WO2016204037A1 - Système de conduite automatique - Google Patents

Système de conduite automatique Download PDF

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Publication number
WO2016204037A1
WO2016204037A1 PCT/JP2016/067039 JP2016067039W WO2016204037A1 WO 2016204037 A1 WO2016204037 A1 WO 2016204037A1 JP 2016067039 W JP2016067039 W JP 2016067039W WO 2016204037 A1 WO2016204037 A1 WO 2016204037A1
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WO
WIPO (PCT)
Prior art keywords
automatic driving
vehicle
automatic
driving system
automobile
Prior art date
Application number
PCT/JP2016/067039
Other languages
English (en)
Japanese (ja)
Inventor
修一 田山
幸生 渡部
Original Assignee
修一 田山
株式会社イマージュ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 修一 田山, 株式会社イマージュ filed Critical 修一 田山
Publication of WO2016204037A1 publication Critical patent/WO2016204037A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/545—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other traffic conditions, e.g. fog, heavy traffic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • 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
    • 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
    • B60W30/10—Path keeping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Definitions

  • the present invention relates to an automatic driving system that enables a vehicle such as an automobile to perform a safety assistance driving, a semi-automatic driving or an automatic driving state.
  • Level 1 is called a safe driving support system, where the vehicle performs acceleration, steering, or braking.
  • Level 2 is called a semi-automatic driving system (semi-automatic driving), in which a vehicle performs a plurality of operations of acceleration, steering, and braking simultaneously.
  • Level 3 is a state in which acceleration, steering, and braking are all performed by the vehicle, and the driver responds only in an emergency.
  • Level 4 is called a fully automatic driving system in which acceleration, steering and braking are all performed by a person other than the driver and the driver is not involved at all.
  • Automated driving basically includes automatic driving at a fully automated level from level 1 to level 4 unless otherwise specified.
  • Such an automatic driving system includes a camera and various sensors for recognizing driving information such as road conditions and the driving state of the host vehicle. From the obtained driving information, a steering amount, a vehicle speed, and the like are obtained by a DCU (Drive Control Unit). Is calculated and determined, and automatic driving is performed by driving a steering, an accelerator, a brake, and the like based on the determined target value (see, for example, Patent Document 1).
  • a DCU Drive Control Unit
  • an automatic driving system a function of traveling along a preset traveling route from position information from a beacon, an artificial satellite, etc. and built-in map information, and a function of performing slow driving or stopping by accident information from communication, etc.
  • an automatic traveling vehicle that notifies a passenger of the own vehicle of the next action taken by the own vehicle during automatic traveling based on these functions (see, for example, Patent Document 2).
  • the present invention has been made to solve such problems, and the purpose thereof is an automatic driving system capable of notifying the surroundings of automatic driving in the automatic driving of a vehicle such as an automobile. Is to provide.
  • the automatic driving system is an automatic driving system for automatically driving a vehicle according to a planned driving action along a predetermined driving route to a destination.
  • An external notification device for notifying that the vehicle is in automatic driving is provided.
  • the external notification device is a display device that displays the fact that the vehicle is in automatic operation, and includes a mounting case that has a window portion and is engaged with both ends of the roof of the automobile, and the window And a display unit that is incorporated in the casing so as to be visible from the surroundings through the unit and displays that the vehicle is in automatic operation.
  • This external notification device can be detached from the vehicle body as required.
  • the display device can be configured to be fitted into holes formed at the front and rear ends and the left and right sides of the roof of the automobile.
  • the display device includes a transparent film attached to a glass surface of a front windshield and / or a rear windshield of an automobile, and a transparent film that is formed on the transparent film and emits or scatters light of a specific wavelength. And a light emitting body that emits light of the specific wavelength toward the latent image body from an end of the transparent film, the latent image body being a character or When the vehicle is in an automatic operation mode and the light emitter emits light, the latent image can also emit light so that it can be visually observed. Thereby, the window glass which has a large area in the outer surface of the whole vehicle body can be effectively used for display.
  • a communication device that transmits data indicating automatic driving to another vehicle can be used.
