JP2019034717A - 走行制御装置 - Google Patents
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- JP2019034717A JP2019034717A JP2018131625A JP2018131625A JP2019034717A JP 2019034717 A JP2019034717 A JP 2019034717A JP 2018131625 A JP2018131625 A JP 2018131625A JP 2018131625 A JP2018131625 A JP 2018131625A JP 2019034717 A JP2019034717 A JP 2019034717A
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- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
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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
- 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
- B60W40/12—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 parameters of the vehicle itself, e.g. tyre models
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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
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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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
- 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
- B60W50/04—Monitoring the functioning of the control system
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
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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
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
Description
102:異常判断部
103:制御部
Claims (17)
- 車両の自動運転システムに適用される走行制御装置であって、
自車両の周囲の状況を認識する周囲認識部(101)と、
前記周囲認識部の認識機能に異常が生じたか否かを判断する異常判断部(102)と、
前記異常判断部が前記周囲認識部の認識機能に異常が生じたと判断した場合に、認識機能に異常が生じた方向である異常認識方向に応じて、自動運転システムにおける自動運転の処置を変更する処置変更制御を実行する制御部(103)と、を備える走行制御装置。 - 請求項1に記載の走行制御装置であって、
前記制御部は、前記異常認識方向と前記異常認識方向を認識可能な他車両の状況とに応じて、前記処置変更制御を実行する、走行制御装置。 - 請求項2に記載の走行制御装置であって、
前記制御部は、他車両から前記異常認識方向における認識結果を受信し、この受信した認識結果に基づいて前記処置変更制御を実行する、走行制御装置。 - 請求項3に記載の走行制御装置であって、
前記制御部は、他車両から認識結果を受信し、受信した認識結果に基づいて前記異常認識方向における認識を補完し続けられるように、自車両及び/又は他車両の走行態様を制御する、走行制御装置。 - 請求項1から4のいずれか1項に記載の走行制御装置であって、
前記異常判断部は、異常が生じた自車両が隊列走行を行っているか否かを判断する隊列判断処理を実行し、
前記制御部は、前記隊列判断処理の結果に応じて前記処置変更制御を実行する、走行制御装置。 - 請求項5に記載の走行制御装置であって、
前記隊列判断処理の結果が隊列走行中であることを示す場合に、
前記制御部は、隊列を組んでいる他車両が前記異常認識方向に対して認識補完できるように隊列中における自車両の位置を設定する、走行制御装置。 - 請求項6に記載の走行制御装置であって、
前記制御部は、隊列中における自車両位置を変更する場合、自車両を車線変更せずに他車両に車線変更を行わせる、走行制御装置。 - 請求項6に記載の走行制御装置であって、
前記制御部は、隊列中における自車両位置を変更する場合、前記異常認識方向に応じて自車両を車線変更させる、走行制御装置。 - 請求項5に記載の走行制御装置であって、
前記隊列判断処理の結果が隊列走行中でないことを示す場合に、
前記制御部は、前記異常認識方向に対して認識補完できる他車両と隊列走行を行うように制御する、走行制御装置。 - 請求項9に記載の走行制御装置であって、
前記制御部は、隊列走行可能な他車両を検出すると、その他車両に対して隊列走行を行うように要請する隊列要請情報を出力する、走行制御装置。 - 請求項10に記載の走行制御装置であって、
前記制御部は、自車両が走行中のレーンと他車両が走行中のレーンとの関係、及び/又は自車両と他車両との速度差を勘案して前記隊列要請情報を出力する、走行制御装置。 - 請求項6から7のいずれか1項に記載の走行制御装置であって、
前記制御部は、隊列走行中の全車両を、隊列を組んだまま停止させ、他車両に隊列を解除するように要請する隊列停止処理を実行する、走行制御装置。 - 請求項12に記載の走行制御装置であって、
前記制御部は、自車両の複数の認識機能に異常が発生した場合に前記隊列停止処理を実行する、走行制御装置。 - 請求項12に記載の走行制御装置であって、
前記制御部は、自車両の進行方向と他車両の進行方向とが異なる場合に前記隊列停止処理を実行する、走行制御装置。 - 請求項1に記載の走行制御装置であって、
前記制御部は、前記異常認識方向に応じて、自車両の挙動を制限する、走行制御装置。 - 請求項1から3のいずれか1項に記載の走行制御装置であって、
更に、他車両との通信手段を切り替える通信切替部(104)を備え、
前記通信切替部は、前記制御部が前記処置変更制御を実行するのに伴って、移動体通信を利用し、移動体通信網と直接通信する通信切替処理を実行する、走行制御装置。 - 請求項16に記載の走行制御装置であって、
前記通信切替部は、前記通信切替処理の実行にあたって自車両の通信優先度を上げる、走行制御装置。
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PCT/JP2018/027815 WO2019031239A1 (ja) | 2017-08-10 | 2018-07-25 | 走行制御装置 |
US16/786,149 US20200233437A1 (en) | 2017-08-10 | 2020-02-10 | Traveling control device |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11149600A (ja) * | 1997-11-17 | 1999-06-02 | Fujitsu Ten Ltd | 車両群形成制御装置 |
JP2000331296A (ja) * | 1999-05-21 | 2000-11-30 | Honda Motor Co Ltd | 隊列走行制御装置 |
JP2014153950A (ja) * | 2013-02-08 | 2014-08-25 | Toyota Motor Corp | 運転支援装置及び運転支援方法 |
JP2016013751A (ja) * | 2014-07-01 | 2016-01-28 | 株式会社デンソー | 制御装置 |
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JP3537705B2 (ja) * | 1999-05-31 | 2004-06-14 | 本田技研工業株式会社 | 自動追従走行システム |
US8352112B2 (en) * | 2009-04-06 | 2013-01-08 | GM Global Technology Operations LLC | Autonomous vehicle management |
US10254764B2 (en) * | 2016-05-31 | 2019-04-09 | Peloton Technology, Inc. | Platoon controller state machine |
JP6015329B2 (ja) * | 2012-10-11 | 2016-10-26 | 株式会社デンソー | 隊列走行システム及び隊列走行装置 |
JP2017062700A (ja) * | 2015-09-25 | 2017-03-30 | 株式会社デンソー | 制御装置、及び車両制御システム |
WO2018225241A1 (ja) * | 2017-06-09 | 2018-12-13 | 三菱電機株式会社 | 光照射制御装置および光照射制御方法 |
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- 2018-07-11 JP JP2018131625A patent/JP6791212B2/ja active Active
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- 2020-02-10 US US16/786,149 patent/US20200233437A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11149600A (ja) * | 1997-11-17 | 1999-06-02 | Fujitsu Ten Ltd | 車両群形成制御装置 |
JP2000331296A (ja) * | 1999-05-21 | 2000-11-30 | Honda Motor Co Ltd | 隊列走行制御装置 |
JP2014153950A (ja) * | 2013-02-08 | 2014-08-25 | Toyota Motor Corp | 運転支援装置及び運転支援方法 |
JP2016013751A (ja) * | 2014-07-01 | 2016-01-28 | 株式会社デンソー | 制御装置 |
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