WO2016194157A1 - 車両制御装置及び車両制御方法 - Google Patents
車両制御装置及び車両制御方法 Download PDFInfo
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- WO2016194157A1 WO2016194157A1 PCT/JP2015/065982 JP2015065982W WO2016194157A1 WO 2016194157 A1 WO2016194157 A1 WO 2016194157A1 JP 2015065982 W JP2015065982 W JP 2015065982W WO 2016194157 A1 WO2016194157 A1 WO 2016194157A1
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- action plan
- vehicle
- compensation range
- actuator
- vehicle control
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- 230000009471 action Effects 0.000 claims abstract description 120
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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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
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- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/741—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
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- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
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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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- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
Definitions
- the present invention relates to a vehicle control device and a vehicle control method.
- Patent Document 1 Conventionally, a technique for changing driving support in response to an actuator failure is known (Patent Document 1).
- Patent Document 1 when an actuator failure is detected, the influence of the failure on the safety contribution rate is calculated, and the driving support is changed based on the calculation result.
- Patent Document 1 the technique of changing the driving support after detecting a failure as in Patent Document 1 cannot cope with a case where the vehicle cannot already travel safely when a failure occurs in the actuator.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle control device and a vehicle control method that enable automatic driving while ensuring safety for a certain period of time even if a failure occurs in an actuator. It is to be.
- a vehicle control device includes a surrounding information detection unit that detects surrounding information of a vehicle, and a traveling state detection unit that detects a traveling state of the vehicle. The detected surrounding information and the traveling state are set in advance. Controlling the automatic driving of the vehicle based on the upper action plan to the destination and the lower action plan for controlling at least one of the vehicle speed target value and the steering target value to achieve the upper action plan, Of the actuator means used for automatic driving of the vehicle with a redundant configuration, the compensation range of the upper action plan is calculated so that it can run in a state where the ability of one actuator means is reduced, and the higher compensation range is calculated. Limit action plans.
- FIG. 1 is a schematic configuration diagram of a vehicle control device according to the first embodiment of the present invention.
- FIG. 2 is a diagram illustrating the detection range of the sensor group according to the first embodiment of the present invention.
- FIG. 3 is a diagram illustrating a redundant configuration of the actuator according to the first embodiment of the present invention.
- FIG. 4 is a diagram illustrating an example of traveling control according to the first embodiment of the present invention.
- FIG. 5 is a diagram for explaining another example of traveling control according to the first embodiment of the present invention.
- FIG. 6 is a flowchart for explaining an operation example of the vehicle control apparatus according to the first embodiment of the present invention.
- FIG. 7 is a schematic configuration diagram of a vehicle control device according to the second embodiment of the present invention.
- FIG. 8 is a flowchart for explaining an operation example of the vehicle control device according to the second embodiment of the present invention.
- the vehicle control apparatus 1 With reference to FIG. 1, the structure of the vehicle control apparatus 1 which concerns on 1st Embodiment of this invention is demonstrated.
- the vehicle control device 1 is applied to a vehicle having an automatic driving function.
- the vehicle control apparatus 1 includes a GPS receiver 10, a user input unit 20, a map database 30 in which map information such as road information and facility information is stored, a sensor group 40, and sensors.
- the group 50, the traveling control unit 60, a steering actuator 80 having a redundant configuration, an accelerator pedal actuator 81, and a brake actuator 82 having a redundant configuration are provided.
- the GPS receiver 10 detects the current location of the vehicle on the ground by receiving radio waves from an artificial satellite.
- the GPS receiver 10 outputs the detected current position of the host vehicle to the travel control unit 60.
- the user input unit 20 is a device for a driver or a passenger to input various information, and displays a screen for setting a destination, for example, on the display.
- the user input unit 20 outputs information input by the driver or the occupant to the travel control unit 60.
- Sensor group 40 is a plurality of sensors that are installed in the host vehicle and detect the surrounding information of the host vehicle.
- the sensor group 40 includes cameras 41 and 42, an around view camera 43, and laser range finders 44, 45, 46, and 47.
