JP7427097B2 - 車両の自動走行モードを無効化するための方法 - Google Patents
車両の自動走行モードを無効化するための方法 Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 38
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- 238000010586 diagram Methods 0.000 description 2
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
- B60W60/0054—Selection of occupant to assume driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- 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
- B60W40/02—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 ambient conditions
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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
- 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
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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
- B60W50/10—Interpretation of driver requests or demands
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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
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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- 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
- B62D1/04—Hand wheels
- B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
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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
- B60W2540/12—Brake 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
- B60W2540/18—Steering angle
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Mathematical Physics (AREA)
- Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
- Steering Controls (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
有効な手動操舵トルクを検出するために、一実施形態では、手動操舵トルク検出ユニットが車両のステアリングホイールと信号を伝えるように接続されており、その結果、手動操舵トルクの検出信号に基づいてステアリングホイールに作用する手動操舵トルクが決定される。このような手動操舵トルク検出ユニットは、車両に存在する少なくとも1つの支援システム、特に車線逸脱警報システムの構成要素であり、その結果、手動操舵トルク検出ユニットは、本方法を実行するために使用され得る。
Claims (9)
- 車両(1)の自動走行モードを無効化するための方法であって、
第1の値、第2の値、及び第3の値は、閾値として規定され、前記第2の値は前記第1の値より大きく、前記第3の値は前記第2の値より大きいことと、
装置は、前記自動走行モード中、前記車両(1)のステアリングホイールに作用する手動操舵トルクが、前記自動走行モードのための支援システム(2)の制御システム(3)によって生成されるシステム操舵トルクを、
-車両ユーザの少なくとも片手が前記車両(1)の前記ステアリングホイール上で検出されたときに、前記規定された第1の値の量だけ超過する場合、
-前記車両ユーザの手が前記ステアリングホイール上で検出されないときに、前記規定された第2の値の量だけ超過する場合、又は
-前記車両ユーザが運転から注意をそらしていること、若しくは前記車両(1)の側面衝突のリスクがあり且つ前記側面衝突のリスクの方向に前記手動操舵トルクが作用していること、が決定されたときに、前記規定された第3の値の量だけ超過する場合、
に前記自動走行モードを終了することと、
前記車両(1)の前記側面衝突のリスクは、前記車両(1)の環境センサシステム(7)の検出信号に基づいて検出されることと、
を特徴とする、方法。 - 前記自動走行モードは、前記システム操舵トルクの量のそれぞれの前記超過が規定の時間より長く持続する場合にのみ、終了されることを特徴とする、請求項1に記載の方法。
- 前記ステアリングホイールに作用する前記手動操舵トルクは、手動操舵トルク検出ユニット(4)の検出信号に基づいて決定されることを特徴とする、請求項1又は2に記載の方法。
- 前記ステアリングホイール上の前記車両ユーザの片手は、前記ステアリングホイール上に配置された少なくとも1つの静電容量式検出ユニット(5)の検出信号に基づいて検出されることを特徴とする、請求項1から3のいずれか一項に記載の方法。
- 前記車両ユーザの視線方向及び/又は頭の向きは、運転者観察カメラ(6)の検出信号に基づいて決定されることを特徴とする、請求項1から4のいずれか一項に記載の方法。
- 前記環境センサシステム(7)の前記検出信号に基づいて、衝突の可能性のある物体が前記車両の長手方向側面の安全領域(S)に存在するか、又は前記安全領域(S)に進入しているかが決定されることを特徴とする、請求項1から5のいずれか一項に記載の方法。
- 前記自動走行モードは、前記ステアリングホイール上の少なくとも片手と、規定の最小継続時間を超えるアクセルペダル(8)の作動と、が検出された場合に終了されることを特徴とする、請求項1から6のいずれか一項に記載の方法。
- 前記自動走行モードは、前記ステアリングホイール上の少なくとも片手と、規定の最小継続時間を超えるブレーキペダル(9)の作動と、が検出された場合に終了されることを特徴とする、請求項1から7のいずれか一項に記載の方法。
- 前記自動走行モードは、前記自動走行モードを無効化するための操作要素(10)が規定の最小継続時間の間作動される場合に終了されることを特徴とする、請求項1から8のいずれか一項に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020000147.5 | 2020-01-13 | ||
DE102020000147.5A DE102020000147A1 (de) | 2020-01-13 | 2020-01-13 | Verfahren zur Deaktivierung |
PCT/EP2020/085537 WO2021144081A1 (de) | 2020-01-13 | 2020-12-10 | Verfahren zur deaktivierung eines automatisierten fahrbetriebes |
