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WO2018105027A1 - Dispositif d'assistance à la conduite autonome - Google Patents

Dispositif d'assistance à la conduite autonome Download PDF

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Publication number
WO2018105027A1
WO2018105027A1 PCT/JP2016/086137 JP2016086137W WO2018105027A1 WO 2018105027 A1 WO2018105027 A1 WO 2018105027A1 JP 2016086137 W JP2016086137 W JP 2016086137W WO 2018105027 A1 WO2018105027 A1 WO 2018105027A1
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WIPO (PCT)
Prior art keywords
driving
vehicle
unit
behavior information
automatic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/086137
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English (en)
Japanese (ja)
Inventor
幸典 遠藤
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2016/086137 priority Critical patent/WO2018105027A1/fr
Publication of WO2018105027A1 publication Critical patent/WO2018105027A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the present invention relates to an automatic driving support device that provides support when a vehicle is switched from automatic driving to manual driving.
  • This driving support device is a semi-automatic function that allows the driver to drive to some of the driving operation units among the driving operation units such as the steering wheel, accelerator pedal, and brake pedal when switching from automatic driving to manual driving. Intervene driving conditions.
  • the semi-automatic operation after the driver performs a driving operation on a part of the driving operation units for a predetermined time, switching to the manual driving is performed. Thereby, switching to manual operation is performed in a state in which the driver is accustomed to the driving operation.
  • An object of the present invention is to provide an automatic driving support device that can assist a driver to grasp an operation that does not change.
  • the automatic driving support apparatus When the automatic driving support apparatus according to the present invention receives a signal for notifying that the control to the driving operation driving unit of the vehicle is switched from the one based on the automatic driving to the one based on the manual driving, the pseudo driving section is set.
  • the simulated driving section setting unit to be set and the behavior of the vehicle when the operation control signal based on the manual driving operation is received and the driving operation driving unit is controlled based on the operation control signal when the vehicle is in the pseudo driving section
  • a behavior information calculation unit that calculates information, and a behavior information presentation unit that outputs the calculated behavior information to a display unit that displays the information to the driver are provided.
  • vehicle behavior information based on the manual driving operation performed by the driver is calculated and calculated. Since the driver's behavior information is displayed to the driver, the driver can confirm the discrepancy between the behavior of the vehicle by his driving operation and the behavior of the vehicle by automatic driving. It is possible to assist the driver in grasping the change in the behavior of the vehicle when switching.
  • FIG. 1 is a block diagram illustrating a configuration of a part of an automatic driving support device according to an embodiment of the present invention and a vehicle provided with the automatic driving support device. It is explanatory drawing which shows operation
  • the present invention sets a simulated driving section when the control to the driving operation driving unit of the vehicle is switched from the automatic driving control to the manual driving control, and is based on the manual driving operation when the vehicle is in the simulated driving section.
  • the vehicle behavior information is calculated and the vehicle behavior information is displayed to the driver.
  • FIG. 1 is a block diagram illustrating a configuration of a part of a vehicle provided with an automatic driving support device 500 and an automatic driving support device 500 according to an embodiment of the present invention.
  • the automatic driving support apparatus 500 includes a simulated driving management unit 501, a simulated driving section setting unit 502, a behavior information calculating unit 503, and a behavior information presenting unit 504.
  • the automatic driving support device 500 is included in the automatic driving device 100, and includes a vehicle / environment information acquisition device 200, a driving operation device 300 that accepts driving operation, a display device 400, via an in-vehicle communication interface (not shown), It is connected to the.
  • the automatic driving device 100 includes an automatic driving support device 500, an operation mode switching unit 101 connected to the automatic driving support device 500, an automatic driving mode unit 102 connected to the driving mode switching unit 101, and a manual driving mode unit 103.
  • the vehicle / environment information acquisition apparatus 200 is connected to the automatic driving apparatus 100 and includes a vehicle state detection unit 201, an out-of-vehicle environment information acquisition unit 202, a road information acquisition unit 203, and a driver monitoring unit 204.
  • the driving operation device 300 is connected to the automatic driving device 100 and includes a driver operation detection unit 301 and a vehicle operation output unit 302.
  • the display device 400 is connected to the automatic driving device 100 and includes a map drawing unit 401 and a HUD (head-up display) display unit 402.
  • the driving operation driving device 600 is connected to the automatic driving device 100.
  • the vehicle including the automatic driving device 100, the vehicle / environment information acquisition device 200, the driving operation device 300, the display device 400, the automatic driving support device 500, and the driving operation driving device 600 in FIG.
  • Operation control is performed by automatic operation control and manual operation control executed by a manual operation operation of the driver's operation device 300. Switching between automatic operation control and manual operation control is performed by the automatic operation apparatus 100.
