JP7206608B2 - 停止位置制御装置 - Google Patents
停止位置制御装置 Download PDFInfo
- Publication number
- JP7206608B2 JP7206608B2 JP2018057342A JP2018057342A JP7206608B2 JP 7206608 B2 JP7206608 B2 JP 7206608B2 JP 2018057342 A JP2018057342 A JP 2018057342A JP 2018057342 A JP2018057342 A JP 2018057342A JP 7206608 B2 JP7206608 B2 JP 7206608B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- destination
- parking
- stop
- stop position
- 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
- 230000008859 change Effects 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 25
- 238000000034 method Methods 0.000 description 47
- 230000008569 process Effects 0.000 description 47
- 238000012545 processing Methods 0.000 description 17
- 238000004891 communication Methods 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
- 230000036760 body temperature Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
- B60W60/00253—Taxi operations
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- 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
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/593—Recognising seat occupancy
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/049—Number of occupants
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Description
(1)侵入禁止の場所:歩道、歩行者天国などが該当する。
さらに他の形態として、S530において、周回経路を所定回数、周回した後、停止可能な場所が無ければ保管場所に帰る経路を設定してもよい。
または、保管場所が所定の距離内にある場合に、周回経路を所定回数、周回した後、停止可能な場所が無ければ保管場所に帰る経路を設定してもよい。
Claims (6)
- 自動運転車(10)が自動運転によって目的地に向かって移動し、前記目的地近傍に到達した場合に、前記目的地に停止できるか否かの検出をする検出部(31a)と、
前記目的地に停止できないと前記検出部によって検出された場合、停止位置を前記目的地以外の場所に変更する変更部(31b)と、
を備え、
前記変更部は、前記自動運転車にドライバが乗っていない場合、駐車禁止であるが停車可能である場所よりも駐車可能な場所を優先的に前記停止位置として採用する、停止位置制御装置。 - 前記検出部は、前記自動運転車のユーザの停止に関する権限に応じて前記検出をする
請求項1に記載の停止位置制御装置。 - 前記検出部は、前記自動運転車の乗員の身体の状態に応じて前記検出をする
請求項1から請求項2までの何れか一項に記載の停止位置制御装置。 - 前記自動運転車は、車外の情報を取得する外界センサ(20a)を備え、
前記検出部は、前記目的地近傍において前記外界センサによって取得された情報を解析することによって前記検出をする
請求項1から請求項3までの何れか一項に記載の停止位置制御装置。 - 前記検出部は、前記外界センサによって取得された情報を解析することによって路面状況を解析し、歩行に適しているか否かを判定することによって、前記検出をする
請求項4に記載の停止位置制御装置。 - 前記変更部は、前記停止位置を前記目的地以外の場所に変更するために、停止可能な位置を探索する走行経路を設定する
請求項1から請求項5までの何れか一項に記載の停止位置制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018057342A JP7206608B2 (ja) | 2018-03-26 | 2018-03-26 | 停止位置制御装置 |
US16/364,673 US20190295413A1 (en) | 2018-03-26 | 2019-03-26 | Control apparatus for vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018057342A JP7206608B2 (ja) | 2018-03-26 | 2018-03-26 | 停止位置制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019168370A JP2019168370A (ja) | 2019-10-03 |
JP7206608B2 true JP7206608B2 (ja) | 2023-01-18 |
Family
ID=67983735
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018057342A Active JP7206608B2 (ja) | 2018-03-26 | 2018-03-26 | 停止位置制御装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US20190295413A1 (ja) |
JP (1) | JP7206608B2 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7147493B2 (ja) * | 2018-11-12 | 2022-10-05 | トヨタ自動車株式会社 | 車両の制御装置、入力装置及び入出力装置 |
CN110887501B (zh) * | 2019-11-15 | 2020-10-02 | 桂林电子科技大学 | 一种面向可变目的地的交通导航方法及装置 |
JP2021098408A (ja) * | 2019-12-20 | 2021-07-01 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
CN114929542A (zh) * | 2020-01-15 | 2022-08-19 | 株式会社电装 | 自动代客泊车*** |
JP7238838B2 (ja) | 2020-03-30 | 2023-03-14 | トヨタ自動車株式会社 | 自動運転システム |
JP7238850B2 (ja) | 2020-05-07 | 2023-03-14 | トヨタ自動車株式会社 | 自動運転システムおよび自動運転方法 |
JP7502978B2 (ja) | 2020-12-04 | 2024-06-19 | 株式会社アイシン | 駐車場管制装置、駐車場管制システム、駐車場管制プログラム及び駐車場管制方法 |
CN112572418A (zh) | 2020-12-15 | 2021-03-30 | 北京百度网讯科技有限公司 | 一种无人驾驶车辆的控制方法、装置及电子设备 |
