To determine an abnormal state in which a request signal for requesting drive change is not output even though a target track is deviated.SOLUTION: A vehicle controller has: a track generation unit for generating a target track of a vehicle; an automatic-drive control unit for performing an automatic-drive control in which steering of the vehicle is automatically controlled based on the target track; a recognition unit for recognizing a travelling state of a vehicle that travels on the basis of the automatic-drive control; and a track deviation determination unit for outputting a request signal that requests drive change when a deviation amount of information that shows travelling state with respect to the target track is a first threshold value or more. The vehicle controller is further provided with an operation monitoring unit for monitoring processing of the track deviation determination unit. The operation monitoring unit determines that abnormality has occurred in the track deviation determination unit when a deviation amount of information that shows travelling state with respect to the target track calculated using the target track and information that shows travelling state of the vehicle is a second threshold value, larger than the first threshold value, or more, and a state in which request signal is not output continues for a predetermined period.SELECTED DRAWING: Figure 6
【課題】目標軌道を逸脱しているにも関わらず運転交代を要求する要求信号が出力されていないような異常状態を判定すること。【解決手段】車両制御装置は、車両の目標軌道を生成する軌道生成部と、目標軌道に基づいて、車両の操舵を自動的に制御する自動運転制御を行う自動運転制御部と、自動運転制御に基づいて走行する車両の走行状態を認識する認識部と、目標軌道に対する走行状態を示す情報の逸脱量が第1の閾値以上である場合に、運転交代を要求する要求信号を出力する経路逸脱判定部と、を有する。車両制御装置は、経路逸脱判定部の処理を監視する動作監視部を更に備え、動作監視部は、車両の走行状態を示す情報と目標軌道とを用いて算出した、当該目標軌道に対する走行状態を示す情報の逸脱量が第1の閾値よりも大きい第2の閾値以上であり、かつ、要求信号が出力されていない状態が所定の期間継続した場合、経路逸脱判定部に異常が生じたと判定する。【選択図】図6
VEHICLE CONTROLLER, VEHICLE, AND METHOD FOR CONTROLLING VEHICLE
車両制御装置、車両及び車両制御方法
2021-07-29
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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