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WO2017110914A1 - Dispositif de commande de véhicule - Google Patents

Dispositif de commande de véhicule Download PDF

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Publication number
WO2017110914A1
WO2017110914A1 PCT/JP2016/088195 JP2016088195W WO2017110914A1 WO 2017110914 A1 WO2017110914 A1 WO 2017110914A1 JP 2016088195 W JP2016088195 W JP 2016088195W WO 2017110914 A1 WO2017110914 A1 WO 2017110914A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
vehicle
unit
amount
control device
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.)
Ceased
Application number
PCT/JP2016/088195
Other languages
English (en)
Japanese (ja)
Inventor
和美 伊佐治
明彦 柳生
裕章 田中
下ノ本　詞之
整 伊口
伊藤　敏之
平林　裕司
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP2016219660A external-priority patent/JP2017119505A/ja
Application filed by Denso Corp filed Critical Denso Corp
Priority to US16/064,848 priority Critical patent/US20190001994A1/en
Priority to DE112016006033.5T priority patent/DE112016006033T5/de
Publication of WO2017110914A1 publication Critical patent/WO2017110914A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • 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
    • 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
    • B60W30/14—Adaptive cruise control
    • 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
    • B60W50/04—Monitoring the functioning of the control system
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers

Definitions

  • the present disclosure relates to a vehicle control device that controls the movement of the host vehicle.
  • the driver can smoothly drive the host vehicle when switching from automatic driving to manual driving in the vehicle control device that controls the movement of the host vehicle.
  • the vehicle control unit acquires a situation around the host vehicle, and relates to acceleration / deceleration control representing control related to acceleration / deceleration of the host vehicle according to the surrounding situation and steering of the host vehicle.
  • the vehicle control including the steering control representing the control is performed.
  • the first stop unit is configured to stop the first control representing one of acceleration / deceleration control and steering control when a stop command representing a command to stop vehicle control is input.
  • the second stopping unit is configured to stop the second control representing the other of the acceleration / deceleration control and the steering control at a timing different from the timing at which the first control is stopped.
  • acceleration / deceleration control and steering control are stopped at different timings. Therefore, when switching from automatic driving to manual driving, the driver cancels acceleration / deceleration control and steering control. Should be handled in order. Therefore, the driver can drive the host vehicle smoothly.
  • a vehicle control apparatus 1 shown in FIG. 1 is mounted on a vehicle such as a passenger car, for example, and is an apparatus that performs automatic driving of the vehicle.
  • the vehicle control device 1 of the present embodiment has a function of shifting vehicle control including acceleration / deceleration control representing control related to acceleration / deceleration of the own vehicle and steering control representing control related to steering of the own vehicle to manual operation at different timings.
  • the own vehicle refers to a vehicle on which the vehicle control device 1 is mounted.
  • the vehicle control device 1 includes a control unit 10, a camera 21, a sensor unit 22, an automatic driving actuator 26, and a notification unit 27.
  • the camera 21 is a known camera that captures an image of the surroundings of the host vehicle including the front of the host vehicle.
  • the camera 21 is used for recognizing the situation around the host vehicle by performing image processing on the captured image. Note that the camera 21 may be provided with the function of processing the captured image, or may be provided in the control unit 10.
  • the situation around the host vehicle indicates a set of positions of a plurality of objects around the host vehicle, which is necessary when the host vehicle is automatically driven. Specifically, a recognition result that recognizes the presence or position of an obstacle on the road where the host vehicle can travel or an area on the road where the host vehicle can travel is included.
  • Sensor unit 22 indicates a plurality of sensors mounted on the host vehicle.
  • the sensor unit 22 includes known sensors necessary for automatic driving of the host vehicle, and includes, for example, a vehicle speed sensor, a yaw rate sensor, a steering angle sensor, a steering sensor, an accelerator opening sensor, a brake pedal sensor, and the like. Various detection results by the sensor unit 22 are sent to the control unit 10.
  • the vehicle speed sensor is a sensor that detects the vehicle speed of the host vehicle
  • the yaw rate sensor is a sensor that detects the turning angular velocity of the host vehicle.
  • the steering angle sensor is a sensor that detects the steering angle of the steering wheel
  • the steering sensor is a sensor that detects the steering operation angle.
  • the accelerator opening sensor is a sensor that detects the operation amount of the accelerator pedal
  • the brake pedal sensor is a sensor that detects the operation amount of the brake pedal.
  • the operation amount represents the amount by which the operated portion such as a pedal is displaced by the operation or the magnitude of the force by the operation.
  • the automatic driving actuator 26 is configured as an actuator that actually drives the vehicle according to various control amounts including an accelerator control amount, a brake control amount, and a steering control amount set by the control unit 10.
  • the automatic operation actuator 26 includes a power device that generates power to an engine, a motor, and the like according to an accelerator control amount, a brake device that increases and decreases brake hydraulic pressure according to a brake control amount, and a steering device that changes a steering angle according to a steering control amount. .
  • the notification unit 27 notifies the operating state of acceleration / deceleration control and steering control using sound, images, lamp lighting, and the like in response to a command from the control unit 10.
  • the present embodiment includes an aspect in which notification is performed with an image using the head-up display 30. This notification mode will be described later.
  • the control unit 10 is configured around a known microcomputer having a CPU 11 and a memory 12 which is a semiconductor memory such as a RAM, a ROM, and a flash memory. Various functions of the control unit 10 are realized by the CPU 11 executing a program stored in a non-transitional physical recording medium.
  • the memory 12 corresponds to a non-transitional tangible recording medium that stores a program. Further, by executing this program, a method corresponding to the program is executed.
  • the number of microcomputers constituting the control unit 10 may be one or plural.
  • the control unit 10 includes an automatic driving function for automatically driving the host vehicle, a notification function for notifying an operating state of the automatic driving function, and the like as functions realized by the CPU 11 executing the program.
  • an automatic driving function a function as the vehicle control unit 13 is provided.
  • the control unit 10 sets the accelerator control amount, the brake control amount, and the steering control amount in consideration of the position and speed of surrounding vehicles, the position and movement speed of other obstacles, and the like.