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JP2023510367A JP2023510367A (ja) | 2023-03-13 |
JP7427097B2 true JP7427097B2 (ja) | 2024-02-02 |
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US (1) | US20230047479A1 (ja) |
JP (1) | JP7427097B2 (ja) |
KR (1) | KR20220107294A (ja) |
CN (1) | CN114981142A (ja) |
DE (1) | DE102020000147A1 (ja) |
WO (1) | WO2021144081A1 (ja) |
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JP7322862B2 (ja) * | 2020-11-04 | 2023-08-08 | トヨタ自動車株式会社 | 車外情報表示制御装置、車外情報表示制御方法及びプログラム |
US20230174113A1 (en) * | 2021-12-06 | 2023-06-08 | Tusimple, Inc. | Techniques to control an engine for autonomous driving operations |
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WO2018220834A1 (ja) | 2017-06-02 | 2018-12-06 | 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 |
JP2019156232A (ja) | 2018-03-14 | 2019-09-19 | 本田技研工業株式会社 | 車両制御装置 |
WO2019188587A1 (ja) | 2018-03-27 | 2019-10-03 | 豊田合成株式会社 | 運転権限移譲装置 |
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DE102006057842A1 (de) | 2006-12-08 | 2008-06-12 | Daimler Ag | Verfahren zur Unterstützung des Fahrers eines Fahrzeugs bei der Querführung des Fahrzeugs und Fahrerassistenzsystem zur Durchführung des Verfahrens |
DE102009022055A1 (de) * | 2009-05-20 | 2010-11-25 | Audi Ag | Kraftfahrzeug mit einem Fahrerassistenzsystem zur Querführung des Kraftfahrzeugs und Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs beim Halten einer Fahrspur |
JP6269546B2 (ja) * | 2015-03-23 | 2018-01-31 | トヨタ自動車株式会社 | 自動運転装置 |
JP6409699B2 (ja) * | 2015-07-13 | 2018-10-24 | トヨタ自動車株式会社 | 自動運転システム |
DE102016007187A1 (de) * | 2015-12-19 | 2017-06-22 | Daimler Ag | Verfahren zum Deaktivieren einer automatisierten Fahrfunktion eines Fahrzeugs und Fahrerassistenzsystem zur Durchführung des Verfahrens |
JP6583061B2 (ja) * | 2016-03-08 | 2019-10-02 | トヨタ自動車株式会社 | 自動運転制御装置 |
GB2572205B (en) * | 2018-03-23 | 2023-01-25 | Jaguar Land Rover Ltd | Vehicle controller and control method |
JP6655116B2 (ja) * | 2018-03-29 | 2020-02-26 | 株式会社Subaru | 車両の運転支援システム |
DE102018210320A1 (de) * | 2018-06-25 | 2020-01-02 | Bayerische Motoren Werke Aktiengesellschaft | Fahrsystem mit einer per Lenkeingriff deaktivierbaren automatisierten Querführung sowie Verfahren zum Deaktivieren einer automatisierten Querführung |
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- 2020-01-13 DE DE102020000147.5A patent/DE102020000147A1/de active Granted
- 2020-12-10 WO PCT/EP2020/085537 patent/WO2021144081A1/de active Application Filing
- 2020-12-10 JP JP2022543018A patent/JP7427097B2/ja active Active
- 2020-12-10 KR KR1020227023320A patent/KR20220107294A/ko not_active Application Discontinuation
- 2020-12-10 US US17/792,218 patent/US20230047479A1/en active Pending
- 2020-12-10 CN CN202080092898.3A patent/CN114981142A/zh active Pending
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WO2018220834A1 (ja) | 2017-06-02 | 2018-12-06 | 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 |
JP2019156232A (ja) | 2018-03-14 | 2019-09-19 | 本田技研工業株式会社 | 車両制御装置 |
WO2019188587A1 (ja) | 2018-03-27 | 2019-10-03 | 豊田合成株式会社 | 運転権限移譲装置 |
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WO2021144081A1 (de) | 2021-07-22 |
KR20220107294A (ko) | 2022-08-02 |
DE102020000147A1 (de) | 2021-07-15 |
CN114981142A (zh) | 2022-08-30 |
JP2023510367A (ja) | 2023-03-13 |
US20230047479A1 (en) | 2023-02-16 |
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