To provide an automatic operation override determination device that when detecting steering intervention by a driver in direction-changing by automatic operation, can properly detect whether or not the intervention is made based on an intention of the driver.SOLUTION: The automatic operation override determination device, if steering torque Tst detected by a steering torque sensor 45 exceeds a steering intervention-determination threshold Tsto (S41), detects a handle touch sensor positioned in a horizontal area on the basis of a handle-rotation angle detected by a steering angle sensor 44 (S43 and S44); if the handle touch sensor in the horizontal area is tuned ON and own vehicle speed Vs is below low speed determination threshold V1 (S45 and S46), detects a steering transfer pattern of a driver on the basis of ON transfer of the handle touch sensor (S47 and S48); collates the steering transfer pattern with a steering transfer pattern learning map learned based on handle operation by the driver during manual operation, and if a degree of coincidence is high, determines that steering override is based on an intention of the driver (S50) and executes steering override processing(S51).SELECTED DRAWING: Figure 7
【課題】自動運転による方向転換の際に運転者の操舵介入を検出した場合、これが本人の意思によるものか否かを正しく検出できるようにする。【解決手段】操舵トルクセンサ45で検出した操舵トルクTstが操舵介入判定しきい値Tstoを超えた場合(S41)、舵角センサ44で検出したハンドル回転角に基づき水平領域に位置しているハンドルタッチセンサを検出し(S43,S44)、水平領域のハンドルタッチセンサがONで、且つ自車速Vsが低速判定しきい値V1以下の場合(S45,S46)、ハンドルタッチセンサのON遷移に基づき運転者の操舵遷移パターンを検出し(S47,S48)、当該操舵遷移パターンを手動運転時の運転者のハンドル操作に基づいて学習した操舵遷移パターン学習マップに照合し一致度が高い場合、運転者の意思による操舵オーバライドと判定し(S50),操舵オーバライド処理を実行する(S51)。【選択図】図7
AUTOMATIC OPERATION OVERRIDE DETERMINATION DEVICE
自動運転のオーバライド判定装置
2019-12-19
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Override control device and override control method of marine automatic steering system
Europäisches Patentamt | 2023
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