CONTROL DEVICE OF AUTONOMOUS VEHICLE

• US 20200130710A1
• Filed: 12/30/2019
• Published: 04/30/2020
• Est. Priority Date: 07/04/2017
• Status: Active Application

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: HASE, Tomomi, IKEMOTO, Noriaki, HIGASHITANI, Mitsuharu
• Application Number:
  US16/729,638
• Publication Number:
  US 20200130710A1
• Time in Patent Office: Days
• CPC Class Codes: B60J 5/00 Doors B60J10/00 takes precedence; window aspects B60J1/00 ; side board or tailgate structures for open load compartments B62D33/023
• CPC Class Codes: B60R 2021/01265 Seat belts
• CPC Class Codes: B60R 21/01 Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents electrical circuits for transmission of signals between steering wheel and the vehicle itself B60R16/027; for electrically actuating belt retractor locking means B60R22/343
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2756/10 Involving external transmission of data to or from the vehicle
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 30/182 Selecting between different operative modes, e.g. comfort and performance modes
• CPC Class Codes: B60W 60/0015 specially adapted for safety
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16

Abstract

A control device includes a device status sensor which senses the status of a safety device installed to an autonomous vehicle, and a vehicle controller which controls the autonomous vehicle. The vehicle controller is capable of implementing each of a normal travel mode and a safe travel mode in which the level of safety is higher than in the normal travel mode. In response to the device status sensor sensing that the safety device has been unlocked, the vehicle controller performs the process of switching from the normal travel mode to the safe travel mode.

Claims

1. A control device of an autonomous vehicle comprising:

a device status sensor which senses a status of a safety device installed to the autonomous vehicle; and

a vehicle controller which controls the autonomous vehicle,

wherein the vehicle controller is capable of implementing each of a normal travel mode and a safe travel mode in which a level of safety is higher than in the normal travel mode, and configured to, in response to the device status sensor sensing that the safety device has been unlocked, perform a process of switching from the normal travel mode to the safe travel mode.

2. The control device according to claim 1, wherein

each of the normal travel mode and the safe travel mode is a travel mode implemented during autonomous driving of the autonomous vehicle.

3. The control device according to claim 2, wherein

the safe travel mode is a travel mode in which an inter-vehicle distance between the autonomous vehicle and a nearby vehicle traveling close to the autonomous vehicle is made greater than the inter-vehicle distance in the normal travel mode.

4. The control device according to claim 3, wherein

the nearby vehicle is a vehicle traveling in front of the autonomous vehicle.

5. The control device according to claim 4, wherein

during implementation of the safe travel mode,

the vehicle controller increases the inter-vehicle distance between the nearby vehicle and the autonomous vehicle by temporarily decelerating the autonomous vehicle.

6. The control device according to claim 5, wherein

in response to another vehicle traveling in a predetermined range behind the autonomous vehicle, the vehicle controller decelerates the autonomous vehicle more slowly than when the other vehicle is not present.

7. The control device according to claim 3, wherein

the nearby vehicle is a vehicle traveling behind the autonomous vehicle.

8. The control device according to claim 7, wherein

during implementation of the safe travel mode, the vehicle controller increases the inter-vehicle distance between the nearby vehicle and the autonomous vehicle by temporarily accelerating the autonomous vehicle.

9. The control device according to claim 3, wherein

during implementation of the safe travel mode, the vehicle controller performs inter-vehicle communication with the nearby vehicle and causes a change in a position of the nearby vehicle to increase the inter-vehicle distance between the nearby vehicle and the autonomous vehicle.

10. The control device according to claim 2, wherein

the safe travel mode is a travel mode in which a travel lane for the autonomous vehicle is changed to a lane different from a travel lane used during implementation of the normal travel mode.

11. The control device according to claim 2, wherein

the safe travel mode is a travel mode in which a travel speed of the autonomous vehicle is set to be less than the travel speed used during implementation of the normal travel mode.

12. The control device according to claim 11, wherein

in response to another vehicle traveling in each of a predetermined range behind the autonomous vehicle and a predetermined range in a lane adjacent to a travel lane for the autonomous vehicle, the vehicle controller performs a process of reducing the travel speed of the autonomous vehicle.

