WO2019003690A1 - 制御装置 - Google Patents

制御装置 Download PDF

Info

Publication number
WO2019003690A1
WO2019003690A1 PCT/JP2018/019021 JP2018019021W WO2019003690A1 WO 2019003690 A1 WO2019003690 A1 WO 2019003690A1 JP 2018019021 W JP2018019021 W JP 2018019021W WO 2019003690 A1 WO2019003690 A1 WO 2019003690A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
person
vehicle
door
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/JP2018/019021
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
光晴 東谷
宣昭 池本
長谷　智実
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.)
Denso Corp
Original Assignee
Denso 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 Denso Corp filed Critical Denso Corp
Priority to CN201880043744.8A priority Critical patent/CN110832566A/zh
Publication of WO2019003690A1 publication Critical patent/WO2019003690A1/ja
Priority to US16/729,992 priority patent/US11348346B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/593—Recognising seat occupancy
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
    • 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
    • B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
    • 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
    • G05D1/0022—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 characterised by the communication link
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0205—Specific application combined with child monitoring using a transmitter-receiver system
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to a control device of an autonomous driving vehicle.
  • the operation for starting the automatic driving is performed based on the user's intention, it may not be appropriate to start the automatic driving at that timing.
  • a user who is not aware of it may sometimes perform an operation for starting the automatic driving from the outside of the vehicle.
  • the autonomous driving vehicle may leave with only the baby placed thereon, which is not preferable. The same is true in the situation where only a patient with dementia is present in the passenger compartment, not infants.
  • An object of the present disclosure is to prevent automatic driving from being started in a situation where only a baby or the like is present in a vehicle compartment.
  • a control device is a control device of an autonomous driving vehicle, and receives a signal for causing the autonomous driving vehicle to start the autonomous driving, and an external start signal transmitted from the outside of the autonomous driving vehicle.
  • a receiver a controller that performs processing necessary for automatic driving, and a person determining unit that determines whether a person is present in the cabin of the autonomous driving vehicle. When it is determined by the human determination unit that there is a person in the vehicle compartment, the control unit does not start the automatic driving even if the reception unit receives the external start signal.
  • the control device having such a configuration, when it is determined by the person determination unit that there is a person in the vehicle compartment, the automatic operation is not started even if the reception unit receives the external start signal. That is, automatic driving is started based on the external start signal only when there is no person in the vehicle compartment. Therefore, it is possible to reliably prevent a situation where the automatic driving is started by the operation of the user who is outside the vehicle in the situation where the baby etc. exist in the vehicle interior.
  • a control device capable of preventing automatic driving from being started in a situation where only a baby and the like are present in a vehicle compartment.
  • FIG. 1 is a view schematically showing an overall configuration of a control device according to a first embodiment and an autonomous driving vehicle equipped with the control device.
  • FIG. 2 is a flow chart showing the flow of processing executed by the control device of FIG.
  • FIG. 3 is a flowchart showing the flow of processing executed by the control device according to the second embodiment.
  • FIG. 4 is a flowchart showing the flow of processing executed by the control device according to the third embodiment.
  • FIG. 5 is a flowchart showing the flow of processing executed by the control device according to the fourth embodiment.
  • FIG. 6 is a flowchart showing the flow of processing executed by the control device according to the fifth embodiment.
  • the control device 100 is mounted on the autonomous driving vehicle MV, and is configured as a device for controlling the autonomous driving vehicle MV.
  • the configuration of the automatically driven vehicle MV will be described with reference to FIG.
  • the autonomous driving vehicle MV is configured as a vehicle capable of automatically performing all the driving operations (driving, steering, braking) necessary for traveling.
  • the user can start the automatic driving by the automatic driving vehicle MV by operating the operation unit 150 provided in the compartment of the automatic driving vehicle MV.
  • the user can also start the automatic driving by the automatic driving vehicle MV by operating the external device 30 from the outside in a state where the user is not on the automatic driving vehicle MV.
  • the external device 30 may be, for example, a mobile communication terminal carried by the user, or may be a stationary communication terminal provided in a house in which the user resides.
