JP7490017B2 - 自動運転装置 - Google Patents
自動運転装置 Download PDFInfo
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- JP7490017B2 JP7490017B2 JP2022082370A JP2022082370A JP7490017B2 JP 7490017 B2 JP7490017 B2 JP 7490017B2 JP 2022082370 A JP2022082370 A JP 2022082370A JP 2022082370 A JP2022082370 A JP 2022082370A JP 7490017 B2 JP7490017 B2 JP 7490017B2
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
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- G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
- G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
- G01S13/282—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using a frequency modulated carrier wave
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- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2540/00—Input parameters relating to occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
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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
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- G—PHYSICS
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S2013/9327—Sensor installation details
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
実施の形態1.
図1は、実施の形態1に係る自動運転装置の構成を示すブロック図である。自動運転装置20は、車両10に設けられている。自動運転装置20は、運転者監視部30、物体検出装置40、車両状態検出部50、及び車両制御部60を備えている。
が短いほど、距離分解能及び相対速度分解能の少なくともいずれか一方が高く設定された制御モードを選択する。
・・・(29)
前述の実施の形態1では、車両運動制限部72は、制御対象監視領域83内に存在していると想定される物体と周辺構造物81とを、レーダ装置43が別々に検出するために、退避経路の制限値の算出及び車速計画の制限値の算出が行われていた。これに対し、実施の形態2では、制御対象監視領域83内に存在していると想定される物体の直接波と周辺構造物81を介する物体の間接波とを、レーダ装置43が別々に検出するために、退避経路の制限値の算出及び車速計画の制限値の算出が行われる。間接波は、制御対象監視領域に物体が存在すると想定した場合における物体の直接波とは別の被検出体である。
Claims (11)
- 車両に搭載されているレーダ装置からの情報に基づいて、前記車両の運転を制御する車両制御部
を備え、
前記車両制御部による前記車両の運転制御には、分離モードが含まれており、
前記車両制御部には、前記車両の進行方向における前方の領域である制御対象監視領域が設定されており、
前記車両制御部は、前記分離モードにおいては、前記制御対象監視領域に物体が存在すると想定した場合における前記物体と、前記物体とは別の被検出体とが、前記レーダ装置によって別々に検出されるように、前記車両の運転を制御する
自動運転装置であって、
前記車両制御部は、前記レーダ装置の分解能、前記車両の座標、前記車両の速度、及び前記車両の方位角に基づいて、前記車両の運動を制限する車両運動制限部をさらに有しており、
前記車両運動制限部は、前記車両の走行可能経路上における前記車両の座標、前記車両の方位角、及び前記車両の速度において、前記被検出体と、前記物体とが、前記レーダ装置によって、距離方向及び相対速度方向の少なくともいずれか1つの方向に別々に検出されるか否かを判定し、
