JP2019175208A - 運転支援システム - Google Patents
運転支援システム Download PDFInfo
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- JP2019175208A JP2019175208A JP2018063564A JP2018063564A JP2019175208A JP 2019175208 A JP2019175208 A JP 2019175208A JP 2018063564 A JP2018063564 A JP 2018063564A JP 2018063564 A JP2018063564 A JP 2018063564A JP 2019175208 A JP2019175208 A JP 2019175208A
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- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/06—Rims, e.g. with heating means; Rim covers
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
- B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/10—Interpretation of driver requests or demands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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- B60K2360/199—Information management for avoiding maloperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/77—Instrument locations other than the dashboard
- B60K2360/782—Instrument locations other than the dashboard on the steering wheel
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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
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0073—Driver overrides controller
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering Controls (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
すなわち、回転変角位がトルクセンサ変位よりも先に発生した場合は正入力と判定し、逆の場合は逆入力と判定する。そして、操舵トルクTstが逆入力の場合はステップS43へ進み、正入力の場合はステップS44へ進む。
2…ハンドル、
2a…リム、
2b…スポーク、
2c…窪み部、
11…ロケータユニット、
12…地図ロケータ演算部、
12a…自車位置推定演算部、
12b…地図情報取得部、
13…GNSS受信機、
14…自律走行センサ、
18…高精度道路地図データベース、
21…カメラユニット、
21a…メインカメラ、
21b…サブカメラ
21c…画像処理ユニット(IPU)、
21d…前方走行環境認識部、
22…運転モード設定演算部、
41…運転モードスイッチ、
42…ハンドルタッチセンサ部、
42a〜42d…第1〜第4タッチセンサ、
42l…左タッチセンサ部、
42r…右タッチセンサ部、
44…操舵トルクセンサ、
45…報知装置、
51…自動運転制御ユニット、
F1…運転支援モード実行フラグ、
F2…運転支援モード実行フラグ、
M…自車両、
RCAM…カメラ曲率、
RMPU…地図曲率、
Tst…操舵トルク、
Tsto…操舵オーバライド判定閾値、
t1…設定時間、
tim1…注意喚起時間
Claims (5)
- 運転者のハンドルに接触する位置を検出するハンドル接触位置検出手段と、
前記運転者の操舵トルクを検出する操舵トルク検出手段と、
自車両の運転モードとして、少なくとも前記運転者の前記ハンドルの把持を条件として自動運転を行う第1運転支援モードと前記運転者の前記ハンドルの把持を条件としないで自動運転を行う第2運転支援モードと前記運転者自らが操舵する手動運転モードとを有し、運転条件に応じて前記各モードを設定する運転モード設定演算手段と
を備える運転支援システムにおいて、
前記ハンドル接触位置検出手段は、前記ハンドルに設けた把持部の断面円周上に区分された状態で配設されている複数の接触検知部を有し、
前記運転モード設定演算手段は、前記操舵トルク検出手段で検出した前記操舵トルクと複数の前記接触検知部で検出した接触検知位置とに基づき、検出した前記操舵トルクが前記運転者の意思による操舵オーバライドか誤検知か否かを判定する
ことを特徴とする運転支援システム。 - 前記運転モード設定演算手段は、複数の前記接触検知部から前記運転者が前記把持部を把持した際に検知する該接触検知部を特定し、前記操舵トルク検出手段で検出した操舵トルクが所定に設定されている操舵オーバライド判定閾値を超え、且つ特定した前記接触検知部で接触を検知した場合、操舵オーバライドと判定する
ことを特徴とする請求項1記載の運転支援システム。 - 前記ハンドル接触位置検出手段は、前記把持部の断面円周上を前記運転者側と外周側と内周側とフロントウインドウ側とに区分し、各区分域に前記各接触検知部が配設されており、
前記運転モード設定演算手段は、前記操舵トルク検出手段で検出した前記操舵トルクが所定に設定されている操舵オーバライド判定閾値を超え、且つ前記運転者側の前記接触検知部と内側の前記接触検知部との一方が接触を検知した場合、誤検知と判定する。
ことを特徴とする請求項1記載の運転支援システム。 - 前記ハンドル接触位置検出手段は、前記第2運転支援モードでの走行中に、誤検知と判定した場合、前記運転モードを運転状態に応じて前記第1運転支援モードと前記手動運転モードとの一方に遷移させる
ことを特徴とする請求項1〜3の何れか1項に記載の運転支援システム。 - 前記ハンドル接触位置検出手段は、前記ハンドルの中央から左右に左手接触検出手段と右手接触検出手段とに分割されており、該各接触検出手段に複数の前記接触検知部が設定されている
ことを特徴とする請求項1〜4の何れか1項に記載の運転支援システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2018063564A JP6691568B2 (ja) | 2018-03-29 | 2018-03-29 | 運転支援システム |
US16/241,751 US11046331B2 (en) | 2018-03-29 | 2019-01-07 | Driving assist system |
CN201910123794.3A CN110316241B (zh) | 2018-03-29 | 2019-02-19 | 驾驶辅助*** |
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JP2018063564A JP6691568B2 (ja) | 2018-03-29 | 2018-03-29 | 運転支援システム |
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JP2019175208A true JP2019175208A (ja) | 2019-10-10 |
JP6691568B2 JP6691568B2 (ja) | 2020-04-28 |
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US (1) | US11046331B2 (ja) |
JP (1) | JP6691568B2 (ja) |
CN (1) | CN110316241B (ja) |
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JP2021112936A (ja) * | 2020-01-16 | 2021-08-05 | 本田技研工業株式会社 | 車両及びその制御装置 |
KR20220126904A (ko) * | 2021-03-10 | 2022-09-19 | 주광철 | 완전 파워 스티어링 시스템 및 방법 |
WO2023002543A1 (ja) | 2021-07-19 | 2023-01-26 | 日産自動車株式会社 | 車両の運転モード切り替え制御方法及び運転モード切り替え制御装置 |
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DE102017106212A1 (de) * | 2017-03-22 | 2018-09-27 | Fm Marketing Gmbh | Fahrzeug mit smart touch |
JP7256982B2 (ja) | 2018-12-28 | 2023-04-13 | スズキ株式会社 | 車両の走行制御装置 |
JP7205768B2 (ja) * | 2019-03-08 | 2023-01-17 | スズキ株式会社 | 車両の走行制御装置 |
DE102020106679B4 (de) * | 2019-03-12 | 2023-03-16 | Steering Solutions Ip Holding Corporation | Lenksystem und verfahren zum bereitstellen eines betriebsartübergangs für ein fahrzeug |
KR20210005439A (ko) * | 2019-07-05 | 2021-01-14 | 현대자동차주식회사 | 운전자 보조 장치, 그를 가지는 차량 및 그 제어 방법 |
KR20210011557A (ko) * | 2019-07-22 | 2021-02-02 | 현대자동차주식회사 | 자율 주행 제어 장치, 그를 포함한 시스템 및 그 방법 |
JP7393730B2 (ja) | 2019-09-26 | 2023-12-07 | スズキ株式会社 | 車両の走行制御装置 |
CN110758390A (zh) * | 2019-11-19 | 2020-02-07 | 北京长城华冠汽车科技股份有限公司 | 巡航车速控制方法及装置 |
US11597408B2 (en) * | 2020-07-09 | 2023-03-07 | Aptiv Technologies Limited | Vehicle control system |
US11763694B2 (en) | 2020-07-22 | 2023-09-19 | Toyota Research Institute, Inc. | Systems and methods for training a driver about automated driving operation using a reliability model |
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JP2022060078A (ja) * | 2020-10-02 | 2022-04-14 | 株式会社Subaru | 運転支援装置 |
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CN118254821A (zh) * | 2022-12-28 | 2024-06-28 | 比亚迪股份有限公司 | 车辆控制方法、自动驾驶控制器、转向控制器及车辆 |
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KR102504567B1 (ko) * | 2021-03-10 | 2023-02-27 | 주광철 | 완전 파워 스티어링 시스템 및 방법 |
WO2023002543A1 (ja) | 2021-07-19 | 2023-01-26 | 日産自動車株式会社 | 車両の運転モード切り替え制御方法及び運転モード切り替え制御装置 |
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CN110316241B (zh) | 2023-04-07 |
JP6691568B2 (ja) | 2020-04-28 |
US20190300014A1 (en) | 2019-10-03 |
US11046331B2 (en) | 2021-06-29 |
CN110316241A (zh) | 2019-10-11 |
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