JP7416009B2 - 車両の制御装置、車両の制御方法及び車両制御用コンピュータプログラム - Google Patents
車両の制御装置、車両の制御方法及び車両制御用コンピュータプログラム Download PDFInfo
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- 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
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- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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- 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
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- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
- B60W60/00253—Taxi operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
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- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
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- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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Description
最初に、図1~図4を参照して、本発明の第一実施形態について説明する。図1は、本発明の第一実施形態に係る車両1を概略的に示す図である。車両1は、後述する構成を有し、自律走行するように構成されている。すなわち、車両1では、車両1の加速、操舵及び減速(制動)の全てが自動的に制御され、車両1を運転するドライバが必要とされない。なお、自律走行は自動運転とも称され、車両1はいわゆる自動運転車両である。
第二実施形態に係る車両の制御装置は、以下に説明する点を除いて、基本的に第一実施形態に係る車両の制御装置の構成及び制御と同様である。このため、以下、本発明の第二実施形態について、第一実施形態と異なる部分を中心に説明する。
第三実施形態に係る車両の制御装置は、以下に説明する点を除いて、基本的に第一実施形態に係る車両の制御装置の構成及び制御と同様である。このため、以下、本発明の第三実施形態について、第一実施形態と異なる部分を中心に説明する。
第四実施形態に係る車両の制御装置は、以下に説明する点を除いて、基本的に第一実施形態に係る車両の制御装置の構成及び制御と同様である。このため、以下、本発明の第四実施形態について、第一実施形態と異なる部分を中心に説明する。
以上、本発明に係る好適な実施形態を説明したが、本発明はこれら実施形態に限定されるものではなく、特許請求の範囲の記載内で様々な修正及び変更を施すことができる。
20 電子制御ユニット(ECU)
23 プロセッサ
25 検出部
26 車両制御部
Claims (7)
- 自律走行する車両に設けられた、車両の制御装置であって、
前記車両によって取得された該車両の周辺情報に基づいて、救助を必要とする救助対象者を検出する検出部と、
前記車両を制御する車両制御部と、
前記救助対象者が不審者に襲われているときに前記車両の外部に警告を発する警告部と
を備え、
前記車両制御部は、前記検出部によって前記救助対象者が検出された場合に、該救助対象者が前記車両の外部から該車両内に避難することができるように該車両を停車させる避難制御を行う、車両の制御装置。 - 音声情報及び視覚情報の少なくとも一方によって前記救助対象者を前記車両内に誘導する誘導部を更に備える、請求項1に記載の車両の制御装置。
- 前記車両制御部は、前記車両内に乗客が存在しないときに前記避難制御を行い、該車両内に乗客が存在するときには該避難制御を行わない、請求項1又は2に記載の車両の制御装置。
- 前記車両の運用モードが、乗客を目的地まで輸送する乗客輸送モードと、該車両の周辺の異常の有無を監視する異常監視モードとの間で切り替えられ、
前記車両制御部は、前記車両の運用モードが前記異常監視モードであるときに前記避難制御を行い、該車両の運用モードが前記乗客輸送モードであるときには該避難制御を行わない、請求項1又は2に記載の車両の制御装置。 - 前記車両制御部は、前記救助対象者が走って逃げている場合には、前記避難制御において、該救助対象者の逃走経路を予測し、該逃走経路の先に前記車両を停車させる、請求項1から4のいずれか1項に記載の車両の制御装置。
- 自律走行する車両を制御する、車両の制御方法であって、
当該車両の制御方法は、プロセッサによって実行され、
前記車両によって取得された該車両の周辺情報に基づいて、救助を必要とする救助対象者を検出することと、
前記救助対象者が検出された場合に、該救助対象者が前記車両の外部から該車両内に避難することができるように該車両を停車させることと、
前記救助対象者が不審者に襲われているときに前記車両の外部に警告を発することと
を含む、車両の制御方法。 - 自律走行可能な車両によって取得された該車両の周辺情報に基づいて、救助を必要とする救助対象者を検出することと、
前記救助対象者が検出された場合に、該救助対象者が前記車両の外部から該車両内に避難することができるように該車両を停車させることと、
前記救助対象者が不審者に襲われているときに前記車両の外部に警告を発することと
をコンピュータに実行させる、車両制御用コンピュータプログラム。
Priority Applications (3)
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JP2021064356A JP7416009B2 (ja) | 2021-04-05 | 2021-04-05 | 車両の制御装置、車両の制御方法及び車両制御用コンピュータプログラム |
US17/670,805 US20220315061A1 (en) | 2021-04-05 | 2022-02-14 | Vehicle control device, vehicle control method, and recording medium |
CN202210332417.2A CN115195781A (zh) | 2021-04-05 | 2022-03-30 | 车辆的控制装置、车辆的控制方法以及记录介质 |
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JP2021064356A JP7416009B2 (ja) | 2021-04-05 | 2021-04-05 | 車両の制御装置、車両の制御方法及び車両制御用コンピュータプログラム |
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JP2022159896A JP2022159896A (ja) | 2022-10-18 |
JP7416009B2 true JP7416009B2 (ja) | 2024-01-17 |
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US11654933B2 (en) * | 2020-11-10 | 2023-05-23 | GM Global Technology Operations LLC | Navigation trajectory using reinforcement learning for an ego vehicle in a navigation network |
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JP2016194742A (ja) | 2015-03-31 | 2016-11-17 | パナソニックIpマネジメント株式会社 | 自走式電子機器 |
JP2017016249A (ja) | 2015-06-29 | 2017-01-19 | シャープ株式会社 | 自律走行装置 |
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JP6870584B2 (ja) * | 2017-11-13 | 2021-05-12 | トヨタ自動車株式会社 | 救援システムおよび救援方法、ならびにそれに使用されるサーバおよびプログラム |
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2021
- 2021-04-05 JP JP2021064356A patent/JP7416009B2/ja active Active
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2022
- 2022-02-14 US US17/670,805 patent/US20220315061A1/en not_active Abandoned
- 2022-03-30 CN CN202210332417.2A patent/CN115195781A/zh active Pending
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JP2012022547A (ja) | 2010-07-15 | 2012-02-02 | Miyaden Co Ltd | 携帯用車両接近感知装置 |
JP2016139343A (ja) | 2015-01-28 | 2016-08-04 | シャープ株式会社 | 防犯システム |
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JP2020060959A (ja) | 2018-10-10 | 2020-04-16 | トヨタ自動車株式会社 | 情報処理装置及びプログラム |
JP2020123012A (ja) | 2019-01-29 | 2020-08-13 | トヨタ自動車株式会社 | 車両 |
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