JP7537450B2 - 車両制御装置、車両制御方法及び車両制御用コンピュータプログラム - Google Patents
車両制御装置、車両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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- 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
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- 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
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- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- 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
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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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Description
10 車両
2 GPS受信機
3 カメラ
4 ドライバモニタカメラ
5 ストレージ装置
6 電子制御装置(ECU)
21 通信インターフェース
22 メモリ
23 プロセッサ
31 異常検出部
32 探索部
33 障害物検出部
34 再探索部
35 車両制御部
Claims (4)
- 車両の車室内に設けられた車内センサにより生成された前記車両のドライバの状況を表す車内センサ信号に基づいて、前記ドライバに生じた異常を検出する異常検出部と、
前記ドライバの異常が検出されたときの前記車両の位置から所定の区間において、地図情報を参照して他の車両の走行を妨害せずに前記車両を停車可能な第1の退避スペースを探索する探索部と、
前記車両に設けられた車外センサにより生成された前記車両の周囲の状況を表す車外センサ信号に基づいて、前記第1の退避スペースに存在する障害物を検出する障害物検出部と、
前記障害物が検出された場合、前記地図情報を参照して、前記区間において他の車両の走行を妨害せずに前記車両を停車可能な第2の退避スペースを探索する再探索部と、
前記第2の退避スペースが検出された場合、前記車両を前記第2の退避スペースに停車させるよう前記車両を制御し、一方、前記第2の退避スペースが検出されない場合、前記区間の途中において前記車両が走行中の車道にて前記車両を停車させるよう前記車両を制御する車両制御部と、
を有し、
前記障害物検出部は、前記障害物の種類が移動可能な物体か静止物体かを判定し、
前記再探索部は、前記障害物の種類が移動可能な物体である場合における、前記第1の退避スペースと前記第2の退避スペース間の間隔の下限値を、前記障害物の種類が静止物体である場合における前記下限値よりも大きな値に設定する車両制御装置。 - 前記車両制御部は、前記ドライバの異常が検出されると前記車両を所定の速度まで減速し、
前記再探索部は、前記車両が前記所定の速度で走行している間に前記第2の退避スペースを探索する、請求項1に記載の車両制御装置。 - 車両の車室内に設けられた車内センサにより生成された前記車両のドライバの状況を表す車内センサ信号に基づいて、前記ドライバに生じた異常を検出し、
前記ドライバの異常が検出されたときの前記車両の位置から所定の区間において、地図情報を参照して他の車両の走行を妨害せずに前記車両を停車可能な第1の退避スペースを探索し、
前記車両に設けられた車外センサにより生成された前記車両の周囲の状況を表す車外センサ信号に基づいて、前記第1の退避スペースに存在する障害物を検出し、
前記障害物が検出された場合、前記地図情報を参照して、前記区間において他の車両の走行を妨害せずに前記車両を停車可能な第2の退避スペースを探索し、
前記第2の退避スペースが検出された場合、前記車両を前記第2の退避スペースに停車させるよう前記車両を制御し、一方、前記第2の退避スペースが検出されない場合、前記区間の途中において前記車両が走行中の車道にて前記車両を停車させるよう前記車両を制御する、
ことを含み、
前記第1の退避スペースに存在する障害物を検出することは、前記障害物の種類が移動可能な物体か静止物体かを判定することを含み、
前記第2の退避スペースを探索することは、前記障害物の種類が移動可能な物体である場合における、前記第1の退避スペースと前記第2の退避スペース間の間隔の下限値を、前記障害物の種類が静止物体である場合における前記下限値よりも大きな値に設定することを含む車両制御方法。 - 車両の車室内に設けられた車内センサにより生成された前記車両のドライバの状況を表す車内センサ信号に基づいて、前記ドライバに生じた異常を検出し、
前記ドライバの異常が検出されたときの前記車両の位置から所定の区間において、地図情報を参照して他の車両の走行を妨害せずに前記車両を停車可能な第1の退避スペースを探索し、
前記車両に設けられた車外センサにより生成された前記車両の周囲の状況を表す車外センサ信号に基づいて、前記第1の退避スペースに存在する障害物を検出し、
前記障害物が検出された場合、前記地図情報を参照して、前記区間において他の車両の走行を妨害せずに前記車両を停車可能な第2の退避スペースを探索し、
前記第2の退避スペースが検出された場合、前記車両を前記第2の退避スペースに停車させるよう前記車両を制御し、一方、前記第2の退避スペースが検出されない場合、前記区間の途中において前記車両が走行中の車道にて前記車両を停車させるよう前記車両を制御する、
ことを前記車両に搭載されたプロセッサに実行させ、
前記第1の退避スペースに存在する障害物を検出することは、前記障害物の種類が移動可能な物体か静止物体かを判定することを含み、
前記第2の退避スペースを探索することは、前記障害物の種類が移動可能な物体である場合における、前記第1の退避スペースと前記第2の退避スペース間の間隔の下限値を、前記障害物の種類が静止物体である場合における前記下限値よりも大きな値に設定することを含む車両制御用コンピュータプログラム。
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US18/160,648 US20230249686A1 (en) | 2022-02-04 | 2023-01-27 | Controller, method, and computer program for vehicle control |
CN202310098384.4A CN116552539A (zh) | 2022-02-04 | 2023-02-02 | 车辆控制装置、车辆控制方法以及车辆控制用计算机程序 |
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JP2018062237A (ja) | 2016-10-12 | 2018-04-19 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
US20190135291A1 (en) | 2017-11-03 | 2019-05-09 | Mando Corporation | System and method for controlling vehicle based on condition of driver |
JP2020032963A (ja) | 2018-08-31 | 2020-03-05 | トヨタ自動車株式会社 | 車両制御装置 |
JP2021115973A (ja) | 2020-01-27 | 2021-08-10 | マツダ株式会社 | 車両制御装置 |
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JP2018062237A (ja) | 2016-10-12 | 2018-04-19 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
US20190135291A1 (en) | 2017-11-03 | 2019-05-09 | Mando Corporation | System and method for controlling vehicle based on condition of driver |
JP2020032963A (ja) | 2018-08-31 | 2020-03-05 | トヨタ自動車株式会社 | 車両制御装置 |
JP2021115973A (ja) | 2020-01-27 | 2021-08-10 | マツダ株式会社 | 車両制御装置 |
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