  • the automatic driving device 100 outputs an operation control signal for controlling the driving operation driving device 600 of the vehicle, and controls the driving operation driving device 600.
  • the driving operation drive device 600 includes, for example, a steering mechanism 60, a brake mechanism 61, and an engine mechanism 62 (see FIG. 3), and receives an operation control signal corresponding to control of automatic driving or manual driving from the automatic driving device 100, and is driven. It is a device to do.
  • the driving operation driving device 600 is driven to drive the vehicle, and the behavior of the vehicle is determined by the driving amount of the driving operation driving device 600.
  • the driving operation driving device 600 corresponds to the driving operation driving unit in the present invention.
  • the operation control signal includes an automatic operation and a manual operation, and the automatic operation apparatus 100 switches between the automatic operation and the manual operation by switching these signals.
  • the driving mode switching unit 101 switches from automatic driving control by the automatic driving mode unit 102 to manual driving control by the manual driving mode unit 103. I do.
  • the driving mode switching unit 101 Prior to switching to manual driving control, the driving mode switching unit 101 outputs a switching notice signal to the simulated driving management unit 501 of the automatic driving support device 500.
  • the switching notice signal received by the simulated operation management unit 501 is sent to the simulated operation section setting unit 502 to set the simulated operation section.
  • the behavior of the vehicle corresponding to the driver's manual driving operation performed on the driving operation device 300 is calculated by the behavior information calculation unit 503 and output to the display device 400 by the behavior information presentation unit 504. .
  • the simulated operation section is located in front of the switching point from the automatic operation to the manual operation in the traveling direction. In this section, the control by the automatic operation is maintained, and the manual operation of the driver in this section is It is not reflected in the operation control signal to the operation drive device 600.
  • the operation mode switching unit 101 is included in the automatic driving device 100, and is one of an automatic operation mode unit 102 that outputs an operation control signal by automatic operation and a manual operation mode unit 103 that outputs an operation control signal by manual operation. By outputting an operation start command signal and outputting an operation stop command signal to the other, automatic operation and manual operation are switched. This switching is performed when the operation mode switching unit 101 receives a request for operation mode switching.
  • Examples of the driving mode switching request include a driving mode switching request based on a driver switching operation, or a driving mode switching request based on a signal detected by the vehicle that a road capable of automatic driving ends.
  • switching may be canceled or postponed if it is not appropriate.For example, when the distance between adjacent vehicles is short and switching to manual driving is not possible, or when the driver manually Switching is canceled or postponed if preparation for driving operation is not performed.
  • the operation mode switching unit 101 selects any point on the planned travel route as the switching position from the automatic operation to the manual operation, and the selected switching position is determined by the switching notice signal.
  • the automatic driving support device 500 is notified in advance. This selection of the switching position is performed using the situation of the vehicle, road, and driver obtained from the vehicle / environment information acquisition device 200.
  • the switching notice signal is an operation control signal for controlling the driving operation driving device 600 provided in the vehicle, and is a manual driving control by a manual driving operation of the driver from the operation control signal based on the automatic driving control to the driving operating device 300. Is a signal for notifying that switching to the operation control signal based on is performed, and is output after the switching position is selected and before switching is performed.
  • the selection of the switching position is not limited to selecting one point, but includes selecting a plurality of positions that are candidates for the switching position. Alternatively, a range of possible switching positions may be selected.
  • the automatic driving mode unit 102 generates an operation control signal for automatically controlling all or a part of acceleration, steering, and braking when the automatic driving is performed, and outputs the operation control signal to the driving operation driving device 600. It is. That is, the vehicle is automatically driven.
  • the automatic driving refers to controlling the driving operation driving device 600 based on the output of the sensor that acquires the external situation of the vehicle, and the operation control signal based on the automatic driving acquires the external situation of the vehicle. It is a control signal for controlling the driving operation driving device 600 based on the output of the sensor.
  • the automatic operation mode unit 102 acquires the external situation of the vehicle from the vehicle / environment information acquisition device 200.
  • the automatic operation mode unit 102 outputs automatic operation information to the display device 400 and presents the automatic operation information to the driver.
  • the automatic operation information includes an alarm display at the time of rapid acceleration / deceleration.
  • the manual operation mode unit 103 receives a driving operation output based on the manual driving operation of the driver to the driving operation device 300 when the manual driving is performed, and outputs the driving operation output to the driving operation driving device 600. This is converted into an operation control signal and output to the driving operation driving device 600.