US12038749B2 (en) * | 2021-01-12 | 2024-07-16 | Qualcomm Incorporated | Determining drop-off or pick-up locations for passengers of vehicles |
WO2022201536A1 (ja) * | 2021-03-26 | 2022-09-29 | 日産自動車株式会社 | 走行支援方法及び走行支援装置 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003035771A (ja) | 2001-07-24 | 2003-02-07 | M & F:Kk | 表示プレートおよびそれを用いる駐車目的伝達システムならびに駐車目的伝達プログラム |
JP2012048563A (ja) | 2010-08-27 | 2012-03-08 | Toyota Motor Corp | 自動運転制御装置 |
WO2015166721A1 (ja) | 2014-05-02 | 2015-11-05 | エイディシーテクノロジー株式会社 | 車両制御装置 |
WO2016147368A1 (ja) | 2015-03-19 | 2016-09-22 | 三菱電機株式会社 | 運転制御装置及び運転制御方法 |
JP2017182176A (ja) | 2016-03-28 | 2017-10-05 | パナソニックIpマネジメント株式会社 | 自動走行制御方法及び自動走行制御装置 |
JP2018020781A (ja) | 2017-10-26 | 2018-02-08 | みこらった株式会社 | 自動運転車及び自動運転車用プログラム |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102058049B1 (ko) * | 2017-12-01 | 2020-01-22 | 엘지전자 주식회사 | 차량의 운행 시스템 |
-
2018
- 2018-03-26 JP JP2018057342A patent/JP7206608B2/ja active Active
-
2019
- 2019-03-26 US US16/364,673 patent/US20190295413A1/en not_active Abandoned
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003035771A (ja) | 2001-07-24 | 2003-02-07 | M & F:Kk | 表示プレートおよびそれを用いる駐車目的伝達システムならびに駐車目的伝達プログラム |
JP2012048563A (ja) | 2010-08-27 | 2012-03-08 | Toyota Motor Corp | 自動運転制御装置 |
WO2015166721A1 (ja) | 2014-05-02 | 2015-11-05 | エイディシーテクノロジー株式会社 | 車両制御装置 |
WO2016147368A1 (ja) | 2015-03-19 | 2016-09-22 | 三菱電機株式会社 | 運転制御装置及び運転制御方法 |
JP2017182176A (ja) | 2016-03-28 | 2017-10-05 | パナソニックIpマネジメント株式会社 | 自動走行制御方法及び自動走行制御装置 |
JP2018020781A (ja) | 2017-10-26 | 2018-02-08 | みこらった株式会社 | 自動運転車及び自動運転車用プログラム |
Also Published As
Publication number | Publication date |
---|---|
US20190295413A1 (en) | 2019-09-26 |
JP2019168370A (ja) | 2019-10-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7206608B2 (ja) | 停止位置制御装置 | |
JP7137527B2 (ja) | 車両制御システム、車両制御方法、及びプログラム | |
JP6331714B2 (ja) | 通信方法、路側装置、移動通信機、車両、車両の制御装置、及び車両の動作決定方法 | |
JP6766167B2 (ja) | 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 | |
JP7139964B2 (ja) | 車両制御装置及び車両制御方法 | |
US20210107529A1 (en) | Vehicle control system, vehicle control method, and program | |
CN111376853B (zh) | 车辆控制***、车辆控制方法及存储介质 | |
CN106891887B (zh) | 自动停车***及其应用 | |
KR20190065042A (ko) | 차량의 운행 시스템 | |
JP2020106929A (ja) | 車両制御システム、車両制御方法、およびプログラム | |
CN111434534A (zh) | 车辆信息处理装置及车辆信息处理方法 | |
CN113071514B (zh) | 管理***及方法、自动驾驶***及车辆、计算机可读介质 | |
US20200311622A1 (en) | Management device, management method, and storage medium | |
JP7198141B2 (ja) | 課金装置、課金方法、およびプログラム | |
JP7159108B2 (ja) | 管理装置、管理方法、およびプログラム | |
JP7210336B2 (ja) | 車両制御システム、車両制御方法、及びプログラム | |
JP7051326B2 (ja) | 情報処理装置、情報処理方法およびプログラム | |
JP2023005731A (ja) | 乗合車両及び運行管理システム | |
JP7120962B2 (ja) | 駐車場管理装置、駐車場管理方法、及びプログラム | |
CN114973643B (zh) | 自动驾驶车辆的管理装置 | |
US20220270165A1 (en) | Autonomous vehicle management device | |
CN115035707B (zh) | 自动泊车***及自动泊车***的控制方法 | |
JP2021039023A (ja) | 駐停車場所案内システム及びデータベース生成装置 | |
CN113492832B (zh) | 收容区域管理装置 | |
CN113492833B (zh) | 收容区域管理装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210120 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20211227 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220105 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220208 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220712 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220728 |
|
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: 20221206 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20221219 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7206608 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |