JP2010000949A - Driving support device - Google Patents

Driving support device Download PDF

Info

Publication number
JP2010000949A
JP2010000949A JP2008162378A JP2008162378A JP2010000949A JP 2010000949 A JP2010000949 A JP 2010000949A JP 2008162378 A JP2008162378 A JP 2008162378A JP 2008162378 A JP2008162378 A JP 2008162378A JP 2010000949 A JP2010000949 A JP 2010000949A
Authority
JP
Japan
Prior art keywords
driving
driving support
level
control
environment information
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.)
Granted
Application number
JP2008162378A
Other languages
Japanese (ja)
Other versions
JP4737238B2 (en
Inventor
Shinya Kawamata
進也 川真田
Kenichi Kitahama
謙一 北浜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to JP2008162378A priority Critical patent/JP4737238B2/en
Priority to EP09766202.7A priority patent/EP2304511B1/en
Priority to CN200980123254XA priority patent/CN102067052B/en
Priority to US13/000,137 priority patent/US8401736B2/en
Priority to PCT/IB2009/006231 priority patent/WO2009153661A1/en
Publication of JP2010000949A publication Critical patent/JP2010000949A/en
Application granted granted Critical
Publication of JP4737238B2 publication Critical patent/JP4737238B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device for suppressing a driver from feeling discomfort when a driving support level is increased in driving support control. <P>SOLUTION: The driving support device 1 performs automatic driving control by an automatic level according to running environment information. The driving support device acquires the running environment information around a vehicle (S10), and increases the automatic level according to a driving operation state of a driver when the automatic level of the automatic driving control is increased (S12, S14). Thereby, the discomfort of the driver caused by an increase in the automatic level can be reduced. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、車両の運転支援を行う運転支援装置に関するものである。   The present invention relates to a driving support device that supports driving of a vehicle.

従来、車両などの運転を支援するものとして、例えば特開２００２−２３０６８２号公報に記載されるように、車両の自動運転可能性の有無を判断するシステムであって、車両の操舵量や車速に基づいて操舵操作可能性、減速操作可能性、加速操作可能性を演算し、自動運転可能性を判断するものが知られている。このシステムにおいて、自動運転可能でない場合には自動運転に移行することを防止し手動運転とする。
特開２００２−２３０６８２号公報 2. Description of the Related Art Conventionally, as a system for assisting driving of a vehicle, for example, as described in Japanese Patent Application Laid-Open No. 2002-230682, a system for determining whether a vehicle is capable of automatic driving, It is known to calculate the possibility of automatic driving based on the calculation of the possibility of steering operation, the possibility of deceleration operation and the possibility of acceleration operation. In this system, when automatic driving is not possible, the shift to automatic driving is prevented and manual driving is performed.
JP 2002-230682 A

このようなシステムにあっては、自動運転などの運転支援制御が開始される際に車両の運転者が違和感を感ずるおそれがある。例えば、運転支援制御を開始して急に自動運転に切り換わると、運転者の運転操作が車両走行に反映されないため、違和感を覚えることとなる。また、このような違和感は、自動運転制御中においてその自動化レベルが上がる場合にも同様に生ずる場合がある。   In such a system, the driver of the vehicle may feel uncomfortable when driving support control such as automatic driving is started. For example, when driving support control is started and the vehicle is suddenly switched to automatic driving, the driver's driving operation is not reflected in the vehicle travel, so that the driver feels uncomfortable. Such a sense of incongruity may occur in the same manner when the automation level is increased during the automatic operation control.

そこで本発明は、このような技術課題を解決するためになされたものであって、運転支援制御において運転支援レベルが上がる場合に運転者に生ずる違和感を抑制できる運転支援装置を提供することを目的とする。   Accordingly, the present invention has been made to solve such a technical problem, and an object thereof is to provide a driving support device capable of suppressing a sense of incongruity that occurs to the driver when the driving support level is increased in the driving support control. And

すなわち本発明に係る運転支援装置は、車両の周囲の走行環境情報を取得する周囲環境情報取得手段と、前記車両の運転支援を行う運転支援手段と、前記走行環境情報に応じて前記運転支援手段の運転支援動作を制御するものであって、前記運転支援手段の運転支援レベルを上げる際に運転者の運転操作状態に応じて前記運転支援レベルを上げていく運転支援制御手段とを備えて構成されている。   That is, the driving support device according to the present invention includes an ambient environment information acquisition unit that acquires driving environment information around the vehicle, a driving support unit that supports driving of the vehicle, and the driving support unit according to the driving environment information. And driving support control means for increasing the driving support level according to the driving operation state of the driver when raising the driving support level of the driving support means. Has been.

この発明によれば、運転支援レベルを上げる際に運転者の運転操作状態に応じて運転支援レベルを上げていくことにより、運転支援レベルを上げたことにより運転者が感じる違和感を低減することができる。   According to the present invention, when the driving support level is increased, the driving support level is increased according to the driving operation state of the driver, thereby reducing the uncomfortable feeling felt by the driver by increasing the driving support level. it can.

また本発明に係る運転支援装置は、車両の周囲の走行環境情報を取得する周囲環境情報取得手段と、前記車両の運転支援を行う運転支援手段と、前記走行環境情報に応じて前記運転支援手段の運転支援動作を制御するものであって、前記運転支援手段の運転支援レベルを上げる際に前記運転支援レベルを徐々に上げていく運転支援制御手段とを備えて構成されている。   Further, the driving support device according to the present invention includes an ambient environment information acquisition unit that acquires driving environment information around the vehicle, a driving support unit that supports driving of the vehicle, and the driving support unit according to the driving environment information. And driving support control means for gradually increasing the driving support level when the driving support level of the driving support means is increased.

この発明によれば、運転支援レベルを上げる際に運転支援レベルを徐々に上げていくことにより、運転支援レベルを上げたことにより運転者が感じる違和感を低減することができる。   According to the present invention, when the driving support level is increased, the driving support level is gradually increased, so that it is possible to reduce a sense of discomfort felt by the driver by increasing the driving support level.

本発明によれば、運転支援制御の運転支援レベルを上げる際に、運転者に生ずる違和感を抑制することができる。   ADVANTAGE OF THE INVENTION According to this invention, when raising the driving assistance level of driving assistance control, the discomfort produced to a driver | operator can be suppressed.

以下、添付図面を参照して本発明の実施形態について説明する。なお、図面の説明において同一の要素には同一の符号を付し、重複する説明を省略する。   Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

図１に本発明の実施形態に係る運転支援装置の構成概要図を示す。   FIG. 1 shows a schematic configuration diagram of a driving support apparatus according to an embodiment of the present invention.

図１に示すように、本実施形態に係る運転支援装置１は、運転支援対象となる車両に設置され、その車両の運転支援を行う装置であって、例えば走行環境に応じて車両の自動化レベルを設定して自動運転制御を行うものである。   As shown in FIG. 1, the driving support apparatus 1 according to the present embodiment is an apparatus that is installed in a vehicle that is a driving support target and that supports driving of the vehicle. Is set to perform automatic operation control.

運転支援装置１は、例えばナビゲーションシステム２、走行環境検知部３、運転操作量検出部４、通信部５、ＥＣＵ（Electronic Control Unit）６、走行出力部７、自動化レベル報知部８を備えて構成される。   The driving support device 1 includes, for example, a navigation system 2, a driving environment detection unit 3, a driving operation amount detection unit 4, a communication unit 5, an ECU (Electronic Control Unit) 6, a driving output unit 7, and an automation level notification unit 8. Is done.

ナビゲーションシステム２は、車両の自車の位置を検出する自車位置検出手段として機能するものであり、例えば、道路の地図データを備え、ＧＰＳ（Global Positioning System）を用いて位置検出可能なものが用いられる。ナビゲーションシステム２は、車両の走行ルートを設定することが可能となっている。ナビゲーションシステム２において設定された走行ルートは、走行ルート情報としてＥＣＵ６に入力され記録される。   The navigation system 2 functions as own vehicle position detecting means for detecting the position of the own vehicle of the vehicle. For example, the navigation system 2 includes road map data and can detect a position using GPS (Global Positioning System). Used. The navigation system 2 can set the travel route of the vehicle. The travel route set in the navigation system 2 is input and recorded in the ECU 6 as travel route information.

走行環境検知部３は、車両の周囲の物体などを検知して車両の走行環境を検知するものであって、車両の周囲の走行環境情報を取得する走行環境情報取得手段として機能する。この走行環境検知部３としては、例えばミリ波レーダ、レーザレーダ、カメラなどが用いられる。走行環境検知部３により検知された信号は、ＥＣＵ６に入力され、走行環境情報として記録される。   The traveling environment detection unit 3 detects a traveling environment of the vehicle by detecting objects around the vehicle and functions as a traveling environment information acquisition unit that acquires traveling environment information around the vehicle. For example, a millimeter wave radar, a laser radar, or a camera is used as the traveling environment detection unit 3. A signal detected by the travel environment detection unit 3 is input to the ECU 6 and recorded as travel environment information.

運転操作量検出部４は、運転者の運転操作量を検出する運転操作量検出手段として機能するものであり、例えばハンドル操作量、アクセル操作量、ブレーキ操作量を検出するセンサが該当する。具体的には、ハンドル操作量を検出する操舵トルクセンサ、アクセル操作量を検出するストロークセンサ、ブレーキ操作量を検出するマスタシリンダ圧力センサが用いられる。   The driving operation amount detection unit 4 functions as a driving operation amount detection unit that detects the driving operation amount of the driver, and corresponds to, for example, a sensor that detects a steering operation amount, an accelerator operation amount, and a brake operation amount. Specifically, a steering torque sensor that detects a steering operation amount, a stroke sensor that detects an accelerator operation amount, and a master cylinder pressure sensor that detects a brake operation amount are used.

通信部５は、車々間通信、路車間通信を行う通信手段であって、通信より車両の走行先の走行環境情報を取得する走行環境情報手段として機能する。運転支援装置１において、通信部５の設置を省略する場合もある。   The communication unit 5 is a communication unit that performs inter-vehicle communication and road-to-vehicle communication, and functions as a travel environment information unit that acquires travel environment information of a travel destination of the vehicle through communication. In the driving support device 1, the installation of the communication unit 5 may be omitted.

ＥＣＵ６は、運転支援装置全体の制御を行うものであり、例えばＣＰＵ、ＲＯＭ、ＲＡＭを含むコンピュータを主体として構成されている。ＥＣＵ６は、走行環境情報に応じて運転支援動作を制御する運転支援制御手段として機能する。このＥＣＵ６は、運転支援レベルを上げる際に運転者の運転操作状態に応じて運転支援レベルを上げて運転支援制御を実行する。また、ＥＣＵ６は、運転支援レベルを上げる際に運転支援レベルを徐々に上げて運転支援制御を実行する。   The ECU 6 controls the entire driving support device, and is mainly composed of a computer including a CPU, a ROM, and a RAM, for example. The ECU 6 functions as a driving support control unit that controls the driving support operation according to the travel environment information. The ECU 6 performs driving support control by increasing the driving support level according to the driving operation state of the driver when increasing the driving support level. Further, the ECU 6 executes driving support control by gradually increasing the driving support level when increasing the driving support level.