  • the external notification device can also be configured with a speaker that notifies by voice or melody that automatic driving is in progress.
  • the automatic driving system of the present invention it is possible to reliably notify the surroundings that the vehicle is in an automatic driving state, and therefore it is possible to prevent an accident caused by performing a predetermined driving run.
  • FIG. 1 is a block diagram showing the overall configuration of an automatic driving system according to a preferred embodiment of the present invention.
  • positioned a camera and a sensor is shown.
  • operation system is shown.
  • 3 is a sectional side view showing the main part of FIG.
  • the structure of the external notification apparatus by 1st Embodiment is shown with a block diagram.
  • operation system is shown.
  • a part of the external notification device of FIG. 6 is shown in a side sectional view.
  • FIG. 7 is a plan view of FIG. 6.
  • FIG. 1 conceptually shows the entire configuration of the automatic driving system 1 of the present embodiment.
  • the external notification device 3 is provided to notify the surroundings that the vehicle is in an automatic driving state by the operation of the automatic driving system 1.
  • the automatic driving system 1 includes an automatic driving control unit 2, an external notification device 3, an information input unit 4, and an automatic travel information storage unit 5.
  • the automatic driving control unit 2 performs automatic driving by controlling the acceleration system 10, the steering system 11, the braking system 12, and the instruction system 13 of the host vehicle. That is, under the control of the automatic operation control unit 2, the acceleration system 10 functions to increase or maintain the speed by increasing the number of revolutions of the prime mover or changing gears, and increasing or maintaining the speed.
  • the braking system 12 performs the function of reducing the speed of the motor or changing the gears to reduce the speed of the automobile or stopping the driving, and the instruction system 13 Turns on and off the turn indicator, parking light, emergency flashing indicator light, headlight, tail light, reverse light, etc.
  • the automatic operation control unit 2 is also connected to an electric system (not shown) such as a fuel system and a battery.
  • the information input unit 4 includes a shift position sensor installed in the steering system 11, a rotation sensor of a prime mover installed in the acceleration system 10, a brake sensor installed in the braking system 12, a speed sensor installed in a wheel, etc. Information on the running state of the host vehicle is obtained and output to the automatic driving control unit 2.
  • the information input unit 4 grasps the surrounding situation through a camera or various sensors installed in the own vehicle and outputs the information to the automatic operation control unit 2.
  • the camera in this case recognizes a pair of left and right front cameras 6 and left and right rear objects on the front windshield 15 in order to recognize straight and left and right front objects of the automobile 14. Therefore, a pair of left and right rear cameras 7 are provided below the left and right door mirrors 17a and 17b.
  • another camera can be added to these cameras to provide a 360 ° camera.
  • various sensors are shown in the center of the upper portion of the rear windshield 19, for example, a millimeter wave radar, a microwave radar, a laser radar, an infrared sensor, an ultrasonic sensor, etc.
  • a radar sensor 8 comprising: In order to cope with bad weather such as heavy fog and heavy rain and nighttime, a similar radar sensor can be mounted at the front center of the automobile 14 (for example, in a radiator grill or a hood). In another embodiment, instead of or in addition to the radar sensor 20, a central rear camera can be mounted at the rear center of the automobile 4.
  • the information input unit 4 can also input the position information of the own vehicle through the position information detection device 9.
  • the position information detection device 9 receives a signal or image data transmitted from a satellite orbiting the earth by a global positioning system (GPS) device, or information from a beacon or antenna installed on a road. Is received, the position of the own vehicle is accurately grasped.
  • GPS global positioning system
  • the information input unit 4 uses the communication device 16 to communicate with other vehicles that are traveling or parked around the host vehicle (inter-vehicle communication), so that the position, course, and traveling state of the other vehicles are determined.
  • inter-vehicle communication connection with other vehicles is not limited to direct connection, but includes indirect connection via an antenna on a road, a communication chip, and / or a satellite or a relay center. The inter-vehicle communication will be described in detail later.
  • the communication device 16 in this example can be used for infrastructure such as traffic signal information, regulation information, pedestrian information, and accident vehicle information from traffic lights and communication devices (roadside devices) installed on the road. Data can also be received.
  • infrastructure such as traffic signal information, regulation information, pedestrian information, and accident vehicle information from traffic lights and communication devices (roadside devices) installed on the road. Data can also be received.
  • the information input unit 4 may obtain traffic information in the vicinity of the vehicle by communicating with the traffic information center through the Internet or public broadcasting.
  • the automatic travel information storage unit 5 selects and changes the travel route to the destination, such as road map, lane information, traffic regulation such as speed limit and road sign, and is changed as necessary. Map road information necessary for traveling by automatic driving according to the travel route is stored in advance. Further, the automatic travel information storage unit 5 is used for detecting and recognizing a vehicle such as an automobile or a pedestrian existing around the vehicle from the information acquired by the information input unit 4 and recognizing it. It is possible to store a reference data file in which data of various objects images or shape characteristics are accumulated.
  • the automatic driving control unit 2 is composed of a microcomputer including a CPU, a ROM, and a RAM, and the CPU executes a program stored in the ROM to perform automatic driving of the automobile.
  • the automatic driving control unit 2 Prior to the start of automatic driving, when a driver or another occupant inputs a destination, the automatic driving control unit 2 calculates a travel route to the destination and presents one or more candidates.
  • the automatic operation control unit 2 drives and controls the acceleration system 10, the steering system 11, the braking system 12, and the instruction system 13 according to the travel route, and the information input unit 4 Autonomous driving is performed while judging the various information input from.
  • the automatic operation control unit 2 switches between the automatic operation mode and the manual operation mode in accordance with the switching operation by the occupant. At the time of automatic operation, the automatic operation control unit 2 outputs an operation signal to the external notification device 3 so that the own vehicle is “automatic operation in progress”. ”Is instructed.
  • the external notification device 3 notifies the surroundings of the host vehicle that the vehicle is “automatic driving” by emitting sound from a speaker or emitting a melody or displaying on a display device. However, since sound emitted by voice or melody generates noise to the surroundings, it is preferable to display “automatic driving” by the display device.
  • each embodiment of the external notification device 3 using a display device will be described.
  • the display device 20 includes a mounting case 21 whose longitudinal dimension is shorter than the width on both sides of the roof 23 of the automobile 14, and two display panels 22.
  • the mounting case 21 includes a pair of suction cups 25 that are attracted to the surface of the roof 23 on the bottom plate, and includes a support plate 24 at the bottom of each side plate.
  • the support plate 24 has a locking claw formed at the tip, and the locking claw is hooked on the side edge 23a of the roof 23 and fixed with a screw or the like.
  • the display panel 22 has characters “automatic driving” formed by an arrangement of light emitters such as light emitting diodes, and the inside of the mounting case 21 so that each character display surface faces forward and backward in the traveling direction of the host vehicle. Is arranged.
  • the mounting case 21 is provided with a transparent window 26 so that the character display surface can be seen from the periphery.
  • the mounting case 21 is configured with an inclined surface on the front side so that the cross-sectional shape in the traveling direction of the host vehicle reduces air resistance.
  • the display device 20 includes a display drive circuit 27, and when connected to an electrical circuit of the automobile 14 by a connector (not shown), the display device 20 is charged from the alternator 29 and various types of the automobile 14. It is connected to a battery 28 that supplies electric power to the electrical components.
  • the display drive circuit 27 supplies the power of the battery 28 to the display panel 22 when the operation signal from the automatic operation control unit 2 is input. As a result, the display panel 22 is energized, and “automatic driving” is displayed in front of and behind the host vehicle so that other vehicles ahead and behind recognize that the host vehicle is in the automatic driving mode. Can do.
  • a warning light may be arranged to notify that automatic driving is being performed by lighting or flashing.
  • FIG. 6 shows an example of the display device according to the second embodiment fitted and attached to the vehicle body of the automobile 14, and the display device 30 in this case includes a front end, a rear end, and left and right ends of the roof 23 as shown in FIG.
