JP2018070029A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device that can sufficiently improve an ability of concentration on manual driving or a vehicle operation feeling.SOLUTION: The driving support device comprises: an instruction part that outputs an operation instruction to a driver when a predetermined condition is satisfied before switching a driving mode of a moving body from automatic driving to manual driving; and an output part that outputs stimulation for awaking the driver or advice related to driving when operation by the driver does not satisfy a predetermined reference for transfer of authority to the manual driving.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a driving support device.

  2. Description of the Related Art There is known a moving body such as an automobile that can switch between automatic driving that is driven automatically and manual driving that is driven by a driver. In such a moving body, a technique for smoothly switching from automatic operation to manual operation is disclosed.

  For example, a technique is known in which the driver performs visual recognition behavior before switching to increase the arousal level. In addition, a technique is disclosed in which a stimulus is given to the driver at the time of switching to increase the driver's tension level to a tension level suitable for manual driving.

Japanese Patent Laying-Open No. 2015-185088 JP 2016-110336 A

  However, although the above-mentioned technique can increase the driver's arousal level and tension, etc., there is a problem in that improvement in the concentration of manual driving or the sense of operation of the vehicle is not sufficient.

  The present invention has been made in view of the above, and an object of the present invention is to provide a driving assistance device capable of sufficiently improving concentration on manual driving or a sense of operation of a vehicle.

  In order to solve the above-described problems and achieve the object, the driving support device of the present invention issues an operation instruction to the driver when a predetermined condition is satisfied before the moving body is switched from automatic driving to manual driving. An instruction unit for outputting and a stimulus for awakening the driver when the driver's operation received in response to the operation instruction does not satisfy a predetermined criterion for delegating authority to the manual driving Alternatively, an output unit that outputs advice on driving is provided.

  As a result, when the driver's operation does not satisfy the standard, the driving support device can sufficiently improve the driver's concentration and manual operation feeling to manual driving by stimulation or advice.

  In the driving support device of the present invention, the instruction unit instructs a first operation instruction to instruct an operation for gripping the steering unit, a second operation instruction to instruct an operation to change a lane, and a third operation to instruct an operation to change a speed. At least one of an operation instruction and a fourth operation instruction for instructing an operation for adjusting the travel position is output as the operation instruction. When the first operation instruction is output and the driver's grip of the steering unit does not satisfy a standard, the output unit outputs the stimulus or the advice, and the second operation instruction is output. If the driver's lane change does not meet the criteria, the stimulus or the advice is output, the third operation instruction is output, and if the driver's speed change does not meet the criteria, the stimulus or the When the advice is output and the fourth operation instruction is output, and the adjustment of the driving position of the driver does not satisfy the standard, the stimulus or the advice may be output.

  Thereby, the driving assistance device can output more appropriate stimulus or advice in accordance with the operation of the driver.

  In the driving support device according to the aspect of the invention, the instruction unit may output any one of the second operation instruction, the third operation instruction, and the fourth operation instruction according to an environment around the moving body. .

  As a result, the driving support device can appropriately output an operation instruction according to the environment around the mobile body, for example, the situation of other mobile bodies traveling around the mobile body.

  In the driving support device of the present invention, when the output unit outputs the stimulus or the advice, the instruction unit may output the same operation instruction to the driver again.

  Thereby, the driving assistance device can cause the driver to repeat the operation until the driver's operation reaches the reference by outputting the same operation instruction to the driver a plurality of times.

  In the driving support apparatus according to the present invention, the instruction unit may be configured such that when the relationship between the current position of the moving body and a predetermined manual driving section satisfies a predetermined threshold condition, or the manual driving from the driver. When switching to is accepted, the operation instruction may be output on the assumption that the predetermined condition is satisfied.

  Thereby, the driving support device can output an appropriate operation instruction according to the manual driving section, or can appropriately output the operation instruction according to the switching from the driver.

FIG. 1 is an exemplary perspective view illustrating a state in which a part of a passenger compartment of a vehicle according to an embodiment is seen through. FIG. 2 is a block diagram illustrating a hardware configuration of a vehicle control system. FIG. 3 is a block diagram illustrating functions of the ECU of the driving support device. FIG. 4 is a flowchart of the driving support process executed by the control unit of the driving support device.

  Common constituent elements such as the following exemplary embodiments are denoted by common reference numerals, and redundant descriptions are omitted as appropriate.

