WO2018070440A1 - 車両システム - Google Patents

車両システム Download PDF

Info

Publication number
WO2018070440A1
WO2018070440A1 PCT/JP2017/036865 JP2017036865W WO2018070440A1 WO 2018070440 A1 WO2018070440 A1 WO 2018070440A1 JP 2017036865 W JP2017036865 W JP 2017036865W WO 2018070440 A1 WO2018070440 A1 WO 2018070440A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
center
occupant
operation mode
control device
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2017/036865
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
小倉　広幸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yazaki Corp
Original Assignee
Yazaki Corp
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 Yazaki Corp filed Critical Yazaki Corp
Priority to EP17860389.0A priority Critical patent/EP3527454B1/en
Priority to CN201780056044.8A priority patent/CN109689466B/zh
Publication of WO2018070440A1 publication Critical patent/WO2018070440A1/ja
Priority to US16/296,952 priority patent/US20190204830A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • 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
    • 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
    • B60W40/09—Driving style or behaviour
    • 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
    • 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
    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B60W60/0053—Handover processes from vehicle to occupant
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2040/0809—Driver authorisation; Driver identity check
    • 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
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
    • B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
    • 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
    • B60W2540/043—Identity of occupants
    • 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
    • B60W2540/045—Occupant permissions
    • 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
    • B60W2540/229—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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/24—Drug level, e.g. alcohol
    • 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
    • B60W2540/26—Incapacity
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the present invention relates to a vehicle system.
  • Proposed is a vehicle that can perform manual driving in which a driver operates a vehicle operating device and automatic driving in which the driver automatically drives the vehicle without operating the vehicle operating device. Yes.
  • a vehicle capable of performing manual operation and automatic operation switching between manual operation and automatic operation is also performed.
  • Conditions for switching between manual driving and automatic driving include the driver's feelings and skill, the situation determination result in the vehicle, and the like (see Patent Documents 1 and 2).
  • An object of the present invention is to provide a vehicle system capable of
  • a vehicle system includes an occupant appropriateness detection device that detects appropriateness of an occupant as a driver, a vehicle-side operation device that the occupant operates to drive the vehicle, Between one or more vehicles having a vehicle-side control device that controls a running state and a vehicle-side communication device that transmits and receives information to and from the outside of the vehicle, and between the vehicles and the vehicle A control center having a center side communication device that transmits and receives information, and a center side control device that controls a running state of the vehicle via the vehicle side control device, the vehicle side control device includes: Manual operation mode for controlling the running state of the vehicle by operation of the vehicle-side operating device by the occupant, and automatic control for controlling the running state of the vehicle regardless of the operation of the vehicle-side operating device by the occupant
  • the driving mode of the vehicle is controlled in one of the driving modes among the driving mode and the center driving mode in which the driving state of the vehicle is controlled by the center side control device.
  • the mode is shifted to the manual driving mode, and the occupant is not appropriate as the driver.
  • the operation mode is shifted to the center operation mode.
  • control center includes a remote operation device for a remote operator to operate the vehicle, and the center side control device is configured so that the remote operator operates the remote operation device in the center operation mode. It is preferable to control the traveling state of the vehicle based on an operation amount for operating the vehicle.
  • the vehicle includes a vehicle state detection device that detects a state of the vehicle, and the vehicle-side control device is configured to control the vehicle based on the vehicle state detected by the vehicle state detection device.
  • the vehicle-side communication device transmits vehicle abnormality information to the control center when the vehicle-side control device determines that the vehicle abnormality is detected, and the center-side control device transmits the vehicle abnormality information. Is acquired, the position information of the vehicle in which the abnormality is detected is transmitted to another vehicle different from the vehicle in which the abnormality is detected, and the abnormality is detected in the vehicle-side control device of the other vehicle. It is preferable to perform an alternative vehicle process for performing the automatic driving mode based on vehicle position information.
  • the vehicle includes a vehicle component state detection device that detects a state of a vehicle component constituting the vehicle, and the vehicle-side communication device is at least detected by the vehicle component state detection device.
  • Vehicle part state information which is a part state
