RU2014127981A - Транспортное средство и способ его автономного управления - Google Patents

Транспортное средство и способ его автономного управления Download PDF

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RU2014127981A
RU2014127981A RU2014127981A RU2014127981A RU2014127981A RU 2014127981 A RU2014127981 A RU 2014127981A RU 2014127981 A RU2014127981 A RU 2014127981A RU 2014127981 A RU2014127981 A RU 2014127981A RU 2014127981 A RU2014127981 A RU 2014127981A
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Майк К. РАО
Марк А. КАДДИХИ
Цзялян ЛЭ
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Форд Глобал Технолоджис, ЛЛК
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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/007—Emergency override
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/04—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to presence or absence of the driver, e.g. to weight or lack thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B60K28/066—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver actuating a signalling device
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • 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
    • 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
    • B60W40/08—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 related to drivers or passengers
    • B60W2040/0872—Driver physiology
    • 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
    • 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
    • B60W40/08—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 related to drivers or passengers
    • B60W2040/0881—Seat occupation; Driver or passenger presence
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/227—Position in the vehicle
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • 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
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2302/00—Responses or measures related to driver conditions
    • B60Y2302/05—Leading to automatic stopping of the vehicle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

1. Дорожное транспортное средство с водительским сиденьем, которое содержит систему автоматического управления, выполненную с возможностью функционировать в режиме настройки для задания маршрута, в режиме активного вождения для выполнения автоматического рулевого управления, ускорения и торможения во время движения по маршруту, в режиме безопасной остановки для обнаружения возможности съезда с проезжей части и автоматического выполнения съезда к месту остановки, в режиме реагирования на чрезвычайную ситуацию для автоматического принятия чрезвычайных мер, а также содержащее систему обнаружения водителя, выполненную с возможностью устанавливать присутствие водителя на водительском сиденье и контролировать его физиологическое состояние, причем система автоматического управления дополнительно выполнена с возможностью в режиме настройки сравнивать полученную информацию о физиологическом состоянии водителя с заранее заданным нормальным состоянием и откладывать запуск режима активного вождения до обнаружения на водительском сиденье водителя, физиологическое состояние которого совпадает с заранее заданным нормальным состоянием, система автоматического управления также выполнена с возможностью в режиме активного вождения отсчитывать время, в течение которого не было обнаружено присутствия водителя, и при превышении первого порогового значения времени включать режим выдачи предупреждения, в котором водителю выдается сообщение о том, что режим активного вождения будет завершен, если не будет обнаружен водитель, а при превышении второго порогового значения времени завершать режим активного �

Claims (10)

1. Дорожное транспортное средство с водительским сиденьем, которое содержит систему автоматического управления, выполненную с возможностью функционировать в режиме настройки для задания маршрута, в режиме активного вождения для выполнения автоматического рулевого управления, ускорения и торможения во время движения по маршруту, в режиме безопасной остановки для обнаружения возможности съезда с проезжей части и автоматического выполнения съезда к месту остановки, в режиме реагирования на чрезвычайную ситуацию для автоматического принятия чрезвычайных мер, а также содержащее систему обнаружения водителя, выполненную с возможностью устанавливать присутствие водителя на водительском сиденье и контролировать его физиологическое состояние, причем система автоматического управления дополнительно выполнена с возможностью в режиме настройки сравнивать полученную информацию о физиологическом состоянии водителя с заранее заданным нормальным состоянием и откладывать запуск режима активного вождения до обнаружения на водительском сиденье водителя, физиологическое состояние которого совпадает с заранее заданным нормальным состоянием, система автоматического управления также выполнена с возможностью в режиме активного вождения отсчитывать время, в течение которого не было обнаружено присутствия водителя, и при превышении первого порогового значения времени включать режим выдачи предупреждения, в котором водителю выдается сообщение о том, что режим активного вождения будет завершен, если не будет обнаружен водитель, а при превышении второго порогового значения времени завершать режим активного вождения и запускать режим безопасной остановки, система автоматического управления также выполнена с возможностью в режиме активного вождения сравнивать полученную информацию о физиологическом состоянии водителя с заранее заданным критическим состоянием и в случае совпадения данных значений завершать режим активного вождения и запускать режим реагирования на чрезвычайную ситуацию.
2. Транспортное средство по п. 1, в котором принятие чрезвычайных мер подразумевает прокладку аварийного маршрута до пункта скорой помощи и выполнение в транспортном средстве функций автоматического рулевого управления, ускорения и торможения во время движения по аварийному маршруту.
3. Транспортное средство по п. 1, в котором принятие чрезвычайных мер подразумевает обнаружение и автоматический съезд с проезжей части к месту стоянки и направление автоматического сообщения в экстренную службу.
4. Транспортное средство по п. 1, которое содержит информационно-развлекательную систему, выполненную с возможностью генерировать звуковые предупреждения для водителя.
5. Транспортное средство по п. 1, в котором система обнаружения водителя включает в себя инфракрасный датчик, предназначенный для отслеживания присутствия водителя на водительском сиденье.
6. Способ автоматического управления дорожным транспортным средством, в котором выполняют следующие действия:
определяют маршрут в режиме настройки;
производят обнаружение присутствия водителя на водительском сиденье и определяют его физиологическое состояние;
сравнивают полученную информацию о физиологическом состоянии водителя с заранее заданным нормальным состоянием, и в случае присутствия водителя на водительском сиденье и совпадении полученной информации о его физиологическом состоянии с заранее заданным нормальным состоянием запускают режим активного вождения;
обеспечивают выполнение в транспортном средстве функций автоматическое рулевого управления, ускорения и торможения во время движения по маршруту в режиме активного вождения;
с помощью системы автоматического управления выполняют отсчет времени в режиме активного вождения, в течение которого не обнаружено присутствия водителя, при этом в случае превышения первого порогового значения времени запускают режим выдачи предупреждения, в котором уведомляют водителя о том, что режим активного вождения будет завершен, если водитель не будет обнаружен на водительском сиденье;
при превышении второго порогового значения времени завершают режим активного вождения и запускают режим безопасной остановки, в ходе которого обнаруживают съезд с проезжей части и выполняют автоматический съезд к месту остановки;
в режиме активного вождения сравнивают полученную информацию о физиологическом состоянии водителя с заранее заданным критическим состоянием и в случае совпадения данных значений завершают режим активного вождения с последующим запуском режима реагирования на чрезвычайную ситуацию и автоматическим принятием чрезвычайных мер.
7. Способ по п. 6, в котором при принятии чрезвычайных мер определяют аварийный маршрут до пункта скорой помощи и выполняют автоматическое рулевого управление, ускорение и торможение во время движения по аварийному маршруту.
8. Способ по п. 6, в котором при принятии чрезвычайных мер обнаруживают возможность съезда с проезжей части и автоматически выполняют съезд к месту стоянки, а также выполняют автоматическую передачу сообщения в экстренную службу.
9. Способ по п. 6, в котором в режиме выдачи предупреждения генерируют звуковое предупреждение.
10. Способ по п. 6, в котором для обнаружения присутствия водителя на водительском сиденье используют инфракрасный датчик, выполненный с возможностью отслеживать присутствие водителя на водительском сиденье.
RU2014127981A 2013-07-09 2014-07-09 Транспортное средство и способ его автономного управления RU2644998C2 (ru)

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US13/937,446 US8874301B1 (en) 2013-07-09 2013-07-09 Autonomous vehicle with driver presence and physiological monitoring
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