  • the autonomous driving vehicle MV is provided with a plurality of doors 17 for allowing a user (that is, an occupant) to enter and exit the cabin.
  • the plurality of doors 17 are shown as a single block.
  • Each door 17 is provided with a window glass 18.
  • the window glass 18 is a so-called power window, and it is possible to change its opening degree electrically.
  • the autonomous driving vehicle MV is provided with a plurality of seats on which the user is seated, the illustration thereof is omitted in FIG. Some of these seats are provided with a child seat 19 for seating an infant.
  • the autonomous driving vehicle MV further includes a human detection unit 11, an authentication device 12, an on-vehicle camera 13, an electric power steering device 14, an electric brake device 15, and a navigation system 16 in addition to the above.
  • the human detection unit 11 is a device for detecting the presence of a human in the compartment of the autonomous driving vehicle MV.
  • a thermo sensor is used as the human detection unit 11.
  • the human detection unit 11 generates a thermal image in the vehicle compartment and transmits the thermal image to the control device 100.
  • a camera for photographing the vehicle interior with visible light, a weight sensor for detecting the weight of an object on a seat, or a microphone for detecting the sound in the vehicle interior may be used.
  • the authentication device 12 is a device that performs processing for confirming that a user (that is, a person present in the vehicle compartment) who gets on the autonomous driving vehicle MV is a specific person, that is, authentication processing.
  • the authentication device 12 in the present embodiment performs the authentication process by reading the information recorded on the land transportation authority license owned by the user. Thereafter, the authentication device 12 transmits the result of the authentication process (authentication result) to the control device 100.
  • the authentication device 12 a device that performs an authentication process by photographing the face of the user with a camera and analyzing the obtained image may be used.
  • what performs an authentication process by communicating with the mobile communication terminal which a user owns may be used.
  • the on-vehicle camera 13 is a camera for photographing around the autonomous driving vehicle MV, in particular, on the front side.
  • the on-vehicle camera 13 is a camera using, for example, a CMOS sensor.
  • the on-vehicle camera 13 transmits data of an image obtained by photographing to the control device 100.
  • the control device 100 grasps the position of an obstacle or a lane around the autonomous driving vehicle MV by analyzing the image. Thus, steering and braking for avoiding a collision with an obstacle, and steering for realizing traveling along a lane can be automatically performed.
  • the image processing as described above may be performed by an ECU provided separately from the control device 100.
  • the electric power steering device 14 is a device that applies a steering force by electric power to a steering shaft. When automatic driving is performed in the autonomous driving vehicle MV, the electric power steering device 14 generates all of the steering force necessary for traveling along the lane, not by the driver's steering operation.
  • the operation of the electric power steering device 14 is controlled by the control device 100.
  • an aspect in which an ECU responsible for controlling the electric power steering device 14 may be separately provided may be employed.
  • the control device 100 controls the operation of the electric power steering device 14 by communicating with the ECU.
  • the electric brake device 15 is a device for generating a braking force by electric power and thereby decelerating or stopping the autonomous driving vehicle MV.
  • the electric brake device 15 automatically generates a braking force regardless of the driver's braking operation.
  • the operation of the electric brake device 15 is controlled by the control device 100.
  • the aspect which is separately provided ECU which takes charge of control of the electrically-driven brake device 15 may be sufficient.
  • the control device 100 controls the operation of the electric brake device 15 by communicating with the ECU.
  • an electric brake device 15 for example, a regenerative brake using a motor may be used, or a hydraulic brake may be used. That is, the electric brake device 15 may be any device that generates the braking force of the autonomous driving vehicle MV based on the signal from the control device 100.
  • the navigation system 16 is a system that specifies the current position where the autonomous driving vehicle MV is traveling by GPS.
  • the navigation system 16 generates a route that the autonomous driving vehicle MV should travel to reach the destination, displays the route for the user, or the automatic driving vehicle MV automatically along the route. It can guide you to travel.
  • the configuration of the control device 100 will be described with reference to FIG. 1 continuously.
  • the control device 100 is configured as a computer system having a CPU, a ROM, a RAM, and the like.
  • the control device 100 includes a receiver 110, a person determination unit 120, an authentication unit 130, and a control unit 140 as functional control blocks.
  • the control device 100 further includes an operation unit 150, a door state detection unit 160, a window opening degree detection unit 170, and a sheet state detection unit 180 as peripheral devices connected to the main body portion of the computer system. Have.
