JP6332170B2 - 自動運転制御装置 - Google Patents
自動運転制御装置 Download PDFInfo
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Description
Claims (3)
- 車線に対して予め設定された基準走行軌跡に沿って車両を走行させる自動運転制御を行う自動運転制御装置において、
前記自動運転制御中に前記車両の運転者による操舵を検出する操舵検出部と、
前記車線の車線幅方向における範囲として前記車線内に前記基準走行軌跡を含む許容範囲を設定すると共に、前記許容範囲内に前記基準走行軌跡を含む第一範囲と前記第一範囲の左右両側の第二範囲を設定する範囲設定部と、
前記自動運転制御を実行すると共に、前記操舵検出部により前記運転者による操舵が検出された場合に前記車両の車線幅方向の位置が前記許容範囲に含まれるときには前記自動運転制御中における前記運転者の操舵を前記車両の走行に反映する自動運転制御部と、
前記操舵検出部により前記運転者による操舵が検出された場合に、前記車両の車線幅方向の位置が前記第二範囲に含まれるか否かを判定する位置判定部と、
前記位置判定部により前記車両の車線幅方向の位置が前記第二範囲に含まれると判定された場合に、前記車両の走行について前記運転者に注意喚起する注意喚起部と、
を備える、自動運転制御装置。 - 前記操舵検出部により検出された前記運転者による操舵の操舵量が操舵量閾値以上から前記操舵量閾値未満になったか否かを判定する操舵判定部を更に備え、
前記位置判定部は、前記車両の車線幅方向の位置が前記第一範囲に含まれるか否かを判定し、
前記自動運転制御部は、前記操舵判定部により前記運転者による操舵の操舵量が前記操舵量閾値以上から前記操舵量閾値未満になったと判定され、かつ、前記位置判定部により前記車両の車線幅方向の位置が前記第一範囲に含まれると判定された場合に、前記車両の車線幅方向の位置を維持するように前記自動運転制御を実行する、請求項1に記載の自動運転制御装置。 - 前記車両の車速を検出する車速検出部を更に備え、
前記範囲設定部は、前記車両の車速に基づいて、前記許容範囲、前記第一範囲、及び前記第二範囲を設定し、前記車速が遅いほど前記車線内で前記許容範囲、前記第一範囲、及び前記第二範囲を広く設定する、
請求項1又は請求項2に記載の自動運転制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015132772A JP6332170B2 (ja) | 2015-07-01 | 2015-07-01 | 自動運転制御装置 |
CN201610421375.4A CN106314419B (zh) | 2015-07-01 | 2016-06-14 | 自动驾驶控制装置 |
US15/186,606 US9950740B2 (en) | 2015-07-01 | 2016-06-20 | Automatic driving control device |
DE102016211622.3A DE102016211622A1 (de) | 2015-07-01 | 2016-06-28 | Vorrichtung für atuomatische Fahrsteuerung |
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US10710632B2 (en) | 2020-07-14 |
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CN106314419A (zh) | 2017-01-11 |
US9950740B2 (en) | 2018-04-24 |
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