AUTOMATIC DRIVING VEHICLE

To provide an automatic driving vehicle which can safely and surely stop when an abnormality exceeding a threshold occurs in a vehicle speed and a steering angle.SOLUTION: An automatic driving vehicle comprises a control monitoring unit 18 which detects an actual value of a drive control result of a...

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Bibliographic Details
Main Authors SHIOBARA TSUTOMU, SEGAWA MASAKI, SUZUKI TOMOHIRO, ALAAELDEEN MOHAMMAD ABOULELAA ABDALRAHMAN, KAMIHIRA RINTARO
Format Patent
LanguageEnglish
Japanese
Published 26.09.2022
Subjects
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION
CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES
PERFORMING OPERATIONS
PHYSICS
ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT
SIGNALLING
TRAFFIC CONTROL SYSTEMS
TRANSPORTING
VEHICLES IN GENERAL
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Summary:To provide an automatic driving vehicle which can safely and surely stop when an abnormality exceeding a threshold occurs in a vehicle speed and a steering angle.SOLUTION: An automatic driving vehicle comprises a control monitoring unit 18 which detects an actual value of a drive control result of a travel unit 11, a steering unit 12 and a brake unit 13 and compares target values of various control commands with the drive control result. The control monitoring unit previously includes a model 17a which expresses a travel speed or steering angle as a correction control target corresponding to a property unique to the automatic driving vehicle 10 for the control command about acceleration, deceleration or steering in the normal travel, refers to the model when comparing the target value of the control command with the actual value of the drive control result and compares the correction control target value expected according to the travel condition at this time with the actual value of the drive control result, determines that an error has occurred when the difference has exceeded the threshold, and stops the automatic driving vehicle.SELECTED DRAWING: Figure 1 【課題】車速や操舵角に閾値を越える異常が発生したときに、安全に且つ確実に停止することができるようにした自動運転車両を提供する。【解決手段】走行部１１，操舵部１２及び制動部１３の駆動制御結果の実際値を検出し、各種制御指令の目標値と駆動制御結果とを比較する制御監視部１８を備え、制御監視部が、正常走行時における加速，減速又は操舵に関する制御指令に関して、当該自動運転車両１０の固有の特性に対応した修正制御目標としての走行速度又は操舵角を表わすモデル１７ａを前もって備えており、制御指令の目標値と駆動制御結果の実際値とを比較する際にモデルを参照してそのときの走行条件に応じて期待される修正制御目標値と駆動制御結果の実際値とを比較し、その差が閾値を越えたときにエラー発生と判断して、自動運転車両を停止させる。【選択図】図１
Bibliography:Application Number: JP20210040733