JPWO2017179193A1 - 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 - Google Patents
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 Download PDFInfo
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Abstract
Description
以下、車両制御システム100について説明する。車両制御システム100は、例えば、一以上のプロセッサまたは同等の機能を有するハードウェアにより実現される。車両制御システム100は、CPU(Central Processing Unit)などのプロセッサ、記憶装置、および通信インターフェースが内部バスによって接続されたECU(Electronic Control Unit)、或いはMPU(Micro-Processing Unit)などが組み合わされた構成であってよい。
モードAは、最も自動運転の度合が高いモードである。モードAが実施されている場合、複雑な合流制御など、全ての車両制御が自動的に行われるため、車両乗員には、最も低いレベルの周辺監視義務が課される。このレベルでは、車両乗員は自車両Mの周辺や状態を監視する必要が無い(周辺監視義務が生じない)。
モードBは、モードAの次に自動運転の度合が高いモードである。モードBが実施されている場合、原則として全ての車両制御が自動的に行われるが、場面に応じて自車両Mの運転操作が車両乗員に委ねられる。従って、周辺監視義務レベルは、モードAにおけるレベルの次に周辺監視義務の程度が高いレベルに設定される。このレベルでは、車両乗員は自車両Mの周辺や状態を監視している必要がある(モードAと比べて周辺監視義務が増加する)。これらのモードBで選択される各種走行態様には、例えば、70km/h程度の速度制限が設けられ、これを超えるとモードが一つ低下してモードCに移行する。
モードCは、モードBの次に自動運転の度合が高いモードである。モードCが実施されている場合、車両乗員は、場面に応じた確認操作をHMI70に対して行う必要がある。従って、周辺監視義務レベルは、モードBにおけるレベルの次に周辺監視義務の程度が高いレベルに設定される。モードCでは、例えば、車線変更のタイミングが車両乗員に通知され、車両乗員がHMI70に対して車線変更を指示する操作を行った場合に、自動的な車線変更が行われる。このため、モードCにおけるレベルでは、車両乗員は自車両Mの周辺や状態を監視している必要がある。モードCで選択される各種走行態様には、例えば、100km/h程度の速度制限が設けられ、これを超えるとモードが一つ低下して、例えばモードCより更に下位のモード、或いは手動運転モードに移行する。
Claims (7)
- 自車両の周辺を走行する周辺車両を認識する認識部と、
前記自車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う複数の自動運転モードであって、前記自車両の乗員に課される前記自車両の周辺監視義務の程度が異なる複数の自動運転モードを実行する自動運転制御部と、
前記自車両の周辺監視義務を管理する管理部であって、前記自動運転制御部により、前記認識部により認識された前記周辺車両のうち、前記自車両の前方を走行する前走車両に追従して走行する隊列走行が実行される場合、前記自車両の周辺監視義務を低減する管理部と、
を備える車両制御システム。 - 前記管理部は、前記自動運転制御部により前記隊列走行が実行される場合の前記自車両の周辺監視義務を、前記自動運転制御部により前記隊列走行以外の走行態様で自動運転が実行される場合の前記自車両の周辺監視義務以下にする、
請求項1に記載の車両制御システム。 - 前記管理部は、前記自動運転制御部により、前記自車両の乗員に前記自車両の周辺監視義務を課す前記自動運転モードが実行される場合に、前記自車両の車室内に持ち込まれ、前記自車両の乗員によって操作可能な端末装置の機能の一部または全部を抑制する、
請求項1または2に記載の車両制御システム。 - 前記自動運転制御部により実行される複数の自動運転モードのそれぞれには、前記速度制御時に出力可能な速度に速度制限が設定されており、
前記管理部は、前記自動運転制御部により前記隊列走行が実行される場合、前記自車両の周辺監視義務に対する制限可能な上限車速を緩和する、
請求項1に記載の車両制御システム。 - 自車両の周辺を走行する周辺車両を認識する認識部と、
前記自車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転モードであって、自動運転の度合の異なる複数の自動運転モードのいずれかを実行する自動運転制御部と、を備え、
前記自動運転制御部は、前記認識部により認識された前記周辺車両のうち、前記自車両の前方を走行する前走車両を追従する隊列走行を実行する場合、前記自動運転モードを、より自動運転の度合の高い自動運転モードに変更する、
車両制御システム。 - 車載コンピュータが、
自車両の周辺を走行する周辺車両を認識し、
前記自車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う複数の自動運転モードであって、前記自車両の乗員に課される前記自車両の周辺監視義務の程度が異なる複数の自動運転モードを実行し、
前記自車両の周辺監視義務を管理すると共に、前記認識した前記周辺車両のうち、前記自車両の前方を走行する前走車両に追従して走行する隊列走行を実行する場合、前記自車両の周辺監視義務を低減する、
車両制御方法。 - 車載コンピュータに、
自車両の周辺を走行する周辺車両を認識させ、
前記自車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う複数の自動運転モードであって、前記自車両の乗員に課される前記自車両の周辺監視義務の程度が異なる複数の自動運転モードを実行させ、
前記自車両の周辺監視義務を管理させると共に、前記認識させた前記周辺車両のうち、前記自車両の前方を走行する前走車両に追従して走行する隊列走行を実行させる場合、前記自車両の周辺監視義務を低減させる、
車両制御プログラム。
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