To enhance a utilization rate of automatic operation.SOLUTION: An automatic operation vehicle capable of executing automatic operation comprises: a first reference straight travel steering angle acquisition section which acquires a first reference straight travel steering angle, a steering angle of the automatic operation vehicle in a straight travel state; a second reference straight travel steering angle acquisition section which acquires a second reference straight travel steering angle, a steering angle when a difference between an estimated yaw rate estimated from the steering angle of the automatic operation vehicle and a yaw rate of the automatic operation vehicle detected through a yaw rate sensor is less than a yaw rate threshold; and an automatic operation permission section which permits the automatic operation of the automatic operation vehicle when both the first reference straight travel steering angle and the second reference straight travel steering angle are acquired. When the first reference straight travel steering angle is acquired but the second reference straight travel steering angle is not acquired, the automatic operation permission section permits the automatic operation of the automatic operation vehicle after requesting a driver of the automatic operation vehicle to hold a steering.SELECTED DRAWING: Figure 2

    【課題】自動運転の稼働率を高める。【解決手段】自動運転を実行可能な自動運転車両であって、直進状態の自動運転車両の操舵角である第一基準直進舵角を取得する第一基準直進舵角取得部と、自動運転車両の操舵角から推定された推定ヨーレートとヨーレートセンサから検出された自動運転車両のヨーレートの差分の大きさがヨーレート閾値未満である場合の操舵角である第二基準直進舵角を取得する第二基準直進舵角取得部と、第一基準直進舵角及び第二基準直進舵角の両方が取得されている場合に自動運転車両の自動運転を許可する自動運転許可部と、を備え、自動運転許可部は、第一基準直進舵角が取得されているが第二基準直進舵角が取得されていない場合に、自動運転車両の運転者にステアリング保持要求を行い、自動運転車両の自動運転を許可する。【選択図】図2


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    Titel :

    AUTOMATIC OPERATION VEHICLE, AUTOMATIC OPERATION VEHICLE CONTROL METHOD AND PROGRAM


    Weitere Titelangaben:

    自動運転車両、自動運転車両の制御方法、及びプログラム


    Beteiligte:
    MARUYAMA TAKASHI (Autor:in) / TANIMOTO MITSUTAKA (Autor:in) / AOKI YUTAKA (Autor:in)

    Erscheinungsdatum :

    03.08.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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