JP2019191893A - 車両制御装置及びプログラム - Google Patents
車両制御装置及びプログラム Download PDFInfo
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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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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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
- G05D1/0011—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
- G05D1/0038—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 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- 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
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
-
- 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
- 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
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of 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
- 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
- B60W2050/143—Alarm means
-
- 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
- B60W2050/146—Display means
-
- 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
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- Mechanical Engineering (AREA)
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- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Human Computer Interaction (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
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- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
[先行技術文献]
[特許文献]
[特許文献1]特開2000−311299号公報
[特許文献2]特開2004−206218号公報
Claims (11)
- 手動運転又は自動運転に基づく第1制御信号に従って走行する第1運転モードと、遠隔運転に基づく第2制御信号に従って走行する第2運転モードとを有する車両を制御する車両制御装置であって、
前記車両が前記第1運転モードであるときに前記第1制御信号に従って前記車両を制御し、前記車両が前記第2運転モードである時に前記第2制御信号に従って前記車両を制御する車両制御部と、
前記車両が前記第2運転モードであり前記車両制御部が前記第2制御信号に従って前記車両を制御している間に前記車両の走行の特性を判定する特性判定部と、
前記特性判定部によって判定された特性が予め定められた条件を満たす場合に、前記車両を前記第2運転モードから前記第1運転モードに移行させるモード制御部と
を備える車両制御装置。 - 前記特性判定部は、前記車両の走行速度の特性を判定する、請求項1に記載の車両制御装置。
- 前記特性判定部は、前記車両の走行の加減速回数の特性を判定する、請求項1又は2に記載の車両制御装置。
- 前記特性判定部は、前記車両と他の車両との車間距離の特性を判定する、請求項1から3のいずれか一項に記載の車両制御装置。
- 前記特性判定部は、前記車両の走行の安全度を判定し、
前記モード制御部は、前記安全度が予め定められた閾値より低い場合に、前記車両を前記第2運転モードから前記第1運転モードに移行させる、請求項1から4のいずれか一項に記載の車両制御装置。 - 前記特性判定部は、前記車両の走行の危険度を判定し、
前記モード制御部は、前記危険度が予め定められた閾値より高い場合に、前記車両を前記第2運転モードから前記第1運転モードに移行させる、請求項1から4のいずれか一項に記載の車両制御装置。 - 前記特性判定部によって判定された特性が前記予め定められた条件を満たす場合に、前記車両の乗員に対して警告を出力する警告出力部
を備える、請求項1から6のいずれか一項に記載の車両制御装置。 - 前記警告出力部は、前記特性判定部によって判定された特性が満たした条件を示す情報を含む警告を出力する、請求項7に記載の車両制御装置。
- 前記警告出力部による前記警告の出力後に、前記車両の乗員による前記第1運転モードに移行する指示を受け付ける指示受付部
を備え、
前記モード制御部は、前記指示受付部が前記第1運転モードに移行する指示を受け付けたことに応じて、前記車両を前記第2運転モードから前記第1運転モードに移行させる、請求項7又は8に記載の車両制御装置。 - 前記予め定められた条件を満たした前記特性を許可特性として登録する指示を受け付けたことに応じて、前記特性を許可特性として登録する特性登録部
を備え、
前記モード制御部は、前記特性判定部によって判定された特性のうち前記許可特性と異なる特性について、予め定められた条件を満たすか否かを判定する、請求項1から9のいずれか一項に記載の車両制御装置。 - 手動運転又は自動運転に基づく第1制御信号に従って走行する第1運転モードと、遠隔運転に基づく第2制御信号に従って走行する第2運転モードとを有する車両が有するコンピュータを、
前記車両が前記第1運転モードであるときに前記第1制御信号に従って前記車両を制御し、前記車両が前記第2運転モードである時に前記第2制御信号に従って前記車両を制御する車両制御部が前記第2制御信号に従って前記車両を制御している間に前記車両の走行の特性を判定する特性判定部、及び
前記特性判定部によって判定された特性が予め定められた条件を満たす場合に、前記車両を前記第2運転モードから前記第1運転モードに移行させるモード制御部
として機能させるためのプログラム。
Priority Applications (3)
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JP2018083392A JP2019191893A (ja) | 2018-04-24 | 2018-04-24 | 車両制御装置及びプログラム |
CN201910098023.3A CN110395253B (zh) | 2018-04-24 | 2019-01-31 | 车辆控制装置以及计算机可读存储介质 |
US16/391,301 US11181910B2 (en) | 2018-04-24 | 2019-04-23 | Vehicle controller and computer readable storage medium |
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Cited By (2)
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WO2022123831A1 (ja) * | 2020-12-10 | 2022-06-16 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ | 情報処理方法、及び、情報処理システム |
EP4328694A1 (en) | 2022-08-23 | 2024-02-28 | Toyota Jidosha Kabushiki Kaisha | Method and system for controlling mobile vehicle |
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US11046332B2 (en) * | 2016-11-09 | 2021-06-29 | Honda Motor Co., Ltd. | Vehicle control device, vehicle control system, vehicle control method, and storage medium |
WO2020262716A1 (ko) * | 2019-06-24 | 2020-12-30 | 엘지전자 주식회사 | 자율주행 차량의 주행 방법 |
JP7474081B2 (ja) * | 2020-03-16 | 2024-04-24 | 本田技研工業株式会社 | 制御装置、システム、及びプログラム |
CN111409643B (zh) * | 2020-04-15 | 2021-10-26 | 新石器慧通(北京)科技有限公司 | 远程驾驶方法、远程驾驶装置及远程驾驶*** |
CN113276886B (zh) * | 2021-05-28 | 2022-11-25 | 华能煤炭技术研究有限公司 | 车辆驾驶模式确定方法、装置及无人车辆 |
CN113655795A (zh) * | 2021-08-16 | 2021-11-16 | 广州小鹏自动驾驶科技有限公司 | 远程驾驶控制方法、装置、电子设备和计算机可读存储介质 |
CN114426028B (zh) * | 2022-03-03 | 2023-12-22 | 一汽解放汽车有限公司 | 智能驾驶控制方法、装置、计算机设备和存储介质 |
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- 2019-01-31 CN CN201910098023.3A patent/CN110395253B/zh active Active
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JP2016074317A (ja) * | 2014-10-07 | 2016-05-12 | 株式会社デンソー | 車両の遠隔制御に用いられる命令判定装置および命令判定装置用のプログラム |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2022123831A1 (ja) * | 2020-12-10 | 2022-06-16 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ | 情報処理方法、及び、情報処理システム |
EP4328694A1 (en) | 2022-08-23 | 2024-02-28 | Toyota Jidosha Kabushiki Kaisha | Method and system for controlling mobile vehicle |
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CN110395253B (zh) | 2023-01-06 |
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