JP2020142652A - 車両の運転制御システム - Google Patents
車両の運転制御システム Download PDFInfo
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- JP2020142652A JP2020142652A JP2019040831A JP2019040831A JP2020142652A JP 2020142652 A JP2020142652 A JP 2020142652A JP 2019040831 A JP2019040831 A JP 2019040831A JP 2019040831 A JP2019040831 A JP 2019040831A JP 2020142652 A JP2020142652 A JP 2020142652A
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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
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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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- B60W40/08—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 drivers or passengers
- B60W40/09—Driving style or behaviour
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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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
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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
- B60W60/005—Handover processes
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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
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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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
- G05D1/02—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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- B60W40/08—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 drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
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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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
10 外部環境認識装置
20 測位装置
30 地図情報処理装置
40 運転者監視装置(運転者監視部)
50 制駆動制御装置
60 操舵制御装置
70 情報提示装置
100 自動運転制御装置
101 運転モード遷移制御部
102 運転制御部
103 運転者異常状態検出部
104 リスク状態検出部
105 警報制御部
Claims (6)
- 車両を自動運転で走行させる自動運転モードを備える車両の運転制御システムであって、
前記自動運転モードによる走行中に前記運転制御システムから運転を引継ぎ可能な車室内の乗員を運転者として監視する運転者監視部と、
前記運転者監視部の監視結果に基づいて、前記運転者の異常状態を検出する運転者異常状態検出部と、
前記自動運転モードにおける車両の制御状態と走行環境との少なくとも一方をリスク状態として検出するリスク状態検出部と、
前記運転者の前記異常状態と前記自動運転モードの前記リスク状態とのうちの少なくとも前記リスク状態に基づいて、前記自動運転モードによる走行時に前記運転者に対して出力する警報を制御する警報制御部と
を備えることを特徴とする車両の運転制御システム。 - 前記運転者異常状態検出部は、前記異常状態を、前記運転者の視線方向と閉眼状態との少なくとも一方に基づいて検出することを特徴とする請求項1に記載の車両の運転制御システム。
- 前記リスク状態検出部は、前記リスク状態として、走行中の加速度を検出することを特徴とする請求項1又は2に記載の車両の運転制御システム。
- 前記警報制御部は、前記警報の強弱又は出力タイミングを可変することにより、前記警報を制御することを特徴とする請求項1〜3の何れか一項に記載の車両の運転制御システム。
- 前記警報制御部は、前記警報を出力後に前記運転者の前記異常状態が設定時間以上継続した場合、前記自動運転モードにおける車両の加速度を抑制させることを特徴とする請求項1〜4の何れか一項に記載の車両の運転制御システム。
- 前記警報制御部は、前記加速度の抑制後も前記運転者の前記異常状態が一定時間以上継続した場合、前記自動運転モードを減速制御を含むリスク低減モードに遷移させることを特徴とする請求項5に記載の車両の運転制御システム。
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JP2019040831A JP7307558B2 (ja) | 2019-03-06 | 2019-03-06 | 車両の運転制御システム |
US16/730,170 US11648940B2 (en) | 2019-03-06 | 2019-12-30 | Vehicle driving control system |
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JP2019040831A JP7307558B2 (ja) | 2019-03-06 | 2019-03-06 | 車両の運転制御システム |
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JP2020142652A true JP2020142652A (ja) | 2020-09-10 |
JP7307558B2 JP7307558B2 (ja) | 2023-07-12 |
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Families Citing this family (9)
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US11565713B2 (en) * | 2017-06-02 | 2023-01-31 | Honda Motor Co., Ltd. | Vehicle control system, vehicle control method, and vehicle control program |
JP7020215B2 (ja) * | 2018-03-19 | 2022-02-16 | 日本電気株式会社 | 余所見判定装置、余所見判定システム、余所見判定方法、プログラム |
JP6844568B2 (ja) * | 2018-03-27 | 2021-03-17 | 日本電気株式会社 | 余所見判定装置、余所見判定システム、余所見判定方法、プログラム |
KR20190134862A (ko) * | 2018-04-27 | 2019-12-05 | 삼성전자주식회사 | 전자 장치 및 그 동작 방법 |
WO2020031586A1 (ja) * | 2018-08-10 | 2020-02-13 | 古野電気株式会社 | 船舶操縦支援システム、船舶制御装置、船舶制御方法、及びプログラム |
CN111386217B (zh) * | 2019-03-08 | 2024-03-15 | 深圳市大疆创新科技有限公司 | 用于在可移动物体的手动控制与自主控制之间进行切换的技术 |
JP7298255B2 (ja) * | 2019-04-10 | 2023-06-27 | トヨタ自動車株式会社 | 車両制御システム |
EP3730331B1 (en) * | 2019-04-26 | 2023-03-08 | Zenuity AB | Method and device for controlling a driver assistance |
CN112829767B (zh) * | 2021-02-22 | 2024-05-17 | 清华大学苏州汽车研究院(相城) | 一种基于监测驾驶员误操作的自动驾驶控制***及方法 |
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