  • control device 100 configured as described above may be configured as a single computer system, a mode in which a plurality of computer systems operate in cooperation and the whole functions as the control device 100. It may be In addition, a part or all of the control device 100 is installed at a position different from that of the autonomous driving vehicle MV, and controls the autonomous driving of the autonomous driving vehicle MV by communicating with the autonomous driving vehicle MV. It is also good.
  • the receiving unit 110 is a part configured as a communication interface with the outside.
  • the receiving unit 110 receives an external start signal transmitted from the external device 30.
  • the external reception signal is a signal for causing the autonomous driving vehicle MV to start the autonomous driving.
  • an external start signal is transmitted from the external device 30.
  • the control device 100 performs processing for causing the autonomous driving vehicle MV to start the autonomous driving. Even when the receiving unit 110 receives the external start signal, the control device 100 may not start the automatic operation. This will be described later.
  • the person determination unit 120 is a portion that determines whether or not a person is present in the compartment of the autonomous driving vehicle MV.
  • the person determination unit 120 determines whether or not a person is present in the vehicle compartment based on the information transmitted from the person detection unit 11 described above, that is, the thermal image of the vehicle interior. Note that the human detection unit 11 may perform the determination until the presence of a person, and the human detection unit 11 may receive the result of the determination.
  • the authentication unit 130 is a part that confirms that the user (that is, the person existing in the vehicle compartment) who got on the autonomous driving vehicle MV is a specific person.
  • the authentication unit 130 performs the above confirmation by receiving the information transmitted from the authentication device 12 described above, that is, the result of the authentication process.
  • the authentication unit 130 may be configured as a part that only receives the result of the authentication process performed in the authentication device 12, and based on the information transmitted from the authentication device 12 (for example, information of a license) You may be comprised as a part which performs an authentication process.
  • the control unit 140 is a unit that performs processing necessary for automatic operation.
  • the control unit 140 controls the driving force and controls the electric power steering device 14 and the electric brake device 15 based on the analysis result of the image obtained by the on-vehicle camera 13 and the information obtained from the navigation system. Thus, the automatic driving of the automatically driven vehicle MV is performed.
  • the operation unit 150 is a part that receives an operation by the user.
  • the above operation is an operation for causing the autonomous driving vehicle MV to start the autonomous driving.
  • the operation unit 150 is provided in the vehicle compartment. When the user in the vehicle cabin wants to start the automatic driving, the user operates the operation unit 150 instead of the external device 30.
  • the “operation for starting the automatic driving” is an operation such that control related to driving, steering, and braking of the automatically driven vehicle MV is actually started if the operation is performed. For this reason, for example, an operation only for setting the target value in the navigation system 16 is not included in the above operation.
  • the operation unit 150 is a push button type switch in the present embodiment.
  • the operation unit 150 may be a ten-key button for allowing the user to input a predetermined number in accordance with voice guidance.
  • the operation unit 150 may be a microphone that receives a voice emitted by the user. In this case, the control device 100 starts automatic driving by recognizing the voice input to the operation unit 150.
  • the operation unit 150 may be one of the modes as described above, or may be a combination of a plurality of modes. For example, with the configuration in which both the push button type switch and the microphone for receiving voice are included in the operation unit 150, the automatic operation is started only when both operations are performed. Mode may be used.
  • the operation performed on the operation unit 150 to start the automatic driving is a difficult operation for infants, dementia patients, and the like.
  • the operation unit 150 is configured such that a person outside the autonomous driving vehicle MV can not perform at least a part of the operation. That is, in a state where the user is not boarding the automatic driving vehicle MV, for example, the user can operate the operation unit 150 by putting his hand from the gap of the window glass 18 which is empty, thereby starting automatic driving. It is gone.
  • Such an operation unit 150 for example, a configuration in which a push button type switch is installed at a position far from the door 17, such as near a center console or under a seat, can be mentioned. Further, there is a configuration in which the operation to the operation unit 150 is accepted only when the seat belt of the seat is attached and the weight sensor of the seat detects a weight. Furthermore, there is a configuration in which the microphone for receiving voice is a directional microphone, and the microphone is installed so as to be able to receive only the voice emitted in the vehicle compartment.