13. The control device according to claim 2, wherein

the safe travel mode is a travel mode in which, in response to a nearby autonomous vehicle different from the autonomous vehicle traveling close to the autonomous vehicle, a position of the autonomous vehicle is changed to a position in front of the nearby autonomous vehicle.

14. The control device according to claim 2, wherein

the safe travel mode is a travel mode in which, in response to one or more nearby autonomous vehicles different from the autonomous vehicle traveling close to the autonomous vehicle, the vehicle controller performs inter-vehicle communication with the one or more nearby autonomous vehicles and causes the autonomous vehicle to travel in a column together with the one or more nearby autonomous vehicles.

15. The control device according to claim 2, wherein

in response to one or more nearby autonomous vehicles different from the autonomous vehicle traveling close to the autonomous vehicle, the vehicle controller performs inter-vehicle communication with the one or more nearby autonomous vehicles and causes the autonomous vehicle to travel in a column together with the one or more nearby autonomous vehicle, and

the safe travel mode is a travel mode in which the autonomous vehicle that is traveling in the column is positioned to travel at a position in a second last place in the column or at a position forward of the second last place in the column.

16. The control device according to claim 15, wherein

the vehicle controller causes the autonomous vehicle to travel at a position in a second front place in the column or at a position rearward of the second front place in the column.

17. The control device according to claim 15, wherein

the vehicle controller performs the inter-vehicle communication with the one or more nearby autonomous vehicles and causes a change in a position of the autonomous vehicle in the column without changing a travel lane for the autonomous vehicle.

18. The control device according to claim 1, wherein

the safe travel mode is a travel mode in which, in response to a nearby autonomous vehicle different from the autonomous vehicle traveling close to the autonomous vehicle, the vehicle controller performs a process of requesting the nearby autonomous vehicle to pass at a low relative speed through a predetermined range set around the autonomous vehicle.

19. The control device according to claim 1, wherein

the safe travel mode is a travel mode in which, in response to a nearby autonomous vehicle different from the autonomous vehicle traveling close to the autonomous vehicle, the vehicle controller performs a process of requesting the nearby autonomous vehicle not to enter a predetermined range set around the autonomous vehicle.

20. The control device according to claim 1, wherein

the safe travel mode is a travel mode in which, in response to a nearby autonomous vehicle different from the autonomous vehicle traveling close to the autonomous vehicle, the vehicle controller performs one of the following:

a first request process of requesting the nearby autonomous vehicle to pass at a low relative speed through a predetermined range set around the autonomous vehicle; and

a second request process of requesting the nearby autonomous vehicle not to enter the predetermined range.

21. The control device according to claim 20, wherein

the vehicle controller switches between performing the first request process and performing the second request process according to a travel speed of the autonomous vehicle.

22. The control device according to claim 21, wherein

when the travel speed of the autonomous vehicle is greater than a predetermined speed, the vehicle controller performs the first request process, and when the travel speed of the autonomous vehicle is less than the predetermined speed, the vehicle controller performs the second request process.

23. The control device according to claim 20, wherein

the safety device comprises a seat belt installed to a seat of the autonomous vehicle, and a locking mechanism which locks a door of the autonomous vehicle, and

in response to the device status sensor sensing that both of the seat belt and the locking mechanism have been unlocked, the vehicle controller performs the second request process.

24. The control device according to claim 18, wherein

the vehicle controller sets the predetermined range according to a position of the safety device that has been unlocked.

25. The control device according to claim 1, wherein

in response to the device status sensor sensing that the safety device has been unlocked during travel of the autonomous vehicle through manual driving by a driver, the vehicle controller performs a process of implementing the safe travel mode after switching from the manual driving to autonomous driving.

26. The control device according to claim 25, wherein

the safety device is installed to a driver seat of the autonomous vehicle.

27. The control device according to claim 1, further comprising:

an operating unit which is operated by an occupant to start autonomous driving, wherein

when the operating unit is operated and the device status sensor senses that the safety device has been unlocked, the vehicle controller does not perform a process of starting the autonomous driving.