JP2016193683A - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- JP2016193683A JP2016193683A JP2015075170A JP2015075170A JP2016193683A JP 2016193683 A JP2016193683 A JP 2016193683A JP 2015075170 A JP2015075170 A JP 2015075170A JP 2015075170 A JP2015075170 A JP 2015075170A JP 2016193683 A JP2016193683 A JP 2016193683A
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Abstract
Description
この車両制御装置によれば、逸脱余裕時間から運転復帰時間を減じた差分が第2の閾値以下になった場合に逸脱余裕時間の延長制御を実行するので、例えば運転者が手放し状態を継続中に装置で誤認識等の異常が生じたとしても、車両が走行車線を逸脱する前に運転者が運転操作に復帰するための時間を確保することができる。
この車両制御装置によれば、運転者が低覚醒状態(例えば居眠り状態)である場合には警報に反応して運転操作に復帰するまでの時間も長くなることから、運転者が低覚醒状態であると認識された場合に運転復帰時間を長い時間として推定することで、運転者の状態に応じた運転復帰時間の推定を行うことができる。
この車両制御装置によれば、装置に誤認識等の異常が生じた場合を想定して、装置が制御可能な操舵制御範囲内及び車速制御範囲内で車両が障害物に接触するまでの時間である接触余裕時間から運転者の運転復帰時間を減じた差分が第3の閾値以下になった場合に、運転者に警報を出力する。従って、この車両制御装置によれば、運転者が手放し状態である場合に一定時間で警報を出力する従来の装置と比べて、車両と障害物の接触に関して予定されたタイミングで警報を出力することができ、警報が運転者に対して違和感を与えることを抑制できる。
図1は、第1の実施形態に係る車両制御装置を示すブロック図である。図1に示す車両制御装置100は、乗用車等の車両Mに搭載され、車両Mの走行を制御する。車両制御装置100は、例えば、車両Mの走行する走行車線に沿って車両Mを走行させる車線維持支援[LTC:Lane Trace Control]を行う。車線維持支援とは、例えば、車両の横位置が走行車線内の目標横位置となるように車両を制御すると共に、運転者による操舵があった場合には当該操舵を車両の走行に反映させる運転支援である。車両の横位置とは、走行車線の幅方向における車両の位置である。目標横位置は、例えば、走行車線の幅方向における走行車線の中央位置に設定される。また、目標横位置は、走行車線の中央位置から車線の幅方向にオフセットした位置に設定されてもよい。
以下、第1の実施形態に係る車両制御装置100の構成について図1を参照して説明する。図1に示すように、車両制御装置100は、外部センサ1、GPS[Global Positioning System]受信部2、内部センサ3、地図データベース4、ナビゲーションシステム5、アクチュエータ6、HMI[Human Machine Interface]7、及びECU[ElectronicControl Unit]10を備えている。
以下、第1の実施形態に係る車両制御装置100の制御方法について、図4を参照して説明する。図4は、第1の実施形態に係る車両制御装置100の制御方法を示すフローチャートである。図4に示すフローチャートは、例えば、車両Mが走行車線R1に沿って走行するように車両Mを制御している場合に、予め設定された時間毎に繰り返し実行される。
以上説明した第1の実施形態に係る車両制御装置100によれば、装置に誤認識等の異常が生じた場合を想定して、装置が制御可能な操舵制御範囲内及び車速制御範囲内で車両Mが走行車線R1を逸脱するまでの時間である逸脱余裕時間から運転者の運転復帰時間を減じた差分が第1の閾値以下になった場合に、運転者に警報を出力する。従って、この車両制御装置100によれば、運転者が手放し状態である場合に一定時間で警報を出力する従来の装置と比べて、車両Mの走行車線R1の逸脱に関して予定されたタイミングで警報を出力することができ、警報が運転者に対して違和感を与えることを抑制できる。
次に、第2の実施形態に係る車両制御装置101の説明を行う。図5は、第2の実施形態に係る車両制御装置101を示すブロック図である。図5に示すように、第2の実施形態に係る車両制御装置101は、第1の実施形態に係る車両制御装置100と比べて、逸脱余裕時間に代えて接触余裕時間を用いている点が異なっている。
以下、第2の実施形態に係る車両制御装置101の構成について再び図5を参照して説明する。第1の実施形態と同じ又は相当する要素には同じ符号を付け、説明を省略する。
以下、第2の実施形態に係る車両制御装置101の制御方法について、図8を参照して説明する。図8は、第2の実施形態に係る車両制御装置101の制御方法を示すフローチャートである。図8に示すフローチャートは、例えば、車両Mが走行車線R1に沿って走行するように車両Mを制御している場合に、予め設定された時間毎に繰り返し実行される。
以上説明した第2の実施形態に係る車両制御装置101によれば、装置に誤認識等の異常が生じた場合を想定して、装置が制御可能な操舵制御範囲内及び車速制御範囲内で車両Mが障害物に接触するまでの時間である接触余裕時間から運転者の運転復帰時間を減じた差分が第3の閾値以下になった場合に、運転者に警報を出力する。従って、この車両制御装置101によれば、運転者が手放し状態である場合に一定時間で警報を出力する従来の装置と比べて、車両Mと障害物の接触に関して予定されたタイミングで警報を出力することができ、警報が運転者に対して違和感を与えることを抑制できる。
Claims (5)
- 予め設定された操舵制御範囲内及び車速制御範囲内で車両が走行車線に沿って走行するように前記車両を制御する車両制御装置であって、
前記車両の走行状態を認識する走行状態認識部と、
前記走行車線に対する前記車両の横位置及び前記走行車線に対する前記車両の向きを認識する横位置認識部と、
前記車両の走行状態と前記走行車線に対する前記車両の横位置及び前記走行車線に対する前記車両の向きとに基づいて、前記操舵制御範囲内及び前記車速制御範囲内で前記車両が前記走行車線を逸脱するまでの時間である逸脱余裕時間を演算する逸脱余裕時間演算部と、
前記車両の運転者の手放し状態の継続時間である手放し継続時間を計測する手放し継続時間計測部と、
前記手放し継続時間に基づいて、前記手放し状態の前記運転者が運転操作に復帰するまでの時間である運転復帰時間を推定する運転復帰時間推定部と、
前記逸脱余裕時間から前記運転復帰時間を減じた差分が第1の閾値以下になった場合に、前記運転者に対する警報を出力する制御部と、
を備える、車両制御装置。 - 前記制御部は、前記逸脱余裕時間から前記運転復帰時間を減じた差分が第2の閾値以下になった場合に、前記車両の減速及び前記操舵制御範囲の制限の少なくとも一方による前記逸脱余裕時間の延長制御を実行する、請求項1に記載の車両制御装置。
- 前記運転者が低覚醒状態であるか否かを認識する運転者状態認識部を更に備え、
前記運転復帰時間推定部は、前記運転者状態認識部により前記運転者が前記低覚醒状態であると認識された場合、前記運転者が前記低覚醒状態ではないと認識された場合と比べて長い前記運転復帰時間を推定する、請求項1又は2に記載の車両制御装置。 - 前記車両の周囲の障害物に関する障害物情報を取得する障害物情報取得部と、
前記車両の走行状態及び前記障害物情報に基づいて、前記操舵制御範囲内及び前記車速制御範囲内で前記車両が前記障害物に接触するまでの時間である接触余裕時間を演算する接触余裕時間演算部と、
を備え、
前記制御部は、前記接触余裕時間から前記運転復帰時間を減じた差分が第3の閾値以下になった場合に、前記運転者に対する警報を出力する、請求項1〜3のうち何れか一項に記載の車両制御装置。 - 予め設定された操舵制御範囲内及び車速制御範囲内で車両が走行車線に沿って走行するように前記車両を制御する車両制御装置であって、
前記車両の走行状態を認識する走行状態認識部と、
前記車両の周囲の障害物に関する障害物情報を取得する障害物情報取得部と、
前記操舵制御範囲内及び前記車速制御範囲内で前記車両が前記障害物に接触するまでの時間である接触余裕時間を演算する接触余裕時間演算部と、
前記車両の運転者の手放し状態の継続時間である手放し継続時間を計測する手放し継続時間計測部と、
前記手放し継続時間に基づいて、前記運転者の運転復帰時間を推定する運転復帰時間推定部と、
前記接触余裕時間から前記運転復帰時間を減じた差分が第3の閾値以下になった場合に、前記運転者に対する警報を出力する制御部と、
を備える、車両制御装置。
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CN106043299A (zh) | 2016-10-26 |
KR20160118142A (ko) | 2016-10-11 |
JP6237685B2 (ja) | 2017-11-29 |
US9527441B2 (en) | 2016-12-27 |
EP3075618A3 (en) | 2018-05-30 |
RU2622616C1 (ru) | 2017-06-16 |
US20160288707A1 (en) | 2016-10-06 |
KR101793370B1 (ko) | 2017-11-02 |
CN106043299B (zh) | 2019-01-18 |
BR102016007378B1 (pt) | 2022-12-27 |
EP3075618A2 (en) | 2016-10-05 |
BR102016007378A2 (pt) | 2016-10-04 |
MY172922A (en) | 2019-12-13 |
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