JP7068365B2 - 車両制御装置、車両及び車両制御方法 - Google Patents
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Description
一実施形態による車両制御装置、車両及び車両制御方法について図1~図9を用いて説明する。図1は、本実施形態による車両制御装置が備えられた車両を示すブロック図である。
14:外界センサ 16:車体挙動センサ
18:車両操作センサ 20:通信部
24:駆動装置 26:制動装置
28:操舵装置 29:プリテンショナ
30:ナビゲーション装置 32、44:カメラ
33:測位部 34:レーダ
38:自動運転スイッチ 40:ディスプレイ
42:接触センサ 46:スピーカ
52:地図データベース 54:演算部
56:記憶部 57:制御部
58:走行制御部 59:周辺情報取得部
60:制限値決定部 62:制動制御部
64:報知制御部 66:作動制御部
68:運転モード変更部 70:先行車両
Claims (9)
- 複数の運転モードを有する車両を制御する車両制御装置であって、
前記車両の周辺情報を取得する周辺情報取得部と、
前記周辺情報に基づいて前記車両の走行制御を行う走行制御部と、
前記走行制御部によって前記走行制御が行われている際の減速度の制限値である減速度制限値を前記運転モードに応じて決定する制限値決定部と、
前記制限値決定部によって決定された前記減速度制限値を超えない減速度で前記車両が減速するように前記周辺情報に基づいて制動制御を行う制動制御部と、を備え、
前記制限値決定部は、前記複数の運転モードのうちの第1運転モードで前記車両が運転される場合には前記減速度制限値を第1制限値に設定し、前記第1運転モードより自動化度が高い第2運転モードで前記車両が運転される場合には前記減速度制限値を前記第1制限値より高い第2制限値に設定し、
前記車両の減速度が前記減速度制限値を超える場合に、運転者に対して警報が発せられるように制御を行う報知制御部を更に備え、
前記車両の減速度が前記減速度制限値を超えた後に前記車両の減速度が低下し始めた場合、又は、前記車両の減速度が前記減速度制限値を超えた後に前記車両の減速度が前記減速度制限値未満になった場合に、前記報知制御部は、前記警報が中止されるように制御を行うとともに運転者に対する運転交代要求が発せられるように制御を行う、車両制御装置。 - 請求項1に記載の車両制御装置において、
前記自動化度が前記第2運転モードより高い第3運転モードで前記車両が運転される場合には、前記制限値決定部は、前記減速度制限値を前記第1制限値より高い第3制限値に設定する、車両制御装置。 - 請求項2に記載の車両制御装置において、
前記第3制限値は、前記第2制限値と同等である、車両制御装置。 - 請求項1~3のいずれか1項に記載の車両制御装置において、
前記第2運転モードで前記車両が運転され、且つ、前記車両の走行速度が速度閾値未満である場合には、前記制限値決定部は、前記減速度制限値を前記第2制限値と決定し、
前記第2運転モードで前記車両が運転され、且つ、前記車両の前記走行速度が前記速度閾値以上である場合には、前記制限値決定部は、前記減速度制限値を前記第2制限値より低い第4制限値と決定する、車両制御装置。 - 請求項4に記載の車両制御装置において、
前記第4制限値は、前記第1制限値と同等である、車両制御装置。 - 請求項1~5のいずれか1項に記載の車両制御装置において、
前記車両の減速度が前記減速度制限値を超える場合に、前記車両に備えられたシートベルトの張力を増大させるプリテンショナを作動させる作動制御部を更に備える、車両制御装置。 - 請求項1に記載の車両制御装置において、
前記運転交代要求が前記運転者によって承認された場合に、前記車両の前記運転モードを変更する運転モード変更部を更に有する、車両制御装置。 - 請求項1~7のいずれか1項に記載の車両制御装置を備える車両。
- 複数の運転モードを有する車両を制御する車両制御方法であって、
周辺情報取得部によって取得される周辺情報に基づいて走行制御部が前記車両の走行制御を行う走行制御ステップと、
前記走行制御部によって前記走行制御が行われている際の減速度の制限値である減速度制限値を制限値決定部が前記運転モードに応じて決定する制限値決定ステップと、
前記制限値決定ステップにおいて決定された前記減速度制限値を超えない減速度で前記車両が減速するように制動制御部が前記周辺情報に基づいて制動制御を行う制動ステップと、を備え、
前記制限値決定ステップでは、前記複数の運転モードのうちの第1運転モードで前記車両が運転される場合には前記減速度制限値を第1制限値に設定し、前記第1運転モードより自動化度が高い第2運転モードで前記車両が運転される場合には前記減速度制限値を前記第1制限値より高い第2制限値に設定し、
前記車両の減速度が前記減速度制限値を超える場合に、運転者に対して警報が発せられるように報知制御部が制御を行う報知制御ステップを更に備え、
前記報知制御ステップでは、前記車両の減速度が前記減速度制限値を超えた後に前記車両の減速度が低下し始めた場合、又は、前記車両の減速度が前記減速度制限値を超えた後に前記車両の減速度が前記減速度制限値未満になった場合に、前記警報が中止されるように制御を行うとともに運転者に対する運転交代要求が発せられるように制御を行う、車両制御方法。
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US17/191,116 US11597400B2 (en) | 2020-03-05 | 2021-03-03 | Vehicle control apparatus, vehicle, and vehicle control method |
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