  • control unit 10 realizes these functions is not limited to software, and some or all of the functions may be realized by using hardware that combines a logic circuit, an analog circuit, and the like.
  • the manual switching process is a process that is started when a stop command indicating that the vehicle control for automatic driving is stopped and switching to manual driving is input.
  • the control unit 10 stops the steering control and switches to manual operation.
  • the control unit 10 stops the operation in which the steering control amount for the steering control is output to the automatic driving actuator 26.
  • the control unit 10 notifies that the steering control has been switched to the manual operation.
  • the steering automatic icon 31A includes a symbol indicating steering and a letter “AUTO” indicating that the control unit 10 is operating, that is, automatic driving with respect to the steering operation.
  • the accelerator automatic icon 32A includes a symbol indicating an accelerator pedal and a character “AUTO” indicating that the accelerator operation is an automatic operation.
  • the brake automatic icon 33A includes a symbol indicating a brake pedal and characters “AUTO” indicating that the brake operation is an automatic operation.
  • the control unit 10 causes the head-up display 30 to display the steering manual icon 31B instead of the above-described steering automatic icon 31A as shown in FIG.
  • the control unit 10 displays the accelerator automatic icon 32A and the brake automatic icon 33A without being changed.
  • the steering manual icon 31B includes a symbol indicating steering and characters “MANU” indicating that the control unit 10 is not operating, that is, manual operation related to the steering operation. Note that “the control unit 10 is not operating” indicates that a corresponding function in the control unit 10, here, a function related to steering control, is not operating.
  • the symbol indicating steering is displayed in a different manner from the symbol indicating steering in the steering automatic icon 31A.
  • the symbols are different in color and brightness. This is so that the driver can identify at a glance whether it is automatic or manual. The driver indicates a person who drives the own vehicle.
  • control unit 10 acquires the position of the object based on the image by the camera 21 and the sensor value obtained by the sensor unit 22 in S130.
  • the position and type of an object around the host vehicle are recognized by performing image processing. Note that known techniques such as pattern matching and white line recognition can be used for image processing.
  • the control unit 10 calculates a margin in S140.
  • the margin indicates the amount of driving load by the driver, and the distance to intersections, junctions and branch points that require acceleration / deceleration or steering when turning or traveling on a slope is less than the reference distance.
  • the margin is calculated to be smaller.
  • the margin is set to be smaller as the radius of curvature of the turning road becomes smaller, the gradient becomes larger, or the distance to the intersection, junction, and branch point becomes closer.
  • the control unit 10 sets the control switching timing related to acceleration / deceleration according to the set margin.
  • the later timing is set as the margin becomes smaller and the driver's margin disappears.
  • the switching timing is set to about 5 seconds after the steering control is switched to the manual operation, whereas when the margin is sufficiently small, the steering control is performed. It is set to about 20 seconds after switching to manual operation, or set to infinity. That is, when the switching timing is set to infinity, the control related to acceleration / deceleration is postponed until the margin becomes large.
  • control unit 10 determines whether or not the switching timing has come. If it is not the switching timing, the control unit 10 returns to the process of S130. In this case, the margin is recalculated.
  • the control unit 10 calculates the reference operation amount including the target steering direction and the target steering amount in S210.
  • the target steering direction and the target steering amount are the steering direction and the steering amount that are set as targets by the control unit 10 based on the surrounding situation and the route to the destination when it is assumed that the steering control is continued.
  • the control unit 10 acquires an input operation amount including the input steering direction and the input steering amount.
  • the input steering direction and the input steering amount are the steering direction and the steering amount that are actually input to the steering by the driver of the host vehicle, among the detection results of the sensor unit 22.
  • control unit 10 calculates a difference between the reference operation amount and the input operation amount. That is, the difference between the target steering direction and the input steering direction and the difference between the target steering amount and the input steering amount are calculated.
  • a steering control amount is generated according to the operation input amount.
  • the steering control amount here means, for example, an assist control amount output by a known power steering device.
  • control unit 10 compares the absolute value of the difference with a preset control threshold value. In this process, it is determined whether the operation input by the driver is an operation that satisfies a preset condition.
  • control threshold is set to a positive value. If the absolute value of the difference is less than the control threshold, the control unit 10 proceeds to S310 described later. If the difference is equal to or greater than the control threshold, the controller 10 compares the difference with a preset limit threshold in S250.
  • the limit threshold is set to a value whose absolute value is larger than the control threshold.
  • the control unit 10 limits the steering control amount in S260. That is, the control unit 10 changes the steering control amount set in S235 to a preset upper limit value. As a result, the steering control amount is corrected so that the difference becomes smaller. After this processing, the control unit 10 proceeds to S270.
  • the control unit 10 corrects the steering control amount in a direction in which the difference becomes smaller in S270. That is, the steering control amount is corrected so as to approach the target steering amount and the target steering direction calculated in S210. For example, the control unit 10 corrects the steering control amount by multiplying the steering control amount by a predetermined constant. In addition, when the steering control amount is changed to the upper limit value, the difference is further corrected to be smaller.
  • the control unit 10 notifies that the steering control amount has been changed to the upper limit value and that the steering control amount has been corrected and the assist control amount has been changed.
  • the control unit 10 can visually recognize the change in the steering control amount by changing the display mode, for example, blinking the steering manual icon 31B.
  • control unit 10 stops acceleration / deceleration control and switches to manual operation. That is, the operation in which the accelerator control amount and the brake control amount are output to the automatic operation actuator 26 is stopped.
  • the control unit 10 notifies that the acceleration / deceleration control has been changed to manual operation.
  • the control unit 10 causes the head-up display 30 to display an accelerator manual icon 32B and a brake manual icon 33B instead of the accelerator automatic icon 32A and the brake automatic icon 33A described above.
  • the steering manual icon 31B described above is also displayed.
  • the accelerator manual icon 32B and the brake manual icon 33B include a symbol indicating each pedal and characters “MANU” indicating that the control unit 10 is not operating, that is, manual operation related to pedal operation.
  • the symbol indicating the pedal is displayed in a different manner from the symbol indicating the pedal in the accelerator manual icon 32B and the brake manual icon 33B.
  • the control unit 10 acquires a situation around the host vehicle, and relates to acceleration / deceleration control representing control related to acceleration / deceleration of the host vehicle and steering of the host vehicle according to the surrounding situation. Vehicle control including steering control representing control is performed. Further, when a stop command representing a command to stop vehicle control is input, the control unit 10 stops the first control representing one of acceleration / deceleration control and steering control. Then, the control unit 10 stops the second control representing the other of the acceleration / deceleration control and the steering control at a timing different from the timing at which the first control is stopped.
  • acceleration / deceleration control and steering control are stopped at different timings. Therefore, when switching from automatic driving to manual driving, the driver cancels acceleration / deceleration control and steering control. And in order. Therefore, the driver can drive the host vehicle smoothly.
  • the control unit 10 actually performs an operation related to the first control among an acceleration / deceleration operation representing an operation related to acceleration / deceleration of the own vehicle and a steering operation representing an operation related to steering of the own vehicle.
  • the input operation amount representing the operation amount input by the driver is acquired.
  • the controller 10 determines whether or not the input operation amount corresponds to an operation that satisfies a preset condition after the first control is stopped, and when the operation that satisfies the condition is not performed, The operation for stopping the second control is prohibited.
  • the timing at which the second control is stopped can be adjusted to an appropriate timing according to the operation state by the driver.
  • control unit 10 represents a reference that represents an operation amount to be input by the driver for an operation related to the first control according to a situation around the host vehicle after the first control is stopped.
  • the operation amount is calculated, and it is determined whether the difference between the reference operation amount and the input operation amount is equal to or greater than a preset control threshold as the above-described condition.
  • the second control is performed when an operation that the device does not assume is performed. By not stopping the vehicle, the safety of the vehicle can be ensured.
  • control unit 10 In the vehicle control apparatus 1 described above, the control unit 10 generates an operation control amount representing a control amount for the operation related to the first control according to the input operation amount, and the difference between the reference operation amount and the input operation amount Is greater than or equal to a preset operation threshold, the operation control amount is changed to a control amount generated when the difference is smaller.
  • the input operation amount is changed so that the difference becomes small. Even if the driver performs an excessive operation after stopping the first control, the vehicle can be prevented from excessively responding to the operation. Therefore, the safety at the time of changing from automatic operation to manual operation can be improved.
  • the control unit 10 changes the operation control amount to a limit control amount provided in advance in order to reduce the difference between the reference operation amount and the input operation amount.
  • the operation control amount can be a limit control amount that becomes an upper limit value or a lower limit value. Therefore, it is possible to improve safety when changing from automatic operation to manual operation with a simple configuration.
  • the control unit 10 when the operation control amount is changed, the control unit 10 notifies the driver of the host vehicle that the operation control amount has been changed. According to such a vehicle control device 1, when the operation control amount is changed, the driver is notified to that effect, so that the driver does not feel uncomfortable by changing the operation control amount. At the same time, the driver can be alerted.
  • control part 10 alert reports the implementation condition which shows whether the 1st control and the 2nd control are implemented, or is stopped. According to such a vehicle control device 1, it is possible to notify the driver whether acceleration / deceleration control and steering control are being performed.
  • the control unit 10 acquires a margin for the driving operation of the driver of the host vehicle after the first control is stopped, and the margin is less than a preset reference value.
  • the second stopping unit postpones the operation to stop the second control.
  • the second embodiment is different from the first embodiment in that it determines whether or not various conditions are satisfied before delegating the authority to control the steering to the driver. Further, the conditions for delegating authority and the timing for notification are also different from the first embodiment.
  • the process of S130 described above is performed. At this time, information indicating the position where the automatic driving is to be ended and the position of the host vehicle is also acquired. Subsequently, in S160, it is determined whether or not the switching timing has come.
  • the timing at which the steering control or acceleration / deceleration control is switched from automatic to manual may be set as the switching timing according to the margin, but in this embodiment, the automatic operation is to be terminated.
  • the switching timing is when the position and the position of the host vehicle are approximately the same.
  • the notification here can adopt the same mode as the notification in S120 described above. However, in S120, the fact that the steering control is switched to the manual operation is notified, whereas in the notification in S410, the steering control is switched to the manual operation before the steering control is switched to the manual operation. It is different in point to do.
  • S420 it is determined whether or not a preset stop condition is satisfied.
  • a preset stop condition it is determined whether or not the driver of the host vehicle has accepted a stop command as a stop condition. Note that the processing of S240 described above also corresponds to determination of the cancellation condition.
  • the driver when the driver accepts the stop command, for example, when a predetermined button operation by the driver is detected, it is detected that the driver touches the steering wheel or grasps the steering wheel by a sensor provided on the steering wheel or the like. If it is detected by a sensor such as a seating sensor that the driver has raised his / her foot on the seat to a state where his / her foot is lowered near the pedal, the sensor of the camera or the like When it is detected that the direction is directed in the traveling direction of the host vehicle, this is the case.
  • a sensor such as a seating sensor that the driver has raised his / her foot on the seat to a state where his / her foot is lowered near the pedal
  • the notification time A represents an elapsed time after the notification is started in S410.