  • the manual operation refers to driving the driving operation driving device 600 based on the output from the driving operation device 300 based on the manual driving operation of the driver. More specifically, when a driver's manual driving operation is performed on the driver operation detecting unit 301 such as the steering wheel 30, the brake 31 and the accelerator 32 (see FIG. 3), the detection result is output as the vehicle operation output unit 302.
  • a driving operation output is output from the device 33 to the manual operation mode unit 103, and an operation control signal is sent from the manual operation mode unit 103 to the driving operation driving device 600 to perform manual operation.
  • the operation control signal based on the manual driving operation refers to an operation control signal for driving the driving operation driving device 600 based on the output from the driving operation unit based on the manual driving operation of the driver.
  • the manual operation mode unit 103 performs control for performing driving support for manual driving operation and outputs display to the display device 400.
  • driving assistance when a wheel lock is detected when a brake operation for a sudden stop is performed, an ABS (anti-lock brake system) is operated to control the brake pressure. At the same time, a display indicating that the ABS is operating is output to the display device 400.
  • the vehicle / environment information acquisition device 200 acquires information on the vehicle and the external situation using various sensors, and outputs the information to the automatic driving device 100 and the automatic driving support device 500.
  • Various sensors are described below.
  • the vehicle state detection unit 201 is a sensor 20 (see FIG. 3) attached to the vehicle, and acquires vehicle state information.
  • the vehicle state information is information related to the traveling state (speed, acceleration, skidding, etc.) of the vehicle itself and the driving state (hydraulic pressure, temperature, voltage value, etc.) of the driving operation driving device 600.
  • Examples of the sensor 20 include a gyro sensor, an acceleration sensor, a hydraulic meter, a thermometer, a voltmeter, and the like.
  • the outside environment information acquisition unit 202 is a sensor 20 or an in-vehicle camera 21 (see FIG. 3) attached to the vehicle, and acquires outside environment information.
  • the environmental information outside the vehicle is information relating to the external situation of the vehicle, and is information relating to the position and distance between adjacent vehicles, the presence or absence of pedestrians, the position of the white line, and the like.
  • An example of the sensor 20 is a millimeter wave radar.
  • the road information acquisition unit 203 is the communication device 22 attached to the vehicle, and acquires road traffic information.
  • the road traffic information is information related to the road such as road surface information, construction regulation information, and traffic jam information, and is information transmitted by a person other than the own vehicle.
  • Examples of the communication device 22 include roadside beacons and Internet wireless devices.
  • the road traffic information includes the position information of the own vehicle, and is acquired using GPS or the like.
  • the driver monitoring unit 204 acquires driver information using a sensor attached to the vehicle.
  • the driver information is information relating to the driver's behavior and arousal state, for example, information indicating that the driver is in a sleep state or performing work.
  • An example of the sensor is a camera mounted in the vehicle.
  • the driving operation device 300 receives a manual driving operation by a driver and outputs a driving operation output corresponding to the manual driving operation to the automatic driving support device 500 and the automatic driving device 100.
  • the driving operation device 300 corresponds to the driving operation unit of the present invention.
  • the driver operation detection unit 301 is included in the driving operation device 300 and detects a manual driving operation of the driver.
  • Examples of the driver operation detection unit 301 include a steering wheel 30, a brake 31, an accelerator 32, and the like (see FIG. 3).
  • the vehicle operation output unit 302 is included in the driving operation device 300, and outputs a driving operation output corresponding to the manual driving operation detected by the driver operation detecting unit 301 to the automatic driving support device 500 and the automatic driving device 100.
  • the output device 33 is mentioned as an example of the vehicle operation output part 302 (refer FIG. 3).
  • the display device 400 receives outputs from the automatic driving support device 500 and the automatic driving device 100 and displays them on the driver.
  • the display device 400 corresponds to the display unit of the present invention.
  • the map drawing unit 401 is included in the display device 400, displays the current position of the vehicle on the map, and displays outputs from the automatic driving support device 500 and the automatic driving device 100.
  • An example of the map drawing unit 401 is a car navigation system 40 (see FIG. 3).
  • the HUD display unit 402 is included in the display device 400 and displays information related to driving such as vehicle speed by projecting it onto a transparent display.
  • the HUD display unit 402 displays outputs from the automatic driving support device 500 and the automatic driving device 100.
  • An example of the HUD display unit 402 is the HUD 41 (see FIG. 3).
  • the automatic driving support device 500 causes the driver to perform a pseudo driving, and determines the behavior of the vehicle based on the manual driving operation to the driving operation device 300 to the driver.
  • the display device 400 outputs to the display device 400 for display.
  • the pseudo driving or the pseudo driving means that the control of the driving operation driving device 600 of the vehicle by the automatic driving is maintained, and the driving operation output by the manual driving operation of the driver with respect to the driving operating device 300 is performed. It refers to driving performed without outputting to 600 but in a state of outputting to the automatic driving support device 500.