  • the door state detection unit 160 is a sensor for detecting the open / close state of the door 17 provided in the autonomous driving vehicle MV.
  • the door state detection unit 160 is arranged to be able to detect the open / close state of each door 17.
  • the detection state of each door 17 detected by the door state detection unit 160 is transmitted to the control device 100.
  • the window opening degree detection unit 170 is a sensor for detecting the opening degree of the window glass 18 provided in each door 17.
  • the window opening degree detection unit 170 is arranged to be able to detect the opening degree of each window glass 18.
  • the opening degree of each window glass 18 detected by the window opening degree detection unit 170 is transmitted to the control device 100.
  • the seat state detection unit 180 is a sensor for detecting the presence of a person in the child seat 19.
  • the seat state detection unit 180 according to the present embodiment is a weight sensor provided on the child seat 19.
  • the seat state detection unit 180 detects the object as a person (specifically, a baby).
  • the presence or absence of a person detected by the sheet state detection unit 180 is transmitted to the control device 100.
  • the seat state detection unit 180 which is a weight sensor, may be provided in a seat on which the child seat 19 is mounted instead of being provided in the child seat 19.
  • the seat state detection unit 180 detects the presence of a person in the child seat 19 based on a value obtained by subtracting the weight of the child seat 19 from the weight measured by the weight sensor.
  • the sheet state detection unit 180 may be configured as a temperature sensor instead of a weight sensor.
  • control device 100 prevents the automatic driving from being started in a situation where only the baby and the like are present in the vehicle compartment by performing the process described below.
  • step S01 of the process it is determined whether or not a person is present in the vehicle compartment. The determination is performed by the person determination unit 120. If it is determined that there is a person in the vehicle compartment, the process proceeds to step S02.
  • step S02 processing is performed to shift to a mode for rejecting the start of automatic driving from the outside. After that, even if the receiving unit 110 receives the external start signal transmitted from the external device 30, the control unit 140 does not start the automatic operation. For this reason, in order for the user to start the automatic driving, it is necessary to perform the operation on the operation unit 150 in the vehicle cabin while the user is on the automatic driving vehicle MV.
  • step S03 an authentication process by the authentication unit 130 is performed. If the result of the authentication process is OK, that is, if it is confirmed that the user on the autonomous driving vehicle MV is a specific person, the process proceeds to step S04. If the result of the authentication process is NG, that is, if it is not possible to confirm that the user on the autonomous driving vehicle MV is a specific person, the series of processes shown in FIG. 2 are ended. Note that the process may always shift from step S02 to step S04 without passing through the process of step S03.
  • step S04 it is determined whether or not the user has performed an operation on operation unit 150, that is, an operation for starting the automatic operation.
  • an operation on the operation unit 150 is not performed, the series of processes shown in FIG. 2 are ended.
  • the process proceeds to step S05.
  • step S05 the control unit 140 performs processing to start the automatic operation. After that, the automatic operation by the control unit 140 is performed.
  • step S01 If it is determined in step S01 that there is no person in the vehicle compartment, the process proceeds to step S06.
  • step S06 a process of shifting to a mode for permitting the start of automatic driving from the outside is performed. Thereafter, when the reception unit 110 receives the external start signal transmitted from the external device 30, the control unit 140 starts the automatic operation.
  • step S07 it is determined whether the receiving unit 110 has received an external start signal.
  • the process proceeds to step S05. After that, as described above, the automatic operation by the control unit 140 is performed.
  • step S07 when the receiving unit 110 does not receive the external start signal, the series of processes shown in FIG. 2 are ended.
  • the control unit 140 when it is determined by the person determination unit 120 that there is a person in the vehicle compartment, the control unit 140 performs the automatic operation even if the reception unit 110 receives the external start signal. Not start. That is, the automatic driving is started based on the external start signal from the external device 30 only when there is no person in the vehicle compartment. Therefore, it is possible to reliably prevent a situation where the automatic driving is started by the operation of the user who is outside the vehicle in the situation where the baby etc. exist in the vehicle interior.