- the functions and detection ranges of these sensors will be described with reference to FIG.
- the cameras 41 and 42 are cameras having an image sensor such as a CCD (charge-coupled device) or a CMOS (complementary metal oxide semiconductor), and photograph the front of the host vehicle. More specifically, the camera 41 is a camera that detects obstacles (pedestrians, bicycles, two-wheeled vehicles, other vehicles, etc.) and traffic lights existing in front of the host vehicle, and the detection range is a detection range 41a shown in FIG. is there.
- the camera 41 has an image processing function, and detects information indicating the relationship between the detected front obstacle and the host vehicle, for example, speed and position information of the front obstacle based on the host vehicle, The position, size, and color of the signal light can be detected.
- the camera 42 is a camera that captures a distance farther than the camera 41, and detects an obstacle present in the distance.
- the detection range of the camera 42 is a detection range 42a shown in FIG.
- the camera 42 also has an image processing function, and can detect information indicating the relationship between the obstacle in the far distance and the host vehicle.
- the around view camera 43 is composed of a total of four cameras installed at the front, rear, and side of the host vehicle, and detects the white line in the vicinity of the host vehicle, other vehicles in the adjacent lane, and the like.
- the detection range of the around view camera 43 is a detection range 43a shown in FIG.
- Laser range finders 44 to 47 are installed on the front right side, front left side, rear right side, and rear left side of the host vehicle, respectively, on the right front side, left front side, right rear side, and left rear side of the host vehicle. Detect obstacles to be detected. Specifically, the laser range finders 44 to 47 scan the laser beam within a certain angle range, receive the reflected light at that time, and detect the time difference between the laser emission time and the light reception time of the reflected light. The distance and angle between the vehicle and the obstacle are detected. The detection ranges of the laser range finders 44 to 47 are detection ranges 44a to 47a shown in FIG. 2, respectively.
- Sensor group 40 outputs the detected information to travel control unit 60.
- the sensor which comprises the sensor group 40 is not restricted to said thing, For example, you may use a laser sensor, a millimeter wave radar, an ultrasonic sensor, etc.
- the sensor group 50 (running state detection means) is a plurality of sensors that are installed in the host vehicle and detect information related to the running state of the host vehicle.
- the sensor group 50 includes a vehicle speed sensor 51, a battery sensor 52, a lateral acceleration sensor 53, and a longitudinal acceleration sensor 54.
- the vehicle speed sensor 51 detects the speed of the host vehicle from the number of rotations of the wheels, and outputs the detected speed to the driving action plan compensation range calculation unit 65.
- the battery sensor 52 detects a charge amount (SOC: state of charge) of a battery provided in the host vehicle, and outputs the detected charge amount to the driving action plan compensation range calculation unit 65.
- SOC state of charge
- the lateral acceleration sensor 53 detects the lateral acceleration of the host vehicle (the lateral acceleration of the vehicle) and outputs the detected lateral acceleration to the driving action plan compensation range calculation unit 65.
- the longitudinal acceleration sensor 54 detects the longitudinal acceleration of the host vehicle, and outputs the detected longitudinal acceleration to the driving action plan compensation range calculation unit 65.
- the travel control unit 60 (travel control means) includes a steering actuator 80, an accelerator pedal actuator 81, a brake based on information acquired from the GPS receiver 10, the user input unit 20, the map database 30, the sensor group 40, and the sensor group 50.
- the actuator 82 (hereinafter simply referred to as various actuators) is controlled to realize automatic operation.
- the map database 30 may be stored in a car navigation device mounted on a vehicle, or may be stored on a server. When the map database 30 is stored on the server, the traveling control unit 60 can acquire map information at any time by communication.
- the traveling control unit 60 is a computer including, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface.
- the CPU performs predetermined processing according to a program stored in the ROM.
- the travel control unit 60 includes a destination setting unit 61, a travel route determination unit 62, a travel environment recognition unit 63, a driving action plan determination unit 64, a driving action plan compensation range calculation unit 65, and a plan value restriction unit 66. And a vehicle control policy determination unit 67 and a vehicle control unit 68.