<Embodiment>
FIG. 1 is an exemplary perspective view showing a state in which a part of a compartment 2a of a vehicle 1 of the embodiment is seen through. The vehicle 1 is an example of a moving body. The vehicle 1 may be, for example, an automobile (an internal combustion engine automobile) using an internal combustion engine (engine, not shown) as a drive source, or an automobile (electric vehicle) using an electric motor (motor, not shown) as a drive source. Or a fuel cell vehicle or the like, or a vehicle (hybrid vehicle) using both of them as drive sources. The vehicle 1 can be mounted with various transmissions, and various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor. In addition, the method, number, layout, and the like of devices related to driving of the wheels 3 in the vehicle 1 can be set in various ways.

  As shown in FIG. 1, the vehicle 1 includes a vehicle body 2, wheels 3, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a transmission operation unit 7, a monitor device 11, and a stimulation device 13. And an imaging unit 15.

  The vehicle body 2 constitutes a passenger compartment 2a in which a passenger (not shown) gets. In the passenger compartment 2a, facing the driver's seat 2b as an occupant, the steering unit 4, the acceleration operation unit 5, the braking operation unit 6, the transmission operation unit 7, the display device 8, the audio output device 9, and the operation input Part 10 etc. are provided. The vehicle body 2 includes a front bumper provided at the lower portion of the front end portion, a rear bumper provided at the lower portion of the rear end portion, and the like.

  In the present embodiment, as an example, the vehicle 1 is a four-wheeled vehicle (four-wheeled vehicle) and includes two left and right front wheels 3F and two right and left rear wheels 3R. Further, in the present embodiment, any one of these four wheels 3 is configured to be steered by the steering unit 4 (so that it can be steered).

  The steering unit 4 is, for example, a steering wheel or a handle protruding from the dashboard. The acceleration operation unit 5 is, for example, an accelerator pedal positioned under the driver's feet. The braking operation unit 6 is, for example, a brake pedal that is positioned under the driver's feet. The shift operation unit 7 is, for example, a shift lever that protrudes from the center console. The steering unit 4, the acceleration operation unit 5, the braking operation unit 6, and the speed change operation unit 7 are not limited to these.

  The monitor device 11 is provided, for example, at the center of the dashboard in the vehicle width direction, that is, the left-right direction. The monitor device 11 may have a function such as a navigation system or an audio system, for example. The monitor device 11 includes a display device 8, an audio output device 9, and an operation input unit 10. The monitor device 11 may have an operation input unit (not shown) such as a switch, a dial, a joystick, and a push button.

  The display device 8 displays an image based on the image information. The display device 8 is, for example, an LCD (Liquid Crystal Display) or an OELD (Organic Electroluminescent Display).

  The sound output device 9 outputs sound based on the sound data. The audio output device 9 is, for example, a speaker. The audio output device 9 may be provided at a different position in the passenger compartment 2a other than the monitor device 11.

  The operation input unit 10 receives an input from a user including an occupant or a driver. The operation input unit 10 is provided on the display side surface of the display device 8. The operation input unit 10 is, for example, a touch panel that can transmit an image of the display device 8. The operation input unit 10 receives an instruction input by the user touching a position corresponding to an image displayed on the display screen of the display device 8.

  The stimulating device 13 is provided, for example, in the pillow part of the seat 2b. The stimulator 13 outputs a stimulus for awakening the driver to the driver. The stimulus output from the stimulating device 13 is not particularly limited, and examples thereof include olfactory stimulus, auditory stimulus, tactile stimulus, and visual stimulus.

  In the present embodiment, the vehicle 1 includes a plurality of imaging units 15. The imaging unit 15 is a digital camera including an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). Each of the imaging units 15 includes a wide-angle lens or a fisheye lens, and can capture a range of 140 ° to 190 ° in the horizontal direction. The optical axis of the imaging unit 15 is set obliquely downward. Therefore, the imaging unit 15 outputs captured image data obtained by imaging the periphery including the road surface on which the vehicle 1 is movable.

  In the present embodiment, four imaging units 15a, 15b, 15c, and 15d are provided in the vehicle 1. The imaging unit 15a is provided, for example, at the center of the front portion of the vehicle 1. The imaging unit 15 a captures the surrounding environment in front of the vehicle 1. The imaging unit 15b is provided, for example, at the center of the rear part of the vehicle 1. The imaging unit 15 b captures the surrounding environment behind the vehicle 1. The imaging unit 15c is provided on the left end of the vehicle body 2, for example, the left door mirror 2g. The imaging unit 15 c captures an environment around the left side of the vehicle 1. The imaging unit 15d is provided on the right end of the vehicle body 2, for example, the right door mirror 2h. The imaging unit 15d captures an environment around the right side of the vehicle 1.