前記車両制御部は、前記分離モードにおいては、前記車両運動制限部による前記判定の結果に基づいて、前記物体と前記被検出体とが前記レーダ装置によって別々に検出されるように前記車両の運転を制御し、
前記被検出体は、前記車両の外部の構造物、及び前記構造物を介する前記物体の間接波の少なくともいずれか一方である
自動運転装置。 - 前記車両運動制限部は、前記車両の運動についてのパラメータのうち、前記車両の速度及び前記車両の走行経路の少なくともいずれか1つを制限する
請求項1に記載の自動運転装置。 - 前記レーダ装置は、距離分解能に関する複数の制御モードを有しており、
前記複数の制御モードには、手動運転対応モードと、前記車両の運転主体が前記車両制御部であるときに選択される自動運転対応モードとが含まれており、
前記自動運転対応モードにおける前記距離分解能である第1距離分解能は、前記手動運転対応モードにおける前記距離分解能である第2距離分解能よりも高く、
前記自動運転対応モードにおいて、前記車両制御部は、前記車両を自動的に路側に停車させる制御を実行する
請求項1から請求項2までのいずれか1項に記載の自動運転装置。 - 前記レーダ装置は、相対速度分解能に関する複数の制御モードを有しており、
前記複数の制御モードには、手動運転対応モードと、前記車両の運転主体が前記車両制御部であるときに選択される自動運転対応モードとが含まれており、
前記自動運転対応モードにおける前記相対速度分解能である第1相対速度分解能は、前記手動運転対応モードにおける前記相対速度分解能である第2相対速度分解能よりも高く、
前記自動運転対応モードにおいて、前記車両制御部は、前記車両を自動的に路側に停車させる制御を実行する
請求項1から請求項2までのいずれか1項に記載の自動運転装置。 - 前記レーダ装置は、距離分解能及び相対速度分解能に関する複数の制御モードを有しており、
前記車両制御部は、前記複数の制御モードの中から、前記車両の速度が低いほど、前記距離分解能及び前記相対速度分解能の少なくともいずれか一方が高く設定された制御モードを選択する
請求項1から請求項2までのいずれか1項に記載の自動運転装置。 - 前記レーダ装置は、距離分解能及び相対速度分解能に関する複数の制御モードを有しており、
前記車両制御部は、前記複数の制御モードの中から、前記車両と前記構造物との距離が短いほど、前記距離分解能及び前記相対速度分解能の少なくともいずれか一方が高く設定された制御モードを選択する
請求項1から請求項2までのいずれか1項に記載の自動運転装置。 - 前記車両運動制限部は、前記車両の座標と前記車両の速度とを固定したときの前記車両の向きの制限値、前記車両の速度と前記車両の方位角とを固定したときの前記車両の座標の制限値、及び前記車両の座標と前記車両の向きとを固定したときの前記車両の速度の制限値の少なくともいずれか1つを算出し、
前記車両制御部は、算出された前記車両の方位角の制限値、前記車両の座標の制限値、及び前記車両の速度の制限値の少なくとも1つによる制限の範囲内において、前記車両の運動を制御する
請求項1又は請求項2に記載の自動運転装置。 - 前記自動運転対応モードにおける周波数変調幅は、前記手動運転対応モードにおける周波数変調幅よりも広い
請求項3に記載の自動運転装置。 - 前記自動運転対応モードにおけるチャープシーケンス時間は、前記手動運転対応モードにおけるチャープシーケンス時間よりも長い
請求項4に記載の自動運転装置。 - 前記自動運転対応モードにおける変調の処理周期は、前記手動運転対応モードにおける変調の処理周期よりも長い
請求項4に記載の自動運転装置。 - 車両に搭載されているレーダ装置からの情報に基づいて、前記車両の運転を制御する車両制御部
を備え、
前記車両制御部による前記車両の運転制御には、分離モードが含まれており、
前記車両制御部には、前記車両の進行方向における前方の領域である制御対象監視領域が設定されており、
前記車両制御部は、前記分離モードにおいては、前記制御対象監視領域に物体が存在すると想定した場合における前記物体と、前記物体とは別の被検出体とが、前記レーダ装置によって別々に検出されるように、前記車両の運転を制御する
自動運転装置であって、
前記車両制御部は、前記レーダ装置の分解能、前記車両の座標、前記車両の速度、及び前記車両の方位角に基づいて、前記車両の運動を制限する車両運動制限部をさらに有しており、
前記車両運動制限部は、前記車両の走行可能経路上における前記車両の座標、前記車両の方位角、及び前記車両の速度において、前記被検出体と、前記物体とが、前記レーダ装置によって、距離方向及び相対速度方向の少なくともいずれか1つの方向に別々に検出されるか否かを判定し、
前記車両制御部は、前記分離モードにおいては、前記車両運動制限部による前記判定の結果に基づいて、前記物体と前記被検出体とが前記レーダ装置によって別々に検出されるように前記車両の運転を制御する
自動運転装置。
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