JP7200870B2 - 車両制御システム及び車両制御方法 - Google Patents
車両制御システム及び車両制御方法 Download PDFInfo
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- JP7200870B2 JP7200870B2 JP2019136248A JP2019136248A JP7200870B2 JP 7200870 B2 JP7200870 B2 JP 7200870B2 JP 2019136248 A JP2019136248 A JP 2019136248A JP 2019136248 A JP2019136248 A JP 2019136248A JP 7200870 B2 JP7200870 B2 JP 7200870B2
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- 238000012545 processing Methods 0.000 description 9
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- 241001122315 Polites Species 0.000 description 2
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- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
-
- 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
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- 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
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- General Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Selective Calling Equipment (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
12,22 車両
14A,14B,14C 遠隔操作端末
16 サーバ
18,28 遠隔操作員選択サーバ
19 通信手段
20 コンピュータ
52 メモリ
53 記憶部
59 記録媒体
120,220 ECU
122 車両駆動装置
124 通信部
126 車両制御部
140A 通信部
142A 遠隔操作端末制御部
160 サーバ制御部
162 通信部
180,280 操作情報記憶部
182 サーバ制御部
184 通信部
228 評価情報取得部
Claims (3)
- 遠隔操作員選択サーバと、自律自動運転モード、遠隔自動運転モード、及び手動運転モードによる走行が可能な車両を制御する車両制御装置と、車両を遠隔から操作する遠隔操作端末と、を備える車両制御システムであって、
前記車両制御装置は、手動運転モードにおける前記車両の乗員の操作内容の実績を表す手動操作情報が格納されている手動操作情報記憶部を参照し、前記手動操作情報記憶部に格納されている前記乗員の前記手動操作情報を前記遠隔操作員選択サーバへ送信し、
前記遠隔操作員選択サーバは、前記車両制御装置から送信された前記手動操作情報を取得し、複数の遠隔操作員の各々について、該遠隔操作員による車両の遠隔操作内容の実績を表す遠隔操作情報が格納されている遠隔操作情報記憶部を参照し、複数の遠隔操作員の前記遠隔操作情報の各々と、前記手動操作情報との間の差異を算出し、前記差異が所定基準を満たす前記遠隔操作員を、前記車両を遠隔操作する遠隔操作員として選択し、選択した該遠隔操作員を表す遠隔操作員情報を前記車両制御装置へ送信すると共に、選択した該遠隔操作員が操作する遠隔操作端末へ前記車両を表す車両情報を送信し、
前記車両制御装置は、遠隔自動運転モードにより前記車両を走行させる際に、前記遠隔操作員選択サーバから送信された前記遠隔操作員情報に対応する遠隔操作端末から送信される操作情報に応じて、前記車両の走行を制御する、
車両制御システムであって、
前記遠隔操作員の選択の際に用いられる前記操作情報の種類は、車両の乗員によって選択される、
車両制御システム。 - 前記遠隔操作員の選択は、自律自動運転モード又は手動運転モードによる走行の際に行われる、
請求項1に記載の車両制御システム。 - 遠隔操作員選択サーバと、自律自動運転モード、遠隔自動運転モード、及び手動運転モードによる走行が可能な車両を制御する車両制御装置と、車両を遠隔から操作する遠隔操作端末と、を備える車両制御システムにおける車両制御方法であって、
前記車両制御装置が、手動運転モードにおける前記車両の乗員の操作内容の実績を表す手動操作情報が格納されている手動操作情報記憶部を参照し、前記手動操作情報記憶部に格納されている前記乗員の前記手動操作情報を前記遠隔操作員選択サーバへ送信し、
前記遠隔操作員選択サーバが、前記車両制御装置から送信された前記手動操作情報を取得し、複数の遠隔操作員の各々について、該遠隔操作員による車両の遠隔操作内容の実績を表す遠隔操作情報が格納されている遠隔操作情報記憶部を参照し、複数の遠隔操作員の前記遠隔操作情報の各々と、前記手動操作情報との間の差異を算出し、前記差異が所定基準を満たす前記遠隔操作員を、前記車両を遠隔操作する遠隔操作員として選択し、選択した該遠隔操作員を表す遠隔操作員情報を前記車両制御装置へ送信すると共に、選択した該遠隔操作員が操作する遠隔操作端末へ前記車両を表す車両情報を送信し、
前記車両制御装置が、遠隔自動運転モードにより前記車両を走行させる際に、前記遠隔操作員選択サーバから送信された前記遠隔操作員情報に対応する遠隔操作端末から送信される操作情報に応じて、前記車両の走行を制御する、
車両制御方法であって、
前記遠隔操作員の選択の際に用いられる前記操作情報の種類は、車両の乗員によって選択される、
車両制御方法。
Priority Applications (4)
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JP2019136248A JP7200870B2 (ja) | 2019-07-24 | 2019-07-24 | 車両制御システム及び車両制御方法 |
CN202010517706.0A CN112298201A (zh) | 2019-07-24 | 2020-06-09 | 车辆控制***以及车辆控制方法 |
US16/897,629 US11287813B2 (en) | 2019-07-24 | 2020-06-10 | Vehicle control system and vehicle control method |
US17/679,829 US11720097B2 (en) | 2019-07-24 | 2022-02-24 | Vehicle control system and vehicle control method |
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JP7200870B2 true JP7200870B2 (ja) | 2023-01-10 |
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WO2023181982A1 (ja) * | 2022-03-23 | 2023-09-28 | ソニーグループ株式会社 | 情報処理システム、情報処理方法及び情報処理装置 |
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US20140207535A1 (en) | 2013-01-24 | 2014-07-24 | Ford Global Technologies, Llc | Method and system for remote control of motor vehicles |
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DE102013201168A1 (de) * | 2013-01-24 | 2014-07-24 | Ford Global Technologies, Llc | Bedarfsweise aktivierbares Fernsteuerungssystem für Kraftfahrzeuge |
US10077056B1 (en) * | 2015-04-24 | 2018-09-18 | State Farm Mutual Automobile Insurance Company | Managing self-driving behavior of autonomous or semi-autonomous vehicle based upon actual driving behavior of driver |
KR20230010777A (ko) * | 2015-06-03 | 2023-01-19 | 클리어모션, 아이엔씨. | 차체 모션 및 승객 경험을 제어하기 위한 방법 및 시스템 |
US9964948B2 (en) * | 2016-04-20 | 2018-05-08 | The Florida International University Board Of Trustees | Remote control and concierge service for an autonomous transit vehicle fleet |
CN109891473A (zh) * | 2016-11-11 | 2019-06-14 | 本田技研工业株式会社 | 车辆控制装置、车辆控制***、车辆控制方法及车辆控制程序 |
US10692365B2 (en) * | 2017-06-20 | 2020-06-23 | Cavh Llc | Intelligent road infrastructure system (IRIS): systems and methods |
US10740988B2 (en) * | 2017-06-16 | 2020-08-11 | nuTonomy Inc. | Intervention in operation of a vehicle having autonomous driving capabilities |
US10268191B1 (en) * | 2017-07-07 | 2019-04-23 | Zoox, Inc. | Predictive teleoperator situational awareness |
US10564638B1 (en) * | 2017-07-07 | 2020-02-18 | Zoox, Inc. | Teleoperator situational awareness |
EP3447720A1 (en) * | 2017-08-24 | 2019-02-27 | Panasonic Intellectual Property Corporation of America | Vehicle control right setting method, and vehicle control right setting device and recording medium |
US20190064805A1 (en) * | 2017-08-28 | 2019-02-28 | nuTonomy Inc. | Mixed-mode driving of a vehicle having autonomous driving capabilities |
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US20140207535A1 (en) | 2013-01-24 | 2014-07-24 | Ford Global Technologies, Llc | Method and system for remote control of motor vehicles |
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US11287813B2 (en) | 2022-03-29 |
US20210026351A1 (en) | 2021-01-28 |
US11720097B2 (en) | 2023-08-08 |
CN112298201A (zh) | 2021-02-02 |
JP2021021980A (ja) | 2021-02-18 |
US20220179412A1 (en) | 2022-06-09 |
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