JP7405067B2 - 車両の制御装置、及び車両の制御方法 - Google Patents
車両の制御装置、及び車両の制御方法 Download PDFInfo
- Publication number
- JP7405067B2 JP7405067B2 JP2020206202A JP2020206202A JP7405067B2 JP 7405067 B2 JP7405067 B2 JP 7405067B2 JP 2020206202 A JP2020206202 A JP 2020206202A JP 2020206202 A JP2020206202 A JP 2020206202A JP 7405067 B2 JP7405067 B2 JP 7405067B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- control
- autonomous driving
- information
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 43
- 238000001514 detection method Methods 0.000 description 27
- 238000004891 communication Methods 0.000 description 17
- 230000006870 function Effects 0.000 description 9
- 230000004048 modification Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 3
- 238000004092 self-diagnosis Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
-
- 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
-
- 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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
-
- 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
-
- 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
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- 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
- G06V20/593—Recognising seat occupancy
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
-
- 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
- B60W2540/049—Number of occupants
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B77/00—Vehicle locks characterised by special functions or purposes
- E05B77/46—Locking several wings simultaneously
- E05B77/465—Automatic locking when all passengers have left the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
本実施の形態に係る制御装置は、自律走行制御を行う車両に備えられる。この車両は、運行目的が人を運ぶ人流目的であっても、物を運ぶ物流目的であっても良い。人流目的である場合、例えば、複数人の乗客を乗せて自律走行で移動する車両等である。物流目的である場合、例えば、複数の荷物を載せて特定の地点まで自律走行して荷物を運ぶ車両等である。またこの車両には、人が乗り込むため、又は荷物を入れるためのドアが一又は複数設けられており、それぞれのドアはドアロックの機能を有する。ドアロックが開錠することでドアが開き、ドアロックが施錠するとドアが開かなくなる。
2-1.故障検知
停止制御部120は、自律走行制御部110が自律走行制御を継続できないことを検知(故障検知)する。故障検知は、どのような形態により行われても良い。以下、故障検知の形態の例を説明する。
停止制御部120は、故障検知した場合に、車両の停止制御に係る処理を実行し、停止制御に係る制御信号を生成する。図2は、停止制御部120が実行する処理を示すフローチャートである。図2に示す処理は、停止制御部120が故障検知した場合に実行される。
以上説明したように、本実施の形態に係る制御装置100は、自律走行制御を継続できないことを検知して車両を停止させた後、車両内に人が一人でもいる場合は車両のドアロックの開錠を行うことで脱出経路を確保し、人が一人もいない場合は車両のドアロックの施錠を行う。これにより、車両停車後の車内の人又は荷物を適切に保護することができる。
本実施の形態に係る制御装置100は、以下のように変形した態様を採用しても良い。なお以下では、前述した内容において説明した事項については適宜省略する。
停止制御部120は、車両内に人が一人もいない場合は、車両の停止後、車両のオペレータにドアロックの開錠又は施錠の判断を委ねても良い。図3は、本実施の形態の変形例1に係る停止制御部120が実行する処理を示すフローチャートである。変形例1に係る停止制御部120は、車両内に人が一人もいない場合(ステップS121;No)、ドアロックの施錠は行わず車両のオペレータへの通知を行う(ステップS124)。通知は、例えば、車両が自律走行制御継続できずに停止したこと、及び車両のドアロックを開錠するか施錠するかの判断を委ねることを伝えるものである。
停止制御部120は、車両停車後、車両内に人が一人もおらず、かつ荷物がある場合に、ドアロックの施錠を行っても良い。図4は、本実施の形態の変形例2に係る停止制御部120が実行する処理を示すフローチャートである。変形例2に係る停止制御部120は、ステップS111(第2処理)において、取得する運転環境情報に基づいて、車両内に人がいるかどうか、及び車両内に荷物があるかどうかを判定する。この判定は、停止制御部120が、運転環境情報の解析を行うことにより行われても良いし、運転環境情報として車両内に人がいるかどうか、及び車両内に荷物があるかどうかについての情報が直接与えられていても良い。
100 制御装置
110 自律走行制御部
120 停止制御部
200 センサ系
210 HMI装置
220 通信装置
300 アクチュエータ系
Claims (2)
- 自律走行制御を行う車両に備える制御装置であって、
前記自律走行制御が継続できないことを検知して車両の停止制御を行う第1処理と、
前記車両内に人がいるかどうか、及び前記車両内に荷物があるかどうかを判定する第2処理と、
前記第1処理により前記車両が停止した後、前記車両内に人が一人でもいる場合に前記車両のドアロックの開錠を行い、前記車両内に人が一人もおらず、かつ荷物がある場合に前記ドアロックの施錠を行う第3処理と、
を実行することを特徴とする制御装置。 - 請求項1に記載の制御装置であって、
前記第2処理において、
前記車両の運行目的が物を運ぶ物流目的である場合、前記車両内に荷物があるとみなす
ことを特徴とする制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020206202A JP7405067B2 (ja) | 2020-12-11 | 2020-12-11 | 車両の制御装置、及び車両の制御方法 |
US17/473,182 US20220185328A1 (en) | 2020-12-11 | 2021-09-13 | Control device and control method for vehicle |
CN202111401141.0A CN114620005A (zh) | 2020-12-11 | 2021-11-19 | 车辆的控制装置和车辆的控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020206202A JP7405067B2 (ja) | 2020-12-11 | 2020-12-11 | 車両の制御装置、及び車両の制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022093098A JP2022093098A (ja) | 2022-06-23 |
JP7405067B2 true JP7405067B2 (ja) | 2023-12-26 |
Family
ID=81897511
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020206202A Active JP7405067B2 (ja) | 2020-12-11 | 2020-12-11 | 車両の制御装置、及び車両の制御方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20220185328A1 (ja) |
JP (1) | JP7405067B2 (ja) |
CN (1) | CN114620005A (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015166721A1 (ja) | 2014-05-02 | 2015-11-05 | エイディシーテクノロジー株式会社 | 車両制御装置 |
JP2018169689A (ja) | 2017-03-29 | 2018-11-01 | 株式会社デンソー | 非搭乗型自動運転システム、及び非搭乗型自動運転方法 |
JP2020097850A (ja) | 2018-12-18 | 2020-06-25 | トヨタ自動車株式会社 | 車両の制御装置、制御方法及び制御プログラム |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7103460B1 (en) * | 1994-05-09 | 2006-09-05 | Automotive Technologies International, Inc. | System and method for vehicle diagnostics |
DE10247148A1 (de) * | 2002-10-09 | 2004-04-22 | Kristin Nebel | Vorrichtung zum automatischen Verriegeln von Türen |
JP4581806B2 (ja) * | 2005-04-13 | 2010-11-17 | トヨタ自動車株式会社 | 車両用ドアロック装置 |
US20070216517A1 (en) * | 2006-03-14 | 2007-09-20 | Denso International America, Inc. | Automatic vehicle door locking with seat occupant sensor |
US9739226B2 (en) * | 2014-02-07 | 2017-08-22 | Ford Global Technologies, Llc | Walk-away vehicle shutdown |
DE112016003126T5 (de) * | 2015-07-10 | 2018-03-22 | Honda Motor Co., Ltd. | Fahrzeug-Regel-/Steuervorrichtung, Fahrzeug-Regel-/Steuerverfahren und Fahrzeug-Regel-/Steuerprogramm |
JP6698320B2 (ja) * | 2015-11-16 | 2020-05-27 | 日立オートモティブシステムズ株式会社 | 処理装置および車両制御システム |
US9740202B2 (en) * | 2016-01-08 | 2017-08-22 | Waymo Llc | Fall back trajectory systems for autonomous vehicles |
US20170213165A1 (en) * | 2016-01-26 | 2017-07-27 | GM Global Technology Operations LLC | Systems and methods for vehicle ride safety and security of person and property |
JP6399129B2 (ja) * | 2017-03-08 | 2018-10-03 | オムロン株式会社 | 乗客支援装置、方法及びプログラム |
JP6941170B2 (ja) * | 2017-06-02 | 2021-09-29 | 本田技研工業株式会社 | 車両制御システムおよび車両制御方法 |
KR102178352B1 (ko) * | 2017-06-23 | 2020-11-12 | 글로벌모빌리티서비스 주식회사 | 차량 도어록 시정 및 해정용 차재기기, 이 차재기기를 구비한 차량, 이 차재기기를 구비한 차량 도어록 시정 및 해정용 시스템 |
US11009874B2 (en) * | 2017-09-14 | 2021-05-18 | Uatc, Llc | Fault-tolerant control of an autonomous vehicle with multiple control lanes |
US11084504B2 (en) * | 2017-11-30 | 2021-08-10 | Nissan North America, Inc. | Autonomous vehicle operational management scenarios |
