JP7238138B2 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- 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
- B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
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- 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
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
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- 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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3484—Personalized, e.g. from learned user behaviour or user-defined profiles
-
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9318—Controlling the steering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Human Computer Interaction (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Social Psychology (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Description
以上のように、上記実施例の車両制御装置1は、以下のような構成とすることができる。
11 入力装置
12 自動運転制御装置
13 出力装置
12A CPU
12B 記憶装置
100 車両
111 周辺環境情報取得部
112 走行状態取得部
113 道路情報取得部
114 運転者操作取得部
121 記憶開始終了判定部
122 短期記憶情報決定部
123 短期記憶情報保存部
124 長期記憶情報決定部
125 長期記憶情報保存部
126 誘導経路作成部
127 車両制御部
128 第1の記憶部
129 第2の記憶部
Claims (4)
- プロセッサと第1の記憶部と第2の記憶部を有し、目標地点までの経路情報を記憶する車両制御装置であって、
車両の経路情報を取得する走行状態取得部と、
前記走行状態取得部が車両の走行中に取得した前記経路情報を短期記憶情報として前記第1の記憶部に格納する短期記憶情報処理部と、
前記車両が前記目標地点へ到達した後に、前記第1の記憶部に記憶された短期記憶情報から長期記憶情報を決定して第2の記憶部へ記憶させる長期記憶情報処理部と、
前記第2の記憶部に保存されている長期記憶情報を用いて、車両制御を実施するための誘導経路を生成する誘導経路作成部と、を有し、
前記長期記憶情報処理部は、前記誘導経路に要求される位置精度に基づいて、前記第2の記憶部に保存する長期記憶情報の内容を更新することを特徴とする車両制御装置。 - プロセッサと第1の記憶部と第2の記憶部を有し、目標地点までの経路情報を記憶する車両制御装置であって、
車両の経路情報を取得する走行状態取得部と、
前記走行状態取得部が車両の走行中に取得した前記経路情報を短期記憶情報として前記第1の記憶部に格納する短期記憶情報処理部と、
前記車両が前記目標地点へ到達した後に、前記第1の記憶部に記憶された短期記憶情報から長期記憶情報を決定して第2の記憶部へ記憶させる長期記憶情報処理部と、を有し、
前記長期記憶情報処理部は、
前記短期記憶情報にデータ加工を実施し、データ加工を実施した短期記憶情報をもとに特徴度の算出を行い、
前記特徴度が所定値以上の短期記憶情報を長期記憶情報として第2の記憶部に記憶することを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記誘導経路を用いて、前記車両制御を実施する車両制御部を、さらに有することを特徴とする車両制御装置。 - 請求項2に記載の車両制御装置であって、
前記長期記憶情報処理部は、前記特徴度の算出状況を運転者に通知することを特徴とする車両制御装置。
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JP2019141983 | 2019-08-01 | ||
JP2019141983 | 2019-08-01 | ||
PCT/JP2020/027779 WO2021020154A1 (ja) | 2019-08-01 | 2020-07-17 | 車両制御装置 |
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JPWO2021020154A1 JPWO2021020154A1 (ja) | 2021-02-04 |
JP7238138B2 true JP7238138B2 (ja) | 2023-03-13 |
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US (1) | US11866059B2 (ja) |
JP (1) | JP7238138B2 (ja) |
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WO (1) | WO2021020154A1 (ja) |
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JP2018005538A (ja) | 2016-07-01 | 2018-01-11 | 日立造船株式会社 | 運行履歴管理装置、運行履歴管理システム、及び運行履歴管理方法 |
JP2018022353A (ja) | 2016-08-04 | 2018-02-08 | 三菱電機株式会社 | 車両走行制御装置、車両走行制御システムおよび車両走行制御方法 |
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JP6462328B2 (ja) | 2014-11-18 | 2019-01-30 | 日立オートモティブシステムズ株式会社 | 走行制御システム |
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- 2020-07-17 US US17/616,929 patent/US11866059B2/en active Active
- 2020-07-17 DE DE112020002312.5T patent/DE112020002312T5/de active Pending
- 2020-07-17 WO PCT/JP2020/027779 patent/WO2021020154A1/ja active Application Filing
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JP2018005538A (ja) | 2016-07-01 | 2018-01-11 | 日立造船株式会社 | 運行履歴管理装置、運行履歴管理システム、及び運行履歴管理方法 |
JP2018022353A (ja) | 2016-08-04 | 2018-02-08 | 三菱電機株式会社 | 車両走行制御装置、車両走行制御システムおよび車両走行制御方法 |
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DE112020002312T5 (de) | 2022-02-17 |
US11866059B2 (en) | 2024-01-09 |
WO2021020154A1 (ja) | 2021-02-04 |
US20220315023A1 (en) | 2022-10-06 |
JPWO2021020154A1 (ja) | 2021-02-04 |
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