  • the notification time A is set to a time required for the driver to prepare for manual driving after starting notification that the steering control is about to be switched to manual operation.
  • the notification time A is set to about 3-5 seconds as an example.
  • the process returns to S420. If the notification time A has not elapsed, the process returns to S420. If the notification time A has elapsed, the steering manual notification is changed to a stronger notification in S440.
  • a stronger notification represents a notification that is more easily noticed by the driver. Humans are more likely to notice red than colors other than red, are more likely to notice blinking objects than non-flashing objects, and are more likely to notice moving objects than stationary objects.
  • S240 it is determined whether another cancellation condition is satisfied.
  • the difference between the target steering direction and the input steering direction is compared with a preset control threshold value, and the difference between the target steering amount and the input steering amount is compared with another preset control threshold value. When these differences are less than the respective control threshold values, it is determined that another stop condition is satisfied.
  • the difference is equal to or greater than the control threshold, it is determined that another cancellation condition has not been established, and the processing of S235 to S280 described above is performed, and the processing returns to S210. If the difference is less than the control threshold, it is determined that another stop condition is satisfied, and the number of times another stop condition is satisfied is counted in S460, and this number of times is compared with a preset determination number B.
  • the number of times of determination B is set to suppress malfunction when the stop condition happens to be satisfied by the influence of noise or the like. Therefore, the determination number B is a numerical value of 2 or more, and is set to a value of about 2-5 as an example.
  • control unit 10 is configured to repeatedly determine whether or not a preset stop condition is satisfied when a stop command is input, and the stop condition is satisfied. In the meantime, at least one of the operation for stopping the first control and the operation for stopping the second control is prohibited.
  • control unit 10 In the vehicle control device 2 described above, the control unit 10 repeatedly determines whether or not the driver of the host vehicle has accepted the stop command, and until it is determined that the driver of the host vehicle has received the stop command. During this period, the operation for stopping the first control or the operation for stopping the second control is prohibited.
  • the control unit 10 when the stop command is input, the control unit 10 notifies that the first control or the second control is stopped, and is set in advance after starting the notification. It is determined whether or not the cancellation condition is satisfied within the notification time. Then, when the cancellation condition is not satisfied within the notification time, the notification is changed to a stronger notification.
  • the notification is changed to a stronger notification, so that the driver can be prompted to satisfy the stop condition.
  • control unit 10 counts the number of times that the stop condition is satisfied, determines whether or not the number is equal to or greater than a predetermined determination number, and the stop condition is satisfied.
  • the operation for stopping the first control or the operation for stopping the second control is prohibited until the number of times reaches the determination number or more.
  • the operation for stopping the first control or the operation for stopping the second control is prohibited until the number of times that the stop condition is satisfied becomes equal to or greater than the number of determinations. It is possible to suppress malfunction when the stop condition happens to be satisfied due to the influence.
  • manual operation is switched in the order of steering control and acceleration / deceleration control.
  • the present invention is not limited to this.
  • manual operation may be switched in the order of acceleration / deceleration control and steering control.
  • control other than steering control and acceleration / deceleration control may be included, and the order of switching to manual operation including this other control may be set.
  • any of the manual switching processes shown in FIGS. 2A and 2B may be performed, and before the acceleration / deceleration control is switched to the manual operation. Any process of the manual switching processes shown in FIGS. 7A and 7B may be performed.
  • the process is performed without assuming that the driver makes an erroneous operation.
  • the driver makes an erroneous operation, it is determined using a known configuration, and the driver makes an erroneous operation. The operation may be canceled.
  • the vehicle control device 1 2 may invalidate the operation of the accelerator pedal by the driver.
  • a system including the vehicle control device 1 as a constituent element, a program for causing a computer to function as the vehicle control device 1, a non-transitive semiconductor memory or the like that records the program can also be realized in various forms such as an actual recording medium and a vehicle control method.
  • control unit 10 in the above embodiment corresponds to the vehicle control device and the vehicle control unit referred to in the present disclosure.
  • process of S110 among the processes which the control part 10 performs in the said embodiment is corresponded to the 1st cancellation part said by this indication, and the process of S120 and S320 in the said embodiment is the implementation alerting part said by this indication. Equivalent to.
  • process of S140 in the above embodiment corresponds to a margin acquisition unit in the present disclosure
  • processes in S150 and S160 in the above embodiment correspond to a margin postponing unit in the present disclosure
  • process of S210 in the above embodiment corresponds to a reference calculation unit in the present disclosure
  • process of S220 in the above embodiment corresponds to an input acquisition unit in the present disclosure.
  • processing of S230 and S240 in the above embodiment corresponds to a condition determination unit referred to in the present disclosure
  • the processing of S235 in the above embodiment corresponds to a control amount generation unit referred to in the present disclosure
  • the process of S240 in the above embodiment corresponds to a condition prohibition unit referred to in the present disclosure
  • the processes of S260 and S270 in the above embodiment correspond to a control amount change unit referred to in the present disclosure.
  • process of S280 in the above embodiment corresponds to the change notification unit referred to in the present disclosure
  • process of S310 in the above embodiment corresponds to the second cancellation unit referred to in the present disclosure
  • processes in S240, S420, and S460 in the above embodiment correspond to a stop determination unit and a stop prohibition unit in the present disclosure
  • the process in S410 in the above embodiment corresponds to a stop notification unit in the present disclosure.
  • process of S430 in the above embodiment corresponds to the establishment determination unit in the present disclosure
  • process of S440 in the above embodiment corresponds to the notification change unit in the present disclosure
  • process of S460 in the above embodiment corresponds to the number determination unit referred to in the present disclosure.

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  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif de commande de véhicule servant à commander le fonctionnement d'un véhicule hôte, dans lequel dispositif une unité de commande de véhicule acquiert les conditions entourant le véhicule hôte, et, en fonction de ces conditions d'environnement, elle effectue une commande de véhicule, comprenant une commande d'accélération/décélération représentant une commande concernant l'accélération/décélération du véhicule hôte, et une commande de direction représentant une commande concernant la direction du véhicule hôte. Une première unité d'interruption interrompt une première commande représentant l'une parmi la commande d'accélération/décélération et la commande de direction quand une commande d'interruption représentant une commande pour interrompre la commande du véhicule est entrée. Une seconde unité d'interruption interrompt une seconde commande représentant l'autre parmi la commande d'accélération/décélération et la commande de direction selon une temporisation différente de la temporisation quand la première commande est interrompue (S310).
PCT/JP2016/088195 2015-12-25 2016-12-21 Dispositif de commande de véhicule Ceased WO2017110914A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/064,848 US20190001994A1 (en) 2015-12-25 2016-12-21 Vehicle control apparatus
DE112016006033.5T DE112016006033T5 (de) 2015-12-25 2016-12-21 Fahrzeugsteuerungsvorrichtung

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2015253327 2015-12-25
JP2015-253327 2015-12-25
JP2016219660A JP2017119505A (ja) 2015-12-25 2016-11-10 車両制御装置
JP2016-219660 2016-11-10

