JP6705414B2 - 動作範囲決定装置 - Google Patents
動作範囲決定装置 Download PDFInfo
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Description
車両制御を自動で行う自動運転システムは、車両が自動車専用道路を走行する場合を主眼として開発されてきた。このような自動運転システムは、自動車専用道路において動作することを意味する。つまり、自動運転システムの動作範囲(ODD:operation design domain)は、車両が自動車専用道路を走行する場合に限られ得る。ここで、動作範囲とは、自動運転システムが設計どおりに動作する範囲である。
(自動運転システムの構成)
図1は、第一実施形態に係る動作範囲決定装置1を備えた車両2の構成の一例を示すブロック図である。図1に示されるように、乗用車などの車両2には、自動運転システム3が搭載されている。動作範囲決定装置1は、自動運転システム3の一部を構成している。
動作範囲決定装置1は、上述した地図データベース23、及び、ECU27を備えている。動作範囲決定装置1は、車両2の自動運転を行う自動運転システム3の動作範囲を決定する。ECU27は、動作範囲決定装置1の主要なハードウェアであり、演算機器である。ECU27は、例えばCAN通信回路を用いて通信するネットワークに接続され、地図データベース23と通信可能に接続されている。つまり、ECU27は、地図データベース23の地図情報を参照することができる。ECU27は、HMI25に入力された情報を参照することができる。ECU27は、HMI25へ信号を出力することができる。ECU27は、車両2の他の構成要素と接続されていてもよい。ECU27は、自動運転ECU24に含まれていてもよい。
であると、他車両5が減速をしない限り、適切な自動運転を実現することができない。他車両5の減速を期待することなく、車両2が優先道路R1に進入するためには、優先道路R1への進入を判断する時点で、以下の条件を満たす他車両5が存在しないことを検知する必要がある。
以下、動作範囲決定方法の一例が開示される。図3は、動作範囲決定処理の一例を示すフローチャートである。図3のフローチャートは、例えば車両2の運転者による動作範囲決定機能のON操作を受け付けたタイミングで、動作範囲決定装置1により実行される。
第一実施形態に係る動作範囲決定装置1においては、速度に関する制限と位置とが関連付けられた地図データベース23から、車両2の位置を用いて速度に関する制限が取得される。そして、速度に関する制限に基づいて、要求検知距離が算出される。このように、動作範囲決定装置1は、移動物体が速度に関する制限を遵守することを前提とすることで要求検知距離を決定することができる。そして、測定された検出可能距離が要求検知距離以上である場合には、自動運転システム3は動作範囲内であることが決定される。このように、動作範囲決定装置1は、要求検知距離と測定結果とを用いて、自動運転の動作範囲を適切に決定することができる。
(自動運転システムの構成)
第二実施形態に係る自動運転システム3Aの構成は、第一実施形態に係る自動運転システム3の構成と比較して、動作範囲決定装置の一部機能が相違し、その他は同一である。以下では重複する説明は繰り返さない。
以下、動作範囲決定方法の一例が開示される。図6は、動作範囲決定処理の一例を示すフローチャートである。図6のフローチャートは、例えば車両2Aの運転者による動作範囲決定機能のON操作を受け付けたタイミングで、動作範囲決定装置1Aにより実行される。
第二実施形態に係る動作範囲決定装置1Aによれば、要求検知距離と位置とが関連付けられた地図データベース23Aから、車両2Aの位置を用いて要求検知距離が取得される。そして、測定された検出可能距離が要求検知距離以上である場合には、自動運転システム3Aが動作範囲内であると決定される。このように、動作範囲決定装置1Aは、要求検知距離と測定結果とを用いて、自動運転の動作範囲を適切に決定することができる。
Claims (3)
- 車両の自動運転を行う自動運転システムの動作範囲を決定するための動作範囲決定装置であって、
前記車両の位置を推定する位置推定部と、
速度に関する制限と位置とが関連付けられた交通地図データベースと、
前記位置推定部により推定された前記車両の位置と前記交通地図データベースとに基づいて前記速度に関する制限を取得するルール取得部と、
前記ルール取得部により取得された前記速度に関する制限に基づいて、予め定められた自動運転を実行するために移動物体を事前検知しなければならない距離である要求検知距離を算出する要求値算出部と、
前記車両の物体検出センサの検出結果に基づいて、検出可能距離を算出する距離測定部と、
前記検出可能距離が前記要求検知距離以上である場合には、前記自動運転システムが動作範囲内であると決定する決定部と、
を備え、
前記要求値算出部は、前記車両及び前記移動物体が前記ルール取得部により取得された前記速度に関する制限内で最も速く走行すると仮定して、前記要求検知距離を算出する、
動作範囲決定装置。 - 前記要求値算出部は、前記決定部により前記自動運転システムが動作範囲内でないと決定された場合には、前記車両の上限速度を所定速度だけ小さくした速度に変更して前記要求検知距離を再度算出する、請求項1に記載の動作範囲決定装置。
- 車両の自動運転を行う自動運転システムの動作範囲を決定するための動作範囲決定装置であって、
前記車両の位置を推定する位置推定部と、
予め定められた自動運転を実行するために移動物体を事前検知しなければならない距離である要求検知距離と位置とが関連付けられた地図データベースと、
前記位置推定部により推定された前記車両の位置と前記地図データベースとに基づいて、前記要求検知距離を取得する取得部と、
前記車両の物体検出センサの検出結果に基づいて、検出可能距離を算出する距離測定部と、
前記検出可能距離が前記要求検知距離以上である場合には、前記自動運転システムが動作範囲内であると決定する決定部と、
を備える動作範囲決定装置。
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