- the destination setting unit 61 sets a destination based on information acquired from the user input unit 20. Then, the destination setting unit 61 outputs the set destination to the travel route determination unit 62.
- the travel route determination unit 62 determines from the current location to the destination. Determine the best driving route.
- the optimal travel route is, for example, a route that can reach the destination from the current location in the shortest distance or the shortest time.
- the travel route determination unit 62 outputs the determined travel route to the driving action plan determination unit 64. Note that the travel route determined by the travel route determination unit 62 is a route including the travel lane level.
- the traveling environment recognition unit 63 recognizes the traveling environment around the host vehicle based on the information acquired from the sensor group 40.
- the traveling environment includes, for example, the presence or absence of other vehicles, the position of white lines, the presence or absence of traffic lights, the presence or absence of pedestrian crossings, the presence or absence of pedestrians, road signs, and road surface conditions.
- the driving environment recognition unit 63 outputs information regarding the recognized driving environment to the driving action plan determination unit 64 and the driving action plan compensation range calculation unit 65.
- the driving action plan determination unit 64 determines the driving action plan in real time during driving based on the driving route acquired from the driving route determination unit 62 and the information acquired from the driving environment recognition unit 63.
- the driving action plan of the present invention is a plan relating to how many meters before the intersection, for example, in the scene of turning right at an intersection existing ahead, the lane change to the right turn lane. Further, since the driving action plan determination unit 64 determines the driving action plan in real time during traveling, in the example of the right turn at this intersection, when the right turn lane is crowded, the lane change described above is performed to improve safety. It is possible to plan to change lanes to the right turn lane further before the point. In addition, the driving action plan determination unit 64 calculates the acceleration / deceleration start position, the lane change start position, and the like as position information, and outputs the calculated position information to the plan value restriction unit 66.
- the driving action plan compensation range calculation unit 65 calculates the compensation range of the driving action plan based on the information acquired from the driving environment recognition unit 63 and the sensor group 50. Specifically, the driving action plan compensation range calculation unit 65 is based on information on the own vehicle position, traffic lights existing around the own vehicle, other vehicles, pedestrians, etc., information on the traveling road surface state and the traveling state of the own vehicle. Thus, a driving action plan compensation range that can ensure safety when one of the actuators having a redundant configuration has an abnormality (such as a reduction or failure in driving ability or braking ability) is calculated.
- an abnormality such as a reduction or failure in driving ability or braking ability
- the compensation range of the driving action plan is a position range, and specifically, a position where safety can be ensured even if acceleration / deceleration control or steering control is started when an abnormality occurs in one actuator. It is a range.
- the driving action plan compensation range calculation unit 65 calculates position information related to the compensation range of the driving action plan, and outputs information obtained by collecting the position information to the plan value restriction unit 66 as a calculated value.
- the plan value restricting unit 66 (higher action plan restricting means) restricts or changes the plan value acquired from the driving action plan determining unit 64 based on the calculation result acquired from the driving action plan compensation range calculating unit 65, and restricts it.
- the driving action plan after or after the change is output to the vehicle control policy determination unit 67.
- the vehicle control policy determination unit 67 determines the control policy of the own vehicle based on the driving action plan acquired from the plan value restriction unit 66.
- the control policy is a vehicle speed target value or a steering target value for achieving a driving action plan.
- the vehicle speed target value and the steering target value are explained by taking the above-mentioned right turn of the intersection as an example.
- vehicle control policy determination unit 67 outputs the determined control policy to vehicle control unit 68.
- the vehicle control unit 68 outputs a control signal to various actuators according to the control policy acquired from the vehicle control policy determination unit 67 and controls the various actuators. Thereby, automatic traveling is realized.
- the driving route to the destination and the driving action plan corresponding to the driving route are referred to as a higher-level action plan.
- an action plan that controls at least one of the vehicle speed target value and the steering target value in order to achieve the upper action plan is referred to as a lower action plan.
- the steering actuator 80 includes a steering reaction force generation motor 80a (steering motor) and a rack assist motor 80b (rack motor).
- the steering reaction force generating motor 80a is installed on the steering side
- the rack assisting motor 80b is installed on the rack side.
- the steering reaction force generation motor 80a and the rack assist motor 80b operate in a standby system or a parallel operation system, and have a redundant configuration that functions as a backup performance so that safety can be compensated even if one of them fails. .
- the brake actuator 82 includes a friction brake assist motor 82a (friction brake), a drive motor 82b that functions as a regenerative cooperative brake, and a parking brake 82c.
- the friction brake assist motor 82a, the drive motor 82b, and the parking brake 82c operate in a standby system or a parallel operation system, and have a redundant configuration that functions as a backup performance so that safety can be compensated even if one of them fails. Yes.
- the driving action plan determining unit 64 starts to decelerate at a deceleration start position P1 as a driving action plan. Decide on a plan.
- the deceleration start position P1 is a deceleration start position at which the vehicle can stop at the stop position when the friction brake assist motor 82a, the drive motor 82b, and the parking brake 82c are all operating normally.
- a regenerative cooperative brake (hereinafter referred to as a regenerative cooperative brake) by the drive motor 82b.
- a regenerative cooperative brake (hereinafter referred to as a regenerative cooperative brake) by the drive motor 82b.
- the driving action plan compensation range calculation unit 65 is configured so that even if one of the redundant brake actuators 82, for example, the friction brake assisting motor 82a fails, the driving action plan can be stopped at the stop position only by the regenerative cooperative brake.
- the compensation range is calculated.
- the driving action plan compensation range calculation unit 65 calculates a deceleration start position P2 for starting deceleration before the intersection from the deceleration start position P1 so that the vehicle can stop at the stop position with only the regenerative cooperative brake.
- the driving action plan compensation range calculation unit 65 can calculate the deceleration start position P2 from the current vehicle speed, the distance to the stop position, and the regenerative cooperative braking force.
- the driving action plan compensation range calculating unit 65 outputs the calculated deceleration start position P2 (calculated value) to the planned value limiting unit 66. Then, the plan value limiting unit 66 limits the driving action plan so as to start deceleration at the deceleration start position P2. By limiting the driving action plan in this way, the driving action plan does not change even if the friction brake assist motor 82a actually breaks down, so that the host vehicle does not get stuck or stop suddenly. As a result, even if the friction brake assist motor 82a actually breaks down, the vehicle can be stopped at the stop position, and automatic driving that ensures safety for a certain period of time becomes possible.
- the driving action plan compensation range calculation unit 65 may calculate a deceleration start position at which the vehicle can stop at the stop position with only the friction brake assist motor 82a. As a result, even if the drive motor 82b actually breaks down, the vehicle can be stopped at the stop position, and automatic driving that ensures safety for a certain period of time becomes possible.
- the driving action plan compensation range calculation unit 65 sets the compensation range of the driving action plan assuming that the braking ability of the friction brake assist motor 82a is reduced (for example, only 50% output in normal operation can be output). You may calculate. In addition, the driving action plan compensation range calculation unit 65 may set a deceleration start position according to backup performance so that an emergency stop is possible when a pedestrian jumps out.
- the driving action plan Compensation range calculation unit 65 allows the inter-vehicle distance between host vehicle M1 and other vehicle M2 (the distance from position P3 to other vehicle M2) with respect to the deceleration of other vehicle M2 to be avoided only by rack assist motor 80b. Determine whether it is a distance.
- the driving action plan compensation range calculation unit 65 may estimate the time until the lane change of the host vehicle M1 is completed (the estimated vehicle slip angle is obtained and the time until one lane is moved is estimated.
- the time is hereinafter referred to simply as lane change time) and the inter-vehicle time of the other vehicle M2 is compared.
- the driving action plan compensation range calculation unit 65 determines that the rack assist motor 80b alone cannot pass. In this case, the traveling control unit 60 starts deceleration.
- the driving action plan compensation range calculation unit 65 determines that it can be overtaken only by the rack assist motor 80b. In this case, the traveling control unit 60 starts overtaking.
- the driving action plan does not change even if the steering reaction force generation motor 80a actually breaks down, so that the own vehicle does not get stuck or stop suddenly, and is decelerated or overtaken. It can be performed. That is, even if the steering reaction force generation motor 80a actually fails, an automatic driving that ensures safety for a certain period of time is possible.
- the driving action plan compensation range calculation unit 65 may determine whether or not only the steering reaction force generation motor 80a can be overtaken. In addition, the driving action plan compensation range calculation unit 65 may check whether or not the other vehicle M3 or the other vehicle M4 existing in the vicinity can be overtaken by checking the running state (speed or acceleration).
- step S101 the destination setting unit 61 sets the destination input by the driver or the occupant.
- step S102 the travel route determination unit 62 acquires map information from the map database 30.
- step S ⁇ b> 103 the travel route determination unit 62 acquires information from the sensor group 40.
- step S104 the travel route determination unit 62 acquires the current location of the host vehicle from the GPS receiver 10.
- step S105 the travel route determination unit 62 determines the first travel route based on the destination, the map information, and the current location.
- step S106 the traveling environment recognition unit 63 acquires information from the sensor group 40 and recognizes the traveling environment.
- step S107 the driving action plan determination unit 64 determines a driving action plan based on the driving route determined in step S105 and the driving environment recognized in step S106.
- step S108 the driving action plan compensation range calculation unit 65 calculates a driving action plan compensation range that can ensure safety when an abnormality occurs in one of the actuators having a redundant configuration.
- step S109 the planned value limiting unit 66 limits the driving action plan based on the calculated planned value in step 108.
- step S110 the vehicle control policy determination unit 67 determines the vehicle control policy based on the driving action plan restricted in step S109.
- step S111 the vehicle control unit 68 controls various actuators based on the vehicle control policy.
- step S112 the traveling control unit 60 determines whether the destination has been reached using the current location acquired from the GPS receiver 10. If the destination has been reached (Yes in step S114), a series of processing ends. On the other hand, if the destination has not been reached (No in step S114), the process returns to step S102.
- the vehicle control device 1 determines a travel route to a preset destination, and determines a driving action plan corresponding to the travel route based on the traveling state of the host vehicle and the surrounding traveling environment.
- the vehicle control device 1 calculates the compensation range of the driving action plan so as to be able to run even in a state where one driving ability or braking ability of the actuator having the redundant configuration is lowered, and restricts the driving action plan.
- the driving action plan does not change even if the driving ability or braking ability of one actuator is reduced, so that the host vehicle does not get stuck or stop suddenly, and automatic driving that ensures safety for a certain period of time becomes possible. .
- the vehicle control device 1 calculates the compensation range of the driving action plan so that the vehicle can run even if one of the actuators having a redundant configuration fails, and limits the driving action plan. As a result, the driving action plan does not change even if one actuator breaks down, so that the host vehicle does not get stuck or stop suddenly, and automatic driving that ensures safety for a certain period of time becomes possible.
- the vehicle control device 1 includes a brake actuator 82 having a redundant configuration. As a result, even if one brake actuator fails, the driving action plan does not change, so that the own vehicle does not get stuck or stop suddenly, and automatic driving that ensures safety for a certain period of time becomes possible.
- the vehicle control device 1 includes a steering actuator 80 having a redundant configuration. As a result, even if one steering actuator fails, the driving action plan does not change, so that the own vehicle does not get stuck or stop suddenly, and automatic driving that ensures safety for a certain period of time becomes possible.
- the brake actuator 82 includes a friction brake assisting motor 82a, a driving motor 82b that functions as a regenerative cooperative brake, and a parking brake 82c. As described above, since the brake actuator 82 has a redundant configuration, the driving action plan does not change even if one brake actuator fails, so that the host vehicle does not get stuck or stop suddenly. Driving is possible.
- the steering actuator 80 includes a steering reaction force generation motor 80a and a rack assist motor 80b. As described above, since the steering actuator 80 has a redundant configuration, the driving action plan does not change even if one actuator breaks down, so that the host vehicle does not get stuck or stop suddenly, and automatic driving that ensures safety for a certain period of time. Is possible.
