WO2019073742A1 - Method for automated selection and determination of filling, autogas filling, or charging station when refueling, autogas refueling, or recharging is required during automated driving - Google Patents
Method for automated selection and determination of filling, autogas filling, or charging station when refueling, autogas refueling, or recharging is required during automated driving Download PDFInfo
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- WO2019073742A1 WO2019073742A1 PCT/JP2018/033875 JP2018033875W WO2019073742A1 WO 2019073742 A1 WO2019073742 A1 WO 2019073742A1 JP 2018033875 W JP2018033875 W JP 2018033875W WO 2019073742 A1 WO2019073742 A1 WO 2019073742A1
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- fuel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
Definitions
- the present invention is an automatic driving system, automatic driving artificial intelligence, automatic, which realizes automatic selection of fueling, gas filling, or gas filling, or gas filling, or charging place in advanced automatic operation or fully automatic operation.
- automatic driving artificial intelligence automatic
- Vehicles with advanced autonomous driving or fully automated driving (cars, commercial vehicles, vehicles with one or more power including a truck), or no wheels or one or more floaters, refueling without human intervention during automatic driving or Determine the situation where gas filling or charging is necessary, determine which refueling site, gas filling site, or charging site meets any conditions and is the optimal route to the destination, and an autonomous driving device, Or to issue an instruction to the automatic operation program.
- the refueling site, the gas-filled site, and the charging site include a gas station, a gas station such as hydrogen and propane gas, and a charging station, respectively.
- the remaining travelable distance is calculated from the fuel remaining amount or the battery remaining amount, or travelable distance information is obtained from the travel distance calculation device, and any conditions such as refueling, gas filling, or charging contract object are satisfied.
- a route which minimizes the direction of the destination and the detour distance to the destination is derived from the map information and the position information such as GPS, and delivered to the automatic driving device.
- the charging site includes a charging facility and a power feeding method embedded in the road.
- the present invention can also be implemented as a program that can be used in an autonomous driving device or an autonomous driving computer device. Therefore, the present invention can take an embodiment as hardware, an embodiment as software, or an embodiment of a combination of software and hardware.
- the program can be recorded on any computer readable medium such as a hard disk, a CD-ROM, an optical storage device or a magnetic storage device, and a semiconductor storage device.
- An automatic driving apparatus and an automatic driving computer that can be used in the embodiments include a central processing unit (CPU), a main storage unit (main memory: RAM), a non-volatile storage unit (ROM), a coprocessor, an image accelerator, and a cache.
- the memory, the input / output control unit (I / O), etc. are generally provided with an autonomous driver or hardware resources equivalent to or part of the computer system.
- an external storage device such as a hard disk drive and communication means connectable to a network such as the Internet can be provided.
- the automatic driving apparatus or the automatic driving computer includes various types of computers such as an automatic driving dedicated system, personal computers, workstations, mainframe computers, tablet computers, and various portable information terminals such as smart phones.
- FIG. 1 is a conceptual diagram showing an example of a function of selecting a refueling place, a gas-filled place, and a charging place, which is a function of an automatic driving apparatus according to an embodiment of the present invention.
- Remaining fuel / charge remaining amount acquisition unit (001), location information / destination information acquisition unit (002), map information acquisition / high / low difference information acquisition unit (003), arbitrary information acquisition / condition confirmation unit (004) in FIG. A gas supply place / gas filling place / charge place determination unit (005), an automatic driving device, and a navigation system instruction unit (0006).
- FIG. 1 is a conceptual diagram showing an example of a function of selecting a refueling place, a gas-filled place, and a charging place, which is a function of an automatic driving apparatus according to an embodiment of the present invention.
- Remaining fuel / charge remaining amount acquisition unit (001), location information / destination information acquisition unit (002), map information acquisition / high / low difference information acquisition unit (003), arbitrary information acquisition / condition confirmation unit (004) in FIG. A gas supply place / gas filling place / charge place determination unit (005), an automatic driving device, and a navigation system instruction unit (0006).
- the map and elevation difference information can be acquired from the map information acquisition / height difference information acquisition unit (003), the fuel consumption (power cost) for each condition such as going up or down is obtained or calculated.
- the position information / destination information acquisition unit (002) acquires the position of a car from a position measurement device such as GPS.
- the destination acquires destination information set in an automatic driving device or a car navigation system.
- Map information acquisition / height difference information acquisition unit (003) acquires map information of potential refuelable places, candidate of chargeable places, route information to the current destination from the internet or computerized map, navigation system, etc. Do.
- elevation difference information is acquired in addition to the map information. All the acquired information is delivered to the refueling site, gas filling site, charging site determination unit (005).
- the optional information acquisition / condition confirmation unit (004) acquires / confirms the condition by the owner of the car or the like.
- Arbitrary fuel supply sources (petroleum companies, gas companies, etc.), charging electricity supply sources (power receiving equipment supply companies, etc.), no choice, etc. have already been set as options for refueling sites, gas filling sites, and charging sites. Or get in real time.
- FIG. 2 describes the flow of information centered on the refueling / gas-filling-place / charging-place determination unit and the flow of determining the refueling / gas-filling / charging place based on the information.
- the fueling place / gas filling place / charging place determination unit (005) acquires the fuel consumption (electric cost) for each condition up to the present time from the traveling distance, time, fuel residual material, and charge remaining amount acquiring unit (001).
- the current location and the destination are acquired from the position information / destination information acquisition unit (0012).
- the map information acquisition / height difference information acquisition unit (003) From the map information acquisition / height difference information acquisition unit (003), the fueling site, the gas filling site, the charging site candidate, the destination route, and the height difference information are acquired.
- information acquisition / condition check unit (004) information such as fuel supply source, electricity supply source, non-selected information, fuel, electricity charge acquisition supply company priority, price priority, bypass distance priority, other optional condition priority etc Get order information.
- the travelable distance calculation from the fuel or the remaining charge is calculated.
- the minimum travelable distance is calculated from (distance, uphill, downhill, curve, flat ground, etc.).
- the fuel consumption (power cost) under the more severe conditions of the close values is used to determine the minimum travelable distance. If the predicted value of the fuel (charge amount) remaining amount after reaching the destination using the above-described fuel consumption (power cost) is larger than a value set arbitrarily, it is determined that refueling (charging) is unnecessary. However, the remaining amount is equal to or more than the remaining amount that can be traveled from the destination to the distance from the fuel supply to the chargeable place. If the remaining fuel amount and the predicted remaining amount of charge amount are smaller than the arbitrarily set values when reaching the destination, it is determined that refueling, gas filling, and charging are necessary.
- the notification that the fueling, gas filling, or charging is necessary is given to the passenger. Do.
- switch the non-automatic operation Ask the passenger whether or not to do it. If the passenger responds as possible, switch to non-automatic operation.
- confirmation such as the presence or absence of a driver's license, and prior setting, etc., require separate settings.
Abstract
The present invention achieves a function wherein an automated driving vehicle (a powered vehicle with one or more wheels such as a passenger car, a commercial vehicle, or a truck) or a floating vehicle that is wheel-less or has at least one wheel determines the need for refueling, autogas refueling, or charging during automated driving and selects a filling or charging station without human intervention. The function checks the remaining fuel or battery charge, calculates the remaining drivable distance or acquires drivable distance information from a driving distance calculation device, derives a route from map information and GPS information under given conditions such as the destination direction and minimizing of detour distance, and hands over the route to an automated driving device, an automated driving program, or a navigation system. The invention also prevents non-drivability due to lack of fuel or charge during automated driving by having information provided via a network from each filling, autogas filling, and charging station on whether refueling, autogas refueling, and recharging is possible at each station so as to prevent selection of a facility where refueling, autogas refueling, or recharging is unavailable.
Description
本発明は、高度自動運転または完全自動運転における給油、またはガス充てん、または充電必要時の給油地、またはガス充てん地、または充電地の自動選択を実現する自動運転システム、自動運転人工知能、自動運転プログラムに適用して有効な技術に関する
The present invention is an automatic driving system, automatic driving artificial intelligence, automatic, which realizes automatic selection of fueling, gas filling, or gas filling, or gas filling, or charging place in advanced automatic operation or fully automatic operation. Related to effective technology applied to driving program
現在の車の自動運転や従来の車の給油、ガス充てん、充電必要時の給油、ガス充てん地、充電地の選択は、人の判断によってなされており、自動運転が実現されても、給油・充電に対する意思決定は不可能であった。高度自動運転または完全自動運転の実現の為には、人が乗車しない場合つまりは無人運転、あるいは乗車しても運転を行わない場合における給油、ガス充てん、充電に対処する必要があるが、このような解決方法は存在しなかった。
Automatic operation of the current car and conventional car fueling, gas filling, fueling when charging is required, gas filling site, charging site selection is made by human judgment, and even if automatic driving is realized, It was impossible to make a decision on charging. In order to realize advanced automatic operation or fully automatic operation, it is necessary to cope with refueling, gas filling, and charging in the case where a person does not get in, that is, unmanned operation or in the case where operation is not performed even if a person gets on. There was no such solution.
高度自動運転または完全自動運転による車（乗用車、商用車、トラックを含む１輪以上の動力を持つ車）、または無輪または1輪以上の浮揚車が、自動運転時に人の介在無しに給油またはガス充てん、または充電が必要な状況を判断し、どの給油地、またはガス充てん地、または充電地が、任意の条件を満たし、かつ目的地への最適な経路かを判断し、自動運転装置、または自動運転プログラムに指示を出すことを実現する。給油地、ガス充てん地、充電地は、それぞれガソリンスタンド、水素・プロパンガス等のガススタンド、充電スタンド等を含む。
Vehicles with advanced autonomous driving or fully automated driving (cars, commercial vehicles, vehicles with one or more power including a truck), or no wheels or one or more floaters, refueling without human intervention during automatic driving or Determine the situation where gas filling or charging is necessary, determine which refueling site, gas filling site, or charging site meets any conditions and is the optimal route to the destination, and an autonomous driving device, Or to issue an instruction to the automatic operation program. The refueling site, the gas-filled site, and the charging site include a gas station, a gas station such as hydrogen and propane gas, and a charging station, respectively.
本願の発明の概略を説明すれば、以下のとおりである。すなわち本発明は、本発明は、高度自動運転（レベル4）から完全自動運転（レベル５）の人が運転に介在しないでも自走可能な自動運転技術において、無人運転や人による運転操作がないときに燃料不足または、充電量不足（蓄電池における充電容量不足時）になった場合、または任意に設定した残量以下になった場合に、目的地から給油地、ガス充てん地または充電地を一時的な目的地（経由地）になるように自動運転装置（プログラム等）または自動運転装置が使用するナビゲーションシステムに指示を出すことにある。
The outline of the invention of the present application will be described as follows. That is, according to the present invention, there is no unmanned operation or operation by a person in an automatic operation technology capable of self-propelled operation without human intervention in advanced automatic operation (level 4) to completely automatic operation (level 5). When there is a shortage of fuel or a shortage of charge (when the charge capacity of the storage battery is insufficient), or if it falls below the level you set at any time, it will temporarily fill the gas filling site or gas filling site from the destination. It is to issue an instruction to an automatic driving device (program or the like) or a navigation system used by the automatic driving device so as to be a typical destination (a transit point).
燃料残量または電池残量から、残りの走行距離可能距離を演算し、または走行距離演算装置から走行可能距離情報を取得し、給油、またはガス充てん、または充電の契約対象など任意の条件を満たしつつ目的地の方向かつ目的地への迂回距離を最短にする経路を地図情報且つGPSなどの位置情報から導き出し、自動運転装置に受け渡す。 充電地は、充電施設や道路に埋め込んだ給電方法などを含む。
The remaining travelable distance is calculated from the fuel remaining amount or the battery remaining amount, or travelable distance information is obtained from the travel distance calculation device, and any conditions such as refueling, gas filling, or charging contract object are satisfied. At the same time, a route which minimizes the direction of the destination and the detour distance to the destination is derived from the map information and the position information such as GPS, and delivered to the automatic driving device. The charging site includes a charging facility and a power feeding method embedded in the road.
以下、本発明の実施の形態を図面に基づいて詳細に説明する。ただし、本発明は多くの異なる態様で実施することが可能であり、本実施の形態の記載内容に限定して解釈すべきではない。なお、実施の形態の全体を通して同じ要素には同じ番号を付するものとする
Hereinafter, embodiments of the present invention will be described in detail based on the drawings. However, the present invention can be implemented in many different modes, and should not be construed as being limited to the description of the present embodiment. Note that the same elements are given the same numbers throughout the embodiment.
以下の実施の形態では、主に方法またはシステムについて説明するが、当業者であれば明らかなとおり、本発明は、自動運転装置または自動運転コンピュータ装置で使用可能なプログラムとしても実施できる。したがって、本発明は、ハードウェアとしての実施形態、ソフトウェアとしての実施形態またはソフトウェアとハードウェアとの組合せの実施形態をとることができる。プログラムは、ハードディスク、ＣＤ－ＲＯＭ、光記憶装置または磁気記憶装置、半導体記憶装置等の任意のコンピュータ可読媒体に記録できる。
In the following embodiments, the method or system will be mainly described, but as is apparent to those skilled in the art, the present invention can also be implemented as a program that can be used in an autonomous driving device or an autonomous driving computer device. Therefore, the present invention can take an embodiment as hardware, an embodiment as software, or an embodiment of a combination of software and hardware. The program can be recorded on any computer readable medium such as a hard disk, a CD-ROM, an optical storage device or a magnetic storage device, and a semiconductor storage device.
また以下の実施の形態では、一般的な自動車用コンピュータ、同マイコン、コンピュータシステムや専用半導体を用いることができる。実施の形態で用いることができる自動運転装置、自動運転コンピュータは、中央演算処理装置（ＣＰＵ）、主記憶装置（メインメモリ：ＲＡＭ）、不揮発性記憶装置（ＲＯＭ）、コプロセッサ、画像アクセラレータ、キャッシュメモリ、入出力制御装置（Ｉ／Ｏ）等、一般的に自動運転装置または、コンピュータシステムに備えられるハードウェア資源と同等又は一部を備える。また、ハードディスク装置等の外部記憶装置、インターネット等のネットワークに接続可能な通信手段を備えることができる。自動運転装置、または自動運転コンピュータには、自動運転専用システム、パーソナルコンピュータ、ワークステーション、メインフレームコンピュータ等各種のコンピュータやタブレットコンピュータ、スマートフォン等各種携帯情報端末が含まれる。
In the following embodiments, general automobile computers, microcomputers, computer systems and dedicated semiconductors can be used. An automatic driving apparatus and an automatic driving computer that can be used in the embodiments include a central processing unit (CPU), a main storage unit (main memory: RAM), a non-volatile storage unit (ROM), a coprocessor, an image accelerator, and a cache. The memory, the input / output control unit (I / O), etc. are generally provided with an autonomous driver or hardware resources equivalent to or part of the computer system. In addition, an external storage device such as a hard disk drive and communication means connectable to a network such as the Internet can be provided. The automatic driving apparatus or the automatic driving computer includes various types of computers such as an automatic driving dedicated system, personal computers, workstations, mainframe computers, tablet computers, and various portable information terminals such as smart phones.
図１は、本発明の実施の形態である自動運転装置の機能である、給油地、ガス充てん地、充電地の選択機能の一例を示した概念図である。図１の残燃料・充電残量取得部（００１）、位置情報・目的地情報取得部（００２）、地図情報取得・高低差情報取得部（００３）、任意情報取得・条件確認部（００４）、給油地・ガス充てん地・充電地決定部（００５）、自動運転装置、ナビゲーションシステム指示部（０００６）を含む。
FIG. 1 is a conceptual diagram showing an example of a function of selecting a refueling place, a gas-filled place, and a charging place, which is a function of an automatic driving apparatus according to an embodiment of the present invention. Remaining fuel / charge remaining amount acquisition unit (001), location information / destination information acquisition unit (002), map information acquisition / high / low difference information acquisition unit (003), arbitrary information acquisition / condition confirmation unit (004) in FIG. , A gas supply place / gas filling place / charge place determination unit (005), an automatic driving device, and a navigation system instruction unit (0006).
図１は、本発明の実施の形態である自動運転装置の機能である、給油地、ガス充てん地、充電地の選択機能の一例を示した概念図である。図１の残燃料・充電残量取得部（００１）、位置情報・目的地情報取得部（００２）、地図情報取得・高低差情報取得部（００３）、任意情報取得・条件確認部（００４）、給油地・ガス充てん地・充電地決定部（００５）、自動運転装置、ナビゲーションシステム指示部（０００６）を含む。
FIG. 1 is a conceptual diagram showing an example of a function of selecting a refueling place, a gas-filled place, and a charging place, which is a function of an automatic driving apparatus according to an embodiment of the present invention. Remaining fuel / charge remaining amount acquisition unit (001), location information / destination information acquisition unit (002), map information acquisition / high / low difference information acquisition unit (003), arbitrary information acquisition / condition confirmation unit (004) in FIG. , A gas supply place / gas filling place / charge place determination unit (005), an automatic driving device, and a navigation system instruction unit (0006).
走行距離・時間・燃料残量・充電残量取得部（００１）は、走行距離・時間と燃料計・電池残量計算回路等から距離・時間当たりの使用量（燃費または電費とする）および燃料（または電池）残量を取得、または走行距離、時間、使用燃料（また電力消費量）から計算し距離・時間当たりの使用量および残量を求める。また地図情報取得・高低差情報取得部（００３）から地図、高低差情報が取得できる場合は、上り、下り等の条件毎の燃費（電費）を取得または計算し求める。位置情報・目的地情報取得部（００２）は、ＧＰＳなどの位置測定装置から車の位置を取得する。また目的地は、自動運転装置またはカーナビゲーション等に設定した目的地情報を取得する。地図情報取得・高低差情報取得部（００３）は、インターネットまたは、電子化した地図、ナビゲーションシステム等から、給油可能地候補、充電可能地候補の地図情報、現在の目的地までのルート情報を取得する。また地図、ナビゲーションシステム等に地図の高低差情報を持つ場合は、地図情報に加えて高低差情報を取得する。これらの取得した情報を全て、給油地・ガス充てん地・充電地決定部（００５）に受け渡す。
Travel distance · time · fuel residual amount · charge residual amount acquisition unit (001) from the travel distance · time and fuel gauge · battery residual amount calculation circuit etc. usage amount per distance · time (referred to as fuel efficiency or electricity cost) and fuel (Or battery) Get the remaining amount, or calculate from the distance traveled, time, fuel used (and power consumption) to find the amount used and remaining amount per distance · time. If the map and elevation difference information can be acquired from the map information acquisition / height difference information acquisition unit (003), the fuel consumption (power cost) for each condition such as going up or down is obtained or calculated. The position information / destination information acquisition unit (002) acquires the position of a car from a position measurement device such as GPS. In addition, the destination acquires destination information set in an automatic driving device or a car navigation system. Map information acquisition / height difference information acquisition unit (003) acquires map information of potential refuelable places, candidate of chargeable places, route information to the current destination from the internet or computerized map, navigation system, etc. Do. When the map, navigation system or the like has elevation difference information of the map, elevation difference information is acquired in addition to the map information. All the acquired information is delivered to the refueling site, gas filling site, charging site determination unit (005).
任意情報取得・条件確認部（００４）は、車の所有者等による条件を取得・確認する。（１）給油地、ガス充てん地、充電地の選択肢として任意の燃料供給元（石油会社、ガス会社等）や充電用電気供給元（受電設備供給会社等）、選択無しなど既に設定済みであるか、またはリアルタイムに取得する。（２）優先順位として、給油、ガス充てん、充電の選択肢の会社の選択を優先するか、燃油料金・ガス料金・電気料金の額が取得できる場合は、金額を優先するか、または給油地、ガス充てん地、充電地が目的地までのルート上にない場合の迂回距離を優先する等の任意の条件を給油地、ガス充てん地、充電地決定部（００５）に受け渡す。
The optional information acquisition / condition confirmation unit (004) acquires / confirms the condition by the owner of the car or the like. (1) Arbitrary fuel supply sources (petroleum companies, gas companies, etc.), charging electricity supply sources (power receiving equipment supply companies, etc.), no choice, etc. have already been set as options for refueling sites, gas filling sites, and charging sites. Or get in real time. (2) As a priority, give priority to the choice of the company of the option of refueling, gas filling, charging, or if the amount of fuel charges, gas charges, electricity charges can be obtained, prioritize the amount of money, or refueling sites, Pass any conditions such as priority to the gas-filled area and the detour distance when the charge area is not on the route to the destination to the refueling area, the gas-filled area and the charge area determination unit (005).
図２は、給油・ガス充てん地・充電地決定部を中心とした情報の流れと、その情報を元に判断し、給油・ガス充てん地・充電地を決定する流れを記述である。
FIG. 2 describes the flow of information centered on the refueling / gas-filling-place / charging-place determination unit and the flow of determining the refueling / gas-filling / charging place based on the information.
給油地・ガス充てん地・充電地決定部（００５）は、走行距離・時間・燃料残料・充電残量取得部（００１）から現在までの条件毎の燃費（電費）を取得する。位置情報・目的地情報取得部（００１２）からは、現在地と目的地を取得する。地図情報取得・高低差情報取得部（００３）からは、給油地、ガス充てん地、充電地候補、目的地ルート、高低差情報を取得する。任意情報取得・条件確認部（００４）からは、燃料供給元、電気供給元、選択無の情報、および燃料、電気料金取得供給会社優先、金額優先、迂回距離優先、その他任意条件優先等の優先順位情報を取得する。
The fueling place / gas filling place / charging place determination unit (005) acquires the fuel consumption (electric cost) for each condition up to the present time from the traveling distance, time, fuel residual material, and charge remaining amount acquiring unit (001). The current location and the destination are acquired from the position information / destination information acquisition unit (0012). From the map information acquisition / height difference information acquisition unit (003), the fueling site, the gas filling site, the charging site candidate, the destination route, and the height difference information are acquired. From the optional information acquisition / condition check unit (004), information such as fuel supply source, electricity supply source, non-selected information, fuel, electricity charge acquisition supply company priority, price priority, bypass distance priority, other optional condition priority etc Get order information.
走行済み経路（高低差）燃費（電費）から燃料または充電残量からの走行可能距離演算を求める。 走行済み経路からの距離情報、カーブ、高低差の両方又は一方と燃料(充電量）の単位時間当たりの増減（電気の場合は、回生ブレーキによる充電情報を加える）から距離、カーブ、登坂の傾斜、下り坂の傾斜、平地走行時の単位時間当たりの燃費（電費）を求める、あるいは演算回路他から取得した燃費（電費）と、現在の燃料（充電）残量と、目的地への経路情報（距離、登坂、下り坂、カーブ、平地等）から走行可能な最小距離（少なくとも走行可能な最小距離）を算出する。走行済み経路に一致するカーブ、傾斜による走行データがない場合は、近い値のうちのより条件の厳しい状況における燃費（電費）を使用し、走行可能な最小距離を求める。 前述の燃費（電費）を用い目的地到達後の燃料（充電量）残量予測値が任意に設定した値よりも多い場合は、給油（充電）を不要と判断する。 但し、残量は、目的地から燃料供給、充電可能地までの距離までの走行可能な残量以上とする。目的地到達時に燃料残量、充電量残量予測値が任意に設定した値よりも少ない場合、途中給油、ガス充てん、充電が必要と判断する。
From the traveled route (difference in height) fuel consumption (cost of electricity), the travelable distance calculation from the fuel or the remaining charge is calculated. Distance information from the route already traveled, curve, height difference or both and increase or decrease of fuel (charge amount) per unit time (in the case of electricity, charge information by regenerative brake is added) distance, curve, slope of slope Downhill slope, find the fuel consumption (power cost) per unit time when traveling on flat ground, or get the fuel cost (power cost) obtained from calculation circuits etc., current fuel (charge) remaining amount, and route information to the destination The minimum travelable distance (at least the minimum travelable distance) is calculated from (distance, uphill, downhill, curve, flat ground, etc.). If there is no traveling data corresponding to a traveled route or a curve corresponding to a traveled route, the fuel consumption (power cost) under the more severe conditions of the close values is used to determine the minimum travelable distance. If the predicted value of the fuel (charge amount) remaining amount after reaching the destination using the above-described fuel consumption (power cost) is larger than a value set arbitrarily, it is determined that refueling (charging) is unnecessary. However, the remaining amount is equal to or more than the remaining amount that can be traveled from the destination to the distance from the fuel supply to the chargeable place. If the remaining fuel amount and the predicted remaining amount of charge amount are smaller than the arbitrarily set values when reaching the destination, it is determined that refueling, gas filling, and charging are necessary.
給油、ガス充てん、充電が必要と判断した場合かつ搭乗者がいる場合かつ任意に搭乗者確認が必要である旨を設定する場合は、搭乗者に給油、ガス充てん、充電が必要である通知を行う。また給油、ガス充てん、充電が必要と判断した場合かつ搭乗者がいる場合かつ任意に搭乗者に給油地、ガス充てん地、充電地の選択権を与える設定をする場合は、非自動運転切り替えを行うかどうかの可否を搭乗者に確認する。搭乗者が可能と回答した場合は、非自動運転に切り替える。 ただし、運転免許証の有無などの確認や事前設定等は別途設定が必要となる。
If it is determined that refueling, gas filling, or charging is necessary, and if there is a passenger and if it is set that a passenger confirmation is optionally made, the notification that the fueling, gas filling, or charging is necessary is given to the passenger. Do. In addition, if it is determined that refueling, gas filling, charging is necessary, and if there is a passenger and if the setting is to optionally give the passenger the choice of the fueling site, the gas filling site, or the charging site, switch the non-automatic operation Ask the passenger whether or not to do it. If the passenger responds as possible, switch to non-automatic operation. However, confirmation such as the presence or absence of a driver's license, and prior setting, etc., require separate settings.
給油地、ガス充てん地、充電地が現在給油、ガス充てん・充電可能か否かの情報を提供可能な場合は、現在の場所から目的地方向の給油、ガス充てん、充電地に対して現在給油、ガス充てん、充電可能か否かの情報を要求し、結果を取得する。この情報を取得した場合は、給油、ガス充てん、充電地可能な給油地、ガス充てん地、充電地のうち任意情報取得・条件確認部からの任意条件に合致する条件にあう候補を選択する。取得できない場合は、任意情報取得・条件確認部からの任意条件に合致する条件にあう候補を選択する。
If it is possible to provide information on whether it is possible to refuel, gas-fill, charge or not, it is possible to refuel, gas-fill, or charge the current location to the destination from the current location, if it is possible to supply information. , Gas filling, request information on chargeability or not, get results. When this information is acquired, a candidate is selected which meets the condition that meets the optional condition from the optional information acquisition / condition check unit among the refueling site, the gas filling site, the charging site, the gas filling site and the charging site. If it can not be acquired, a candidate meeting the condition that meets the arbitrary condition from the arbitrary information acquisition / condition confirmation unit is selected.
選択した給油地、ガス充てん地、充電地を自動運転装置に指示、または自動運転装置の使用するカーナビゲーションに対して一時目的地として入力、設定する。
Instructs the automatic driving device of the selected fueling site, gas filling site, and charging site, or inputs and sets it as a temporary destination for car navigation used by the automatic driving device.
Claims (3)
- 高度自動運転または完全自動運転において、燃料残量、または電池残量から走行可能距離を演算、または走行距離演算装置から走行可能距離情報を取得し、走行可能距離内で任意の給油地、又はガス充てん地、又は充電地を選択し、自動運転装置又は自動運転コンピュータ装置に対し、行き先変更を指示する自動選択・判断プログラム、又は同プログラムを持つ装置、又は同プログラムを格納するメディア In advanced automatic driving or fully automatic driving, travelable distance is calculated from the remaining amount of fuel or battery, or travelable distance information is acquired from the travel distance computing device, and any fueling place or gas within the travelable distance is obtained. An automatic selection / determination program for selecting a filling place or charging place and instructing an automatic driving device or an automatic driving computer device to change the destination, or an apparatus having the same program, or a medium for storing the same program
- 給油、又はガス充てん、又は充電を必要とする高度自動運転、または完全自動運転車に対して、供給可能な場所をはじめとする給油、又はガス充てん、又は充電に関する情報を発信する機能を持つ情報発信装置、又は同プログラムを持つ装置、又は同プログラムを格納するメディア Information that has the function of transmitting information related to fueling, gas filling, or advanced automatic operation requiring charging or a fully automatic driving vehicle, including locations that can be supplied, or gas filling, or charging Transmission device, or device having the same program, or medium storing the same program
- 給油、又はガス充てん、又は充電を必要とする高度自動運転、又は完全自動運転車に対して、燃料、充電量が、任意の一定以下になった場合かつ搭乗者がいる場合に、搭乗者に給油、又はガス充てん、又は充電が必要であることを知らせる、又は搭乗者に非自動運転への切り替え可否を確認し、可能な場合は、自動運転装置又は自動運転コンピュータ装置に対し、自動運転解除を指示する指示機能を有する装置または、又は同プログラムを持つ装置、又は同プログラムを格納するメディア For highly automated or fully automated vehicles requiring refueling, gas filling, or recharging, when the amount of fuel or charge falls below any given level and the passenger is present, Notify the user that fueling, gas filling, or charging is required, or allow the passenger to switch to non-automatic operation, and cancel the automatic operation to the automatic operation device or the automatic operation computer device if possible. Device having an instruction function for instructing a device, or a device having the same program, or a medium storing the same program
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| JP2017197281A JP2019070602A (en) | 2017-10-10 | 2017-10-10 | Method for automatically selecting and determining oil supply, gas filling and electricity charging places when oil supply, gas filling and electricity charging are required in automatic drive |
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