運転支援レベルは、例えば自動運転の自動化レベルであって、走行環境情報の信頼度に応じて設定され、走行環境情報の信頼度が高いほど高く設定されることが好ましい。この場合、走行環境情報の信頼度が高いほど運転支援レベルを高くすることにより、信頼度が高い走行環境情報を用いて高度な運転支援が適切に行うことができる。また、信頼度が低い走行環境情報を用いて高度な運転支援を行うことにより不適切な運転支援となることを回避することができる。   The driving support level is, for example, an automatic driving automation level, and is set according to the reliability of the traveling environment information, and is preferably set higher as the reliability of the traveling environment information is higher. In this case, by increasing the driving support level as the reliability of the driving environment information is higher, advanced driving support can be appropriately performed using the driving environment information with higher reliability. Further, inappropriate driving assistance can be avoided by performing advanced driving assistance using traveling environment information with low reliability.

自動運転の自動化レベルは、例えば段階的に設定可能となっている。具体的には、自動化レベルの高い順に、操舵操作、アクセル操作及びブレーキ操作が全て自動操作となる自動化レベル、アクセル操作及びブレーキ操作が自動操作となる自動化レベル、ブレーキ操作のみが自動操作となる自動化レベルが設定可能となっている。   The automation level of the automatic operation can be set stepwise, for example. Specifically, in order from the highest automation level, the automation level where the steering operation, the accelerator operation and the brake operation are all automatic operations, the automation level where the accelerator operation and the brake operations are automatic operations, and the automation where only the brake operations are automatic operations The level can be set.

ＥＣＵ６は、走行環境情報を記録保存する走行環境データベースを備えており、走行環境情報の信頼度から運転支援レベルを設定する運転支援レベル演算手段として機能する。   The ECU 6 includes a travel environment database that records and saves travel environment information, and functions as a drive support level calculation unit that sets a drive support level based on the reliability of the travel environment information.

走行出力部７は、ＥＣＵ６から出力される制御信号に応じて自車を走行動作、制動動作、操舵動作を行うものであって、例えばエンジンＥＣＵ、ブレーキＥＣＵ、操舵ＥＣＵにより構成される。この走行出力部７は、自動運転制御を行う際に、車両の運転支援を実行する運転支援手段として機能する。   The traveling output unit 7 performs a traveling operation, a braking operation, and a steering operation of the host vehicle in accordance with a control signal output from the ECU 6, and includes, for example, an engine ECU, a brake ECU, and a steering ECU. The traveling output unit 7 functions as driving support means for performing driving support of the vehicle when performing automatic driving control.

自動化レベル報知部８は、運転支援制御として自動運転制御を行う場合に、現在の自動化レベルを運転者に報知する報知手段であって、例えば図２に示すように、自動化レベルを表示するインジケータ８１が用いられる。インジケータ８１は、自動化レベルのハイレベルのハイ表示部８１ａ、ミディアムレベルのミディアム表示部８１ｂ、ローレベルのロー表示部８１ｃを備えており、現在の自動化レベルに相当する表示部８１ａ〜８１ｃを適宜表示するものである。図２では、ミディアム表示部８１ｂが点灯している状態を示している。このインジケータ８１の表示を見ることにより、運転者は現在の自動化レベルを認識することができる。なお、自動化レベル報知部８としては、図２のインジケータ８１のほか、自動化レベルを液晶表示するもの、音声により自動化レベルを報知するものなどであってもよい。   The automation level notification unit 8 is a notification unit that notifies the driver of the current automation level when performing automatic driving control as driving support control. For example, as shown in FIG. 2, an indicator 81 that displays the automation level. Is used. The indicator 81 includes a high-level high display portion 81a of an automation level, a medium-level medium display portion 81b, and a low-level low display portion 81c, and appropriately displays display portions 81a to 81c corresponding to the current automation level. To do. FIG. 2 shows a state where the medium display portion 81b is lit. By looking at the display of the indicator 81, the driver can recognize the current automation level. In addition to the indicator 81 in FIG. 2, the automation level notification unit 8 may be a device that displays the automation level on a liquid crystal display or a device that notifies the automation level by voice.

次に、本実施形態に係る運転支援装置の動作について説明する。   Next, the operation of the driving support apparatus according to the present embodiment will be described.

図３は、本実施形態に係る運転支援装置の動作についての説明図であって、走行環境情報の信頼度が高くなり運転支援レベルが高くなる場合の運転支援内容の説明図である。   FIG. 3 is an explanatory diagram of the operation of the driving support apparatus according to the present embodiment, and is an explanatory diagram of the driving support contents when the reliability of the driving environment information is high and the driving support level is high.

図３に示すように、運転支援対象となる車両ＭがルートＲ１上を走行している。このルートＲ１の走行環境情報の信頼度が低い場合、その高い信頼度に応じて低い運転支援レベル、即ち自動化レベルが設定され、低い自動化レベルの運転支援制御が実行される。例えば、ブレーキ操作のみが自動操作となる自動運転制御が実行される。   As shown in FIG. 3, the vehicle M to be a driving assistance target is traveling on the route R1. When the reliability of the traveling environment information of the route R1 is low, a low driving support level, that is, an automation level is set according to the high reliability, and driving support control with a low automation level is executed. For example, automatic operation control in which only the brake operation is an automatic operation is executed.

