WO2019194235A1 - 車両の自動運転制御装置 - Google Patents

車両の自動運転制御装置 Download PDF

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Publication number
WO2019194235A1
WO2019194235A1 PCT/JP2019/014845 JP2019014845W WO2019194235A1 WO 2019194235 A1 WO2019194235 A1 WO 2019194235A1 JP 2019014845 W JP2019014845 W JP 2019014845W WO 2019194235 A1 WO2019194235 A1 WO 2019194235A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
unit
speed
information
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/JP2019/014845
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English (en)
French (fr)
Japanese (ja)
Inventor
希 北川
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
Publication of WO2019194235A1 publication Critical patent/WO2019194235A1/ja
Priority to US17/039,386 priority Critical patent/US20210024085A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

Definitions

  • the present disclosure relates to an automatic driving control device that causes a vehicle to automatically travel according to a predetermined traveling condition.
  • a speed limit display device configured to present a speed limit on a road while a vehicle is traveling to a driver is known in order to increase safety during vehicle travel.
  • This proposed device has been made in view of the problem that the speed limit stored in the navigation system may be different from the actual speed limit.
  • the speed limit recognized using a beacon or a vehicle-mounted camera is compared with the speed limit obtained from the map information of the navigation system, and a reliable speed limit is selected, so that the vehicle driver To present.
  • the vehicle that is manually driven by the driver is decelerated within the speed limit area. In some cases, high-speed driving may be continued.
  • One aspect of the present disclosure is that in an automatic driving control device that automatically drives a vehicle, the vehicle is decelerated in a speed limit region in which the speed limit is locally limited, thereby increasing a speed difference with other vehicles and increasing safety. It is desirable to be able to suppress the decrease in the temperature.
  • An automatic driving control device is mounted on a vehicle including an actuator that controls a traveling state of the vehicle and an information presentation unit configured to notify information to a vehicle occupant and is preset. It is a device for automatically driving the vehicle according to the traveling conditions.
  • the automatic driving control device of the present disclosure includes a vehicle control unit, a speed regulation detection unit, and a notification signal output unit.
  • the vehicle control unit is communicably connected to the actuator and is configured to automatically drive the vehicle.
  • the speed regulation detection unit is configured to detect the presence of a regulation part where the speed limit is set lower than the running condition based on information obtained from the outside of the vehicle during automatic running of the vehicle by the vehicle control unit. ing.
  • the speed regulation detection unit detects the presence of the regulation part
  • the speed regulation detection unit outputs a deceleration command to the actuator via the vehicle control unit.
  • the vehicle can be automatically traveled according to the speed limit even at a restricted place where the speed limit is set lower than the travel conditions.
  • the notification signal output unit outputs a signal to the information presentation unit so as to notify the occupant that the vehicle enters the restricted part when the restricted part is detected by the speed restriction detecting part.
  • the automatic driving control device decelerates the vehicle at the restricted part, thereby increasing the speed difference with other vehicles and lowering the safety. It is possible to have a preparedness to cope with a sudden approach of a vehicle.
  • the automatic driving control device of the present disclosure by reducing the speed of the vehicle at the restricted place where the speed limit is restricted by the weather, the road environment, etc., the driving safety of the vehicle is improved, and the vehicle is decelerated by the deceleration of the vehicle. It can suppress that the safety
  • the automatic driving control device of the present embodiment is a device for automatically driving a vehicle on an automobile exclusive road such as an expressway, for example. As shown in FIG. 1, a GPS receiving unit 20, a sensor unit 22, vehicle control It is mounted on a vehicle equipped with an actuator 24 and the like.
  • the GPS receiver 20 detects the current position of the vehicle based on the radio waves transmitted from the satellite.
  • the sensor unit 22 is for detecting the running state of the vehicle and the surrounding environment, and includes various sensors and an in-vehicle camera.
  • the vehicle control actuator 24 is used to drive and control various devices necessary for automatically driving the vehicle, such as an engine and a motor that generate a driving force of the vehicle, a brake device that generates a braking force, and a steering device that steers the vehicle. Is.
  • the automatic operation control device of this embodiment is an electronic control device 2 for automatic operation described as AD-ECU in FIG. 1, and is constituted by a microcomputer including a CPU, a ROM, a RAM, and the like.
  • the electronic control device 2 is simply referred to as ECU 2.
  • the ECU 2 functions as the position specifying unit 4, the environment recognition unit 6, the automatic driving information DB 8, the route formulation unit 10, the path formulation unit 12, the vehicle control unit 14, the communication unit 16, and the input / output control unit 18.
  • the automatic driving information DB 8 is a database in which various information necessary for automatically driving the vehicle is stored, and is configured by a nonvolatile memory which is a non-transitional tangible recording medium.
  • the road profile, the number of lanes, the speed limit, an intersection, a pedestrian crossing, and the like are stored as road information in the automatic driving information DB 8, and of these, the speed limit is used as a traveling condition of the present disclosure. . Therefore, the automatic driving information DB 8 corresponds to the storage unit of the present disclosure.
  • the communication unit 16 is configured by a communication circuit for performing wireless communication with the information center 30 outside the vehicle and other vehicles.
  • the position specifying unit 4 executes various programs stored in the ROM. This is a function realized by.
  • the position specifying unit 4 specifies the current position of the vehicle and detects the traveling speed of the vehicle based on the received signal from the GPS receiving unit 20 and the detection signal from the sensor unit 22.
  • the environment recognition unit 6 recognizes the environment around the vehicle such as the shape of the road on which the vehicle is running, the road sign, the preceding vehicle, and the subsequent vehicle based on the detection signal from the sensor unit 22 and the captured image.
  • the route formulation unit 10 sets a travel route suitable for automatically driving the vehicle based on the road information stored in the automatic driving information DB 8, and the path formulation unit 12 is recognized by the environment recognition unit 6. Route paths such as travel lanes and lane changes are set based on the surrounding environment.
  • the vehicle control unit 14 reads the travel route set by the route formulation unit 10 and the path formulation unit 12 and the speed limit stored in the automatic driving information DB 8 as the travel condition, and the vehicle control actuator according to the read travel condition. 24 is driven and controlled.
  • the driving force, braking force, steering amount, etc. of the vehicle are controlled according to the driving conditions, and the vehicle is automatically driven according to the driving conditions.
  • the driver input unit 28 used for the driver to instruct execution / cancellation of automatic driving or to set the automatic driving level at the time of automatic driving
  • An information presentation unit 26 for presenting various types of information to a passenger such as a passenger is connected.
  • the information presentation unit 26 is described as notifying the passenger of various information by voice. However, the information presentation unit 26 notifies the passenger of various information by lighting a display lamp or displaying an image on the display. You may make it do. Further, when a warning is issued to the driver, the driver's seat may be vibrated.
  • the input / output control unit 18 controls the operation of each unit in accordance with a command from the driver will input unit 28.
  • the road sign indicating the speed limit of the traveling road is recognized by the environment recognition unit 6 from the image captured by the in-vehicle camera of the sensor unit 22 during the automatic traveling of the vehicle by the vehicle control unit 14. Then, a speed regulation detection process for acquiring the speed limit is executed.
  • This speed regulation detection process is one of programs executed by the CPU in the ECU 2 in order to realize the functions as the speed regulation detection unit and the notification signal output unit of the present disclosure.
  • the speed limit of the travel path acquired from the environment recognition unit 6 is compared with the speed limit stored in the automatic driving information DB 8 so that the speed limit of the travel path is the normal speed limit. It is detected that the setting is lower than that, and the vehicle control unit 14 is notified.
  • a road with a speed limit set lower than the normal speed limit means that the speed limit is lower than normal due to weather conditions such as rain and fog, or traffic congestion due to accidents, construction, traffic concentration, etc. It is a road that is locally speed-controlled so that it becomes lower.
  • the process proceeds to S120, and the current speed limit of the travel point obtained from the image captured by the in-vehicle camera is acquired from the environment recognition unit 6.
  • the environment recognition unit 6 functions as an information acquisition unit of the present disclosure.
  • the speed limit at the same travel point as the speed limit acquired in S120 is acquired from the automatic driving information DB 8, and the process proceeds to S140.
  • the current speed limit of the travel point acquired from the environment recognition unit 6 in S120 is compared with the speed limit acquired from the automatic driving information DB 8 in S130.
  • the information presentation unit 26 outputs a voice message such as “The speed limit is regulated to X km per hour. Please note that there may be a speed difference with the surrounding vehicles.” In order to alert the passengers.
  • X is an arbitrary value.
  • the current speed limit of the travel path obtained from the image captured by the in-vehicle camera is lower than the normal speed limit stored in the automatic driving information DB 8, If the travel path is speed limited, the passenger is notified by voice.
  • the speed limit is locally restricted to 50 km / h due to weather conditions, traffic congestion, or the like.
  • the speed regulation can be recognized in front of the road sign. Then, when the speed restriction is recognized, the passenger can be notified to that effect, and the vehicle can be decelerated to the speed limit by recognizing the deceleration.
  • a vehicle occupant such as a driver can increase the speed difference with other vehicles by causing the automatic driving control device to decelerate the vehicle at the restricted portion of the speed limit, thereby improving safety. You can understand that it is falling, and you can be prepared to respond to the sudden approach of the following vehicle.
  • the driver when the driver receives information on deceleration, the driver can suppress the vehicle from suddenly decelerating by canceling automatic driving and manually driving via the driver will input unit 28 as necessary. Further, for example, by turning on the hazard lamp without canceling the automatic driving, it is possible to notify the driver of the following vehicle that the own vehicle is decelerating.
  • the automatic driving control device of the present embodiment it is possible to improve the safety when the vehicle enters the restricted area during the automatic driving.
  • Modification In the above description, if the current speed limit acquired from the environment recognition unit 6 is lower than the speed limit acquired from the automatic driving information DB 8 in S140, the process proceeds to S150, and the travel path is speed-controlled. Because it is, it explained that the information presentation to the effect of slowing down was carried out.
  • the permission / prohibition of such information presentation is not set through the driver will input unit 28 that can be operated by the driver, but at a vehicle dealer or the like at the time of vehicle sales or maintenance,
  • the setting may be made by switching the operation setting of the ECU 2.
  • the environment recognition unit 6 acquires the speed limit obtained from the captured image of the in-vehicle camera, and in S140, this speed limit and automatic It demonstrated as what compares with the speed limit memorize
  • the process of S122 is performed instead of the process of S120, and the information center 30 outside the vehicle is connected via the communication unit 16. The speed limit of the travel path ahead of the vehicle is acquired.
  • the speed limit acquired from the information center 30 is compared with the speed limit of the travel path stored in the information DB 8 for automatic driving, and the speed limit acquired from the information center 30 is determined in the information DB 8 for automatic driving. When it is lower than the speed limit, the process proceeds to S152.
  • the information center 30 can obtain the speed limit of the restricted area before the vehicle reaches the restricted area of the speed limit, in S152, for example, “the speed limit is restricted to Xkm / hour. Y seconds I will start decelerating later. " X and Y are arbitrary values.
  • the current position of the vehicle is acquired from the position specifying unit 4, and it is determined whether or not the vehicle has reached a restricted place where the speed limit is set lower than normal. If it has reached, the process proceeds to S156. If it is determined in S154 that the vehicle has not reached the restricted place, the process proceeds to S110 and the above process is executed again.
  • FIG. This information presentation causes the information presentation unit 26 to output, for example, a voice message such as “Decelerate the vehicle. Be aware that there may be a speed difference with the surrounding vehicles.”
  • the vehicle is decelerated to the speed limit by outputting a deceleration command to the vehicle control unit 14 in S200, and the process proceeds to S110.
  • the restriction part where the speed is restricted is detected from the information center 30 outside the vehicle by wireless communication so that the speed limit is lower than usual on the traveling road ahead of the vehicle. To do.
  • a vehicle occupant such as a driver grasps that the vehicle is decelerated at the restricted place if the vehicle driving by the automatic driving control device is continued. For example, when there is another vehicle around, the own vehicle decelerates. It is possible to manually adjust the speed difference from other vehicles by switching to manual operation before starting.
  • a voice message such as “The speed limit is regulated to X km / h. It starts to decelerate after Y seconds. Note that there is a possibility that the deceleration will be different from the surrounding vehicle.” Is output from the information presentation unit 26.
  • the vehicle when it is detected that the speed of the travel path is restricted as in the first embodiment, the vehicle is not decelerated immediately, but as shown by a dotted line in FIG. Later, the vehicle is decelerated to the speed limit.
  • the driver recognizes that the travel path is speed-controlled by the voice message output from the information presentation unit 26 and then starts to decelerate the vehicle.
  • a hazard lamp can be turned on to notify surrounding vehicles that the host vehicle is decelerating.
  • the process proceeds to S166, and the alert level by the information presentation is set according to the elapsed time from the start of the information presentation in S150. Increase to shift to S110.
  • the warning level for the vehicle traveling in the restricted area is increased, and the driver Make sure that you need to slow down.
  • the information presentation is continued until the driver inputs the information presentation stop command by operating the driver will input unit 28 after the information presentation is first performed in S150. Moreover, the alerting level by information presentation is increased according to the passage of time in the meantime.
  • the deceleration may be started immediately after detecting the restricted portion of the speed limit as in the first embodiment, and the deceleration is started after the vehicle reaches the restricted portion as in the second embodiment. It may be.
  • deceleration may be started after a predetermined time has elapsed after detection of the restriction location.
  • the degree of the alerting level to be increased in S166 may be adjusted according to the speed difference with the following vehicle after deceleration.
  • the traveling speed of the following vehicle is 100 km / h and the own vehicle is 80 km / h
  • the amount of change in the alert level is reduced.
  • the traveling speed of the following vehicle is 100 km / h and the own vehicle is 50 km / h
  • the alert level is reduced. The amount of change may be increased.
  • the information presentation in S150 may be started before the vehicle is decelerated at the restricted portion of the speed limit, or may be started after the vehicle is decelerated at the restricted portion of the speed limit.
  • the information presentation before the vehicle starts decelerating is alerted by changing, for example, as shown in 1) to 3) below according to the time until the driver inputs an information presentation stop command.
  • the level may be increased.
  • the brake lamp or the hazard lamp when notifying the surrounding vehicle of deceleration, may be turned on, or may be notified by a display for the outside of the vehicle.
  • vehicle-to-vehicle communication may be used. You may do it.
  • vehicle-to-vehicle communication information may be presented by operating a display device or an acoustic device of a surrounding vehicle.
  • the notification to the surrounding vehicle in S170 may be performed regardless of the presence or absence of the surrounding vehicle, or may be performed only when the surrounding vehicle is detected by the environment recognition unit 6. .
  • the own vehicle decelerates before the following vehicle catches up with the own vehicle to the driver of the following vehicle whose speed difference becomes large due to the deceleration of the own vehicle. It is possible to notify more reliably of the effect, and more effective.
  • the following vehicle whose speed difference becomes large due to the deceleration of the host vehicle, particularly the following vehicle that has violated the speed, catches up to the host vehicle immediately when the host vehicle decelerates. Can be delayed.
  • the deceleration when the host vehicle is decelerated to the speed limit may be a fixed value that is smaller than the reference speed, or the traveling speed before deceleration and the speed limit that is the target speed for deceleration. It may be set according to the speed difference.
  • the deceleration may be set according to the inter-vehicle distance with the following vehicle, or may be set according to the traveling speed of the own vehicle and the inter-vehicle distance with the following vehicle. May be set in accordance with the traveling speed of the vehicle, the traveling speed of the following vehicle, and the distance between the following vehicle.
  • a voice message is sent from the information presentation unit 26. It was described as output.
  • these information presentations may be performed by turning on a display lamp provided in the information presentation unit 26 or displaying an image on a display, or may be performed by a combination of these and sound.
  • the driver's seat may be vibrated.
  • the information presentation performed to the occupant in the speed regulation detection processing of the second to sixth embodiments is not performed by the occupant via the driver will input unit 28 or the like, as in the modification of the first embodiment. It may be possible to set to.
  • the process of notifying the surrounding vehicle of information indicating that the host vehicle is decelerating is a process of notifying the driver or the like of the host vehicle of the deceleration in S170. You may make it implement by the automatic driving
  • a plurality of functions of one component in the above embodiment may be realized by a plurality of components, and one function of one component may be realized by a plurality of components. Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate
  • at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment.
  • all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this indication.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2019/014845 2018-04-04 2019-04-03 車両の自動運転制御装置 Ceased WO2019194235A1 (ja)

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US17/039,386 US20210024085A1 (en) 2018-04-04 2020-09-30 Automatic driving control device for vehicle

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JP2018072577A JP2019185225A (ja) 2018-04-04 2018-04-04 車両の自動運転制御装置
JP2018-072577 2018-04-04

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CN115461692A (zh) * 2020-05-11 2022-12-09 美光科技公司 针对所确定驾驶条件的自动驾驶动作

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JP7088899B2 (ja) * 2019-12-10 2022-06-21 本田技研工業株式会社 自動運転車用情報提示装置
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JP7740161B2 (ja) * 2021-11-15 2025-09-17 株式会社デンソー 車両制御装置
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