JPWO2019158204A5 - - Google Patents
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- JPWO2019158204A5 JPWO2019158204A5 JP2020543496A JP2020543496A JPWO2019158204A5 JP WO2019158204 A5 JPWO2019158204 A5 JP WO2019158204A5 JP 2020543496 A JP2020543496 A JP 2020543496A JP 2020543496 A JP2020543496 A JP 2020543496A JP WO2019158204 A5 JPWO2019158204 A5 JP WO2019158204A5
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Description
例えば、行動の研究に基づいて、下記の値は、ベクトルPaとPbに対して特に適切であることが見出された。
Pa=(-0.00094±0.00047;-0.0032±0.0016;0.014±0.007;-0.0017±0.00085;-0.00029±0.00015)および
Pb=(-4.5±2.25;-2.5±1.25;0.62±0.31;-0.019±0.009;-0.011±0.0055)
For example, based on behavioral studies, the following values were found to be particularly relevant for the vectors Pa and Pb.
Pa = (-0.00094 ± 0.00047; -0.0032 ± 0.0016; 0.0 14 ± 0.007; -0.0017 ± 0.00087; -0.00029 ± 0.00015) and Pb = (-4.5 ± 2.25; -2.5 ± 1.25; 0.62 ± 0.31; -0.019 ± 0.009; -0.011 ± 0.0055)
例えば、1つの実施形態においては、ベクトルPaとPbは下記の値を取ることができる。
Pa=(-0.00094±0.00047;-0.0032±0.0016;0.014±0.007;-0.0017±0.00085;-0.00029±0.00015)および
Pb=(-4.5±2.25;-2.5±1.25;0.62±0.31;-0.019±0.009;-0.011±0.0055)
For example, in one embodiment, the vectors Pa and Pb can take the following values.
Pa = (-0.00094 ± 0.00047; -0.0032 ± 0.0016; 0.0 14 ± 0.007; -0.0017 ± 0.00087; -0.00029 ± 0.00015) and Pb = (-4.5 ± 2.25; -2.5 ± 1.25; 0.62 ± 0.31; -0.019 ± 0.009; -0.011 ± 0.0055)
知覚危険レベルPRLは、等式(1)を使用して、ホスト車両の速度Vx、ホスト車両と先行車両との間の相対速度Vr、およびホスト車両と先行車両との間の相対距離Drに基づいて計算される。
(1) PRL=(Dr-Pb*V)/(Pa*V)
ここにおいて、
Pa=(-0.00094;-0.0032;0.014;-0.0017;-0.00029);
Pb=(-4.5;-2.5;0.62;-0.019;-0.011);および
V=(1;Vx;Vr;Vx*Vr;Vx2)
The perceived danger level PRL is based on equation (1), the speed Vx of the host vehicle, the relative speed Vr between the host vehicle and the preceding vehicle, and the relative distance Dr between the host vehicle and the preceding vehicle. Is calculated.
(1) PRL = (Dr-Pb * V) / (Pa * V)
put it here,
Pa = (-0.00094; -0.0032; 0.0 14; -0.0017; -0.00029 );
Pb = (-4.5; -2.5; 0.62; -0.019; -0.011); and V = (1; Vx; Vr; Vx * Vr; Vx 2 )
上記に提案された例としてのPRL関数はこの特徴を提示するので、これらのPRL関数は、制動データベースにより表わされる運転者としての、類似の運転行動を有する運転者に対する、知覚危険レベルPRLの満足すべき評価を提供すると結論付けることができる。
本明細書に開示される発明は以下の態様を含む。
〔態様1〕
ホスト車両(100)のための制御方法であって、
a)前記ホスト車両の速度Vx、先行車両(200)と前記ホスト車両(100)との間の相対速度Vr、および前記先行車両と前記ホスト車両との間の相対距離Drを取得するステップと、
b)知覚危険レベル(PRL)を、前記ホスト車両の前記速度Vx、前記相対速度Vr、前記相対距離Dr、および変数Vx*VrとVx
2
の少なくとも1つの関数として計算するステップと、
c)前記ホスト車両の少なくとも1つの車両装置(32、34、36、38)を、前記知覚危険レベル(PRL)の関数として制御するステップを含む、
制御方法。
〔態様2〕
ステップb)において、前記知覚危険レベル(PRL)は、等式(1)に基づいて計算され、
(1) PRL=(Dr-Pb*V)/(Pa*V)
ここにおいて、Pa、Pbは、5成分ベクトルであり、
V=(1;Vx;Vr;Vx*Vr;Vx
2
)である、態様1に記載の制御方法。
〔態様3〕
PaとPbは、下記の
Pa=(Pa1、Pa2、Pa3、Pa4、Pa5)
Pb=(Pb1、Pb2、Pb3、Pb4、Pb5)
Pa1/Pa2=0.295±0.15
Pa2/Pa3=-0.236±0.12
Pa3/Pa4=-8.2±4.1
Pa4/Pa5=5.72±2.75
Pb1/Pb2=1.8±0.9
Pb2/Pb3=-3.98±2
Pb3/Pb4=-32.6±16.3
Pb4/Pb5=1.77±0.89
ここにおいて、Pa1、...Pa5およびPb1、...Pb5は実数であるという関係により結びつけられている、態様2に記載の制御方法。
〔態様4〕
Pa=(-0.00094±0.00047;-0.0032±0.0016;0.014±0.007;-0.0017±0.00085;-0.00029±0.00015)および
Pb=(-4.5±2.25;-2.5±1.25;0.62±0.31;-0.019±0.009;-0.011±0.0055)である、態様2または3に記載の制御方法。
〔態様5〕
ステップc)において、前記少なくとも1つの車両装置(32、34、36、38)を制御することは、前記少なくとも1つの車両装置(32、34、36、38)を、前記知覚危険レベル(PRL)と所定の最大容認可能危険レベル(MRL)との間の差の関数として制御することを含んでいる、態様1から4の何れか1態様に記載の制御方法。
〔態様6〕
ステップc)は、前記知覚危険レベルPRLが所定の値(MRL)を超えると、前記少なくとも1つの車両装置(32、34、36、38)の中の少なくとも1つの運転アクチュエータを作動することを含んでいる、態様1から5の何れか1態様に記載の制御方法。
〔態様7〕
前記少なくとも1つの車両装置は、少なくとも1つのブレーキ(36)および/または少なくとも1つの他の運転アクチュエータを含んでいる、態様1から6の何れか1態様に記載の制御方法。
〔態様8〕
非一時的コンピュータ読取り可能媒体に格納され、プロセッサ(22)により実行されることに適しているコンピュータプログラムであって、プロセッサ(22)により実行されると、態様1から7の何れか1態様に記載の前記制御方法を実行するように適合されている命令含んでいる、コンピュータプログラム。
〔態様9〕
プロセッサにより実行されると、前記プロセッサに、態様1から7の何れか1態様の前記制御方法を実行させる命令を格納している、非一時的コンピュータ読取り可能媒体。
〔態様10〕
ホスト車両(100)のための自動化運転システム(10)であって、
a)前記ホスト車両の速度Vx、先行車両(200)と前記ホスト車両(100)との間の相対速度Vr、および、前記先行車両と前記ホスト車両との間の相対距離Drを取得し、
b)知覚危険レベル(PRL)を、前記ホスト車両の前記速度Vx、前記相対速度Vr、前記相対距離Dr、およびパラメータVx*VrとVx
2
の少なくとも1つの関数として計算し、
c)前記ホスト車両の少なくとも1つの車両装置(32、34、36、38)を、前記知覚危険レベル(PRL)の関数として制御するように構成されている電子制御ユニット(20)を備えている、
自動化運転システム(10)。
〔態様11〕
前記制御ユニット(20)は、
(1) PRL=(Dr-Pb*V)/(Pa*V)
ここにおいて、Pa、Pbは、5成分ベクトルであり、
V=(1;Vx;Vr;Vx*Vr;Vx
2
)である等式(1)に基づいて、前記知覚危険レベル(PRL)を計算するように構成されている、態様10に記載の自動化運転システム(10)。
〔態様12〕
PaとPbは、下記の
Pa=(Pa1、Pa2、Pa3、Pa4、Pa5)
Pb=(Pb1、Pb2、Pb3、Pb4、Pb5)
Pa1/Pa2=0.295±0.15
Pa2/Pa3=-0.236±0.12
Pa3/Pa4=-8.2±4.1
Pa4/Pa5=5.72±2.75
Pb1/Pb2=1.8±0.9
Pb2/Pb3=-3.98±2
Pb3/Pb4=-32.6±16.3
Pb4/Pb5=1.77±0.89
ここにおいて、Pa1、...Pa5およびPb1、...Pb5は実数であるという関係により結びつけられている、態様11に記載の自動化運転システム(10)。
〔態様13〕
Pa=(-0.00094±0.00047;-0.0032±0.0016;0.014±0.007;-0.0017±0.00085;-0.00029±0.00015)および
Pb=(-4.5±2.25;-2.5±1.25;0.62±0.31;-0.019±0.009;-0.011±0.0055)である、態様11または12に記載の自動化運転システム(10)。
〔態様14〕