この車両Ｍが交差点で左折する場合、ルートＲ１からルートＲ２にルート変更することとなる。このルートＲ２における走行環境情報の信頼度がルートＲ１の走行環境情報の信頼度より高い場合、図４（ａ）に示すように、情報信頼度が急激に高くなることもある（ｔ＝ｔ１）。   When the vehicle M makes a left turn at an intersection, the route is changed from the route R1 to the route R2. When the reliability of the driving environment information on the route R2 is higher than the reliability of the driving environment information on the route R1, the information reliability may be rapidly increased as shown in FIG. 4A (t = t1). .

この場合、走行環境情報の信頼度の上昇に応じて急激に自動化レベルを高めることも考えられるが（図４（ｂ）のｔ＝ｔ１〜ｔ２の二点鎖線）、運転支援装置１においては、運転者の運転操作状態に応じて運転支援レベルを上げていく。例えば、自動運転制御において設定される制御目標値に対し運転者の運転操作量が小さい場合に自動化レベルを上げていく。   In this case, it is conceivable that the automation level is rapidly increased in accordance with the increase in the reliability of the travel environment information (two-dot chain line from t = t1 to t2 in FIG. 4B). The driving support level is raised according to the driving operation state of the driver. For example, the automation level is increased when the driving operation amount of the driver is small with respect to the control target value set in the automatic driving control.

ハンドル操作制御、アクセル操作制御、ブレーキ操作制御について自動運転制御するとき、各制御の制御目標値に対し運転者の運転操作量が小さい制御について順次自動化すればよい。例えば、ハンドル操舵制御の操舵トルクの制御目標値より運転者のハンドル操舵のトルク値が小さいときにハンドル操舵制御について自動運転化して自動化レベルを上げていく。その際、順次各制御について自動化レベルを上げていき、段階的に自動化レベルを上げることが好ましい。   When the automatic operation control is performed for the steering operation control, the accelerator operation control, and the brake operation control, the control in which the driving operation amount of the driver is small with respect to the control target value of each control may be sequentially automated. For example, when the driver steering torque value is smaller than the steering torque control target value of the steering wheel steering control, the steering wheel steering control is automatically operated to increase the automation level. At that time, it is preferable to raise the automation level for each control sequentially and raise the automation level step by step.

すなわち、図４（ｂ）のｔ＝ｔ１〜ｔ２の実線で示すように、自動化レベルが徐々に高められ、段階的に自動化レベルが高められる。このとき、自動運転内容を徐々に増やして自動化レベルを高めてもよいし、自動運転制御量を徐々に増やして自動化レベルを高めてもよい。   That is, as shown by the solid line from t = t1 to t2 in FIG. 4B, the automation level is gradually increased, and the automation level is gradually increased. At this time, the automatic operation content may be gradually increased to increase the automation level, or the automatic operation control amount may be gradually increased to increase the automation level.

また、自動化レベルを高くした場合にその自動運転制御された運転操作については、自動レベルを高くする前に比べて運転者の操作負荷を大きくすることが好ましい。例えば、ハンドル操作制御を自動運転制御とした場合にハンドル操舵反力を大きくしたり、アクセル操作制御を自動運転制御とした場合にアクセル操作反力を大きくしたり、ブレーキ操作制御を自動運転制御とした場合にブレーキ操作反力を大きくする。これにより、運転者は自動運転制御に切り換えられたことを操作感覚を通じて容易に認識することができる。   In addition, when the automation level is increased, it is preferable that the driver's operation load be increased as compared with the case where the automated operation is controlled before the automation level is increased. For example, when steering operation control is set to automatic driving control, the steering wheel reaction force is increased, when accelerator operating control is set to automatic driving control, accelerator operating reaction force is increased, or brake operation control is set to automatic driving control. If this happens, increase the brake operation reaction force. Thus, the driver can easily recognize through the operation feeling that the driver has switched to the automatic driving control.

このように自動運転制御の自動化レベルが高められる場合に、その自動化レベルを徐々に高めることにより、運転支援レベルを上げたことにより運転者が感じる違和感を低減することができる。   Thus, when the automation level of automatic driving control is raised, the discomfort felt by the driver by raising the driving support level can be reduced by gradually raising the automation level.

また、自動運転制御の自動化レベルが高められる場合に、運転者の運転操作状態に応じて運転支援レベルを上げていくことにより、運転支援レベルを上げたことにより運転者が感じる違和感を低減することができる。   In addition, when the automated level of automatic driving control is increased, the driving assistance level is increased according to the driving operation state of the driver, thereby reducing the uncomfortable feeling felt by the driver by raising the driving assistance level. Can do.

図５は、本実施形態に係る運転支援装置の動作を示すフローチャートである。   FIG. 5 is a flowchart showing the operation of the driving support apparatus according to the present embodiment.

図５に示す制御処理は、例えばＥＣＵ６によって所定の周期で繰り返して実行される。まず、図５のＳ１０に示すように、走行環境情報取得処理が行われる。走行環境情報取得処理は、運転支援対象となる車両の走行環境情報を取得する処理であり、例えば走行環境検知部３により検知される情報に基づいて走行環境情報を取得する。また、通信部５により送信される情報に基づいて走行環境情報を取得してもよい。取得された走行環境情報の信頼度は、ＥＣＵ６に記録される。その走行環境情報の信頼度に応じて自動化レベルが設定される。このとき、走行環境情報の信頼度が高いほど自動化レベルが高く設定される。   The control process shown in FIG. 5 is repeatedly executed by the ECU 6 at a predetermined cycle, for example. First, as shown in S10 of FIG. 5, a travel environment information acquisition process is performed. The driving environment information acquisition process is a process of acquiring driving environment information of a vehicle that is a driving support target. For example, the driving environment information is acquired based on information detected by the driving environment detection unit 3. Further, the traveling environment information may be acquired based on information transmitted by the communication unit 5. The reliability of the acquired traveling environment information is recorded in the ECU 6. The automation level is set according to the reliability of the traveling environment information. At this time, the automation level is set higher as the reliability of the travel environment information is higher.

