To change hurdle of shift to an override operation according to an automatic driving control state.SOLUTION: The invention is configured to set a steering rection force F according to a steering angle difference θm-θsys between a system steering angle by an automatic driving system and an input steering angle of a correction operation by manual. Therefore, setting can be performed so that, as a steering angle of the manual operation is larger, larger reaction force can be received. In addition, the reaction force becomes larger as an automatization level is higher. Then, when the steering angle difference reaches a prescribed threshold θTh, an override operation is allowed. Therefore, as the automatization level is higher, hurdle to the override can become higher, for easily maintaining the automatic driving.SELECTED DRAWING: Figure 6

    【課題】自動運転制御状態に応じて、オーバーライド操作への移行のハードルも変化させる。【解決手段】ステアリング反力Fを、自動運転システムによるシステム舵角と、手動による補正操作の入力舵角との舵角差θm−θsysに応じて設定する。これにより手動操作の舵角が大きくなるほど大きな反力を受けるように設定できる。さらにその反力を、自動化レベルが高いほど大きくなるよう設定する。そして舵角差が所定の閾値θThに達するとオーバーライド運転を許容する。これにより、自動化レベルが高いほど、オーバーライドへのハードルを高く設定でき、自動運転を維持し易い。【選択図】図6


    Access

    Download


    Export, share and cite



    Title :

    VEHICLE CONTROL DEVICE


    Additional title:

    車両制御装置


    Contributors:

    Publication date :

    2019-09-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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



    VEHICLE CONTROL DEVICE, AND VEHICLE WITH VEHICLE CONTROL DEVICE

    AOKI YOSHINORI / HANADA KOHEI / NIIMURA TOMOYUKI | European Patent Office | 2019

    Free access


    VEHICLE CONTROL DEVICE AND VEHICLE CONTROL DEVICE

    AKASHI YOHEI / SATAKE TOSHIHIDE / HIGASHI MICHITOSHI et al. | European Patent Office | 2016

    Free access

    VEHICLE SUSPENSION CONTROL DEVICE, VEHICLE CONTROL DEVICE, AND VEHICLE CONTROL METHOD

    YAMAOKA FUMIYUKI | European Patent Office | 2021

    Free access

    VEHICLE CONTROL DEVICE, AND VEHICLE WITH VEHICLE CONTROL DEVICE

    AOKI YOSHINORI / HANADA KOHEI / NIIMURA TOMOYUKI | European Patent Office | 2019

    Free access