JP6572328B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
- Publication number
- JP6572328B2 JP6572328B2 JP2018009758A JP2018009758A JP6572328B2 JP 6572328 B2 JP6572328 B2 JP 6572328B2 JP 2018009758 A JP2018009758 A JP 2018009758A JP 2018009758 A JP2018009758 A JP 2018009758A JP 6572328 B2 JP6572328 B2 JP 6572328B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- operation mode
- vehicle speed
- failure
- manual operation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 33
- 230000009471 action Effects 0.000 claims description 27
- 230000005856 abnormality Effects 0.000 description 16
- 230000001133 acceleration Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 9
- 238000003860 storage Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000001678 irradiating effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000006996 mental state Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe 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
- 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
- B60W50/0205—Diagnosing or detecting failures; Failure detection 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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
-
- 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
-
- 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
- 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
-
- 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
-
- 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
- B60W50/038—Limiting the input power, torque or speed
-
- 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
-
- 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
-
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- B60W2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
-
- 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
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Medical Informatics (AREA)
- Game Theory and Decision Science (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Description
(1)車両制御装置50は、手動運転で走行する手動運転モードと、自動運転で走行する自動運転モードとに切替え可能な車両100を制御するように構成される。この車両制御装置50は、手動運転モードで走行中の車両100の故障を検知する故障検知部51と、故障検知部51により車両の故障が検知されると、運転モードを手動運転モードから自動運転モードに切替えるモード切替制御部52と、を備える(図4)。
Claims (3)
- 手動運転で走行する手動運転モードと、自動運転で走行する自動運転モードとに切替え可能な車両であって、エンジンと変速機と走行モータの少なくとも1つの走行用機器を走行駆動系に有する車両を制御する車両制御装置であって、
前記手動運転モードで走行中の車両における前記走行用機器の故障を検知する故障検知部と、
前記故障検知部により前記走行用機器の故障が検知されると、運転モードを前記手動運転モードから前記自動運転モードに切替えるモード切替制御部と、
車速を検出する車速検出部と、
前記故障検知部により前記走行用機器の故障が検知されると、車速を制限車速に制限する車速制限部と、を備え、
前記モード切替制御部は、前記車速検出部により検出された車速が前記制限車速以上であるときに、前記故障検知部により前記走行用機器の故障が検知されると、運転モードを前記手動運転モードから前記自動運転モードに切替える一方、前記車速検出部により検出された車速が前記制限車速未満であるときに、前記故障検知部により前記走行用機器の故障が検知されると、運転モードを前記手動運転モードのままとすることを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置において、
前記故障検知部により前記走行用機器の故障が検知されて、前記モード切替制御部により運転モードが手動運転モードから自動運転モードに切替えられると、前記走行用機器の故障態様に応じた目的地と該目的地に向かう走行経路とを含む行動計画を生成する行動計画生成部と、
前記行動計画生成部により生成された行動計画に従い車両の走行動作を制御する走行制御部と、をさらに備えることを特徴とする車両制御装置。 - 請求項1または2に記載の車両制御装置において、
前記モード切替制御部は、前記故障検知部により前記走行用機器の故障が検知されて運転モードを前記手動運転モードから前記自動運転モードに切替えた後、前記車速検出部により検出された車速が前記制限車速未満になると、運転モードの前記自動運転モードから前記手動運転モードへの復帰を可能とすることを特徴とする車両制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018009758A JP6572328B2 (ja) | 2018-01-24 | 2018-01-24 | 車両制御装置 |
US16/252,242 US10821997B2 (en) | 2018-01-24 | 2019-01-18 | Vehicle control apparatus for switching from a manual drive mode to self-drive mode |