  FIG. 2 is a block diagram illustrating the hardware configuration of the control system of the vehicle 1. As shown in FIG. 2, the vehicle 1 further includes a wheel speed sensor 22, an ECU (Electronic Control Unit) 24, an in-vehicle network 25, and a pressure sensor 26. For example, the monitor device 11, the stimulation device 13, the imaging unit 15, the pressure sensor 26, and the ECU 24 function as the driving support device 50.

  The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations per unit time. The wheel speed sensor 22 outputs a wheel speed pulse number indicating the detected rotation speed as a sensor value to the ECU 24. The wheel speed sensor 22 is configured using, for example, a Hall element.

  The pressure sensor 26 is provided in the steering unit 4. The pressure sensor 26 detects the pressure when the driver grips the steering unit 4 and outputs the detected pressure to the ECU 24.

  The ECU 24 is, for example, a computer. The ECU 24 receives captured image data from the imaging unit 15. The ECU 24 transmits data related to the image or sound to be output to the monitor device 11. The ECU 24 includes a CPU (Central Processing Unit) 24a, a ROM (Read Only Memory) 24b, a RAM (Random Access Memory) 24c, a display control unit 24d, an audio control unit 24e, an SSD (Solid State Drive) 24f, Is provided. The CPU 24a, ROM 24b, and RAM 24c may be integrated in the same package.

  The CPU 24a reads a program stored in a nonvolatile storage device such as the ROM 24b, and executes various arithmetic processes and controls according to the program. The ROM 24b stores each program and parameters necessary for executing the program. The RAM 24c temporarily stores various types of data used in computations by the CPU 24a. The display control unit 24 d mainly performs image processing of an image obtained by the imaging unit 15, data conversion of a display image to be displayed on the display device 8, etc., among arithmetic processing in the ECU 24. The voice control unit 24e mainly executes voice processing to be output to the voice output device 9 among the arithmetic processing in the ECU 24. The SSD 24f is a rewritable nonvolatile storage unit, and maintains data even when the power of the ECU 24 is turned off.

  In the present embodiment, the ECU 24 governs overall control of the vehicle 1 by cooperation of hardware and software (that is, a program). For example, the ECU 24 determines whether or not the driver is awake enough to perform manual driving during the automatic driving before the vehicle 1 enters the manual driving section. Based on the determination result, the ECU 24 sufficiently awakens the driver, delegates the driving authority to the driver, and switches to manual driving. The section for manual operation is, for example, a section that is set in advance and includes a parking area during traveling on an expressway.

  The in-vehicle network 25 is, for example, a CAN (Controller Area Network). The in-vehicle network 25 electrically connects the ECU 24, the operation input unit 10, the stimulation device 13, the wheel speed sensor 22, and the pressure sensor 26 so that signals and information such as control signals and operation instructions can be transmitted and received. .

  FIG. 3 is a block diagram illustrating functions of the ECU 24 of the driving support device 50. As shown in FIG. 3, the ECU 24 includes a control unit 30 and a storage unit 32. The control unit 30 is realized as a function of the CPU 24a, the display control unit 24d, and the sound control unit 24e. The storage unit 32 is realized as a function of the ROM 24b, the RAM 24c, and the SSD 24f.

  The control unit 30 includes an instruction unit 34 and an output unit 36. The control unit 30 functions as the instruction unit 34 and the output unit 36 by, for example, reading a driving support processing program stored in the storage unit 32. Part or all of the instruction unit 34 and the output unit 36 may be configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit).

  The instruction unit 34 causes the display device 8 or the voice output device 9 to output an operation instruction to the driver when a predetermined preparation condition is satisfied before the vehicle 1 is switched from automatic driving to manual driving. For example, the instruction unit 34 causes the display device 8 to display character information indicating the operation content, thereby outputting an operation instruction. The instruction unit 34 may output an operation instruction by causing the audio output device 9 to output a sound indicating the operation content. When the relationship between the current position of the vehicle 1 and a preset manual driving section satisfies a predetermined threshold condition, the instruction unit 34 outputs an operation instruction on the assumption that the predetermined preparation condition is satisfied. An example of the threshold condition is “the distance from the current position of the vehicle 1 to the start position of the manual operation is less than the threshold distance”. The threshold distance is a value set in advance to determine whether or not authority delegation preparation should be made from automatic operation to manual operation, and from the start position of authority delegation preparation to manual operation to the start position of manual operation Distance. Another example of the threshold condition is “the time from the current position of the vehicle 1 to the start position of the manual operation is less than the threshold time”. The threshold time is a value set in advance to determine whether or not authority delegation preparation should be performed from automatic operation to manual operation, and from the start position of authority delegation preparation to manual operation to the start position of manual operation This is the travel time required. When the instruction unit 34 receives a switch from the driver to the manual operation via the operation input unit 10, the instruction unit 34 may output an operation instruction on the assumption that a predetermined preparation condition is satisfied.

