JP7410681B2 - 車両制御システム - Google Patents
車両制御システム Download PDFInfo
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- JP7410681B2 JP7410681B2 JP2019174718A JP2019174718A JP7410681B2 JP 7410681 B2 JP7410681 B2 JP 7410681B2 JP 2019174718 A JP2019174718 A JP 2019174718A JP 2019174718 A JP2019174718 A JP 2019174718A JP 7410681 B2 JP7410681 B2 JP 7410681B2
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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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- 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
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
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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
- B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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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- 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
- B60W2050/143—Alarm means
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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
- 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
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2540/00—Input parameters relating to occupants
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/22—Psychological state; Stress level or workload
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/225—Direction of gaze
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
10 運転支援ユニット
11a 加速状態検出部
11b 表情急変判断部
11c 加速抑制部
12 運転支援スイッチ
13 運転状態検出センサ
14 アクセルセンサ
20 カメラユニット
23 環境認識部
30 運転者監視システム
31 運転者監視カメラ
33 表情検出部
40 制駆動制御ユニット
50 操舵制御ユニット
60 情報報知ユニット
Claims (6)
- 自車両の進行方向の走行環境を検出する走行環境検出部と、
運転者の操作による加速状態を検出する加速状態検出部と、
前記運転者を撮像した画像に基づいて前記運転者の状態を監視し、前記運転者の顔を中心とする表情を検出する運転者状態監視部と、
前記運転者状態監視部の検出結果に基づいて前記運転者の前記表情の急変を判断する表情急変判断部と、
前記走行環境検出部により前記自車両の進行方向に衝突回避を要する物体が検出されず、且つ前記加速状態検出部によって前記運転者の操作による急加速が検出された時点から前記運転者の反応時間を考慮して設定される所定時間の経過後に前記表情急変判断部によって前記運転者の前記表情が急変したと判断されたとき、前記自車両の加速を抑制する加速抑制部と
を備えることを特徴とする車両制御システム。 - 前記表情急変判断部は、前記運転者の顔面の硬直、視線の一点集中、身体の硬直の何れかが認識される場合、前記運転者の前記表情が急変したと判断することを特徴とする請求項1に記載の車両制御システム。
- 前記加速抑制部は、前記自車両の停止からの発進時又は走行中の急加速状態を制御対象とすることを特徴とする請求項1又は請求項2に記載の車両制御システム。
- 前記加速抑制部は、前記自車両の進行方向に、検出時点では衝突回避を要しない物体が存在する場合、前記自車両の加速を抑制する加速抑制の度合いを強めることを特徴とする請求項1から請求項3の何れか一項に記載の車両制御システム。
- 前記走行環境検出部は、前記自車両の進行方向を撮像した画像を処理して前記自車両の進行方向の道路及び物体を含む走行環境を検出するよう構成され、
前記加速抑制部は、前記自車両の進行方向の前記道路及び前記物体を含む前記走行環境の検出結果から認識される走行可能スペースが小さくなるほど、前記自車両の加速を抑制する加速抑制の度合いを強めることを特徴とする請求項1から請求項4の何れか一項に記載の車両制御システム。 - 前記所定時間は、1秒から2秒の間に設定されることを特徴とする請求項1から請求項5の何れか一項に記載の車両制御システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2019174718A JP7410681B2 (ja) | 2019-09-25 | 2019-09-25 | 車両制御システム |
CN202010559609.8A CN112550283A (zh) | 2019-09-25 | 2020-06-18 | 车辆控制*** |
US16/934,765 US20210086772A1 (en) | 2019-09-25 | 2020-07-21 | Vehicle control system |
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JP2019174718A JP7410681B2 (ja) | 2019-09-25 | 2019-09-25 | 車両制御システム |
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JP2021049893A JP2021049893A (ja) | 2021-04-01 |
JP7410681B2 true JP7410681B2 (ja) | 2024-01-10 |
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US (1) | US20210086772A1 (ja) |
JP (1) | JP7410681B2 (ja) |
CN (1) | CN112550283A (ja) |
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KR20210108115A (ko) * | 2020-02-25 | 2021-09-02 | 현대자동차주식회사 | Adas를 연동한 오조작에 의한 비정상적인 가속 방지 장치 및 adas를 연동한 오조작에 의한 비정상적인 가속 방지 방법 |
JP2021174436A (ja) * | 2020-04-30 | 2021-11-01 | 株式会社デンソー | 制御装置 |
JP7343846B2 (ja) * | 2020-11-24 | 2023-09-13 | トヨタ自動車株式会社 | 車両制御装置及び車両制御方法 |
JP6936380B1 (ja) * | 2020-12-28 | 2021-09-15 | 本田技研工業株式会社 | 車両制御システム、および車両制御方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012091739A (ja) | 2010-10-28 | 2012-05-17 | Honda Motor Co Ltd | 制動装置 |
JP2014019295A (ja) | 2012-07-18 | 2014-02-03 | Fuji Heavy Ind Ltd | 車両の駆動力抑制装置 |
JP2014041450A (ja) | 2012-08-22 | 2014-03-06 | Mitsubishi Motors Corp | 運転支援装置 |
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JP4211841B2 (ja) * | 2006-11-15 | 2009-01-21 | トヨタ自動車株式会社 | ドライバ状態推定装置、サーバ、ドライバ情報収集装置及び運転者状態推定システム |
JP6136714B2 (ja) * | 2013-07-30 | 2017-05-31 | トヨタ自動車株式会社 | 車両制御装置 |
DE112015000177T5 (de) * | 2014-08-29 | 2016-06-16 | Mazda Motor Corporation | Fahrzeugbeschleunigungspedal-Reaktionskraft-Steuerungsgerät |
JP6868122B2 (ja) * | 2017-11-30 | 2021-05-12 | 本田技研工業株式会社 | 車両制御装置、それを有する車両、および制御方法 |
CN111079476B (zh) * | 2018-10-19 | 2024-03-26 | 上海商汤智能科技有限公司 | 驾驶状态分析方法和装置、驾驶员监控***、车辆 |
JP7176415B2 (ja) * | 2019-01-15 | 2022-11-22 | トヨタ自動車株式会社 | 衝突前制御装置 |
JP7244643B2 (ja) * | 2019-06-21 | 2023-03-22 | 日立Astemo株式会社 | 車両制御装置 |
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2019
- 2019-09-25 JP JP2019174718A patent/JP7410681B2/ja active Active
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2020
- 2020-06-18 CN CN202010559609.8A patent/CN112550283A/zh active Pending
- 2020-07-21 US US16/934,765 patent/US20210086772A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012091739A (ja) | 2010-10-28 | 2012-05-17 | Honda Motor Co Ltd | 制動装置 |
JP2014019295A (ja) | 2012-07-18 | 2014-02-03 | Fuji Heavy Ind Ltd | 車両の駆動力抑制装置 |
JP2014041450A (ja) | 2012-08-22 | 2014-03-06 | Mitsubishi Motors Corp | 運転支援装置 |
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JP2021049893A (ja) | 2021-04-01 |
US20210086772A1 (en) | 2021-03-25 |
CN112550283A (zh) | 2021-03-26 |
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