  • the control unit 140 when it is determined by the person determination unit 120 that there is a person in the vehicle compartment, the control unit 140 starts the automatic operation only when the operation unit 150 is operated. Therefore, the automatic driving is started only when there is a person who can perform the operation on the operation unit 150 by his own judgment (that is, a person who is not an infant or a patient with dementia or the like) in the vehicle compartment. With such a configuration, it is possible to prevent more reliably the situation where the automatic driving is started by the operation of the user who is outside the vehicle.
  • the operation unit 150 is configured such that a person outside the autonomous driving vehicle MV can not perform at least a part of the operation. As a result, it is possible to prevent a user who is outside the vehicle from stretching the arm from the door 17 toward the vehicle interior and operating the operation unit 150 to start the automatic operation.
  • the second embodiment will be described with reference to FIG.
  • the present embodiment is different from the first embodiment (FIG. 2) only in the aspect of the process performed by the control device 100, and the other is the same as the first embodiment.
  • the series of processes shown in FIG. 3 are repeatedly executed by the control device 100, instead of the series of processes shown in FIG.
  • the said process is what added step S11 and step S12 to the series of processes shown by FIG.
  • differences from the first embodiment will be mainly described, and descriptions of points in common with the first embodiment will be omitted as appropriate.
  • step S11 it is determined whether the door 17 is in the closed state. The said determination is performed based on the detection result of the door state detection part 160. FIG. If the door 17 is in the closed state, the process proceeds to step S05.
  • the door 17 is not in the closed state, that is, when the door 17 is in the open state, the series of processes shown in FIG. 3 are ended without starting the automatic operation. In this case, the user of the vehicle interior may be notified by voice or the like that the automatic driving can not be started because the door 17 is open.
  • step S07 when the receiving unit 110 receives the external start signal, the process proceeds to step S12.
  • step S12 it is determined whether the door 17 is in the closed state. The said determination is performed based on the detection result of the door state detection part 160. FIG. If the door 17 is in the closed state, the process proceeds to step S05. On the other hand, when the door 17 is not in the closed state, that is, when the door 17 is in the open state, the series of processes shown in FIG. 3 are ended without starting the automatic operation.
  • the control unit is detected when the door state detection unit 160 detects that the door 17 is in the open state. 140 does not start the automatic operation. As a result, the user outside the vehicle compartment is more reliably prevented from starting the automatic operation by extending the arm from the door 17 toward the vehicle compartment and operating the operation unit 150.
  • the door state detection unit 160 detects that the door 17 is in the open state. Again, the control unit 140 does not start the automatic operation. This prevents a situation where the autonomous driving vehicle MV starts to travel with the door 17 open.
  • the third embodiment will be described with reference to FIG.
  • the present embodiment is different from the second embodiment (FIG. 3) only in the aspect of the process performed by the control device 100, and the other is the same as the second embodiment.
  • the series of processes shown in FIG. 4 are repeatedly executed by the control device 100, instead of the series of processes shown in FIG.
  • the said process adds step S13 to a series of processes shown by FIG.
  • differences from the second embodiment will be mainly described, and descriptions of points in common with the second embodiment will be omitted as appropriate.
  • step S13 it is determined whether the opening degree of the window glass 18 is equal to or less than a predetermined opening degree. The said determination is performed based on the detection result of the window opening degree detection part 170. FIG. If the opening degree of the window glass 18 is equal to or less than the predetermined opening degree, the process proceeds to step S05. On the other hand, when the opening degree of the window glass 18 is larger than the predetermined opening degree, the series of processes shown in FIG. 4 are ended without starting the automatic operation.
  • predetermined opening degree is an opening degree set in advance as an opening degree to which the user outside the vehicle exterior can not operate the operation unit 150 through the gap of the window glass 18. For this reason, it is preferable that the predetermined opening degree be appropriately set based on the mode and the position of the operation unit 150. For example, in the case where a microphone for detecting the sound in the vehicle compartment is used as the operation unit 150, “full closure” is set as the predetermined opening degree so that the sound from the outside does not reach the microphone in the vehicle compartment. It becomes.
  • the operation that can not be performed when the opening degree of the window glass 18 is equal to or less than the predetermined opening degree may be all the operations performed on the operation unit 150, but in order to start the automatic operation. It may be only part of a plurality of operations required for In any case, it is sufficient that the user outside can not operate the operation unit 150 from the gap of the window glass 18 to start the automatic operation.
  • the window opening degree detection unit If the opening degree of the window glass 18 detected by 170 is larger than the predetermined opening degree, the control unit 140 does not start the automatic operation. As a result, it is reliably prevented that the user who is outside operates the operation unit 150 from the gap of the window glass 18 to start the automatic operation.
  • the fourth embodiment will be described with reference to FIG.
  • the present embodiment is different from the first embodiment (FIG. 2) only in the aspect of the process performed by the control device 100, and the other is the same as the first embodiment.
  • the series of processes shown in FIG. 5 is performed after at least one operation to the operation unit 150 is performed and the automatic operation is started, that is, in a period after step S05 in FIG. 2 is performed. Is a process that is repeatedly executed.
  • step S21 it is determined whether the door 17 is in the open state. The said determination is performed based on the detection result of the door state detection part 160. FIG. If the door 17 is not open, that is, if the door 17 is closed, the series of processes shown in FIG. 5 is ended. On the other hand, when the door 17 is in the open state, the process proceeds to step S22.
  • step S22 a process for automatic evacuation travel is performed.
  • the automatic evacuation travel is processing for stopping the automatically driven vehicle MV in motion at a safe place.
  • the state in which such automatic evacuation travel is performed can also be referred to as a state in which the automatic driving is restricted.
  • the control unit 140 automatically performs the operation. Restrict driving.
  • the control unit 140 automatically performs the operation. Restrict driving.
  • Restrict driving For example, in a case where only an adult occupant opens the door 17 and gets off the automatically driven vehicle MV after the automatic driving is started with the infant and adult occupants placed in the vehicle compartment, It is possible to prevent a situation in which automatic driving is continued with only infants placed.
  • the fifth embodiment will be described with reference to FIG.
  • the present embodiment is different from the first embodiment (FIG. 2) only in the aspect of the process performed by the control device 100, and the other is the same as the first embodiment.
  • the series of processes shown in FIG. 6 are repeatedly executed by the control device 100, instead of the series of processes shown in FIG.
  • the said process is what added step S31, S32, S33 to the series of processes shown by FIG.
  • differences from the first embodiment will be mainly described, and descriptions of points in common with the first embodiment will be omitted as appropriate.
  • step S31 which is performed prior to step S01, it is determined whether or not a person is present in the child seat 19. The determination is performed based on the detection result of the sheet state detection unit 180. When it is determined that there is no person in the child seat 19, the process proceeds to step S01. If it is determined that there is a person in the child seat 19, the process proceeds to step S32.
  • step S32 it is determined whether there is any other person in the vehicle compartment, that is, if there is another person in the vehicle compartment than the person sitting on the child seat 19. The determination is performed by the person determination unit 120 based on the detection result of the person detection unit 11. If it is determined that another person is present in the vehicle compartment, the process proceeds to step S02. On the other hand, if it is determined that no other person is present in the vehicle compartment, that is, if it is determined that only the baby sitting on the child seat 19 is present in the vehicle compartment, the process proceeds to step S33. . In step S33, execution of the automatic operation thereafter is prohibited. Thereafter, the series of processes shown in FIG. 6 are ended.
  • the seat state detection unit 180 detects that a person is present in the child seat 19 and the person determination unit 120 determines that no other person is present in the vehicle interior.
  • the control unit 140 does not start the automatic driving process. Specifically, the control unit 140 does not start the automatic operation in any of the case where the reception unit 110 receives the external start signal and the case where the operation unit 150 is operated.
  • control is performed to more reliably prevent automatic driving from being started in a situation where only an infant is present in the vehicle compartment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Health & Medical Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Child & Adolescent Psychology (AREA)
  • Health & Medical Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
PCT/JP2018/019021 2017-06-30 2018-05-17 制御装置 Ceased WO2019003690A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880043744.8A CN110832566A (zh) 2017-06-30 2018-05-17 控制装置
US16/729,992 US11348346B2 (en) 2017-06-30 2019-12-30 Control apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017128308A JP6819486B2 (ja) 2017-06-30 2017-06-30 制御装置
JP2017-128308 2017-06-30

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/729,992 Continuation US11348346B2 (en) 2017-06-30 2019-12-30 Control apparatus

Publications (1)

Publication Number Publication Date
WO2019003690A1 true WO2019003690A1 (ja) 2019-01-03

Family

ID=64741379

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/019021 Ceased WO2019003690A1 (ja) 2017-06-30 2018-05-17 制御装置

Country Status (4)

Country Link
US (1) US11348346B2 (enExample)
JP (1) JP6819486B2 (enExample)
CN (1) CN110832566A (enExample)
WO (1) WO2019003690A1 (enExample)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112700658B (zh) * 2019-10-22 2023-02-03 奥迪股份公司 用于车辆的图像分享的系统及相应的方法和存储介质
JP7661828B2 (ja) * 2021-08-25 2025-04-15 トヨタ自動車株式会社 運転引継ぎシステム、運転引継ぎ方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63301172A (ja) * 1987-05-29 1988-12-08 Kubota Ltd 遠隔操縦式作業車の走行制御装置
JPH106809A (ja) * 1996-06-20 1998-01-13 Omron Corp 自動車運転操作禁止装置
JPH1025961A (ja) * 1996-07-12 1998-01-27 Harness Sogo Gijutsu Kenkyusho:Kk パワーウインドウ閉め忘れ防止装置
JP2006306233A (ja) * 2005-04-27 2006-11-09 Nippon Soken Inc 駐車位置調整システム
WO2011101951A1 (ja) * 2010-02-16 2011-08-25 トヨタ自動車株式会社 車両遠隔操作システム及び車載機
WO2012104964A1 (ja) * 2011-01-31 2012-08-09 トヨタ自動車株式会社 車両制御装置
US20150226146A1 (en) * 2014-02-07 2015-08-13 Ford Global Technologies, Llc Walk-away vehicle shutdown
JP2016215751A (ja) * 2015-05-18 2016-12-22 株式会社デンソー 自動走行制御装置、又は、自動走行制御システム
WO2017093196A1 (en) * 2015-12-04 2017-06-08 Valeo Schalter Und Sensoren Gmbh Method for autonomously parking a motor vehicle with interior monitoring, driver assistance system as well as motor vehicle