前記電子制御ユニット(20)は、前記少なくとも1つの車両装置(32、34、36、38)を制御するために、前記少なくとも1つの車両装置(32、34、36、38)を、前記知覚危険レベル(PRL)と所定の最大容認可能危険レベル(MRL)との間の差の関数として制御するように構成されている、態様10から13の何れか1態様に記載の自動化運転システム(10)。
〔態様15〕
前記電子制御ユニット(20)は、前記知覚危険レベルPRLが所定の値(MRL)を超えると、前記少なくとも1つの車両装置(32、34、36、38)の中の少なくとも1つの運転アクチュエータを作動するように構成されている、態様10から14の何れか1態様に記載の自動化運転システム(10)。
〔態様16〕
前記少なくとも1つの車両装置は、少なくとも1つのブレーキ(36)および/または少なくとも1つの他の運転アクチュエータを含んでいる、態様10から15の何れか1態様に記載の自動化運転システム(10)。
Since the PRL functions as an example proposed above present this feature, these PRL functions satisfy the perceived risk level PRL for drivers with similar driving behavior as drivers represented by the braking database. It can be concluded that it provides an evaluation that should be done.
The invention disclosed herein includes the following aspects:
[Aspect 1]
A control method for the host vehicle (100)
a) A step of acquiring the speed Vx of the host vehicle, the relative speed Vr between the preceding vehicle (200) and the host vehicle (100), and the relative distance Dr between the preceding vehicle and the host vehicle.
b) A step of calculating the perceptual danger level (PRL) as at least one function of the velocity Vx, the relative velocity Vr, the relative distance Dr, and the variables Vx * Vr and Vx 2 of the host vehicle.
c) comprising controlling at least one vehicle device (32, 34, 36, 38) of the host vehicle as a function of said perceptual danger level (PRL).
Control method.
[Aspect 2]
In step b), the perceptual risk level (PRL) is calculated based on equation (1).
(1) PRL = (Dr-Pb * V) / (Pa * V)
Here, Pa and Pb are five-component vectors, and are
The control method according to aspect 1, wherein V = (1; Vx; Vr; Vx * Vr; Vx 2 ).
[Aspect 3]
Pa and Pb are as follows
Pa = (Pa1, Pa2, Pa3, Pa4, Pa5)
Pb = (Pb1, Pb2, Pb3, Pb4, Pb5)
Pa1 / Pa2 = 0.295 ± 0.15
Pa2 / Pa3 = -0.236 ± 0.12
Pa3 / Pa4 = -8.2 ± 4.1
Pa4 / Pa5 = 5.72 ± 2.75
Pb1 / Pb2 = 1.8 ± 0.9
Pb2 / Pb3 = -3.98 ± 2
Pb3 / Pb4 = -32.6 ± 16.3
Pb4 / Pb5 = 1.77 ± 0.89
Here, Pa1 ,. .. .. Pa5 and Pb1, ... .. .. The control method according to aspect 2, wherein Pb5 is linked by the relationship that it is a real number.
[Aspect 4]
Pa = (-0.00094 ± 0.00047; -0.0032 ± 0.0016; 0.014 ± 0.007; -0.0017 ± 0.00085; -0.00029 ± 0.00015) and
Pb = (-4.5 ± 2.25; -2.5 ± 1.25; 0.62 ± 0.31; -0.019 ± 0.009; -0.011 ± 0.0055). The control method according to aspect 2 or 3.