  • the indicator 32 is fitted into the elongated hole 31 formed at each of the four locations, and attached to the automobile 14.
  • the display device 32 has a plurality of light emitting diodes 35 arranged in a predetermined pattern on a substrate 34 accommodated in a main body case 33.
  • a plurality of light emitting diode arrays arranged in a horizontally long direction are arranged in a plurality of stages, but a pattern of displaying “automatic driving” may be used.
  • the upper surface of the main body case 33 is covered with a transparent cover so that the light emission of the light emitting diode 35 can be visually recognized from the outside.
  • the display drive circuit similar to that described with reference to FIG. The light is displayed from the four directions, and it is notified that the vehicle is in automatic driving.
  • the display device 40 of the third embodiment shown in FIG. 9 has a transparent “automatic driving” character that emits or scatters light of a specific wavelength, for example, red light, on the surface of the glass 37 of the automobile 14.
  • a transparent film 38 coated with the image 39 of a pattern to be displayed is attached, and a plurality of red light emitting diodes 36 are arranged on the end face of the glass 37 to constitute a light emitter.
  • the display driving circuit similar to that described in FIG. 5 when the display driving circuit similar to that described in FIG. 5 is supplied with the power of the battery 28 to the red light emitting diode 36 by the operation signal from the automatic operation control unit 2, the red light is converted into glass.
  • the latent image 39 applied to the transparent film 38 emits red light after passing through both ends of the film 37. Therefore, the word “in automatic operation” is raised on the surface of the glass 37, and it can be notified to the outside that automatic operation is in progress.
  • the transparent film 38 is affixed to the upper half or the lower half of the outer glass 37 in order to ensure the outside view of the passenger in the vehicle.
  • the window glass having a large area in the outer surface of the entire vehicle body is used for display, it can be noticed by highlighting that the vehicle is in automatic operation.
  • the window glass is used for display, the field of view of the passengers in the vehicle is limited, so that the above-mentioned automatic driving automation level is at least level 3, a semi-automatic driving system, preferably level 4 complete. It should be used in an automated driving system.
  • the external notification device 3 is not limited to the sound or melody emission from the speaker as described above or the display on the display device, but may notify “automatic driving” to other vehicles capable of communication using message data. it can. Therefore, in 4th Embodiment, the communication apparatus 16 which transmits / receives data by inter-vehicle communication with the other vehicle which exists in the predetermined range from the own vehicle becomes the external notification apparatus 3.
  • message data indicating the position and vehicle state of the own vehicle is transmitted and received between the vehicles 41 and 42 by inter-vehicle communication by one-way broadcast communication.
  • the vehicles 41 and 42 may communicate directly, or via the relay center 44 through the communication line 46 such as the Internet from an antenna 43 or a communication chip (not shown) installed on the road. May be communicated indirectly.
  • the vehicles 41 and 42 traveling toward the same intersection are in a situation where the buildings 45 cannot be confirmed because they block each other's field of view, but both vehicles 41 and 42 communicate with each other through communication. By communicating vehicle speed, etc., it will be safe driving support to prevent collision accidents.
  • FIG. 12 schematically shows a configuration example of a data frame DF of a message exchanged by inter-vehicle communication.
  • a time information data frame DF1 in which an hour / minute / second data element is written and a latitude acquired by GPS or the like.
  • a position information data frame DF2 in which each data element of longitude is written
  • a vehicle state information data frame DF3 in which each data element of vehicle speed information, vehicle azimuth information, automatic driving information, shift position information, and steering angle information is written
  • the vehicle It consists of a vehicle attribute information data frame DF4 in which data elements of size (large, normal, motorcycle, etc.) information, vehicle width information, and vehicle length information are written.
  • a data frame DF is not shown, data for performing well-known communication system management and security management is added and transmitted.
  • a data element DE indicating automatic driving information is provided in the vehicle state information data frame DF3.
  • the automatic driving control unit 2 inputs the position and vehicle speed of the own vehicle acquired by the information input unit 4 (S01), and acquires the position and vehicle speed of another vehicle through the communication device 16 (S02).