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1916163B1 (en) * 2005-08-18 2013-05-01 Kabushiki Kaisha Tokai-Rika-Denki-Seisakusho Vehicle control device
JP4466699B2 (ja) * 2007-09-05 2010-05-26 アイシン精機株式会社 駐車支援装置
DE102012007836A1 (de) * 2012-04-19 2013-10-24 Audi Ag Kraftwagen mit automatisch abschaltender Antriebseinrichtung bei Verlassen des Kraftwagens sowie entsprechendes Betriebsverfahren für den Kraftwagen
US8849487B2 (en) * 2012-06-07 2014-09-30 Ford Global Technologies, Llc Utilization of vehicle portal states to assess interior comfort and adjust vehicle operation to provide additional fuel economy
DE102012024872A1 (de) * 2012-12-19 2014-06-26 Audi Ag Funkschlüssel für ein Fahrzeug
KR20150042383A (ko) * 2013-10-11 2015-04-21 민기천 안전감지장치를 갖는 어린이 수송차량
CN111524332A (zh) * 2013-10-25 2020-08-11 英特尔公司 对车载环境条件做出响应
JP2016095559A (ja) 2014-11-12 2016-05-26 パナソニックＩｐマネジメント株式会社 車両遠隔操作システム、自動運転処理装置及び遠隔操作装置
JP2016168883A (ja) * 2015-03-11 2016-09-23 株式会社クボタ 作業車両
CN105898232A (zh) * 2016-05-24 2016-08-24 浙江吉利汽车研究院有限公司 车辆内部安全监控系统及其监控方法
US20180056988A1 (en) * 2016-08-23 2018-03-01 Ford Global Technologies, Llc Vehicle remote starter safety system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63301172A (ja) * 1987-05-29 1988-12-08 Kubota Ltd 遠隔操縦式作業車の走行制御装置
JPH106809A (ja) * 1996-06-20 1998-01-13 Omron Corp 自動車運転操作禁止装置
JPH1025961A (ja) * 1996-07-12 1998-01-27 Harness Sogo Gijutsu Kenkyusho:Kk パワーウインドウ閉め忘れ防止装置
JP2006306233A (ja) * 2005-04-27 2006-11-09 Nippon Soken Inc 駐車位置調整システム
WO2011101951A1 (ja) * 2010-02-16 2011-08-25 トヨタ自動車株式会社 車両遠隔操作システム及び車載機
WO2012104964A1 (ja) * 2011-01-31 2012-08-09 トヨタ自動車株式会社 車両制御装置
US20150226146A1 (en) * 2014-02-07 2015-08-13 Ford Global Technologies, Llc Walk-away vehicle shutdown
JP2016215751A (ja) * 2015-05-18 2016-12-22 株式会社デンソー 自動走行制御装置、又は、自動走行制御システム
WO2017093196A1 (en) * 2015-12-04 2017-06-08 Valeo Schalter Und Sensoren Gmbh Method for autonomously parking a motor vehicle with interior monitoring, driver assistance system as well as motor vehicle

Also Published As

Publication number Publication date
JP2019012386A (ja) 2019-01-24
JP6819486B2 (ja) 2021-01-27
US20200134335A1 (en) 2020-04-30
CN110832566A (zh) 2020-02-21
US11348346B2 (en) 2022-05-31

Similar Documents

Publication Publication Date Title
CN110481497B (zh) 车辆防盗装置
CN103879403B (zh) 车辆远程操作装置
JP5704178B2 (ja) 車両制御装置
JP4985164B2 (ja) 駐車支援装置および駐車支援装置用のプログラム
JP2008158578A (ja) 車両の降車安全装置及び車両の安全降車方法
JP2011141854A (ja) 自動駐車装置
CN108791157A (zh) 检测和通知车中存在无意留下的乘客的汽车电子控制系统
JP6855235B2 (ja) 自動車用運転操作装置及び自動車用運転操作方法
US11572732B2 (en) Vehicle control device, vehicle control method, and recording medium
JP2008296777A (ja) 車両用開閉制御装置
JP6683115B2 (ja) 車両の乗員脱出支援装置、および車両
JP6518965B2 (ja) 装置及びプログラム。
CN112141132A (zh) 自动驾驶车辆
WO2019003690A1 (ja) 制御装置
JP2008239071A (ja) 運転管理装置
JP2018065488A (ja) 自動運転装置
JP5666066B2 (ja) 車載用ナビゲーション装置
JP6276887B1 (ja) 車両用シートベルト装置の自動解除装置
JP2021146743A (ja) 車両運転支援装置、車両運転支援システム
JP2008290496A (ja) 運転制御装置
KR20150022030A (ko) 홀 센서를 이용한 파워 트렁크 또는 파워 테일게이트 제어 장치 및 방법
JP2009074325A (ja) パワーウィンドウ装置
JP6599688B2 (ja) ロックシステム
JP5625789B2 (ja) キーレスエントリーシステム
WO2025089264A1 (ja) 駐車支援装置、駐車支援方法、および駐車支援プログラム

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: 18823731

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18823731

Country of ref document: EP

Kind code of ref document: A1