自動化レベルは、例えば段階的に設定可能となっている。具体的には、自動化レベルの高い順に、操舵操作、アクセル操作及びブレーキ操作が全て自動操作となる自動化レベル、アクセル操作及びブレーキ操作が自動操作となる自動化レベル、ブレーキ操作のみが自動操作となる自動化レベルが設定されるようになっている。   The automation level can be set stepwise, for example. Specifically, in order from the highest automation level, the automation level where the steering operation, the accelerator operation and the brake operation are all automatic operations, the automation level where the accelerator operation and the brake operations are automatic operations, and the automation where only the brake operations are automatic operations The level is set.

そして、Ｓ１２に移行し、自動運転制御の自動化レベルが変更されるか否かが判断される。この判断は、例えば車両がルート変更して走行環境情報の信頼度が高くなり自動化レベルが上げられた場合、または走行環境情報の信頼度が低くなり自動化レベルが下げられた場合に、自動運転制御の自動化レベルが変更されると判断される。   And it transfers to S12 and it is judged whether the automation level of automatic operation control is changed. This determination can be made, for example, when the driving environment information has become more reliable and the automation level has been raised due to a route change, or when the driving environment information has become less reliable and the automation level has been lowered. It is determined that the automation level is changed.

Ｓ１２にて自動運転制御の自動化レベルが変更されないと判断された場合には、Ｓ１８に移行し、現状の自動化レベルに応じて運転支援制御が行われる。一方、Ｓ１２にて自動運転制御の自動化レベルが変更されると判断された場合には、自動化レベルの変更処理が行われる。   If it is determined in S12 that the automation level of the automatic driving control is not changed, the process proceeds to S18, and driving support control is performed according to the current automation level. On the other hand, when it is determined in S12 that the automation level of the automatic driving control is changed, an automation level changing process is performed.

この自動化レベルの変更処理は、自動運転制御の自動化レベルを変更する処理であって、現状の自動化レベルから変更目標の自動化レベルまで自動運転制御の内容を変更する処理である。この変更処理において、自動化レベルを上げていく場合、その自動化レベルが急激に上がらないように、段階的に上げられる。例えば、自動化レベルがローレベルからハイレベルに上げていく場合、ローレベル→ミディアムレベル→ハイレベルとなるように段階的に上げられる。   This automation level changing process is a process for changing the automation level of the automatic operation control, and is a process for changing the content of the automatic operation control from the current automation level to the automation level of the change target. In this change process, when the automation level is raised, the automation level is raised step by step so that the automation level does not rise rapidly. For example, when the automation level is raised from a low level to a high level, the level is raised step by step so that the low level → the medium level → the high level.

また、自動化レベルを上げていく場合、運転者の運転操作状態に応じて段階的に運転支援レベルを上げていくことが好ましい。例えば、自動運転制御において設定される制御目標値に対し運転者の運転操作量が小さい場合に自動化レベルを上げていく。すなわち、ハンドル操作制御、アクセル操作制御、ブレーキ操作制御について自動運転制御するとき、ハンドル操作量、アクセル操作量、ブレーキ操作量の運転操作量をそれぞれ検出し、各制御の制御目標値に対し運転者の運転操作量が小さい制御について順次自動化していく。具体的には、ハンドル操作制御の操舵トルクの制御目標値より運転者のハンドル操舵のトルク値が小さいときにハンドル操舵制御について自動運転化して自動化レベルを上げていく。   Moreover, when raising an automation level, it is preferable to raise a driving assistance level in steps according to a driver | operator's driving operation state. For example, the automation level is increased when the driving operation amount of the driver is small with respect to the control target value set in the automatic driving control. That is, when automatic operation control is performed for handle operation control, accelerator operation control, and brake operation control, the operation amounts of the handle operation amount, the accelerator operation amount, and the brake operation amount are detected, and the driver is detected for the control target value of each control. The control with a small amount of driving operation will be sequentially automated. Specifically, when the driver steering torque value is smaller than the steering torque control target value of the steering operation control, the steering steering control is automatically operated to increase the automation level.

そして、Ｓ１６に移行し、報知処理が行われる。報知処理は、自動運転制御の自動化レベルの変更を運転者に報知する処理である。例えば、ＥＣＵ６から自動化レベル報知部８に作動信号が出力され、自動化レベル報知部８のインジケータ８１が点灯するなどして自動化レベルが報知される。   And it transfers to S16 and alerting | reporting process is performed. The notification process is a process for notifying the driver of a change in the automation level of the automatic driving control. For example, an operation signal is output from the ECU 6 to the automation level notification unit 8 and the automation level is notified by turning on the indicator 81 of the automation level notification unit 8.