CN201910054400.3A CN110077406B (zh) | 2018-01-24 | 2019-01-21 | 车辆控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018009758A JP6572328B2 (ja) | 2018-01-24 | 2018-01-24 | 車両制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019127143A JP2019127143A (ja) | 2019-08-01 |
JP6572328B2 true JP6572328B2 (ja) | 2019-09-04 |
Family
ID=67299740
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018009758A Active JP6572328B2 (ja) | 2018-01-24 | 2018-01-24 | 車両制御装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10821997B2 (ja) |
JP (1) | JP6572328B2 (ja) |
CN (1) | CN110077406B (ja) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20210018627A (ko) * | 2019-08-07 | 2021-02-18 | 현대자동차주식회사 | 자율주행차량의 거동 제어 장치 및 그 방법 |
CN110422172B (zh) * | 2019-08-12 | 2020-08-04 | 西安主函数智能科技有限公司 | 工程车辆线控控制方法和*** |
US11397434B2 (en) | 2019-08-13 | 2022-07-26 | Zoox, Inc. | Consistency validation for vehicle trajectory selection |
US11914368B2 (en) * | 2019-08-13 | 2024-02-27 | Zoox, Inc. | Modifying limits on vehicle dynamics for trajectories |
US11407409B2 (en) | 2019-08-13 | 2022-08-09 | Zoox, Inc. | System and method for trajectory validation |
US11458965B2 (en) | 2019-08-13 | 2022-10-04 | Zoox, Inc. | Feasibility validation for vehicle trajectory selection |
CN112486153A (zh) * | 2019-08-21 | 2021-03-12 | 北京小马慧行科技有限公司 | 自动驾驶车辆的控制方法和装置、存储介质及电子装置 |
JP7382192B2 (ja) * | 2019-09-30 | 2023-11-16 | 株式会社Subaru | 車両 |
JP7136060B2 (ja) * | 2019-10-11 | 2022-09-13 | トヨタ自動車株式会社 | 駐車支援装置 |
CN110942632B (zh) * | 2019-12-05 | 2022-02-15 | 苏州智加科技有限公司 | 一种自动驾驶的数据处理方法、装置及设备 |
JP7143354B2 (ja) * | 2020-01-24 | 2022-09-28 | 本田技研工業株式会社 | 車両制御装置及び制御プログラム |
EP4239615A4 (en) * | 2020-10-29 | 2024-02-21 | Nissan Motor Co., Ltd. | DRIVING CONTROL METHOD AND DEVICE |
JP7472784B2 (ja) | 2020-12-28 | 2024-04-23 | トヨタ自動車株式会社 | 車両電子制御装置、車両電子制御方法及び車両制御プログラム |
CN114684182B (zh) * | 2020-12-31 | 2024-05-31 | 杭州神驹科技有限公司 | 一种矿山电动重卡车辆的无人驾驶控制方法 |
JP2022142826A (ja) * | 2021-03-17 | 2022-10-03 | 本田技研工業株式会社 | 自車位置推定装置 |
US20220355813A1 (en) * | 2021-05-04 | 2022-11-10 | Ford Global Technologies, Llc | Vehicle having user inputs controlled based on monitored pet location |
Family Cites Families (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3633794B2 (ja) * | 1998-08-27 | 2005-03-30 | ジヤトコ株式会社 | 自動変速機の変速制御装置 |
FR2876063B1 (fr) * | 2004-10-04 | 2008-02-15 | Renault Sas | Systeme de commande palliatif d'une boite de vitesses manuelle dite robotisee a rapports etages, pour vehicule automobile et procede correspondant. |
US7288039B2 (en) * | 2005-10-31 | 2007-10-30 | General Motors Corporation | Multiplexed pressure switch system for an electrically variable hybrid transmission |
JP5162998B2 (ja) * | 2006-10-12 | 2013-03-13 | 日産自動車株式会社 | ハイブリッド車両のモード切り替え制御装置 |
JP2009121516A (ja) * | 2007-11-12 | 2009-06-04 | Toyota Motor Corp | シフト切換機構の異常判定装置 |
US20100204874A1 (en) * | 2009-02-12 | 2010-08-12 | Michael William Oyer | Universal Motorcycle Cruise Control System |
US8352112B2 (en) * | 2009-04-06 | 2013-01-08 | GM Global Technology Operations LLC | Autonomous vehicle management |
EP2529991B1 (en) * | 2010-01-29 | 2019-10-30 | Toyota Jidosha Kabushiki Kaisha | Power transmission device |
EP2371645B1 (en) * | 2010-03-25 | 2012-12-05 | Iveco S.p.A. | Method for actuation the stop & start function in a moving vehicle, especially an industrial or commercial or special vehicle |
US8825258B2 (en) * | 2012-11-30 | 2014-09-02 | Google Inc. | Engaging and disengaging for autonomous driving |
JP6092393B2 (ja) * | 2013-08-02 | 2017-03-08 | 本田技研工業株式会社 | 車両の制御装置及び制御方法 |
JPWO2015056530A1 (ja) * | 2013-10-17 | 2017-03-09 | みこらった株式会社 | 自動運転車、自動運転車の盗難防止システム、自動運転車の盗難防止プログラム、端末制御用プログラム、自動運転車のレンタル方法及び自動運転車のカーシェアリング方法 |
KR101509943B1 (ko) * | 2013-10-22 | 2015-04-07 | 현대자동차주식회사 | 엔진 클러치 액츄에이터 고장-안전 제어 방법 및 이에 사용되는 장치 |
JP6201927B2 (ja) * | 2014-08-01 | 2017-09-27 | トヨタ自動車株式会社 | 車両制御装置 |
JP6439348B2 (ja) | 2014-09-25 | 2018-12-19 | いすゞ自動車株式会社 | 車両制御装置 |
EP4086721B1 (en) * | 2015-03-11 | 2023-09-20 | Kubota Corporation | Work vehicle with a running control apparatus causing automatic running of the work vehicle, preferably an agricultural vehicle |
FR3034737B1 (fr) * | 2015-04-13 | 2017-04-21 | Peugeot Citroen Automobiles Sa | Procede de gestion d'un vehicule hybride avec boite de vitesses automatique en cas de defaillance de cette boite |
JP2016205538A (ja) * | 2015-04-24 | 2016-12-08 | トヨタ自動車株式会社 | 車両の制御装置 |
US9734721B2 (en) * | 2015-08-14 | 2017-08-15 | Here Global B.V. | Accident notifications |
US9834224B2 (en) * | 2015-10-15 | 2017-12-05 | International Business Machines Corporation | Controlling driving modes of self-driving vehicles |
JP6640614B2 (ja) * | 2016-03-10 | 2020-02-05 | 三菱電機株式会社 | 車両制御装置及び車両制御方法 |
JP6757586B2 (ja) * | 2016-03-31 | 2020-09-23 | 株式会社Subaru | 異常報知装置 |
WO2017179151A1 (ja) * | 2016-04-13 | 2017-10-19 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
US10019009B2 (en) * | 2016-06-15 | 2018-07-10 | Allstate Insurance Company | Vehicle control systems |
CN106891895B (zh) * | 2017-03-22 | 2020-01-07 | 北京图森未来科技有限公司 | 一种车辆控制方法及装置 |
KR102347763B1 (ko) * | 2017-10-25 | 2022-01-05 | 현대자동차주식회사 | 하이브리드 차량의 페일 세이프 제어 방법 |
-
2018
- 2018-01-24 JP JP2018009758A patent/JP6572328B2/ja active Active
-
2019
- 2019-01-18 US US16/252,242 patent/US10821997B2/en active Active
- 2019-01-21 CN CN201910054400.3A patent/CN110077406B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
US10821997B2 (en) | 2020-11-03 |
US20190225237A1 (en) | 2019-07-25 |
JP2019127143A (ja) | 2019-08-01 |
CN110077406A (zh) | 2019-08-02 |
CN110077406B (zh) | 2022-05-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6572328B2 (ja) | 車両制御装置 | |
CN109760679B (zh) | 自动驾驶车辆的行驶控制装置 | |
CN110001638B (zh) | 自动驾驶车辆的行驶控制装置 | |
CN110001639B (zh) | 自动驾驶车辆的行驶控制装置 | |
JP6628819B2 (ja) | 車両走行制御装置 | |
JP6580115B2 (ja) | 自動運転車両の走行制御装置 | |
CN110654390B (zh) | 车辆控制装置 | |
JP2019206300A (ja) | 自動運転車両 | |
CN110040142B (zh) | 车辆行驶控制装置 | |
JP7000291B2 (ja) | 車両制御装置 | |
CN210126518U (zh) | 车辆控制装置 | |
CN111391844B (zh) | 自动驾驶车辆*** | |
JP6796576B2 (ja) | 自動運転車両の走行制御装置 | |
CN111391843B (zh) | 自动驾驶车辆*** | |
CN210554769U (zh) | 车辆控制装置 | |
CN110626354B (zh) | 车辆控制装置 | |
JP6572329B2 (ja) | 自動運転車両システム | |
CN210554767U (zh) | 变速机控制装置 | |
CN210126521U (zh) | 车辆控制装置 | |
JP2022083536A (ja) | 車両制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180927 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190514 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190624 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20190806 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20190809 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6572328 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |