PROBLEM TO BE SOLVED: To find out an optimum travelling route, for a vehicle driving the wheels by electric motors, to where the vehicle will be stopped if any of the electric motors becomes defective.SOLUTION: A controller of a vehicle 1000 according to the present application includes: motors 108, 110, and 112, 114 separately driving left and right wheels; a stereocamera 130 taking an image of in front of the vehicle; and a travelling-route finding unit 202 ranking monitoring areas 300 set in an image 260 taken by the stereocamera 130 based on at least the result of comparison between a current road surface state and a previous road surface state and finding a travelling route to where the vehicle is to be stopped based on the ranking result, if at least one of the motors 108, 110, 112, and 114 becomes defective.SELECTED DRAWING: Figure 12
【課題】複数の電動機により各車輪を駆動する車両において、いずれかの電動機に失陥が生じた場合であっても、車両を停車させるまでに最適な車両の走行経路を導出する。【解決手段】本発明に係る車両1000の制御装置は、左右輪を独立して駆動する複数のモータ108,110,112,114と、車両前方を撮像するステレオカメラ130と、少なくとも1つのモータ108,110,112,114が失陥した場合に、ステレオカメラ130部により撮像された画像260中に設定された複数の監視領域300について、少なくとも現在と過去の路面状況の対比の結果に基づいてランク付けを行い、ランク付けの結果に応じて車両を停車させるまでの走行経路を導出する走行経路導出部202と、を備える。【選択図】図12
VEHICLE CONTROLLER AND METHOD FOR CONTROLLING VEHICLE
車両の制御装置及び車両の制御方法
2016-09-05
Patent
Electronic Resource
Japanese
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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