- the second embodiment is different from the first embodiment in that the traveling control unit 60 further includes a vehicle control policy compensation range calculation unit 69 and a target value restriction unit 70.
- the description of the same components as those in the first embodiment will be omitted by citing the reference numerals, and the following description will focus on the differences.
- the vehicle control policy compensation range calculation unit 69 (subordinate action plan compensation range calculation means) compensates for the vehicle control policy based on the information acquired from the traveling environment recognition unit 63 and the sensor group 50 and the information acquired from the vehicle control unit 68. Calculate the range. Specifically, the vehicle control policy compensation range calculation unit 69 is based on information on the own vehicle position, traffic lights existing around the own vehicle, other vehicles, pedestrians, etc., information on the traveling road surface state and the traveling state of the own vehicle. Thus, a compensation range (vehicle speed target value and steering target value) of the vehicle control policy that can ensure safety when an abnormality occurs in one actuator among the actuators having a redundant configuration is calculated. Then, the driving action plan compensation range calculation unit 65 outputs the vehicle speed target value and the steering target value to the target value restriction unit 70 as a calculation result.
- the target value limiting unit 70 (subordinate action plan limiting means) is based on the vehicle speed target value and steering target value acquired from the vehicle control policy compensation range calculation unit 69, and the control policy (vehicle speed target) acquired from the vehicle control policy determination unit 67. Value or steering target value) is restricted or changed, and the control policy after the restriction or after the change is output to the vehicle control unit 68.
- the driving action plan is set to start deceleration at the deceleration start position P ⁇ b> 2 so that the vehicle can stop at the stop position with only the regenerative cooperative brake.
- the regeneration amount of the regenerative cooperative brake is generally designed to ensure about 0.15 to 0.20 G, the regenerative cooperative brake cannot be expected when the vehicle speed is around 7 km / h. Therefore, the vehicle control policy compensation range calculation unit 69 monitors the vehicle speed during deceleration, and calculates the vehicle speed target value so that the vehicle speed becomes 7 km / h or less near 2 m before the stop line.
- the vehicle control policy compensation range calculation unit 69 outputs a command to the target value limiting unit 70 to stop using the parking brake 82c when the own vehicle approaches 2 m near the stop line.
- the regenerative cooperative brake and the parking brake 82c can be used to more reliably stop the vehicle at the stop position, thereby enabling safer automatic driving. .
- the vehicle control policy compensation range calculation unit 69 can turn only with the rack assist motor 80b, that is, does not swell out even if the steering reaction force generation motor 80a fails.
- the lateral acceleration is limited in advance.
- the steering reaction force generation motor 80a actually fails, the driving action plan and the vehicle control policy do not change, so that the host vehicle can be overtaken without stopping or making an emergency stop. That is, even if the steering reaction force generation motor 80a actually fails, an automatic driving that ensures safety for a certain period of time is possible.
- steps S201 to S210 and S214 are the same as the operations in steps S101 to S110 and S112 in FIG. 5, respectively, and thus detailed description thereof will be omitted, and only an operation example different from that in FIG. 5 will be described. .
- step S211 the vehicle control policy compensation range calculation unit 69 calculates a vehicle control policy compensation range that can ensure safety when an abnormality occurs in one of the actuators having a redundant configuration.
- step S212 the target value limiting unit 70 limits the vehicle control policy based on the calculation result (vehicle speed target value or steering target value) in step S211.
- step S213 the vehicle control unit 68 controls various actuators based on the vehicle control policy restricted in step S212.
- the vehicle control device 2 determines a travel route to a preset destination, and determines a driving action plan corresponding to the travel route based on the traveling state of the vehicle and the surrounding traveling environment.
- the vehicle control device 1 calculates the compensation range of the driving action plan so as to be able to run even in a state where one driving ability or braking ability of the actuator having the redundant configuration is lowered, and restricts the driving action plan.
- the vehicle control device 2 calculates a compensation range (vehicle speed target value and steering target value) of a vehicle control policy that can ensure safety when an abnormality occurs in one of the actuators having a redundant configuration, The vehicle control policy is limited based on the calculation result.
- the driving action plan and the vehicle control policy are limited, but the travel route may be limited.
- the travel route may be limited.
- the road gradient (downhill) information registered in the map database 30 do not pass a route having a road gradient that exceeds the compensation performance of various actuators such as the maximum amount of regenerative cooperative braking. You may limit your travel route.
- the driving action plan or vehicle control policy is restricted, even if one actuator fails, the vehicle does not get stuck or stop suddenly, and automatic driving that ensures safety for a certain period of time is possible. Become.
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Abstract
Description
図1を参照して、本発明の第1実施形態に係る車両制御装置1の構成を説明する。車両制御装置1は、自動運転機能を有する車両に適用される。図1に示すように、車両制御装置1は、GPS受信機10と、ユーザ入力部20と、道路情報や施設情報などの地図情報が記憶されている地図データベース30と、センサ群40と、センサ群50と、走行制御部60と、冗長構成をもつステアリングアクチュエータ80と、アクセルペダルアクチュエータ81と、冗長構成をもつブレーキアクチュエータ82とを備える。
センサ群50(走行状態検知手段)は、自車両に設置され、自車両の走行状態に関する情報を検知する複数のセンサである。具体的に、センサ群50は、車速センサ51、バッテリセンサ52、横加速度センサ53、前後加速度センサ54から構成される。
図4に示すように、T字路の信号付交差点(自車進行方向は赤信号)で停車する場合、運転行動計画決定部64は、運転行動計画として減速開始位置P1で減速を開始するという計画を決定する。ここで、減速開始位置P1は、摩擦ブレーキアシスト用モータ82a、駆動用モータ82b、及び駐車ブレーキ82cがすべて正常に動作している場合に停車位置で停車できる減速開始位置である。ところで、減速開始位置P1に自車両が到達し減速を開始しようとしたときに、冗長構成をもつブレーキアクチュエータ82のうち摩擦ブレーキアシスト用モータ82aが故障すると、駆動用モータ82bによる回生協調ブレーキ(以下単に、回生協調ブレーキという)と駐車ブレーキ82cでは停車位置で止まれないケースが考えられる。
図5に示すように、自車両M1の前方に存在する他車両M2が走路外に離脱するために減速し、円滑な走行を確保するために他車両M2の追い越しを行うシーンにおいて、運転行動計画補償範囲演算部65は、他車両M2の減速度に対して自車両M1と他車両M2の車間距離(位置P3から他車両M2までの距離)が、ラックアシスト用モータ80bのみで回避可能な車間距離か否かを判断する。
次に、図7を参照して、本発明の第2実施形態に係る車両制御装置2の構成について説明する。第2実施形態が、第1実施形態と異なる点は、走行制御部60がさらに車両制御方針補償範囲演算部69と目標値制限部70を備えることである。第1実施形態と重複する構成については符号を引用してその説明は省略することとし、以下、相違点を中心に説明する。