  • the control center stores the vehicle part state information in at least one of the vehicles, and stores the vehicle part state information in the storage device.
  • a vehicle component abnormality prediction device that predicts an abnormality of the vehicle component based on the vehicle component state information that is being used, and the vehicle-side control device uses the vehicle component abnormality prediction device to detect abnormality of the vehicle component. It is preferable to shift from the automatic operation mode to the manual operation mode or the center operation mode.
  • the occupant appropriateness detection device detects at least the occupant's biological information
  • the vehicle-side communication device transmits at least the biological information detected by the occupant appropriateness detection device to the control center.
  • the control center predicts an abnormality of the occupant based on a storage device that stores the biological information of at least one vehicle and the biological information stored in the storage device.
  • the vehicle-side control device changes from the manual operation mode to the automatic operation mode or the center operation mode when an abnormality of the occupant is predicted by the occupant abnormality prediction device. It is preferable to migrate.
  • the automatic operation mode is shifted to the center operation mode, and the vehicle running state is controlled by the center side control device. Even when the vehicle occupant does not have appropriateness as a driver, there is an effect that driving of the vehicle can be continued.
  • FIG. 1 is a block diagram of a vehicle system according to the embodiment.
  • FIG. 2 is a diagram illustrating an operation flow of the vehicle system according to the embodiment.
  • FIG. 3 is a diagram illustrating an operation flow of the vehicle system according to the embodiment.
  • FIG. 4 is a diagram illustrating an operation flow of the vehicle system according to the embodiment.
  • FIG. 1 is a block diagram of a vehicle system according to the embodiment. As shown in FIG. 1, the vehicle system 1 according to the present embodiment includes a vehicle 2 and a control center 3.
  • the vehicle 2 transports the occupant 200 to the destination.
  • the occupant appropriateness detection device 21, the vehicle-side operation device 22, the vehicle travel device 23, the DCM 24, the vehicle external sensor 25, the GPS 26, the vehicle state A detection device 27 and a vehicle-side control device 28 are included.
  • the vehicle 2 in the present embodiment is an electric vehicle (EV) having a motor (not shown) as a drive source in the vehicle travel device 23, and travels the vehicle 2 to a target position based on current position information detected by the GPS 26. It is a self-driving vehicle capable of In the present embodiment, a plurality of vehicles 2 are under the control of one control center 3, and the vehicle type and grade may be the same or different in each vehicle 2, but the above-described configuration of the vehicle 2 is provided.
  • the occupant suitability detection device 21 detects the suitability of the occupant 200 as a driver.
  • the occupant appropriateness detection device 21 includes a biological sensor 21a and an ID sensor 21b.
  • the biosensor 21a is a value related to the physical condition and state of the occupant 200 for determining whether the physical condition and state of the occupant 200 have appropriateness as a driver, for example, the body temperature, pulse rate, arousal level, and alcohol in the occupant 200
  • the concentration, the amount of sweating, and the like are detected as biological information.
  • the ID sensor 21b is a license that permits the driving of the vehicle 2 held by the occupant 200 in order to determine whether the occupant 200 has the appropriateness as a driver based on the qualification that the vehicle 2 can be driven.
  • the card ID information is detected.
  • the occupant appropriateness detection device 21 is connected to the vehicle-side control device 28, and the biological information and ID information of the occupant 200 are output to the vehicle-side control device 28.
  • the vehicle-side operation device 22 is operated by the occupant 200 as a driver in order to manually drive the vehicle 2.
  • the vehicle side operation device 22 includes a steering 22a, an accelerator pedal 22b, and a brake pedal 22c.
  • the steering 22a is rotatably supported, and turns the vehicle 2 when the occupant 200 rotates by hand, and changes the turning angle of the steered wheels (mainly the front wheels) of the vehicle 2. .
  • the steering angle of the steering 22a is detected by a rotation angle sensor (not shown).
  • the accelerator pedal 22b is supported in a swingable manner.
  • the accelerator pedal 22b is a vehicle that accelerates and reverses by accelerating the vehicle 2 when the occupant 200 depresses with a leg. The driving force is changed to the rear wheels.
  • the accelerator pedal 22b detects an accelerator depression amount by a depression amount sensor (not shown).
  • the brake pedal 22c is supported in a swingable manner, and is used to decelerate and stop the vehicle 2 when the occupant 200 depresses with a leg, and changes the braking force to all the wheels of the vehicle 2.
  • the brake pedal 22c has a brake depression amount detected by a depression amount sensor (not shown).
  • the vehicle-side operation device 22 is connected to the vehicle-side control device 28, and operation amounts that can control the traveling of the vehicle 2 such as a steering angle, an accelerator depression amount, and a brake depression amount are output to the vehicle-side control device 28. Is done.
  • the vehicle travel device 23 is for traveling the vehicle 2, and includes a steering device 23a, a drive device 23b, and a braking device 23c.
  • the steering device 23a is a steering device that changes the steered angle of the steered wheels of the vehicle 2 using, for example, a steered actuator such as a motor.