  • the simulated driving management unit 501 is included in the automatic driving support device 500 and receives a switching notice signal from the driving mode switching unit 101 that switches between automatic driving and manual driving, and performs control to start pseudo driving. .
  • a command for setting the section is output to the pseudo operation section setting unit 502.
  • control is performed to stop the pseudo operation.
  • the simulated driving section setting unit 502 is included in the automatic driving support device 500, and the simulated driving management section 501 receives a command for setting a section to be performed in response to a switching notice signal, and performs a simulated driving for performing a pseudo driving. Set the interval.
  • the set simulated operation section is output to the simulated operation management unit 501.
  • the simulated operation section is a section from a point where the pseudo operation is started to a point where the automatic operation is switched to the manual operation.
  • FIG. 2 is an explanatory diagram showing the operation of the automatic driving support device, and shows the relationship between the automatic driving section, the simulated driving section, and the manual driving section.
  • the section refers to a travel (scheduled) area divided from a certain point to a certain point.
  • the operation mode switching unit 101 sets an operation control switching point (scheduled travel point at time T5) from automatic operation to manual operation.
  • the operation mode switching unit 101 outputs a switching notice signal to the simulated operation management unit 501, and the simulated operation section setting unit 502 sets the simulated operation section.
  • the simulated operation section setting unit 502 determines a minimum section (between a point at time T4 and a point at time T5) based on a predetermined time or a predetermined distance to be secured before the operation control switching point.
  • This minimum section is a section based on the minimum time or minimum distance for the preparation of the driver's manual driving operation and psychological preparation. The minimum time and minimum distance are determined based on demonstration experiments. Or, if it is defined as a standard, it shall be followed.
  • the simulated operation section setting unit 502 notifies the driver to start the simulated operation (time T1).
  • the notification is displayed on the display device 400.
  • the simulated driving section setting unit 502 then starts the simulated driving section (the point at the time T1 to the point at the time T4) from the point where the notification was made (the point at the time T1) to the point immediately before reaching the minimum section (the point at the time T4). If there is a response from the driver to accept pseudo driving during this section, the point where the response was received is set as the pseudo driving start point (point at time T3) and A command to start a simple operation is output to the simulated operation management unit 501, and the pseudo operation is started by this command.
  • the simulated driving section setting unit 502 sets the simulated driving section (point at time T3) to the driving control switching point (point at time T5) as a simulated driving section, and when a vehicle is present in this section, Pseudo operation control is performed. Further, as described above, the operation mode switching unit 101 not only sets the operation control switching point, but also outputs a range selectable as the operation control switching point to the simulated operation management unit 501 and determines it on the automatic driving support device 500 side. It is also possible.
  • the behavior information calculation unit 503 is included in the automatic driving support device 500, and receives the driving operation output from the driving operation device 300 based on the manual driving operation by the driver when the position of the vehicle is included in the simulated driving section. Thus, the behavior of the vehicle when the driving operation driving device 600 is controlled based on the driving operation output is calculated. Since control by automatic driving is maintained in the simulated driving section, it is assumed that the behavior of the vehicle when the driving operation driving device 600 is controlled is not the actual behavior of the vehicle but a manual driving operation is performed. Is the behavior of the vehicle.
  • the calculated vehicle behavior includes the position or speed of the vehicle.
  • the behavior information calculation unit 503 sequentially acquires the output from the driving operation device 300 to calculate the behavior of the vehicle, calculates the sequential behavior using the acquired driving operation output, and the behavior information is obtained as the behavior information. Output to the presentation unit 504.
  • the behavior information presentation unit 504 is included in the automatic driving support device 500, generates display information for the driver based on the vehicle behavior information calculated by the behavior information calculation unit 503, and outputs the display information to the display device 400. It is.
  • the behavior information presentation unit 504 outputs not only the vehicle behavior information calculated by the behavior information calculation unit 503 but also the vehicle behavior information controlled by automatic driving to the display device 400.
  • an instruction to superimpose the vehicle behavior information calculated by the behavior information calculation unit 503 and the vehicle behavior information controlled by automatic driving on the same screen of the display device 400 is output.
  • the driving operation driving device 600 includes, for example, a steering mechanism 60, a brake mechanism 61, and an engine mechanism 62 (see FIG. 3), receives an operation control signal from the automatic driving device 100, and is driven according to control of automatic driving or manual driving. It is a device to do.
  • the driving operation driving device 600 is driven to drive the vehicle, and the behavior of the vehicle is determined by the driving amount of the driving operation driving device 600.
  • the driving operation driving device 600 corresponds to the driving operation driving unit in the present invention.
  • FIG. 3 is a block diagram showing a hardware configuration for realizing the automatic driving support apparatus 500.
  • an automatic driving support device 500 includes a CPU 10, a main memory 11, a storage device 12 such as a flash memory and a hard disk, a communication device 13 corresponding to various communication standards, and inputs for inputting various data from peripheral external devices. It is realized by hardware constituted by a device 14, an output device 15 for outputting various data to peripheral external devices, and a bus 16 that interconnects the hardware.
  • the simulated driving management unit 501, simulated driving section setting unit 502, behavior information calculation unit 503, and behavior information presentation unit 504, which are constituent elements of the automatic driving support device 500, are automatic driving support control applications describing respective processing contents.
  • the automatic driving device 100 is realized by executing the automatic driving control application 18 describing the processing contents of the driving mode switching unit 101, the automatic driving mode unit 102, and the manual driving mode unit 103.
  • each of the above-described components of the automatic driving support device 500 may be configured by dedicated hardware (for example, a semiconductor integrated circuit on which a CPU is mounted, or a one-chip microcomputer).
  • FIG. 4 the operation of the automatic driving support device 500 will be described with reference to FIGS. 4, 5, and 6.
  • FIG. 4 the operation of the automatic driving support device 500 will be described with reference to FIGS. 4, 5, and 6.
  • FIG. 4 is a flowchart showing the operation of the automatic driving support device and the driving switching process of the automatic driving device, and the processing contents of the automatic driving device 100 and the automatic driving support device 500 when the vehicle control is switched from automatic driving to manual driving. Is shown.
  • the driving mode switching unit 101 receives a request for switching from automatic driving to manual driving from the vehicle (step S101).
  • step S101 when the switching request is accepted, the operation mode switching unit 101 sets an operation control switching point (a point at time T5) for switching the operation control from the automatic operation to the manual operation, and a switching notice signal.
  • the operation control switching point information is output to the simulated operation management unit 501.
  • the simulated driving section setting unit 502 receives the switching point information from the simulated driving management unit 501 and determines the minimum section (from the point at time T4 to the time from the information on the driving control switching point (point at time T5)). To the point at T5). Further, a simulated driving startable section (between a point at time T1 and a point at time T4) is set based on the minimum section.
  • step S104 the simulated driving management unit 501 acquires the current position information of the vehicle from the road information acquisition unit 203 of the vehicle / environment information acquisition device 200.
  • step S105 the simulated driving management unit 501 uses the current position information of the vehicle to determine whether or not the vehicle is located in a simulated driving startable section (between the point at time T1 and the point at time T4). .
  • step S105 If it is determined in step S105 that the vehicle is not located in the simulated driving startable section (between the point at time T1 and the point at time T4), the process returns to step S104 to acquire the current position information. Step S104 and step S105 are repeated until it is determined in S105 that the vehicle is located within the pseudo-operation startable section. When it is determined in step S105 that the vehicle is located in the section where the simulated driving can be started, the process proceeds to step S106. In step S106, the behavior information presentation unit 504 notifies the driver of the request for starting the simulated driving.
  • step S107 the behavior information presentation unit 504 determines whether or not there is a response from the driver to the request for starting the simulated operation.
  • step S107 If there is no response from the driver to the request for starting the simulated operation in step S107, the behavior information presenting unit 504 is waiting for a response from the driver. At this time, if the vehicle is already included in the minimum section, there is no room for performing the simulated driving. Therefore, the process first proceeds to step S108 to confirm this, and the vehicle / environment information acquisition device 200 acquires the road information. Using the current position information of the vehicle from unit 203, it is determined whether or not the vehicle is included in the minimum section. When the vehicle is included in the minimum section, the simulated operation management unit 501 approaches the operation control switching point (the point at time T5) for switching to the manual operation without having a margin for performing the simulated operation.
  • a vehicle stop command is output to the automatic driving mode unit 102, and the automatic driving mode unit 102 controls the vehicle to stop on the road shoulder or the like.
  • the process returns to step S107, and steps S107 and S108 are repeated to wait for a response from the driver.
  • step S107 when there is a response from the driver to the request for starting the pseudo driving in step S107, the process proceeds to step S110, and the behavior information calculation unit 503 receives the driving operation output from the driving operation device 300 based on the manual driving operation by the driver.
  • the vehicle behavior information when the driving operation driving device 600 is controlled based on the driving operation output is calculated. From this point, a pseudo operation is performed.
  • the behavior information presentation unit 504 generates simulated driving information to be displayed to the driver based on the behavior information calculated by the behavior information calculation unit 503, and outputs the pseudo driving information to the display device 400.