  The first example of the operation instruction is an operation instruction for gripping the steering unit 4 (hereinafter referred to as a first operation instruction). The second example of the operation instruction is an operation instruction to change the lane for determining the driver's steering feeling (hereinafter referred to as a second operation instruction). The third example of the operation instruction is an operation instruction to change the speed for determining the driver's acceleration and deceleration operation feeling (hereinafter, third operation instruction). The fourth example of the operation instruction is an operation instruction for adjusting the travel position for determining the driver's sense of vehicle width (hereinafter, fourth operation instruction). In the present embodiment, the instruction unit 34 sequentially outputs the above-described operation instructions. Here, the instruction unit 34 may output any one of the second operation instruction, the third operation instruction, and the fourth operation instruction in accordance with the surrounding environment of the vehicle 1. For example, based on the captured image acquired from the imaging unit 15, the instruction unit 34 determines the second operation instruction, the third operation according to the environment around the vehicle 1, for example, the distance to other vehicles that travel around the vehicle. An operation instruction and a fourth operation instruction may be output. Moreover, the instruction | indication part 34 may output the same operation instruction again, when the output part 36 outputs a stimulus or advice so that it may mention later.

  When the driver's operation received in response to the operation instruction does not satisfy a predetermined standard for delegating authority to manual driving, the output unit 36 gives a stimulus or a driving advice for awakening the driver. Output. For example, when the instruction unit 34 outputs the first operation instruction and the driver's grip of the steering unit 4 does not satisfy the standard, the output unit 36 outputs stimulation or advice. When the instruction unit 34 outputs the second operation instruction and the driver's lane change does not satisfy the standard, the output unit 36 outputs stimulation or advice. When the instruction unit 34 outputs the third operation instruction and the speed change of the driver does not satisfy the standard, the output unit 36 outputs a stimulus or advice. When the instruction unit 34 outputs the fourth operation instruction and the adjustment of the driving position of the driver does not satisfy the standard, the output unit 36 outputs stimulation or advice. For example, the output unit 36 may cause the stimulation device 13 to output a stimulus to the driver. The output unit 36 may cause the display device 8 or the voice output device 9 to output advice to the driver.

  The storage unit 32 stores a program and data necessary for executing the program. For example, the storage unit 32 stores a program for driving support processing. The storage unit 32 includes a threshold distance, a threshold time, a threshold pressure, an acceleration / deceleration range, a first threshold number, a second threshold number, a third threshold number, a fourth threshold number, and the like necessary for executing the program for driving support processing. Store the data. The threshold pressure is a pressure for determining that the driver is awake enough to perform manual driving. The threshold pressure is compared with the pressure of the driver holding the steering unit 4 detected by the pressure sensor 26. The acceleration / deceleration range is a range including an upper limit and a lower limit of the magnitude of acceleration or deceleration for determining that the driver is awake enough to perform manual driving. The first threshold number to the fourth threshold number are values that are compared with the number of repetitions of the first operation instruction to the fourth operation instruction in order to determine whether the vehicle 1 is automatically stopped.

  FIG. 4 is a flowchart of the driving support process executed by the control unit 30 of the driving support device 50. The control unit 30 functions as the instruction unit 34 and the output unit 36 by reading a program for driving support processing, and executes driving support processing during automatic driving.