US11106927B2 (en) * | 2017-12-27 | 2021-08-31 | Direct Current Capital LLC | Method for monitoring an interior state of an autonomous vehicle |
US10538226B1 (en) * | 2018-07-06 | 2020-01-21 | Starsky Robotics, Inc. | Vehicle braking system and method |
US20200193368A1 (en) * | 2018-12-12 | 2020-06-18 | Aptiv Technologies Limited | Transporting objects using autonomous vehicles |
JP2022074653A (ja) * | 2020-11-05 | 2022-05-18 | 三菱電機株式会社 | 車両制御システムおよび車両制御装置 |
-
2020
- 2020-12-11 JP JP2020206202A patent/JP7405067B2/ja active Active
-
2021
- 2021-09-13 US US17/473,182 patent/US20220185328A1/en active Pending
- 2021-11-19 CN CN202111401141.0A patent/CN114620005A/zh active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015166721A1 (ja) | 2014-05-02 | 2015-11-05 | エイディシーテクノロジー株式会社 | 車両制御装置 |
JP2018169689A (ja) | 2017-03-29 | 2018-11-01 | 株式会社デンソー | 非搭乗型自動運転システム、及び非搭乗型自動運転方法 |
JP2020097850A (ja) | 2018-12-18 | 2020-06-25 | トヨタ自動車株式会社 | 車両の制御装置、制御方法及び制御プログラム |
Also Published As
Publication number | Publication date |
---|---|
JP2022093098A (ja) | 2022-06-23 |
US20220185328A1 (en) | 2022-06-16 |
CN114620005A (zh) | 2022-06-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11048263B2 (en) | Autonomous driving device for vehicle | |
CN111361572B (zh) | 车辆控制设备、车辆控制方法和车辆控制系统 | |
US10395524B2 (en) | Method and system for detecting autonomously driven vehicles, for distance measurement and for distance control | |
EP3600936B1 (en) | Method and system for safe passenger exit from autonomous vehicle | |
JP2011240816A (ja) | 自律走行制御装置 | |
CN107571868A (zh) | 用于执行对车辆的车辆引导的自动干预的方法 | |
US11511805B2 (en) | Vehicle guidance device, method, and computer program product | |
US11414050B2 (en) | Multimode vehicle proximity security | |
CN112927550B (zh) | 自动泊车系统 | |
US11415989B2 (en) | Drone-based tracking | |
US11524706B2 (en) | Vehicle control system for a first and second automated driving mode | |
US20220105963A1 (en) | Systems and methods for imminent collision avoidance | |
CN112706759A (zh) | 自动驻车系统 | |
US7191046B2 (en) | Motion control apparatus for vehicle | |
JP7405067B2 (ja) | 車両の制御装置、及び車両の制御方法 | |
US11488481B2 (en) | Method for assisting a motor vehicle | |
US11348346B2 (en) | Control apparatus | |
US10437244B2 (en) | Remote vehicle insturction | |
CN113460082A (zh) | 规定区域管理装置 | |
JP7099116B2 (ja) | 車両管理システム、車載機、およびセンタ装置 | |
JP2021061516A (ja) | 車両遠隔操作装置 | |
CN112172710A (zh) | 车辆货物区域门的自主控制 | |
WO2021240741A1 (ja) | ユーティリティビークル | |
US20230264696A1 (en) | Method for inspecting road surface condition, road surface condition inspection device, and road surface condition inspection system | |
CN114633763A (zh) | 自动驾驶系统、自动驾驶车的控制方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220617 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20230531 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230613 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230808 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20231114 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20231127 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7405067 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |