JP7196809B2 - 自動運転車両の運転制御装置 - Google Patents
自動運転車両の運転制御装置 Download PDFInfo
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- JP7196809B2 JP7196809B2 JP2019183707A JP2019183707A JP7196809B2 JP 7196809 B2 JP7196809 B2 JP 7196809B2 JP 2019183707 A JP2019183707 A JP 2019183707A JP 2019183707 A JP2019183707 A JP 2019183707A JP 7196809 B2 JP7196809 B2 JP 7196809B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
-
- 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
-
- 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
-
- 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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K2026/029—Joystick type control devices for acceleration
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
Claims (6)
- 自動運転可能な自動運転車両の運転制御装置であって、
機械式操作部と、
予め用意された、前記機械式操作部の操作量と前記自動運転車両の舵角との関係を示す複数の舵角特性から選択舵角特性を選択する舵角特性選択部と、
前記選択舵角特性、及び、前記機械式操作部の操作量に基づいて、前記自動運転車両の舵角を制御する舵角制御部と、
を備え、
予め用意された前記複数の舵角特性は、第1舵角特性及び第2舵角特性を含み、
前記第2舵角特性は、操作量が所定操作量未満である小操作量領域においては、前記第1舵角特性に比して同一操作量に対する舵角が小さく、操作量が前記所定操作量以上である大操作量領域においては、前記第1舵角特性に比して同一操作量に対する舵角が大きい、
ことを特徴とする自動運転車両の運転制御装置。 - 前記舵角特性選択部は、前記自動運転車両の運転を行うオペレータからの指示に応じて、前記選択舵角特性を選択する、
ことを特徴とする請求項1に記載の自動運転車両の運転制御装置。 - 前記第2舵角特性における最大操作量に対する最大舵角は、前記第1舵角特性における最大操作量に対する最大舵角よりも大きい、
ことを特徴とする請求項1に記載の自動運転車両の運転制御装置。 - 前記自動運転車両の周囲における、前記自動運転車両が走行可能な領域である走行可能領域の広さを検知する測域センサと、
をさらに備え、
前記舵角特性選択部は、前記走行可能領域の広さが閾値以上の場合に前記第1舵角特性を選択し、前記走行可能領域の広さが閾値未満の場合に前記第2舵角特性を選択する、
ことを特徴とする請求項1又は3に記載の自動運転車両の運転制御装置。 - 前記機械式操作部の操作に応じて前記自動運転車両の車速制御を行う車速制御部であって、手動運転モード中に前記機械式操作部が操作されていない場合には、前記自動運転車両を減速させる車速制御部と、
をさらに備えることを特徴とする請求項1に記載の自動運転車両の運転制御装置。 - 前記車速制御部は、手動運転モード中に前記機械式操作部が操作されておらず、且つ、前記自動運転車両が停止している場合には、前記自動運転車両を停止した状態に維持するように制御する、
ことを特徴とする請求項5に記載の自動運転車両の運転制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019183707A JP7196809B2 (ja) | 2019-10-04 | 2019-10-04 | 自動運転車両の運転制御装置 |
CN202011014125.1A CN112606684B (zh) | 2019-10-04 | 2020-09-24 | 自动驾驶车辆的驾驶控制装置 |
US17/061,827 US11541911B2 (en) | 2019-10-04 | 2020-10-02 | Driving control device of autonomous-driving vehicle |
Applications Claiming Priority (1)
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---|---|---|---|
JP2019183707A JP7196809B2 (ja) | 2019-10-04 | 2019-10-04 | 自動運転車両の運転制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2021059178A JP2021059178A (ja) | 2021-04-15 |
JP7196809B2 true JP7196809B2 (ja) | 2022-12-27 |
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JP2019183707A Active JP7196809B2 (ja) | 2019-10-04 | 2019-10-04 | 自動運転車両の運転制御装置 |
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Country | Link |
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US (1) | US11541911B2 (ja) |
JP (1) | JP7196809B2 (ja) |
CN (1) | CN112606684B (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2023048306A (ja) * | 2021-09-28 | 2023-04-07 | トヨタ自動車株式会社 | 車両プラットフォーム、車両制御インターフェースボックス、および、自動運転システム |
WO2024080169A1 (ja) * | 2022-10-13 | 2024-04-18 | ソフトバンクグループ株式会社 | 制御システム、車両及び制御プログラム |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003175843A (ja) | 2001-12-13 | 2003-06-24 | Nissan Motor Co Ltd | 舵角比可変装置 |
JP2008044427A (ja) | 2006-08-11 | 2008-02-28 | Toyota Motor Corp | 車両の操舵制御装置 |
US20100209881A1 (en) | 2009-02-18 | 2010-08-19 | Gm Global Technology Operations, Inc. | Driving skill recognition based on behavioral diagnosis |
JP2017144808A (ja) | 2016-02-16 | 2017-08-24 | トヨタ自動車株式会社 | 車両制御装置 |
JP2017202720A (ja) | 2016-05-10 | 2017-11-16 | 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 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000203301A (ja) | 1999-01-18 | 2000-07-25 | Nissan Motor Co Ltd | 自動車用運転操作装置 |
JP2013112103A (ja) * | 2011-11-28 | 2013-06-10 | Ntn Corp | 自動車 |
JP6305218B2 (ja) * | 2014-06-04 | 2018-04-04 | 本田技研工業株式会社 | 車両用走行制御装置 |
JP6035308B2 (ja) * | 2014-11-07 | 2016-11-30 | 富士重工業株式会社 | 車両の走行制御装置 |
US10829116B2 (en) * | 2016-07-01 | 2020-11-10 | nuTonomy Inc. | Affecting functions of a vehicle based on function-related information about its environment |
IT201800004929A1 (it) * | 2018-04-27 | 2019-10-27 | Metodo e dispositivo di controllo di un'automobile, in particolare un'auto sportiva |
-
2019
- 2019-10-04 JP JP2019183707A patent/JP7196809B2/ja active Active
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2020
- 2020-09-24 CN CN202011014125.1A patent/CN112606684B/zh active Active
- 2020-10-02 US US17/061,827 patent/US11541911B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003175843A (ja) | 2001-12-13 | 2003-06-24 | Nissan Motor Co Ltd | 舵角比可変装置 |
JP2008044427A (ja) | 2006-08-11 | 2008-02-28 | Toyota Motor Corp | 車両の操舵制御装置 |
US20100209881A1 (en) | 2009-02-18 | 2010-08-19 | Gm Global Technology Operations, Inc. | Driving skill recognition based on behavioral diagnosis |
JP2017144808A (ja) | 2016-02-16 | 2017-08-24 | トヨタ自動車株式会社 | 車両制御装置 |
JP2017202720A (ja) | 2016-05-10 | 2017-11-16 | 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 |
Also Published As
Publication number | Publication date |
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JP2021059178A (ja) | 2021-04-15 |
CN112606684B (zh) | 2024-06-18 |
US11541911B2 (en) | 2023-01-03 |
US20210101621A1 (en) | 2021-04-08 |
CN112606684A (zh) | 2021-04-06 |
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