  As shown in FIG. 4, in the driving support process, the instruction unit 34 of the control unit 30 determines whether or not authority delegation preparation should be performed (S102). For example, the instructing unit 34 determines whether authority transfer preparation should be performed based on whether or not the distance from the current position of the vehicle 1 during automatic driving to the manual driving section is a predetermined threshold distance. Specifically, the instruction unit 34 determines that authority delegation preparation should be performed when the distance from the current position of the vehicle 1 during automatic driving to the manual driving section is less than a predetermined threshold distance. On the other hand, when the distance to the manual operation section is equal to or greater than a predetermined threshold distance, the instruction unit 34 determines that authority delegation preparation should not be performed. When the time required from the current position of the vehicle 1 during automatic driving to the manual driving section is less than a predetermined threshold time, the instructing unit 34 determines that the authority delegation preparation should be performed and sets the predetermined time. If it is equal to or longer than the specified threshold time, it may be determined that preparation for delegation of authority should not be performed. Further, the instruction unit 34 determines that authority delegation preparation should be performed when a manual operation instruction from the driver is received from the operation input unit 10 or the like, and when it does not accept manual operation instruction, prepares authority delegation. It may be determined that it should not. If the instruction unit 34 determines that the authority transfer preparation should not be performed (S102: No), the instruction unit 34 enters a standby state.

  When the instruction unit 34 determines that the authority transfer preparation is to be made (S102: Yes), the character information (for example, “hold the handle”) of the operation instruction (= first operation instruction) for gripping the steering unit 4 is obtained. While outputting to the display apparatus 8, it outputs to the output part 36 that the operation instruction | indication of the steering part holding | grip was output (S104).

  When acquiring that the steering unit grip operation instruction has been output, the output unit 36 determines whether or not the grip of the steering unit 4 by the driver is within the reference (S106). The output unit 36 determines, for example, whether or not the driver's grip of the steering unit 4 is within the reference based on the pressure acquired by the driver from the pressure sensor 26 and grips the steering unit 4. Specifically, the output unit 36 determines that the pressure is within the reference if the pressure acquired from the pressure sensor 26 is equal to or higher than the threshold pressure. On the other hand, if the pressure acquired from the pressure sensor 26 is less than the threshold pressure, the output unit 36 determines that it is not within the reference.

  When the output unit 36 determines that the gripping of the steering unit 4 by the driver is not within the reference (S106: No), the output unit 36 determines whether to stop automatically (S108). For example, the output unit 36 determines whether or not the number of times that the steering unit grip operation instruction is output (or the number of times the driver determines that the grip of the steering unit 4 is not within the reference) is equal to or greater than a predetermined first threshold number. To determine whether or not to stop automatically. Specifically, the output unit 36 determines that the vehicle should be automatically stopped when the number of times that the steering unit grip operation instruction is output is equal to or greater than the first threshold number. On the other hand, the output unit 36 determines that the vehicle should not be stopped automatically when the number of times that the steering unit grip operation instruction is output is less than the first threshold number. Further, the output unit 36 may determine whether or not to stop automatically depending on whether or not the current position of the vehicle 1 is in the manual operation section. Specifically, the output unit 36 determines that the vehicle should be automatically stopped when the current position of the vehicle 1 is in the manual operation section. On the other hand, when the current position of the vehicle 1 is not a manual operation section, the output unit 36 determines that the automatic stop should not be performed.

  When the output unit 36 determines that the vehicle should not be stopped automatically (S108: No), the output unit 36 outputs a stimulus such as an arousal stimulus for awakening the driver to the stimulation device 13, or the grip of the steering unit 4 is within the standard. The display device 8 or the voice output device 9 outputs such advice as follows (S110). Thereafter, the output unit 36 outputs a re-operation processing instruction to the instruction unit 34. Thereby, the instruction | indication part 34 makes the display apparatus 8 repeat the output of the operation instruction | indication which makes a driver | operator hold | grip the steering part 4 again (S104).

  When the output unit 36 determines that the vehicle should be automatically stopped (S108: Yes), the output unit 36 automatically stops the vehicle 1 at an appropriate position (S112), and ends the flowchart of the driving support process.

  When the output unit 36 determines that the gripping of the steering unit 4 by the driver is within the reference (S106: Yes), the output unit 36 outputs a next processing instruction to the instruction unit 34.

  When the instruction unit 34 obtains the next processing instruction, it outputs character information (for example, “please change lane”) of the operation instruction (= second operation instruction) that causes the driver to change the lane, and also changes the lane. The fact that the operation instruction has been output is output to the output unit 36 (S114). The instruction unit 34 may determine whether or not to output a lane change operation instruction according to the environment around the vehicle 1 together with the acquisition of the next processing instruction. Specifically, the instruction unit 34 may determine whether or not to output a lane change operation instruction depending on whether or not the surrounding environment of the vehicle 1 satisfies a predetermined lane change condition. An example of the lane change condition is “no other vehicle exists within a predetermined range around the vehicle 1 of the host vehicle”. In this case, the instruction unit 34 obtains the next processing instruction and outputs an operation instruction for changing the lane when no other vehicle exists within a predetermined range of the vehicle 1 of the host vehicle. The instruction unit 34 may determine whether or not another vehicle exists within a predetermined range of the vehicle 1 of the host vehicle based on the captured image acquired from the imaging unit 15.