[Aspect 5]
In step c), controlling the at least one vehicle device (32, 34, 36, 38) causes the at least one vehicle device (32, 34, 36, 38) to have the perceptual danger level (PRL). The control method according to any one of aspects 1 to 4, comprising controlling as a function of the difference between and a predetermined maximum acceptable risk level (MRL).
[Aspect 6]
Step c) comprises activating at least one driving actuator in the at least one vehicle apparatus (32, 34, 36, 38) when the perceived danger level PRL exceeds a predetermined value (MRL). The control method according to any one of aspects 1 to 5.
[Aspect 7]
The control method according to any one of aspects 1 to 6, wherein the at least one vehicle device comprises at least one brake (36) and / or at least one other driving actuator.
[Aspect 8]
A computer program that is stored on a non-temporary computer readable medium and suitable for execution by the processor (22), and when executed by the processor (22), is in any one of embodiments 1-7. A computer program containing instructions adapted to perform the described control method.
[Aspect 9]
A non-temporary computer-readable medium that, when executed by a processor, stores an instruction that causes the processor to execute the control method of any one of aspects 1-7.
[Aspect 10]
An automated driving system (10) for the host vehicle (100),
a) The speed Vx of the host vehicle, the relative speed Vr between the preceding vehicle (200) and the host vehicle (100), and the relative distance Dr between the preceding vehicle and the host vehicle are acquired.
b) Perceptual danger level (PRL) is calculated as at least one function of said velocity Vx, said relative velocity Vr, said relative distance Dr, and parameters Vx * Vr and Vx 2 of the host vehicle.
c) It comprises an electronic control unit (20) configured to control at least one vehicle device (32, 34, 36, 38) of the host vehicle as a function of said perceptual danger level (PRL). ,
Automated operation system (10).
[Aspect 11]
The control unit (20) is
(1) PRL = (Dr-Pb * V) / (Pa * V)
Here, Pa and Pb are five-component vectors, and are
10. The automation according to aspect 10, configured to calculate the perceptual risk level (PRL) based on equation (1) where V = (1; Vx; Vr; Vx * Vr; Vx 2 ). Driving system (10).
[Aspect 12]
Pa and Pb are as follows
Pa = (Pa1, Pa2, Pa3, Pa4, Pa5)
Pb = (Pb1, Pb2, Pb3, Pb4, Pb5)
Pa1 / Pa2 = 0.295 ± 0.15
Pa2 / Pa3 = -0.236 ± 0.12
Pa3 / Pa4 = -8.2 ± 4.1
Pa4 / Pa5 = 5.72 ± 2.75
Pb1 / Pb2 = 1.8 ± 0.9
Pb2 / Pb3 = -3.98 ± 2
Pb3 / Pb4 = -32.6 ± 16.3
Pb4 / Pb5 = 1.77 ± 0.89
Here, Pa1 ,. .. .. Pa5 and Pb1, ... .. .. The automated operation system (10) according to aspect 11, wherein Pb5 is linked by the relationship that it is a real number.
[Aspect 13]
Pa = (-0.00094 ± 0.00047; -0.0032 ± 0.0016; 0.014 ± 0.007; -0.0017 ± 0.00085; -0.00029 ± 0.00015) and
Pb = (-4.5 ± 2.25; -2.5 ± 1.25; 0.62 ± 0.31; -0.019 ± 0.009; -0.011 ± 0.0055). The automated operation system (10) according to aspect 11 or 12.
[Aspect 14]
The electronic control unit (20) has the perceptual danger of the at least one vehicle device (32, 34, 36, 38) in order to control the at least one vehicle device (32, 34, 36, 38). The automated operation system (10) according to any one of aspects 10 to 13, configured to be controlled as a function of the difference between the level (PRL) and a predetermined maximum acceptable risk level (MRL). ..
[Aspect 15]
The electronic control unit (20) activates at least one driving actuator in the at least one vehicle device (32, 34, 36, 38) when the perceived danger level PRL exceeds a predetermined value (MRL). The automated operation system (10) according to any one of aspects 10 to 14, which is configured to be the same.
[Aspect 16]
The automated driving system (10) according to any one of aspects 10 to 15, wherein the at least one vehicle device comprises at least one brake (36) and / or at least one other driving actuator.
Claims (14)
a)前記ホスト車両の速度Vx、先行車両(200)と前記ホスト車両(100)との間の相対速度Vr、および前記先行車両と前記ホスト車両との間の相対距離Drを取得するステップと、
b)知覚危険レベル(PRL)を、前記ホスト車両の前記速度Vx、前記相対速度Vr、前記相対距離Dr、および変数Vx*VrとVx2の少なくとも1つの関数として計算するステップと、
c)前記ホスト車両の少なくとも1つの車両装置(32、34、36、38)を、前記知覚危険レベル(PRL)の関数として制御するステップを含み、
ステップb)において、前記知覚危険レベル(PRL)は、等式(1)に基づいて計算され、
(1) PRL=(Dr-Pb*V)/(Pa*V)
ここにおいて、Pa、Pbは、5成分ベクトルであり、
V=(1;Vx;Vr;Vx*Vr;Vx 2 )である、
制御方法。 A control method for the host vehicle (100)
a) A step of acquiring the speed Vx of the host vehicle, the relative speed Vr between the preceding vehicle (200) and the host vehicle (100), and the relative distance Dr between the preceding vehicle and the host vehicle.
b) A step of calculating the perceptual danger level (PRL) as at least one function of the velocity Vx, the relative velocity Vr, the relative distance Dr, and the variables Vx * Vr and Vx 2 of the host vehicle.
c) Including the step of controlling at least one vehicle device (32, 34, 36, 38) of the host vehicle as a function of the perceptual danger level (PRL).
In step b), the perceptual risk level (PRL) is calculated based on equation (1).
(1) PRL = (Dr-Pb * V) / (Pa * V)
Here, Pa and Pb are five-component vectors, and are
V = (1; Vx; Vr; Vx * Vr; Vx 2 ),
Control method.
Pa=(Pa1、Pa2、Pa3、Pa4、Pa5)
Pb=(Pb1、Pb2、Pb3、Pb4、Pb5)
Pa1/Pa2=0.295±0.15
Pa2/Pa3=-0.236±0.12
Pa3/Pa4=-8.2±4.1
Pa4/Pa5=5.72±2.75
Pb1/Pb2=1.8±0.9
Pb2/Pb3=-3.98±2
Pb3/Pb4=-32.6±16.3
Pb4/Pb5=1.77±0.89
という関係を満たし、
ここにおいて、Pa1、Pa2、Pa3、Pa4、Pa5およびPb1、Pb2、Pb3、Pb4、Pb5は実数である、請求項1に記載の制御方法。 Pa and Pb are
Pa = (Pa1, Pa2, Pa3, Pa4, Pa5)
Pb = (Pb1, Pb2, Pb3, Pb4, Pb5)
Pa1 / Pa2 = 0.295 ± 0.15
Pa2 / Pa3 = -0.236 ± 0.12
Pa3 / Pa4 = -8.2 ± 4.1
Pa4 / Pa5 = 5.72 ± 2.75
Pb1 / Pb2 = 1.8 ± 0.9
Pb2 / Pb3 = -3.98 ± 2
Pb3 / Pb4 = -32.6 ± 16.3
Pb4 / Pb5 = 1.77 ± 0.89
Satisfy the relationship,
Here, the control method according to claim 1 , wherein Pa1, Pa2, Pa3, Pa4, Pa5 and Pb1, Pb2, Pb3 , Pb4, and Pb5 are real numbers.
Pb=(-4.5±2.25;-2.5±1.25;0.62±0.31;-0.019±0.009;-0.011±0.0055)である、請求項1または2に記載の制御方法。 Pa = (-0.00094 ± 0.00047; -0.0032 ± 0.0016; 0.0 14 ± 0.007; -0.0017 ± 0.00087; -0.00029 ± 0.00015) and Pb = (-4.5 ± 2.25; -2.5 ± 1.25; 0.62 ± 0.31; -0.019 ± 0.009; -0.011 ± 0.0055). Item 2. The control method according to Item 1 or 2 .
a)前記ホスト車両の速度Vx、先行車両(200)と前記ホスト車両(100)との間の相対速度Vr、および、前記先行車両と前記ホスト車両との間の相対距離Drを取得し、
b)知覚危険レベル(PRL)を、前記ホスト車両の前記速度Vx、前記相対速度Vr、前記相対距離Dr、およびパラメータVx*VrとVx2の少なくとも1つの関数として計算し、
c)前記ホスト車両の少なくとも1つの車両装置(32、34、36、38)を、前記知覚危険レベル(PRL)の関数として制御するように構成されている電子制御ユニット(20)を備え、
前記電子制御ユニット(20)は、
(1) PRL=(Dr-Pb*V)/(Pa*V)
ここにおいて、Pa、Pbは、5成分ベクトルであり、
V=(1;Vx;Vr;Vx*Vr;Vx 2 )である等式(1)に基づいて、前記知覚危険レベル(PRL)を計算するように構成されている、
自動化運転システム(10)。 An automated driving system (10) for the host vehicle (100),
a) The speed Vx of the host vehicle, the relative speed Vr between the preceding vehicle (200) and the host vehicle (100), and the relative distance Dr between the preceding vehicle and the host vehicle are acquired.
b) Perceptual danger level (PRL) is calculated as at least one function of said velocity Vx, said relative velocity Vr, said relative distance Dr, and parameters Vx * Vr and Vx 2 of the host vehicle.
c) an electronic control unit (20) configured to control at least one vehicle device (32, 34, 36, 38) of the host vehicle as a function of said perceptual danger level (PRL) .
The electronic control unit (20) is
( 1) PRL = (Dr-Pb * V) / (Pa * V)
Here, Pa and Pb are five-component vectors, and are
It is configured to calculate the perceptual danger level (PRL) based on the equation (1) where V = (1; Vx; Vr; Vx * Vr; Vx 2 ).
Automated operation system (10).
Pa=(Pa1、Pa2、Pa3、Pa4、Pa5)
Pb=(Pb1、Pb2、Pb3、Pb4、Pb5)
Pa1/Pa2=0.295±0.15
Pa2/Pa3=-0.236±0.12
Pa3/Pa4=-8.2±4.1
Pa4/Pa5=5.72±2.75
Pb1/Pb2=1.8±0.9
Pb2/Pb3=-3.98±2
Pb3/Pb4=-32.6±16.3
Pb4/Pb5=1.77±0.89
という関係を満たし、
ここにおいて、Pa1、Pa2、Pa3、Pa4、Pa5およびPb1、Pb2、Pb3、Pb4、Pb5は実数である、請求項9に記載の自動化運転システム(10)。 Pa and Pb are
Pa = (Pa1, Pa2, Pa3, Pa4, Pa5)
Pb = (Pb1, Pb2, Pb3, Pb4, Pb5)
Pa1 / Pa2 = 0.295 ± 0.15
Pa2 / Pa3 = -0.236 ± 0.12
Pa3 / Pa4 = -8.2 ± 4.1
Pa4 / Pa5 = 5.72 ± 2.75
Pb1 / Pb2 = 1.8 ± 0.9
Pb2 / Pb3 = -3.98 ± 2
Pb3 / Pb4 = -32.6 ± 16.3
Pb4 / Pb5 = 1.77 ± 0.89
Satisfy the relationship,
Here, the automated operation system (10) according to claim 9 , wherein Pa1, Pa2, Pa3, Pa4, Pa5 and Pb1, Pb2, Pb3 , Pb4, and Pb5 are real numbers.
Pb=(-4.5±2.25;-2.5±1.25;0.62±0.31;-0.019±0.009;-0.011±0.0055)である、請求項9または10に記載の自動化運転システム(10)。 Pa = (-0.00094 ± 0.00047; -0.0032 ± 0.0016; 0.0 14 ± 0.007; -0.0017 ± 0.00087; -0.00029 ± 0.00015) and Pb = (-4.5 ± 2.25; -2.5 ± 1.25; 0.62 ± 0.31; -0.019 ± 0.009; -0.011 ± 0.0055). Item 9. The automated operation system (10) according to Item 9.
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