-29 |
US11932259B2 (en) | 2024-03-19 |
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