WO2020121012A8 - 車両走行制御方法及び車両走行制御装置 - Google Patents

車両走行制御方法及び車両走行制御装置 Download PDF

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Publication number
WO2020121012A8
WO2020121012A8 PCT/IB2018/001584 IB2018001584W WO2020121012A8 WO 2020121012 A8 WO2020121012 A8 WO 2020121012A8 IB 2018001584 W IB2018001584 W IB 2018001584W WO 2020121012 A8 WO2020121012 A8 WO 2020121012A8
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WO
WIPO (PCT)
Prior art keywords
vehicle
travel control
locking
vehicle travel
unlocking
Prior art date
Application number
PCT/IB2018/001584
Other languages
English (en)
French (fr)
Other versions
WO2020121012A1 (ja
Inventor
早川泰久
櫻井康裕
鈴木康啓
桑原絢一
Original Assignee
日産自動車株式会社
ルノー エス． ア． エス．
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 日産自動車株式会社, ルノー エス． ア． エス． filed Critical 日産自動車株式会社
Priority to CN201880100162.9A priority Critical patent/CN113167078B/zh
Priority to US17/311,140 priority patent/US11305757B2/en
Priority to EP18942708.1A priority patent/EP3896243B1/en
Priority to JP2020559042A priority patent/JP7032568B2/ja
Priority to RU2021116661A priority patent/RU2765041C1/ru
Priority to PCT/IB2018/001584 priority patent/WO2020121012A1/ja
Publication of WO2020121012A1 publication Critical patent/WO2020121012A1/ja
Publication of WO2020121012A8 publication Critical patent/WO2020121012A8/ja

Links

Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/20—Means to switch the anti-theft system on or off
    • B60R25/24—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user
    • B60R25/245—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user where the antenna reception area plays a role
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • 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
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B60W60/00253—Taxi operations
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B49/00—Electric permutation locks; Circuits therefor ; Mechanical aspects of electronic locks; Mechanical keys therefor
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B77/00—Vehicle locks characterised by special functions or purposes
    • E05B77/54—Automatic securing or unlocking of bolts triggered by certain vehicle parameters, e.g. exceeding a speed threshold
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B81/00—Power-actuated vehicle locks
    • E05B81/54—Electrical circuits
    • E05B81/56—Control of actuators
    • E05B81/58—Control of actuators including time control, e.g. for controlling run-time of electric motors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B83/00—Vehicle locks specially adapted for particular types of wing or vehicle
    • E05B83/36—Locks for passenger or like doors
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C2209/00—Indexing scheme relating to groups G07C9/00 - G07C9/38
    • G07C2209/08—With time considerations, e.g. temporary activation, valid time window or time limitations
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C2209/00—Indexing scheme relating to groups G07C9/00 - G07C9/38
    • G07C2209/60—Indexing scheme relating to groups G07C9/00174 - G07C9/00944
    • G07C2209/63—Comprising locating means for detecting the position of the data carrier, i.e. within the vehicle or within a certain distance from the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Lock And Its Accessories (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

自車両（Ｖ）のドアの施解錠装置（２７）が解錠されていることを前提条件にして 、自車両の外部にある遠隔操作器（２８）からの遠隔操作指令に基づいて、自律走行 制御機能及び前記ドアの自動施解錠機能を備えた自車両を、目標停車位置まで自律走 行制御させる方法において、前記車両が自律走行制御を実行中は、前記自動施解錠機 能によるドアの施解錠装置の施錠を禁止し、前記車両が前記目標停車位置に停車した 場合に、前記車両と前記遠隔操作器との距離（Ｌ）を検出し、前記車両が停車してか ら前記ドアの施解錠装置を自動施解錠機能により施錠するまでの時間的間隔（ｔ）を 、前記距離に応じた時間的間隔に設定し、前記時間的間隔が経過した時に、前記ドア の施解錠装置を前記自動施解錠機能により施錠する。
PCT/IB2018/001584 2018-12-11 2018-12-11 車両走行制御方法及び車両走行制御装置 WO2020121012A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201880100162.9A CN113167078B (zh) 2018-12-11 2018-12-11 车辆行驶控制方法及车辆行驶控制装置
US17/311,140 US11305757B2 (en) 2018-12-11 2018-12-11 Vehicle travel control method and vehicle travel control device
EP18942708.1A EP3896243B1 (en) 2018-12-11 2018-12-11 Vehicle travel control method and vehicle travel control device
JP2020559042A JP7032568B2 (ja) 2018-12-11 2018-12-11 車両走行制御方法及び車両走行制御装置
RU2021116661A RU2765041C1 (ru) 2018-12-11 2018-12-11 Способ управления движением транспортного средства и устройство управления движением транспортного средства
PCT/IB2018/001584 WO2020121012A1 (ja) 2018-12-11 2018-12-11 車両走行制御方法及び車両走行制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2018/001584 WO2020121012A1 (ja) 2018-12-11 2018-12-11 車両走行制御方法及び車両走行制御装置

Publications (2)

Publication Number Publication Date
WO2020121012A1 WO2020121012A1 (ja) 2020-06-18
WO2020121012A8 true WO2020121012A8 (ja) 2021-06-17

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PCT/IB2018/001584 WO2020121012A1 (ja) 2018-12-11 2018-12-11 車両走行制御方法及び車両走行制御装置

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Country Link
US (1) US11305757B2 (ja)
EP (1) EP3896243B1 (ja)
JP (1) JP7032568B2 (ja)
CN (1) CN113167078B (ja)
RU (1) RU2765041C1 (ja)
WO (1) WO2020121012A1 (ja)

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JP7218172B2 (ja) * 2018-12-25 2023-02-06 フォルシアクラリオン・エレクトロニクス株式会社 車載処理装置、及び車載処理装置の制御方法
DE102019003008A1 (de) * 2019-04-26 2020-10-29 Daimler Ag Verfahren zum Betreiben eines Fahrerassistenzsystems eines zumindest teilweise elektrisch betreibbaren Kraftfahrzeugs zum Ansteuern von vier Rädern, Fahrerassistenzsystem sowie Kraftfahrzeug
US20210191387A1 (en) * 2019-12-23 2021-06-24 Autonomous Solutions, Inc. System and method for assisted teleoperations of vehicles
KR20210157943A (ko) * 2020-06-22 2021-12-30 현대자동차주식회사 자율주행 차량용 통합조작장치
CN112937556B (zh) * 2021-03-08 2022-08-09 重庆长安汽车股份有限公司 一种远程挪车系统及远程挪车方法

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JP4398133B2 (ja) * 2002-01-29 2010-01-13 株式会社東海理化電機製作所 ドア開閉装置
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
JP5974876B2 (ja) 2012-12-07 2016-08-23 株式会社オートネットワーク技術研究所 車輌錠制御装置
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Also Published As

Publication number Publication date
EP3896243A1 (en) 2021-10-20
CN113167078A (zh) 2021-07-23
EP3896243A4 (en) 2022-01-19
US20220024449A1 (en) 2022-01-27
EP3896243B1 (en) 2023-02-01
CN113167078B (zh) 2022-09-20
WO2020121012A1 (ja) 2020-06-18
JPWO2020121012A1 (ja) 2021-11-18
RU2765041C1 (ru) 2022-01-24
US11305757B2 (en) 2022-04-19
JP7032568B2 (ja) 2022-03-08

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