第1実施形態では、図4に示すように、回生協調ブレーキのみで停車位置で停車できるように減速開始位置P2で減速を開始するという運転行動計画に制限した。ところで、一般的に回生協調ブレーキの回生量は0.15~0.20G程度が確保されるように設計されているため、車速が7km/h付近になると回生協調ブレーキは期待できない。そこで、車両制御方針補償範囲演算部69は減速中の車速を監視し、停止線手前2m付近で車速が7km/h以下になるように車速目標値を演算する。そして、車両制御方針補償範囲演算部69は、自車両が停止線手前2m付近に近づいたら駐車ブレーキ82cを用いて停車するよう目標値制限部70に指令を出力する。これにより、実際に摩擦ブレーキアシスト用モータ82aが故障した場合でも、回生協調ブレーキと駐車ブレーキ82cを用いることでより確実に停車位置で停止することができるため、より安全な自動運転が可能となる。
43 アラウンドビューカメラ
44~47 レーザレンジファインダー
51 車速センサ
52 バッテリセンサ
53 横加速度センサ
54 前後加速度センサ
60 走行制御部
65 運転行動計画補償範囲演算部
69 車両制御方針補償範囲演算部
80 ステアリングアクチュエータ
82 ブレーキアクチュエータ
Claims (8)
- 車両の周辺情報を検知する周辺情報検知手段と、
前記車両の走行状態を検知する走行状態検知手段と、
前記周辺情報検知手段によって検知された前記周辺情報と、前記走行状態検知手段によって検知された前記走行状態と、予め設定された目的地までの上位行動計画と、前記上位行動計画を達成するために車速目標値及び操舵目標値のうち少なくとも一つを制御する下位行動計画とに基づいて前記車両の自動走行を制御する走行制御手段と、
冗長構成をもち、前記車両の自動走行に用いられるアクチュエータ手段と、
1つの前記アクチュエータ手段の能力が低下した状態で走行可能となるように前記上位行動計画の補償範囲を演算する上位行動計画補償範囲演算手段と、
前記上位行動計画補償範囲演算手段によって演算された前記補償範囲で前記上位行動計画を制限する上位行動計画制限手段と
を備えることを特徴とする車両制御装置。 - 前記上位行動計画補償範囲演算手段は、1つの前記アクチュエータ手段が故障した状態で走行可能となるように前記上位行動計画の補償範囲を演算することを特徴とする請求項1に記載の車両制御装置。
- 1つの前記アクチュエータ手段の能力が低下した状態で走行可能となるように前記下位行動計画の補償範囲を演算する下位行動計画補償範囲演算手段と、
前記上位行動計画補償範囲演算手段によって演算された前記補償範囲で前記下位行動計画を制限する下位行動計画制限手段とをさらに備えることを特徴とする請求項1または2に記載の車両制御装置。 - 前記アクチュエータ手段がブレーキアクチュエータであることを特徴とする請求項1~3のいずれか1項に記載の車両制御装置。
- 前記アクチュエータ手段がステアリングアクチュエータであることを特徴とする請求項1~3のいずれか1項に記載の車両制御装置。
- 前記ブレーキアクチュエータは、前記冗長構成として摩擦ブレーキと回生協調ブレーキと駐車ブレーキを備えることを特徴とする請求項4に記載の車両制御装置。
- 前記ステアリングアクチュエータは、前記冗長構成としてステアリングモータとラックモータを備えることを特徴とする請求項5に記載の車両制御装置。
- 車両の周辺情報と、前記車両の走行状態と、予め設定された目的地までの上位行動計画と、前記上位行動計画を達成するために車速目標値及び操舵目標値のうち少なくとも一つを制御する下位行動計画とに基づいて前記車両の自動走行を制御し、
冗長構成をもち、前記車両の自動走行に用いられるアクチュエータ手段のうち、1つの前記アクチュエータ手段の能力が低下した状態で走行可能となるように前記上位行動計画の補償範囲を演算し、
演算した前記補償範囲で前記上位行動計画を制限することを特徴とする車両制御方法。
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EP3305620B1 (en) | 2019-08-07 |
EP3305620A1 (en) | 2018-04-11 |
CA2988074C (en) | 2018-06-19 |
EP3305620A4 (en) | 2018-06-20 |
BR112017026089A2 (ja) | 2018-08-21 |
CN107614349B (zh) | 2018-10-09 |
JP6536852B2 (ja) | 2019-07-03 |
CA2988074A1 (en) | 2016-12-08 |
JPWO2016194157A1 (ja) | 2018-03-29 |
US20180162390A1 (en) | 2018-06-14 |
MX369190B (es) | 2019-10-31 |
BR112017026089B1 (pt) | 2022-10-11 |
KR20180008726A (ko) | 2018-01-24 |
CN107614349A (zh) | 2018-01-19 |
KR20190018053A (ko) | 2019-02-20 |
MX2017015336A (es) | 2018-04-11 |
RU2668138C1 (ru) | 2018-09-26 |
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