そして、Ｓ１８に移行し、運転支援制御処理が行われる。運転支援制御処理は、自動化レベルに応じた運転支援制御を実行する処理である。例えば、操舵操作、アクセル操作及びブレーキ操作が全て自動操作となる自動化レベルが設定されている場合、操舵操作、アクセル操作及びブレーキ操作について自動運転する運転支援制御が実行される。また、アクセル操作及びブレーキ操作が自動操作となる自動化レベルが設定されている場合、アクセル操作及びブレーキ操作について自動運転する運転支援制御が実行される。また、ブレーキ操作のみが自動操作となる自動化レベルが設定されている場合、ブレーキ操作について自動運転する運転支援制御が実行される。そして、Ｓ１８の処理を終えたら、一連の制御処理を終了する。   And it transfers to S18 and a driving assistance control process is performed. The driving support control process is a process for executing driving support control in accordance with the automation level. For example, when an automation level at which steering operation, accelerator operation, and brake operation are all automatic operations is set, driving support control for automatically driving the steering operation, accelerator operation, and brake operation is executed. Further, when an automation level at which the accelerator operation and the brake operation are automatically operated is set, the driving support control for automatically driving the accelerator operation and the brake operation is executed. In addition, when an automation level in which only the brake operation is an automatic operation is set, driving support control for automatically driving the brake operation is executed. Then, when the process of S18 is finished, a series of control processes are finished.

以上のように、本実施形態に係る運転支援装置によれば、運転支援レベルである自動化レベルを上げる際に運転者の運転操作状態に応じて自動化レベルを上げていくことにより、自動化レベルを上げたことにより運転者が感じる違和感を低減することができる。   As described above, according to the driving support apparatus according to the present embodiment, when the automation level that is the driving support level is increased, the automation level is increased by increasing the automation level according to the driving operation state of the driver. This can reduce the sense of incongruity felt by the driver.

また、本実施形態に係る運転支援装置において、自動化レベルを上げる際に自動化レベルを徐々に上げていくことにより、自動化レベルを上げたことにより運転者が感じる違和感を低減することができる。   In addition, in the driving support device according to the present embodiment, when the automation level is increased, the automation level is gradually increased, so that the uncomfortable feeling felt by the driver due to the increased automation level can be reduced.

なお、上述した実施形態は本発明に係る運転支援装置の一例を示すものである。本発明に係る運転支援装置は、この実施形態に係る運転支援装置に限られるものではなく、各請求項に記載した要旨を変更しない範囲で、実施形態に係る運転支援装置を変形し、又は他のものに適用したものであってもよい。   In addition, embodiment mentioned above shows an example of the driving assistance device which concerns on this invention. The driving support device according to the present invention is not limited to the driving support device according to this embodiment, and the driving support device according to the embodiment may be modified or otherwise changed without changing the gist described in each claim. It may be applied to the above.

本発明の実施形態に係る運転支援装置の構成概要図である。1 is a schematic configuration diagram of a driving support apparatus according to an embodiment of the present invention. 図１の運転支援装置のインジケータの説明図である。It is explanatory drawing of the indicator of the driving assistance device of FIG. 図１の運転支援装置の動作についての説明図である。It is explanatory drawing about operation | movement of the driving assistance apparatus of FIG. 図１の運転支援装置の動作についての説明図である。It is explanatory drawing about operation | movement of the driving assistance apparatus of FIG. 図１の運転支援装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the driving assistance apparatus of FIG.

符号の説明Explanation of symbols

１…運転支援装置、２…ナビゲーションシステム、３…走行環境検知部、４…運転操作量検出部、５…通信部、６…ＥＣＵ、７…走行出力部、８…自動化レベル報知部。   DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Navigation system, 3 ... Driving environment detection part, 4 ... Driving operation amount detection part, 5 ... Communication part, 6 ... ECU, 7 ... Travel output part, 8 ... Automation level alerting | reporting part.

Claims (2)

車両の周囲の走行環境情報を取得する周囲環境情報取得手段と、
前記車両の運転支援を行う運転支援手段と、
前記走行環境情報に応じて前記運転支援手段の運転支援動作を制御するものであって、前記運転支援手段の運転支援レベルを上げる際に運転者の運転操作状態に応じて前記運転支援レベルを上げていく運転支援制御手段と、
を備えた運転支援装置。 Ambient environment information acquisition means for acquiring driving environment information around the vehicle,
Driving support means for supporting driving of the vehicle;
The driving support operation of the driving support means is controlled according to the driving environment information, and when the driving support level of the driving support means is increased, the driving support level is increased according to the driving operation state of the driver. Driving support control means,
A driving assistance device comprising: 車両の周囲の走行環境情報を取得する周囲環境情報取得手段と、
前記車両の運転支援を行う運転支援手段と、
前記走行環境情報に応じて前記運転支援手段の運転支援動作を制御するものであって、前記運転支援手段の運転支援レベルを上げる際に前記運転支援レベルを徐々に上げていく運転支援制御手段と、
を備えた運転支援装置。 Ambient environment information acquisition means for acquiring driving environment information around the vehicle,
Driving support means for supporting driving of the vehicle;
Driving support control means for controlling the driving support operation of the driving support means according to the driving environment information, and gradually increasing the driving support level when raising the driving support level of the driving support means; ,
A driving assistance device comprising:
JP2008162378A 2008-06-20 2008-06-20 Driving assistance device Active JP4737238B2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2008162378A JP4737238B2 (en) 2008-06-20 2008-06-20 Driving assistance device
EP09766202.7A EP2304511B1 (en) 2008-06-20 2009-06-19 Driving assistance apparatus
CN200980123254XA CN102067052B (en) 2008-06-20 2009-06-19 Driving assistance apparatus and driving assistance method
US13/000,137 US8401736B2 (en) 2008-06-20 2009-06-19 Driving assistance apparatus and driving assistance method
PCT/IB2009/006231 WO2009153661A1 (en) 2008-06-20 2009-06-19 Driving assistance apparatus and driving assistance method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008162378A JP4737238B2 (en) 2008-06-20 2008-06-20 Driving assistance device