Publications (1)

Publication Number Publication Date
WO2017110914A1 true WO2017110914A1 (fr) 2017-06-29

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PCT/JP2016/088195 Ceased WO2017110914A1 (fr) 2015-12-25 2016-12-21 Dispositif de commande de véhicule

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Country Link
WO (1) WO2017110914A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019069516A1 (fr) * 2017-10-04 2019-04-11 株式会社デンソー Dispositif de détection d'état, système de détection d'état et programme de détection d'état
US11299197B2 (en) * 2019-04-02 2022-04-12 Jtekt Corporation Steering system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002200930A (ja) * 2000-12-28 2002-07-16 Nissan Motor Co Ltd 車両の走行制御装置
JP2005306362A (ja) * 2005-03-02 2005-11-04 Nissan Motor Co Ltd 車両用走行制御装置
JP2007196809A (ja) * 2006-01-25 2007-08-09 Equos Research Co Ltd 自動運転制御装置
WO2014073079A1 (fr) * 2012-11-08 2014-05-15 トヨタ自動車株式会社 Dispositif d'assistance de conduite et procédé d'assistance de conduite
JP2015230573A (ja) * 2014-06-05 2015-12-21 アルパイン株式会社 車両運転支援装置、方法およびプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002200930A (ja) * 2000-12-28 2002-07-16 Nissan Motor Co Ltd 車両の走行制御装置
JP2005306362A (ja) * 2005-03-02 2005-11-04 Nissan Motor Co Ltd 車両用走行制御装置
JP2007196809A (ja) * 2006-01-25 2007-08-09 Equos Research Co Ltd 自動運転制御装置
WO2014073079A1 (fr) * 2012-11-08 2014-05-15 トヨタ自動車株式会社 Dispositif d'assistance de conduite et procédé d'assistance de conduite
JP2015230573A (ja) * 2014-06-05 2015-12-21 アルパイン株式会社 車両運転支援装置、方法およびプログラム

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019069516A1 (fr) * 2017-10-04 2019-04-11 株式会社デンソー Dispositif de détection d'état, système de détection d'état et programme de détection d'état
JP2019064539A (ja) * 2017-10-04 2019-04-25 株式会社デンソー 状態検出装置、状態検出システム及び状態検出プログラム
US11299197B2 (en) * 2019-04-02 2022-04-12 Jtekt Corporation Steering system

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