  • the driving device 23b generates, for example, driving force on the driving wheels of the vehicle 2, and includes a motor as a driving source, a battery that supplies power to the motor, and a transmission that transmits the driving force from the motor to the driving wheels.
  • Have The braking device 23c is, for example, a hydraulic braking device that brings a brake pad into contact with a brake rotor by hydraulic pressure generated by a braking actuator.
  • the vehicle travel device 23 is connected to the vehicle-side control device 28, and operation amounts such as a steering angle, an accelerator depression amount, and a brake depression amount are transferred from the vehicle-side control device 28 to the steering device 23a, the drive device 23b, and the braking device 23c.
  • the steering control, drive control, and brake control of the steering device 23a, the drive device 23b, and the brake device 23c are performed based on the input amounts, respectively.
  • the DCM 24 is a data communication module and a wireless communication functional component, which connects the vehicle 2 and the outside of the vehicle wirelessly and transmits / receives information between the vehicle 2 and the outside of the vehicle.
  • the DCM 24 in this embodiment transmits and receives information to and from the control center 3 via the center side communication device 31.
  • the DCM 24 communicates with communication devices outside the vehicle by wide area radio and narrow area radio.
  • wide-area wireless systems include, for example, radio (AM, FM), TV (UHF, 4K, 8K), TEL, GPS, WiMAX (registered trademark), and the like.
  • narrow-band wireless systems include, for example, ETC / DSRC, VICS (registered trademark), wireless LAN, millimeter wave communication, and the like.
  • the DCM 24 is connected to the vehicle-side control device 28, and can send and receive information to and from the vehicle-side control device 28.
  • the control center 3 can acquire vehicle periphery information, position information, vehicle abnormality information, vehicle state information, vehicle part state information, and the like.
  • the vehicle outside sensor 25 detects a situation outside the vehicle, that is, a situation around the vehicle.
  • the vehicle external sensor 25 is, for example, a camera, a millimeter wave radar, an infrared radar, or the like, and detects the vehicle surroundings mainly as an image.
  • the vehicle external sensor 25 is connected to the vehicle-side control device 28 and outputs the detected vehicle surrounding situation to the vehicle-side control device 28 as vehicle surrounding information.
  • the GPS 26 detects the current position of the vehicle 2.
  • the GPS 26 is connected to the vehicle-side control device 28 and outputs the detected current position of the vehicle 2 to the vehicle-side control device 28 as position information.
  • the vehicle state detection device 27 detects the state of the vehicle 2 and detects the state of various devices and various sensors mounted on the vehicle 2.
  • the vehicle state detection device 27 according to the present embodiment mainly detects the state of the device and the sensor that cannot control the traveling state of the vehicle 2 in each operation mode described later performed by the vehicle-side control device 28 when an abnormality occurs. To detect.
  • the vehicle state detection device 27 is connected to the vehicle side control device 28 and outputs the detected state of the vehicle 2 to the vehicle side control device 28 as vehicle state information.
  • the vehicle state detection device 27 includes a vehicle component state detection device 27a.
  • the vehicle component state detection device 27 a detects the state of vehicle components (not shown) that constitute the vehicle 2.
  • the vehicle parts are parts that supply electric power to various devices and various sensors mounted on the vehicle 2 such as junction boxes and fuse boxes, and components that input and output signals to various devices and various sensors.
  • the vehicle component state detection device 27a in the present embodiment is, for example, a current sensor that detects a current flowing through the vehicle component.
  • the vehicle component state detection device 27a is connected to the vehicle-side control device 28, and outputs the detected state of the vehicle component to the vehicle-side control device 28 as vehicle component state information.
  • the vehicle-side control device 28 controls the traveling state of the vehicle 2.
  • the vehicle-side control device 28 is preset with a manual operation mode, an automatic operation mode, and a center operation mode as operation modes for controlling the travel state of the vehicle 2, and controls the travel state of the vehicle 2 in any one of the operation modes.
  • the traveling state of the vehicle 2 is controlled by the operation of the vehicle side operation device 22 by the occupant 200.
  • the vehicle travel device 23 is controlled by the vehicle control device 28 based on the operation amount output to the vehicle control device 28 when the occupant 200 operates the vehicle operation device 22.
  • the automatic operation mode controls the traveling state of the vehicle 2 regardless of the operation of the vehicle side operation device 22 by the occupant 200.
  • the automatic driving mode includes a destination route set by the occupant 200 using a setting device (not shown) or a preset destination location and a vehicle route based on map information stored in a storage device (not shown). Based on the information, the vehicle travel device 23 is controlled by the vehicle control device 28 based on the operation amount calculated by the vehicle control device 28. In the center operation mode, the traveling state of the vehicle 2 is controlled by the center side control device 33 described later. In the center operation mode in the present embodiment, a vehicle travel device is operated by the center side control device 33 based on the operation amount output to the center side control device 33 when a remote operator 300 described later operates the remote operation device 32. 23 is controlled.