Publications (2)

Publication Number Publication Date
JP2010000949A true JP2010000949A (en) 2010-01-07
JP4737238B2 JP4737238B2 (en) 2011-07-27

Family

ID=41583024

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008162378A Active JP4737238B2 (en) 2008-06-20 2008-06-20 Driving assistance device

Country Status (1)

Country Link
JP (1) JP4737238B2 (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016152873A1 (en) * 2015-03-24 2016-09-29 パイオニア株式会社 Automatic driving assistance device, control method, program, and storage medium
WO2017051478A1 (en) * 2015-09-25 2017-03-30 三菱電機株式会社 Driving assistance device and driving assistance method
WO2017073632A1 (en) * 2015-10-27 2017-05-04 株式会社小糸製作所 Vehicular illumination device, vehicle system, and vehicle
JP2017159789A (en) * 2016-03-09 2017-09-14 トヨタ自動車株式会社 Automatic driving system
JP2017165289A (en) * 2016-03-16 2017-09-21 本田技研工業株式会社 Vehicle control system, vehicle control method and vehicle control program
WO2017163667A1 (en) * 2016-03-25 2017-09-28 パナソニックＩｐマネジメント株式会社 Driving assistance method, driving assistance device which utilizes same, autonomous driving control device, vehicle, driving assistance system, and program
WO2018070139A1 (en) * 2016-10-11 2018-04-19 株式会社デンソー Vehicle control apparatus for controlling defogging unit of driving vehicle, and program used for vehicle control apparatus
JPWO2017168738A1 (en) * 2016-03-31 2018-10-04 本田技研工業株式会社 Vehicle control system, vehicle control method, and vehicle control program
JP2018158614A (en) * 2017-03-22 2018-10-11 株式会社デンソー Vehicle control device
CN108688666A (en) * 2017-04-05 2018-10-23 现代自动车株式会社 Automatic driving control system and the control method for using the automated driving system
JP2019156232A (en) * 2018-03-14 2019-09-19 本田技研工業株式会社 Vehicle control device
JP2019202769A (en) * 2014-09-30 2019-11-28 エイディシーテクノロジー株式会社 Automated driving control device
JPWO2018221350A1 (en) * 2017-06-02 2019-12-12 本田技研工業株式会社 Vehicle control system, vehicle control method, and program
CN113470392A (en) * 2015-03-24 2021-10-01 日本先锋公司 Automatic driving control device, information control device, control method, and storage medium

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000211543A (en) * 1999-01-26 2000-08-02 Mazda Motor Corp Vehicular driving supporting device
JP2002002518A (en) * 2000-06-22 2002-01-09 Toyota Motor Corp Vehicle steering supporting device
JP2004334283A (en) * 2003-04-30 2004-11-25 Nissan Motor Co Ltd Driving supporting device for vehicle
JP2006195641A (en) * 2005-01-12 2006-07-27 Nissan Motor Co Ltd Information providing device for vehicle
JP2006215862A (en) * 2005-02-04 2006-08-17 Toyota Central Res & Dev Lab Inc Driving support system
JP2008056059A (en) * 2006-08-30 2008-03-13 Equos Research Co Ltd Driver state estimation device and driving support device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000211543A (en) * 1999-01-26 2000-08-02 Mazda Motor Corp Vehicular driving supporting device
JP2002002518A (en) * 2000-06-22 2002-01-09 Toyota Motor Corp Vehicle steering supporting device
JP2004334283A (en) * 2003-04-30 2004-11-25 Nissan Motor Co Ltd Driving supporting device for vehicle
JP2006195641A (en) * 2005-01-12 2006-07-27 Nissan Motor Co Ltd Information providing device for vehicle
JP2006215862A (en) * 2005-02-04 2006-08-17 Toyota Central Res & Dev Lab Inc Driving support system
JP2008056059A (en) * 2006-08-30 2008-03-13 Equos Research Co Ltd Driver state estimation device and driving support device

Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019202769A (en) * 2014-09-30 2019-11-28 エイディシーテクノロジー株式会社 Automated driving control device
JP7470275B2 (en) 2014-09-30 2024-04-18 Ｃａｓｅ特許株式会社 Automatic Driving Control Device
JP7270307B2 (en) 2014-09-30 2023-05-10 Ｃａｓｅ特許株式会社 Automatic driving control device and vehicle
JP7082265B2 (en) 2014-09-30 2022-06-08 Ｃａｓｅ特許株式会社 Autonomous driving control device and vehicle
JP2022058644A (en) * 2014-09-30 2022-04-12 Ｃａｓｅ特許株式会社 Automated driving control device and vehicle
JP2022058624A (en) * 2014-09-30 2022-04-12 Ｃａｓｅ特許株式会社 Automated driving control device and vehicle
JP2021102436A (en) * 2014-09-30 2021-07-15 Ｃａｓｅ特許株式会社 Automated driving control device and vehicle
JP2020038697A (en) * 2014-09-30 2020-03-12 エイディシーテクノロジー株式会社 Automatic driving control device and vehicle
JP2019153349A (en) * 2015-03-24 2019-09-12 パイオニア株式会社 Automatic driving support device, control method, program and storage medium
JPWO2016152873A1 (en) * 2015-03-24 2018-01-18 パイオニア株式会社 Automatic driving support device, control method, program, and storage medium
CN113470392A (en) * 2015-03-24 2021-10-01 日本先锋公司 Automatic driving control device, information control device, control method, and storage medium
JP2021077403A (en) * 2015-03-24 2021-05-20 パイオニア株式会社 Automatic driving support device, control method, program and storage medium
US10942517B2 (en) 2015-03-24 2021-03-09 Pioneer Corporation Autonomous driving assistance device, control method, program and storage medium
WO2016152873A1 (en) * 2015-03-24 2016-09-29 パイオニア株式会社 Automatic driving assistance device, control method, program, and storage medium
WO2016151749A1 (en) * 2015-03-24 2016-09-29 パイオニア株式会社 Automatic driving assistance device, control method, program, and storage medium
JPWO2017051478A1 (en) * 2015-09-25 2018-03-08 三菱電機株式会社 Driving support device and driving support method
WO2017051478A1 (en) * 2015-09-25 2017-03-30 三菱電機株式会社 Driving assistance device and driving assistance method
WO2017073632A1 (en) * 2015-10-27 2017-05-04 株式会社小糸製作所 Vehicular illumination device, vehicle system, and vehicle
JPWO2017073632A1 (en) * 2015-10-27 2018-08-09 株式会社小糸製作所 LIGHTING DEVICE FOR VEHICLE, VEHICLE SYSTEM, AND VEHICLE
JP2017159789A (en) * 2016-03-09 2017-09-14 トヨタ自動車株式会社 Automatic driving system
US10427686B2 (en) 2016-03-16 2019-10-01 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, and vehicle control program
JP2017165289A (en) * 2016-03-16 2017-09-21 本田技研工業株式会社 Vehicle control system, vehicle control method and vehicle control program
JP2017174355A (en) * 2016-03-25 2017-09-28 パナソニックＩｐマネジメント株式会社 Drive support method and drive support device using the same, automatic drive controller, vehicle, drive support system, and program
WO2017163667A1 (en) * 2016-03-25 2017-09-28 パナソニックＩｐマネジメント株式会社 Driving assistance method, driving assistance device which utilizes same, autonomous driving control device, vehicle, driving assistance system, and program
JPWO2017168738A1 (en) * 2016-03-31 2018-10-04 本田技研工業株式会社 Vehicle control system, vehicle control method, and vehicle control program
JPWO2018070139A1 (en) * 2016-10-11 2019-03-14 株式会社デンソー Vehicle control device for controlling anti-fogging part of driving vehicle, program used for vehicle control device
WO2018070139A1 (en) * 2016-10-11 2018-04-19 株式会社デンソー Vehicle control apparatus for controlling defogging unit of driving vehicle, and program used for vehicle control apparatus
JP2018158614A (en) * 2017-03-22 2018-10-11 株式会社デンソー Vehicle control device
CN108688666A (en) * 2017-04-05 2018-10-23 现代自动车株式会社 Automatic driving control system and the control method for using the automated driving system
JPWO2018221350A1 (en) * 2017-06-02 2019-12-12 本田技研工業株式会社 Vehicle control system, vehicle control method, and program
US11148683B2 (en) 2017-06-02 2021-10-19 Honda Motor Co., Ltd. Vehicle control system, vehicle control method, and program
JP7144947B2 (en) 2018-03-14 2022-09-30 本田技研工業株式会社 vehicle controller
CN110271532B (en) * 2018-03-14 2023-04-18 本田技研工业株式会社 Vehicle control device
CN110271532A (en) * 2018-03-14 2019-09-24 本田技研工业株式会社 Controller of vehicle
JP2019156232A (en) * 2018-03-14 2019-09-19 本田技研工業株式会社 Vehicle control device

Also Published As

Publication number Publication date
JP4737238B2 (en) 2011-07-27

Similar Documents

Publication Publication Date Title
JP4737238B2 (en) Driving assistance device
US8401736B2 (en) Driving assistance apparatus and driving assistance method
JP4737239B2 (en) Driving assistance device
KR101249163B1 (en) Driver assistance system and operator control concept therefor
JP2008265706A (en) Vehicle traveling control device and vehicle traveling control method
US20140095027A1 (en) Driving assistance apparatus and driving assistance method
JP6555482B2 (en) Vehicle travel control device
US10272783B2 (en) Driver and vehicle responsibility matrix
US20110307152A1 (en) Vehicle travel control device
JP2018151686A (en) Device and method for controlling switching between driving modes and program
JP2008293440A (en) Drive support device
JP2013014225A (en) Vehicle collision alarm device
CN110239539B (en) Vehicle control device and vehicle
JP2008117140A (en) Apparatus and program for determining driver dependency, and drive support device and program
JP2010182148A (en) Travelling condition recording device
JP2018151684A (en) Device and method for controlling switching between driving modes and program
JP2007233744A (en) Driving support apparatus
US20230264720A1 (en) Autonomous Vehicle and Control Method Thereof
WO2018168020A1 (en) Device, method, and program for failure determination
JP5109495B2 (en) Vehicle travel control device
US11215473B2 (en) Driving support device, driving support Method, and non-transitory recording medium in which program is stored
JP2018188020A (en) Automated driving support device and automated driving support method
JP5273276B2 (en) Vehicle travel control device and vehicle travel control method
WO2017190456A1 (en) Automobile control method and apparatus
JP2010224770A (en) Biological state determination device

Legal Events

Date Code Title Description
A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20100413

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20100531

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20101207

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110301

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20110308

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20110405

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20110418

R151 Written notification of patent or utility model registration

Ref document number: 4737238

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140513

Year of fee payment: 3