  • the behavior information presentation unit 504 outputs, to the display device 400, vehicle behavior information based on an operation control signal based on automatic driving and vehicle behavior information based on simulated driving calculated by the behavior information calculation unit 503.
  • an instruction to superimpose these behavior information on the same screen may be output.
  • step S112 the behavior information calculation unit 503 uses the current position information of the vehicle from the road information acquisition unit 203 of the vehicle / environment information acquisition device 200 to determine whether the vehicle is in the minimum section (from the point at time T4 to the time T5). It is determined whether or not the vehicle has entered the zone), and if the vehicle has not entered the minimum zone, the process returns to step S111 and the pseudo driving is continued.
  • step S113 the behavior information presentation unit 504 notifies the driver in advance of switching control from automatic driving to manual driving (step S113).
  • step S114 the behavior information presentation unit 504 terminates the presentation of the pseudo driving information when the vehicle reaches the driving control switching point (the point at time T5) or just before that point.
  • step S115 when the vehicle reaches the driving control switching point (point at time T5), the driving mode switching unit 101 switches the control from automatic driving to manual driving, and from here the manual driving operation by the driver.
  • the driving operation of the vehicle is started.
  • FIG. 5 is a flowchart showing the processing operation for setting the simulated driving section of the automatic driving support device, and shows the processing for the simulated driving section setting unit 502 to set the simulated driving section setting.
  • step S200 the simulated driving management unit 501 can select the driving control switching point (the point at time T5) set by the driving mode switching unit 101 based on the switching request, in other words, selected by the automatic driving support device 500. It is determined whether there is room for. In the case where there is no room for selection, when the vehicle state detection unit 201 cannot acquire appropriate sensor information and cannot continue automatic driving, the driving control switching point (the point at time T5) is immediately There is no room for selection because it must be switched to manual operation. In this case, NO is determined in step S200, the process proceeds to step S204, and the operation control switching point is set as it is.
  • driving control switching points can be selected when there is no urgency such as the end of a road that can be automatically driven (for example, a highway) ahead of the traveling direction of the vehicle. Yes, YES in step S200, and steps S201 to S203 are executed.
  • step S201 the simulated driving section setting unit 502 receives the vehicle environment information (for example, adjacent vehicle information) from the vehicle environment information acquisition unit 202. Presence / absence).
  • step S202 the simulated driving section setting unit 502 acquires road information (for example, road surface information) from the road information acquisition unit 203.
  • step S ⁇ b> 203 the simulated driving section setting unit 502 acquires vehicle state information (for example, speed) from the vehicle state detection unit 201.
  • step S204 the simulated driving section setting unit 502 determines that the driving control is determined to be safer for the driver and less burdensome on the driver and less psychological based on the acquired outside environment information, road information, and vehicle state information. A switching point is calculated, and an operation control switching point (a point at time T5) is set. In addition, when it becomes NO in step S200, since there is no room for selection, the operation control switching point (point at time T5) set by the operation mode switching unit 101 is set as it is. Furthermore, in step S103, the simulated operation section setting unit 502 determines the minimum section (between the point at time T4 and the point at time T5) based on the operation control switching point (the point at time T5) calculated as described above. The simulated operation start possible section (between the point at time T1 and the point at time T4) is calculated.
  • Examples of the determination element used when the operation control switching point is selected in step S204 include the following. First, it is determined that a straight road is more appropriate as a driving control switching point. That is, points with curves are avoided. In addition, it is determined that a road with a small height difference is more appropriate as a driving control switching point. That is, points with uphill and downhill slopes are avoided. Further, it is determined that a point where there is no vehicle in the vicinity is more appropriate as a driving control switching point. Further, a point where there is no branching or merging is determined to be more appropriate as an operation control switching point. In addition, a point that is not an overtaking lane is determined to be more appropriate as a driving control switching point. As described above, the operation for setting the simulated operation section is performed.
  • FIG. 6 is a flowchart showing processing operations of the behavior information calculation unit 503 and the behavior information presentation unit 504 of the automatic driving support apparatus 500, and shows processing performed by the behavior information calculation unit 503 and the behavior information presentation unit 504 during the simulated driving. ing.
  • step S300 the behavior information calculation unit 503 acquires the current position information of the vehicle from the road information acquisition unit 203.
  • the behavior information calculation unit 503 acquires a driving operation output related to manual driving operations of the steering wheel 30, the brake 31, and the accelerator 32 by the driver from the vehicle operation output unit 302.
  • step S302 the behavior information calculation unit 503 calculates the difference between the estimated position of the vehicle and the current position from the acquired driving operation output.
  • step S303 the behavior information presentation unit 504 displays the current position information on the map drawing unit 401 or the HUD display unit 402.
  • step S304 the behavior information presentation unit 504 displays the estimated position information calculated by the behavior information calculation unit 503 on the map drawing unit 401 or the HUD display unit 402 in parallel or superimposed on the current position information.
  • step S305 the behavior information calculation unit 503 determines whether the difference between the estimated position of the vehicle and the current position is greater than a predetermined value. If it is determined that the difference is larger, the process proceeds to step S306, and the behavior information presentation unit 504 If the warning is displayed or driving support information for improving the difference is displayed, and it is not determined that the difference is large in step S305, the warning is not displayed, and this flowchart is thereafter performed. finish.
  • step S112 in FIG. 4 the process returns to step S112 in FIG. 4, and the behavior information calculation unit 503 determines whether or not the current position of the vehicle has entered the minimum section. If not, the process returns to step S111, and this figure again.
  • the pseudo operation is continued by the operation of the flowchart of FIG. The operation related to the simulated operation process is performed as described above.
  • FIG. 7 is an explanatory diagram showing a display example of the car navigation screen.
  • the actual behavior of the vehicle (automatically driven vehicle) and the behavior of the vehicle calculated by the behavior information presentation unit 504 (simulated driving vehicle) are the same as those of the car navigation system 40.
  • the example of a display at the time of superimposing on an image is shown.
  • the screen of FIG. 7 is displayed on the car navigation system 40 corresponding to the map drawing unit 401.
  • “Landing Mode ON” is displayed as a driver notification message on the upper left of the screen of the car navigation system 40. It is only necessary to know that this display is in a pseudo operation, and “Landing Mode ON” may be displayed instead of “Landing Mode ON”.
  • a road map that is currently running is displayed in the center of the screen.
  • one circular figure on the road map indicates the current position of the vehicle during automatic driving, and an arrow extending from the circular figure indicates the traveling direction. The other circular figure is displayed so as to overlap the one circular figure.
  • the other circular figure is the estimated position of the vehicle based on the simulated driving calculated by the behavior information calculation unit 503, and an arrow extending from the figure indicates the direction of travel of the estimation.
  • driving control switching points are displayed on the road map. If there is a difference between the actual position and speed of the vehicle during automatic driving and the position and speed of the vehicle based on simulated driving, the two circular figures are displayed in a shifted manner. When the vehicle reaches the driving control switching point, the simulated driving ends and the automatic driving is switched to the manual driving. Therefore, the driver notification message on the upper left of the screen is changed or deleted, and the other circular shape representing the simulated driving vehicle is displayed. The figure is erased.
  • FIG. 8 is an explanatory diagram showing a display example of the head-up display, in which the actual vehicle behavior (automatic driving vehicle) and the vehicle behavior (simulated driving vehicle) calculated by the behavior information presentation unit 504 are superimposed on the HUD 41.
  • the example of a display at the time of displaying is shown.
  • the screen of FIG. 8 is displayed on the display by the HUD 41 corresponding to the HUD display unit 402.
  • “Landing Mode ON” is displayed as a driver notification message on the upper left of the display screen.
  • This display may also be “during simulated operation” instead of “Landing Mode ON”.
  • two vehicles are displayed on the display, one vehicle indicates the own vehicle that is automatically driving, and the other vehicle indicates a vehicle based on the pseudo driving calculated by the behavior information calculation unit 503. ing.
  • the behavior of the vehicle based on the manual driving operation of the driver in the pseudo driving is different from the actual behavior of the vehicle by the automatic driving, one vehicle and the other vehicle are displayed in a shifted manner.
  • the contours of both vehicles may be displayed as blurred, or the other vehicle (simulated driving vehicle) is displayed so as to be translucent. May be.
  • the behavior of the vehicle based on the manual driving operation of the driver in the pseudo driving matches the actual behavior of the vehicle by the automatic driving, one vehicle and the other vehicle are displayed overlapping each other.
  • the pseudo driving ends and the automatic driving is switched to the manual driving, so the driver notification message at the upper left of the screen is changed or deleted, and one vehicle and the other vehicle are also deleted. .
  • the above image is displayed on the display device 400.
  • the display image is not limited to the example described here, and any display that shows the difference between the behavior of the vehicle based on the manual driving operation and the behavior of the vehicle due to the automatic driving may be used.
  • the driver can grasp changes in the behavior of the vehicle including prediction, and can support automatic driving.
  • the simulated driving section setting unit 502 receives the switching notice signal as a notice that the control to the driving operation driving device 600 is switched from the automatic driving to the manual driving.
  • Vehicle behavior information based on the manual driving operation performed by the driver is calculated by the behavior information calculation unit 503, and the calculated vehicle behavior information is output by the behavior information presentation unit 504 so as to be displayed to the driver.
  • the embodiment according to the present invention allows the driver to perform his / her own driving by simulated driving. Since the behavior of the vehicle by the manual driving operation can be confirmed, the psychological burden can be reduced.
  • the automatic driving support device can perform simulated driving when the control is switched from automatic driving to manual driving, and can display the behavior of the vehicle based on the manual driving operation of the driver. Therefore, the present invention can be used in the field related to automatic driving.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif d'assistance à la conduite autonome pouvant aider un conducteur à vérifier une manœuvre de manière à ne provoquer aucune modification soudaine du comportement d'un véhicule lorsque la commande de l'unité d'entraînement de manœuvre de conduite du véhicule est commutée d'une commande basée sur une conduite automatique à une commande basée sur une conduite manuelle. Ce dispositif d'assistance à la conduite autonome comprend : une unité de réglage de section de conduite simulée qui définit une section de conduite simulée lors de la réception d'un signal de pré-notification de commutation fournissant une pré-notification selon laquelle la commande de l'unité d'entraînement de manœuvre de conduite du véhicule est commutée d'une commande basée sur une conduite autonome à une commande basée sur une conduite manuelle ; une unité de calcul d'informations de comportement qui reçoit un signal de commande de manœuvre sur la base d'une manœuvre de conduite manuelle si le véhicule se trouve dans la section de conduite simulée et calcule les informations de comportement du véhicule lorsque l'unité d'entraînement de manœuvre de conduite est commandée sur la base du signal de commande de manœuvre ; une unité de présentation d'informations de comportement qui délivre les informations de comportement calculées à une unité d'affichage permettant d'afficher les informations de comportement au conducteur.
PCT/JP2016/086137 2016-12-06 2016-12-06 Dispositif d'assistance à la conduite autonome Ceased WO2018105027A1 (fr)

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PCT/JP2016/086137 WO2018105027A1 (fr) 2016-12-06 2016-12-06 Dispositif d'assistance à la conduite autonome

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PCT/JP2016/086137 WO2018105027A1 (fr) 2016-12-06 2016-12-06 Dispositif d'assistance à la conduite autonome

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021102718A1 (fr) * 2019-11-26 2021-06-03 畅加风行(苏州)智能科技有限公司 Plateforme d'essai virtuel de conduite automatique à conduite mixte homme-machine basée sur un scaner
CN113597395A (zh) * 2019-03-29 2021-11-02 马自达汽车株式会社 汽车用行驶控制系统
US11772671B2 (en) 2019-06-03 2023-10-03 Toyota Research Institute, Inc. Systems and methods for predicting control handback
JP2024513342A (ja) * 2021-03-26 2024-03-25 華為技術有限公司 コントローラシステムおよび制御方法

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JPH10329575A (ja) * 1997-05-29 1998-12-15 Toyota Motor Corp 自動走行車両制御装置
JP2007196809A (ja) * 2006-01-25 2007-08-09 Equos Research Co Ltd 自動運転制御装置
JP2015182525A (ja) * 2014-03-21 2015-10-22 アイシン・エィ・ダブリュ株式会社 自動運転支援装置、自動運転支援方法及びプログラム

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JPH10329575A (ja) * 1997-05-29 1998-12-15 Toyota Motor Corp 自動走行車両制御装置
JP2007196809A (ja) * 2006-01-25 2007-08-09 Equos Research Co Ltd 自動運転制御装置
JP2015182525A (ja) * 2014-03-21 2015-10-22 アイシン・エィ・ダブリュ株式会社 自動運転支援装置、自動運転支援方法及びプログラム

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113597395A (zh) * 2019-03-29 2021-11-02 马自达汽车株式会社 汽车用行驶控制系统
CN113597395B (zh) * 2019-03-29 2024-02-20 马自达汽车株式会社 汽车用行驶控制系统
US11772671B2 (en) 2019-06-03 2023-10-03 Toyota Research Institute, Inc. Systems and methods for predicting control handback
WO2021102718A1 (fr) * 2019-11-26 2021-06-03 畅加风行(苏州)智能科技有限公司 Plateforme d'essai virtuel de conduite automatique à conduite mixte homme-machine basée sur un scaner
JP2024513342A (ja) * 2021-03-26 2024-03-25 華為技術有限公司 コントローラシステムおよび制御方法
JP7701466B2 (ja) 2021-03-26 2025-07-01 深▲ジェン▼引望智能技術有限公司 インテリジェント車両のためのコントローラシステムおよび車両

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