  • the data frame includes the position information of the other vehicle, the vehicle state information such as the speed and the azimuth angle, and the like from other vehicles equipped with a communication device that is the same as or compatible with the communication device 16.
  • a message is output.
  • the automatic driving control unit 2 performs data when the host vehicle is in the automatic driving mode (“YES” in S05).
  • a message in which 1-bit automatic driving information is added to the vehicle state information of the frame is created and transmitted (S06). This allows other vehicles to recognize that the host vehicle is in the automatic driving mode, and identifies the vehicle that is “automatic driving” from the position information and vehicle attribute information included in the message. Can do. As a result, the other vehicle, for example, notifies that the vehicle is “automatic driving” from a car navigation device or the like, and transmits it to the occupant.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention concerne un système de conduite automatique capable d'avertir les personnes se trouvant dans le voisinage qu'un véhicule, tel qu'une automobile, est en train d'être actionné automatiquement lorsque la conduite automatique est activée. Un système de conduite automatique (1) permet d'amener un véhicule hôte à se déplacer au moyen d'une conduite automatique le long d'un itinéraire de déplacement prévu jusqu'à une destination préétablie en accord avec une procédure de déplacement planifiée, le système étant pourvu d'un dispositif de notification externe (3) pour effectuer une opération de notification lorsque l'automobile (14) est entré dans un mode de déplacement automatique. Le dispositif de notification externe (3) émet la notification à des personnes dans le voisinage en générant un son ou une mélodie, ou visuellement en utilisant un dispositif d'affichage (20). De même, il est possible de transmettre des données indiquant que la conduite automatique a été activée à d'autres véhicules en utilisant un dispositif de communication (16) en tant que dispositif de notification externe.
PCT/JP2016/067039 2015-06-18 2016-06-08 Système de conduite automatique WO2016204037A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015-122525 2015-06-18
JP2015122525A JP2017007417A (ja) 2015-06-18 2015-06-18 自動運転システム

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WO2016204037A1 true WO2016204037A1 (fr) 2016-12-22

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CN110446627A (zh) * 2017-03-23 2019-11-12 标致雪铁龙汽车股份有限公司 用于指示自动驾驶车辆的(多个)驾驶阶段的信号设备
CN110576816A (zh) * 2019-10-22 2019-12-17 贵州省交通规划勘察设计研究院股份有限公司 一种带自清洁机构的自动驾驶汽车
CN112141127A (zh) * 2019-06-28 2020-12-29 丰田自动车株式会社 自动驾驶车辆的操作装置
CN112606850A (zh) * 2020-12-25 2021-04-06 天津市天波科达科技有限公司 一种简易自动驾驶装置及方法
CN114103821A (zh) * 2020-08-27 2022-03-01 本田技研工业株式会社 移动体
WO2022134659A1 (fr) * 2020-12-22 2022-06-30 清华大学 Système de couverture de toit intelligent de véhicule autonome intégré et véhicule le comprenant

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KR101944478B1 (ko) * 2017-08-31 2019-01-31 김정섭 자율주행자동차가 시스템우선모드로 구동됨을 외부 차량으로 알리기 위한 자율주행표시장치 및 방법
JP6970612B2 (ja) * 2017-12-28 2021-11-24 株式会社小糸製作所 車両用照明システム及び車両
JP6965234B2 (ja) * 2018-12-26 2021-11-10 矢崎総業株式会社 情報表示システム
CN115567891A (zh) * 2019-06-05 2023-01-03 华为技术有限公司 自动驾驶信息指示方法、自动驾驶信息获取方法、自动驾驶信息发送方法及装置
DE102019122193B4 (de) * 2019-08-19 2021-03-04 Webasto SE Dachmodul für ein Kraftfahrzeug, umfassend Dachöffnungssystem und/oder Festdachelement
WO2022230780A1 (fr) * 2021-04-27 2022-11-03 株式会社デンソー Dispositif de commande de notification et procédé de commande de notification pour véhicules

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