  • the vehicle-side control device 28 shifts to the manual operation mode when it is determined that the occupant 200 detected by the occupant appropriateness detection device 21 is appropriate as a driver.
  • the vehicle shifts to the center operation mode.
  • the vehicle-side control device 28 in the present embodiment performs appropriateness of the occupant 200 based on the biological information and the ID information.
  • the occupant 200 has appropriateness as a driver in terms of physical condition, state, and the like. If the vehicle 2 is qualified to drive, the occupant 200 determines that the driver is appropriate. Therefore, for example, when the occupant 200 does not have the qualification to drive the sleeping state, the abused state, the drinking state, or the vehicle 2, the occupant 200 is not appropriate as a driver.
  • the vehicle-side control device 28 determines the abnormality of the vehicle 2 based on the state of the vehicle 2 detected by the vehicle state detection device 27.
  • the vehicle-side control device 28 in the present embodiment determines whether or not each operation mode can be performed based on the input vehicle state information, and determines that all the operation modes cannot be performed.
  • Vehicle abnormality information is transmitted to the control center 3.
  • the vehicle-side control device 28 shifts from the automatic operation mode to the manual operation mode or the center operation mode, that is, restricts the automatic operation mode when an abnormality of the vehicle component is predicted by an abnormality prediction device 35 described later.
  • the vehicle-side control device 28 shifts from the manual operation mode to the automatic operation mode or the center operation mode, that is, restricts the manual operation mode when an abnormality of the occupant 200 is predicted by the abnormality prediction device 35 described later.
  • the hardware configuration of the vehicle-side control device 28 is a known one, and is an electronic control unit including a CPU, a ROM, a RAM, and an interface.
  • the vehicle side control apparatus 28 may be comprised with one electronic control unit, or may be comprised with the some electronic control unit.
  • the control center 3 is installed outside the vehicle and controls one or more vehicles 2.
  • the center side communication device 31 is wirelessly connected to the DCM 24 and transmits / receives information to / from one or more vehicles 2.
  • the center-side communication device 31 in the present embodiment transmits / receives information to / from the vehicle 2 via a communication device outside the vehicle, the Internet network, and a dedicated line network.
  • the center side communication device 31 is connected to the remote operation device 32, the center side control device 33, and the storage device 34, and information input to the vehicle side control device 28 transmitted from the DCM 24, for example, biological information, vehicle periphery Among the information, the position information, the vehicle abnormality information, the vehicle state information, the vehicle part state information, etc., at least a part is acquired by the remote control device 32 and the center side control device 33, and at least a part is stored in the storage device 34. .
  • the remote operation device 32 is operated by the remote operator 300 to remotely operate the vehicle 2 as a driver.
  • the remote control device 32 includes a steering 32a, an accelerator pedal 32b, a brake pedal 32c, and a monitor 32d.
  • the steering 32a is rotatably supported.
  • the remote operator 300 rotates the vehicle 2 remotely by hand, and the steering angle is detected by a rotation angle sensor (not shown).
  • the accelerator pedal 22b is supported in a swingable manner.
  • the accelerator pedal 22b is moved forward and backward by remotely accelerating the vehicle 2 when the remote operator 300 depresses with a leg. The amount of depression is detected.
  • the brake pedal 22c is supported in a swingable manner so that the vehicle 2 can be decelerated and stopped remotely when the remote operator 300 depresses with his / her leg, and the brake depressing amount is detected by a depressing amount sensor (not shown).
  • the monitor 32d displays the vehicle periphery information and vehicle state information acquired by the control center 3, and the remote operator 300 recognizes the vehicle periphery information and vehicle state information displayed on the monitor 32d, whereby the steering 32a.
  • the accelerator pedal 32b and the brake pedal 32c are operated.
  • the remote operation device 32 is connected to the center-side control device 33, and the center-side control device 33 determines the operation amount that can remotely control the vehicle 2 such as the steering angle, the accelerator depression amount, and the brake depression amount. Output to.
  • the center side control device 33 performs a center operation mode for controlling the traveling state of the vehicle 2 via the vehicle side control device 28.
  • the center-side control device 33 according to the present embodiment travels the vehicle 2 via the vehicle-side control device 28 based on the operation amount that the remote operator 300 operates the vehicle 2 with the remote operation device 32. It controls the state.
  • the center-side control device 33 acquires the vehicle abnormality information
  • the center-side control device 33 performs alternative vehicle processing.
  • the alternative vehicle process is under the control of the control center 3, and the center side communication device 31 transmits the acquired position information of the vehicle 2 where the abnormality is detected to another vehicle 2 different from the vehicle 2 where the abnormality is detected. This is a process of causing the vehicle-side control device 28 of the other vehicle 2 to set the target position based on the position information of the vehicle 2 in which the abnormality received by the DCM 24 is detected, and to perform the automatic driving mode.
  • the storage device 34 stores information on one or more vehicles 2 received by the center side communication device 31.
  • the storage device 34 in the present embodiment stores biological information, vehicle state information, vehicle part state information, and the like acquired from each vehicle 2 under the control of the control center 3 one by one.
  • the storage device 34 is a server storage composed of a plurality of hard disks, for example, and may be installed in the same facility as the control center 3 or distributed in other facilities. May be.
  • the abnormality prediction device 35 is an occupant abnormality prediction device and a vehicle component abnormality prediction device.
  • the abnormality prediction device 35 predicts an abnormality of the occupant 200 based on the biological information stored in the storage device 34.
  • the abnormality prediction device 35 predicts an abnormality of the vehicle component of the vehicle 2 based on the vehicle component state information stored in the storage device 34.
  • the abnormality prediction device 35 analyzes the biological information stored and stored in the storage device 34, patterns the time-series changes in the biological information, and the occupant 200 is abnormal, that is, not suitable as a driver.
  • the abnormality of the occupant 200 is predicted by extracting the occupant abnormality pattern and determining whether or not the obtained change in the biological information matches the occupant abnormality pattern.
  • the abnormality prediction device 35 analyzes the vehicle component state information stored and stored in the storage device 34, patterns the time-series changes in the vehicle component state information, for example, the current value, and the vehicle component becomes abnormal. A vehicle part abnormality pattern is extracted, and an abnormality of the vehicle part is predicted by determining whether or not the obtained change in the vehicle part state information matches the vehicle part abnormality pattern.
  • FIG. 2 is a diagram illustrating an operation flow of the vehicle system according to the embodiment.
  • switching of the operation mode by the vehicle side control device 28 will be described.
  • the vehicle 2 in this embodiment is in the automatic operation mode by the vehicle-side control device 28.
  • the vehicle-side control device 28 determines whether or not it is impossible to maintain the automatic operation mode (step ST11).
  • the vehicle-side control device 28 determines whether or not the automatic operation mode cannot be maintained when the automatic operation mode is performed.
  • the vehicle-side control device 28 uses a traffic rule that is set in advance when, for example, one-side lane is restricted by construction on a one-lane road and the vehicle is traveling in an unregulated opposite lane according to a guidance from a guide.
  • a traffic rule that is set in advance when, for example, one-side lane is restricted by construction on a one-lane road and the vehicle is traveling in an unregulated opposite lane according to a guidance from a guide.
  • step ST12 determines whether or not the occupant 200 is appropriate as a driver.
  • the vehicle-side control device 28 determines whether or not the occupant 200 can take over driving from automatic driving as a driver based on the biological information and the ID information.
  • step ST11 No it determines with the vehicle side control apparatus 28 being able to maintain automatic driving mode (step ST11 No)
  • it will repeat step ST11 until it will be in the state which cannot maintain automatic driving mode, automatic driving mode. Continue.
  • step ST12 when the vehicle-side control device 28 determines that the occupant 200 is appropriate as a driver (Yes in step ST12), the vehicle-side control device 28 shifts to the manual operation mode (step ST13).
  • the vehicle-side control device 28 shifts from the automatic driving mode to the manual driving mode, and the occupant 200 operates the vehicle-side operating device 22, thereby The side control device 28 controls the vehicle travel device 23 based on the operation amount.
  • the vehicle-side control device 28 determines that the occupant 200 is not appropriate as a driver (No in step ST12), the vehicle-side control device 28 shifts to the center operation mode (step ST14).
  • the vehicle-side control device 28 shifts from the automatic driving mode to the center driving mode, and the remote operator 300 operates the remote operating device 32.
  • the center side control device 33 controls the vehicle travel device 23 via the vehicle side control device 28 based on the operation amount.
  • the vehicle system 1 when the occupant 200 does not have appropriateness as a driver, the vehicle is shifted from the automatic operation mode to the center operation mode, and the center-side control device 33 controls the vehicle 2. Since the traveling state is controlled, even when the occupant 200 is not appropriate as a driver, the driving of the vehicle 2 can be continued.
  • the vehicle 2 In the center operation mode, since the vehicle 2 is remotely operated by the remote operator, the vehicle 2 can be made smooth by appropriately responding to changes in the external / internal conditions of the vehicle 2 as in the manual operation mode. You can drive. Therefore, when the automatic operation mode cannot be temporarily continued or when the time during which the automatic operation mode is switched to the manual operation mode is short, the troublesomeness caused by the occupant 200 driving can be reduced.
  • FIG. 3 is a diagram illustrating an operation flow of the vehicle system according to the embodiment.
  • the vehicle state detection device 27 detects the vehicle state of the vehicle 2 (step ST21).
  • the vehicle-side control device 28 determines whether or not the vehicle 2 is abnormal based on the detected vehicle state (step ST22).
  • the vehicle-side control device 28 determines whether or not all the operation modes can be performed based on the input vehicle state information.
  • the vehicle-side control device 28 determines whether or not the vehicle 2 is in a travel impossible state or a travel difficult state such as an accident, a failure, or a battery low.
  • step ST22 Yes when it is determined that the vehicle 2 is abnormal based on the detected vehicle state (step ST22 Yes), the DCM 24 transmits vehicle abnormality information to the control center 3 (step ST23).
  • the vehicle side control device 28 causes the control center 3 to acquire the vehicle abnormality information via the DCM 24 and the center side communication device 31. If the vehicle-side control device 28 determines that the vehicle is abnormal, the vehicle-side control device 28 performs a stop process for stopping the vehicle 2 on the road side. Moreover, if the vehicle side control apparatus 28 determines with the vehicle 2 being normal (step ST22 No), it will repeat step ST21 until the vehicle 2 becomes abnormal.
  • the center side control device 33 executes an alternative vehicle process (step ST24).
  • the center side control apparatus 33 performs alternative vehicle processing, and directs another different vehicle 2 to the vehicle 2 in which an abnormality is detected by automatic driving.
  • the vehicle system 1 when the vehicle 2 becomes abnormal and traveling becomes difficult, another vehicle 2 is allocated by the control center 3 to the abnormal vehicle 2. The Therefore, the passenger 200 of the vehicle 2 that has become abnormal can board the other vehicle 2 that has reached the vicinity of the vehicle 2 that has become abnormal due to automatic driving, and can continue to move by the vehicle 2. Thereby, even if the passenger
  • FIG. 4 is a diagram illustrating an operation flow of the vehicle system according to the embodiment.
  • the DCM 24 transmits vehicle part state information and biological information to the control center 3 (step ST31).
  • the vehicle-side control device 28 causes the control center 3 to acquire at least vehicle component state information, biological information, and vehicle state information via the DCM 24 and the center-side communication device 31.
  • the storage device 34 stores vehicle part state information and biological information (step ST32).
  • the storage device 34 stores at least vehicle component state information, biological information, and vehicle state information acquired by the control center 3.
  • the abnormality prediction device 35 predicts an abnormality based on the information (step ST33).
  • the abnormality prediction device 35 predicts a vehicle component abnormality based on the vehicle component state information.
  • the abnormality prediction device 35 predicts an occupant abnormality based on the biological information.
  • the abnormality prediction device 35 determines whether or not an abnormality has been predicted (step ST34). Here, the abnormality prediction device 35 determines whether or not a vehicle component abnormality is predicted. Further, the abnormality prediction device 35 determines whether or not an occupant abnormality is predicted.
  • the vehicle side control device 28 regulates the operation mode based on the prediction (step ST35).
  • the vehicle side control apparatus 28 determines with the vehicle side control apparatus 28 having predicted the vehicle component abnormality by the abnormality prediction apparatus 35, it will restrict
  • the automatic operation mode is restricted before the vehicle parts actually become abnormal and the automatic operation mode cannot be performed. It is possible to shift to the operation mode.
  • the manual operation mode is restricted before the occupant abnormality is actually caused and the manual operation mode cannot be performed, thereby shifting to another operation mode. Can be made. Therefore, since the operation mode that is difficult to continue due to the occurrence of an actual abnormality shifts to another operation mode before the abnormality occurs, the vehicle 2 is continuously operated even if an abnormality occurs. be able to.
  • the center-side control device 33 controls the vehicle travel device 23 via the vehicle-side control device 28 based on the operation amount of the remote operator 300 operating the remote operation device 32 in the center operation mode.
  • the present invention is not limited to this.
  • the center operation mode calculated by the center-side control device 33 based on information acquired from the vehicle 2 that shifts from the automatic operation mode to the center operation mode (may include information acquired from other vehicles 2).
  • the vehicle travel device 23 may be controlled via the vehicle-side control device 28 based on the operation amount.
  • the center operation mode is performed based on more information than the information used when the automatic operation mode is performed, and the operation in the automatic operation mode is continued or the operation in the automatic operation mode is continued.
  • the vehicle 2 may be stopped on the road side.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mathematical Physics (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2017/036865 2016-10-12 2017-10-11 車両システム Ceased WO2018070440A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP17860389.0A EP3527454B1 (en) 2016-10-12 2017-10-11 Vehicle system
CN201780056044.8A CN109689466B (zh) 2016-10-12 2017-10-11 车辆系统
US16/296,952 US20190204830A1 (en) 2016-10-12 2019-03-08 Vehicle system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016200779A JP6717723B2 (ja) 2016-10-12 2016-10-12 車両システム
JP2016-200779 2016-10-12

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/296,952 Continuation US20190204830A1 (en) 2016-10-12 2019-03-08 Vehicle system

Publications (1)

Publication Number Publication Date
WO2018070440A1 true WO2018070440A1 (ja) 2018-04-19

Family

ID=61905492

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/036865 Ceased WO2018070440A1 (ja) 2016-10-12 2017-10-11 車両システム

Country Status (5)

Country Link
US (1) US20190204830A1 (enExample)
EP (1) EP3527454B1 (enExample)
JP (1) JP6717723B2 (enExample)
CN (1) CN109689466B (enExample)
WO (1) WO2018070440A1 (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020039530A1 (ja) * 2018-08-23 2020-02-27 三菱電機株式会社 運転者選定装置および運転者選定方法
US11970172B2 (en) 2019-03-28 2024-04-30 Panasonic Intellectual Property Corporation Of America Information processing method and information processing system

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018062308A (ja) * 2016-10-14 2018-04-19 オムロン株式会社 運転モード切替制御装置、方法およびプログラム
US10962973B2 (en) * 2018-01-30 2021-03-30 Uatc, Llc Autonomous vehicle safe stop
JP7011973B2 (ja) 2018-05-02 2022-01-27 本田技研工業株式会社 車両制御装置及びプログラム
JP6922852B2 (ja) * 2018-06-12 2021-08-18 株式会社デンソー 電子制御装置および電子制御システム
KR102625398B1 (ko) * 2018-08-17 2024-01-17 현대자동차주식회사 차량 및 그 제어방법
JP2020052906A (ja) * 2018-09-28 2020-04-02 Kddi株式会社 監視システム、監視装置、監視方法、及びプログラム
DE102018131104A1 (de) 2018-12-06 2020-06-10 Valeo Schalter Und Sensoren Gmbh Verfahren zum Unterstützen eines Benutzers beim Fernsteuern eines Kraftfahrzeugs, Computerprogrammprodukt, Fernsteuereinrichtung und Fahrerassistenzsystem für ein Kraftfahrzeug
KR102524296B1 (ko) * 2018-12-07 2023-04-24 현대자동차주식회사 적재물 추락 발생 감지에 따른 차량 제어 방법 및 시스템
DE102019204941A1 (de) * 2019-04-05 2020-10-08 Robert Bosch Gmbh System zum sicheren teleoperierten Fahren
JP7213968B2 (ja) * 2019-06-10 2023-01-27 三菱電機株式会社 運転支援装置及び運転支援方法
JP7124801B2 (ja) * 2019-07-16 2022-08-24 トヨタ自動車株式会社 車両制御装置
JP7140068B2 (ja) * 2019-07-16 2022-09-21 トヨタ自動車株式会社 操作装置
JP7172892B2 (ja) * 2019-07-17 2022-11-16 トヨタ自動車株式会社 車両制御装置及び車両制御システム
JP2021017109A (ja) * 2019-07-18 2021-02-15 トヨタ自動車株式会社 遠隔運転システム
JP7310403B2 (ja) * 2019-07-23 2023-07-19 トヨタ自動車株式会社 車両制御装置及び自動運転禁止システム
JP7159991B2 (ja) * 2019-07-23 2022-10-25 トヨタ自動車株式会社 車両制御システム及び車両制御装置
JP7272164B2 (ja) * 2019-08-06 2023-05-12 トヨタ自動車株式会社 運転操作引継システム及び車両
JP7188322B2 (ja) * 2019-08-09 2022-12-13 トヨタ自動車株式会社 車両走行システム
CN110422117A (zh) * 2019-08-14 2019-11-08 天津清智科技有限公司 一种车辆驾驶环境监控方法
EP4080439A4 (en) 2019-12-16 2023-02-08 Panasonic Intellectual Property Management Co., Ltd. INFORMATION PROCESSING PROCEDURES AND INFORMATION PROCESSING SYSTEM
US12235640B2 (en) * 2020-01-08 2025-02-25 Mitsubishi Electric Corporation Vehicle control device and vehicle control method
EP3872594B1 (en) 2020-02-26 2023-12-06 Volkswagen Ag A method, a computer program, an apparatus, a vehicle, and a network entity for predicting a deadlock situation for an automated vehicle
CN117191065A (zh) 2020-04-01 2023-12-08 华为技术有限公司 自动驾驶方法及装置
US20210402981A1 (en) * 2020-06-30 2021-12-30 Micron Technology, Inc. Virtual vehicle interface
WO2022164715A1 (en) * 2021-01-29 2022-08-04 Termson Management Llc Control mode selection and transitions
JP7756494B2 (ja) * 2021-03-29 2025-10-20 住友重機械工業株式会社 ショベル、ショベルの管理システム
JP7723521B2 (ja) * 2021-07-28 2025-08-14 株式会社Subaru 運転支援装置
CN114550478B (zh) * 2022-02-28 2024-04-09 福建省高速公路信息科技有限公司 基于etc的高速公路安全自动驾驶推荐方法
JP7619333B2 (ja) * 2022-06-21 2025-01-22 トヨタ自動車株式会社 車両管理システム

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002163799A (ja) * 2000-11-27 2002-06-07 Natl Inst For Land & Infrastructure Management Mlit 自動運転の解除装置
JP2002203065A (ja) * 2000-12-28 2002-07-19 Fuji Heavy Ind Ltd 車両管理システム
JP2009080718A (ja) * 2007-09-27 2009-04-16 Nec Corp 運転者の健康管理システム及び緊急時対応方法
JP2009227250A (ja) * 2008-03-25 2009-10-08 Denso Corp 車載装置
JP2015110417A (ja) 2015-01-08 2015-06-18 マツダ株式会社 ドライバ感情に基づく運転支援装置
JP2015133050A (ja) 2014-01-15 2015-07-23 みこらった株式会社 自動運転車
WO2016038931A1 (ja) * 2014-09-11 2016-03-17 本田技研工業株式会社 運転支援装置
JP2016130897A (ja) * 2015-01-13 2016-07-21 株式会社デンソー 経路特定装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5680313A (en) * 1990-02-05 1997-10-21 Caterpillar Inc. System and method for detecting obstacles in a road
DE102014210147A1 (de) * 2014-05-27 2015-12-03 Continental Teves Ag & Co. Ohg Fahrzeugsteuersystem für eine autonome Führung eines Fahrzeugs
CN104503265A (zh) * 2014-10-31 2015-04-08 奇瑞汽车股份有限公司 基于车联网的同步驾驶系统及其控制方法
US9494935B2 (en) * 2014-11-13 2016-11-15 Toyota Motor Engineering & Manufacturing North America, Inc. Remote operation of autonomous vehicle in unexpected environment
JP6237656B2 (ja) * 2015-01-19 2017-11-29 トヨタ自動車株式会社 車両システム
CN104751669B (zh) * 2015-03-20 2017-05-03 江苏大学 一种基于车联网的智能驾驶辅助系统及方法
CN105679069B (zh) * 2016-03-23 2018-02-16 傅春 一种控制车辆行驶的智能公路交通系统及方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002163799A (ja) * 2000-11-27 2002-06-07 Natl Inst For Land & Infrastructure Management Mlit 自動運転の解除装置
JP2002203065A (ja) * 2000-12-28 2002-07-19 Fuji Heavy Ind Ltd 車両管理システム
JP2009080718A (ja) * 2007-09-27 2009-04-16 Nec Corp 運転者の健康管理システム及び緊急時対応方法
JP2009227250A (ja) * 2008-03-25 2009-10-08 Denso Corp 車載装置
JP2015133050A (ja) 2014-01-15 2015-07-23 みこらった株式会社 自動運転車
WO2016038931A1 (ja) * 2014-09-11 2016-03-17 本田技研工業株式会社 運転支援装置
JP2015110417A (ja) 2015-01-08 2015-06-18 マツダ株式会社 ドライバ感情に基づく運転支援装置
JP2016130897A (ja) * 2015-01-13 2016-07-21 株式会社デンソー 経路特定装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020039530A1 (ja) * 2018-08-23 2020-02-27 三菱電機株式会社 運転者選定装置および運転者選定方法
JPWO2020039530A1 (ja) * 2018-08-23 2021-02-15 三菱電機株式会社 運転者選定装置および運転者選定方法
US11970172B2 (en) 2019-03-28 2024-04-30 Panasonic Intellectual Property Corporation Of America Information processing method and information processing system

Also Published As

Publication number Publication date
EP3527454A1 (en) 2019-08-21
JP2018062223A (ja) 2018-04-19
EP3527454A4 (en) 2019-11-20
JP6717723B2 (ja) 2020-07-01
CN109689466A (zh) 2019-04-26
CN109689466B (zh) 2022-11-29
US20190204830A1 (en) 2019-07-04
EP3527454B1 (en) 2020-04-15

Similar Documents

Publication Publication Date Title
WO2018070440A1 (ja) 車両システム
US11345359B2 (en) Autonomous driving vehicles with dual autonomous driving systems for safety
CN105261224B (zh) 智能车辆控制方法和装置
US9604652B2 (en) Method for a driver assistance system for autonomous longitudinal and/or lateral control of a vehicle
US10392027B2 (en) Driving assistance control apparatus
EP3632761B1 (en) Electronic control device, vehicle control method, and vehicle control program
US9298184B2 (en) Process and device to enable or disable an automatic driving function
EP3091411B1 (en) Vehicle system, vehicle comprising a vehicle system and method for allowing transition from an autonomous driving mode
CN102265319B (zh) 驾驶辅助装置
CN106097774A (zh) 车道变更支援装置
CN108475055A (zh) 用于自主车辆的备用轨迹系统
JP2013177128A (ja) 車両遠隔操作システム及び車載機
CN117651671B (zh) 车辆的驾驶模式切换控制方法及驾驶模式切换控制装置
CN109949610A (zh) 交叉交通辅助和控制
JP2021049891A (ja) 車両制御装置
US10509411B2 (en) Method and system for operating a vehicle
CN114924554A (zh) 远程车辆控制方法、车辆、系统、设备及计算机存储介质
JP2015224954A (ja) 駐車場所選択装置
JP2019123449A (ja) 走行制御装置、走行制御方法およびプログラム
JP2022167369A (ja) 遠隔機能選択装置
CN115771469A (zh) 运算装置
CN113232508A (zh) 车辆控制仲裁
JP2013120495A (ja) 運転支援システム
US11262751B2 (en) Traveling control apparatus, traveling control method, and non-transitory computer-readable storage medium storing program
JP2018022330A (ja) 公共車両制御装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17860389

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2017860389

Country of ref document: EP

Effective date: 20190513