  When acquiring the fact that the lane change operation instruction has been output, the output unit 36 determines whether or not the lane change by the driver is within the standard (S116). For example, the output unit 36 determines the positions of the lanes before and after the lane change operation instruction based on the captured image acquired from the imaging unit 15. Based on the position of the lane, the output unit 36 determines whether or not the vehicle 1 has moved from the lane before the lane change into the adjacent lane. Thereby, the output part 36 determines whether the lane change by a driver is within a reference | standard. Specifically, when the vehicle 1 can move from the lane before the lane change into the adjacent lane, the output unit 36 determines that the lane change by the driver is within the reference. On the other hand, when the vehicle 1 cannot move from the lane before the lane change into the adjacent lane, for example, when the vehicle 1 straddles two lanes, the output unit 36 does not meet the lane change by the driver. Is determined.

  When the output unit 36 determines that the lane change by the driver is not within the standard (S116: No), the output unit 36 determines whether to stop automatically (S118). For example, the output unit 36 automatically stops depending on whether or not the number of times that the lane change operation instruction is output (or the number of times that the lane change by the driver is determined not to be within the standard) is equal to or greater than a predetermined second threshold number of times. Determine whether or not to do so. Specifically, the output unit 36 determines that the vehicle should be automatically stopped when the number of times of outputting the lane change operation instruction is equal to or greater than the second threshold number. On the other hand, the output unit 36 determines that the vehicle should not be automatically stopped when the number of times of outputting the lane change operation instruction is less than the second threshold number. Moreover, the output part 36 may determine whether it should stop automatically according to whether the present position of the vehicle 1 is a manual operation area similarly to step S108.

  When the output unit 36 determines that the vehicle should not be stopped automatically (S118: No), the output unit 36 outputs a stimulus such as a wake-up stimulus for waking the driver to the stimulator 13, or the lane change is within the standard. The advice is output to the display device 8 or the audio output device 9 (S120). One example of advice here is “Check the front, side, and back firmly” as advice on safety confirmation, or “Steep steering operation” as advice on steering surface. Let's slowly pull the handle with the image. " Thereafter, the output unit 36 outputs a re-operation processing instruction to the instruction unit 34. Thereby, the instruction | indication part 34 makes the display apparatus 8 repeat the output of the operation instruction | indication which makes a driver change lanes again (S114).

  If the output part 36 determines that it should stop automatically (S118: Yes), the vehicle 1 will be stopped automatically at an appropriate position (S112), and the flowchart of a driving assistance process will be complete | finished.

  When the output unit 36 determines that the lane change by the driver is within the reference (S116: Yes), the output unit 36 outputs a next processing instruction to the instruction unit 34. The output unit 36 may cause the display device 8 or the audio output device 9 to output a notification that the lane change such as “smooth lane change” is appropriate together with the next processing instruction.

  When the instruction unit 34 acquires the next process instruction, the instruction unit 34 provides character information (for example, “accelerate or decelerate”) of an operation instruction (= third operation instruction) for changing the speed of the vehicle 1 by acceleration or deceleration. At the same time, it outputs to the output unit 36 that a speed change operation instruction has been output (S122). The instruction unit 34 may determine whether or not to output a speed change operation instruction according to the environment around the vehicle 1 together with the acquisition of the next processing instruction. Specifically, the instruction unit 34 may determine whether or not to output a speed change operation instruction depending on whether or not the surrounding environment of the vehicle 1 satisfies a predetermined speed change condition. An example of the speed changing condition is “no other vehicle exists within a predetermined range in the front-rear direction around the vehicle 1 of the host vehicle”. In this case, the instruction unit 34 obtains a next processing instruction, and outputs an operation instruction for speed change when there is no other vehicle within a predetermined range in the front-rear direction of the vehicle 1 of the host vehicle. The instruction unit 34 may determine whether another vehicle exists within a predetermined range in the front-rear direction of the vehicle 1 of the host vehicle based on the captured image acquired from the imaging unit 15.

  When acquiring that the speed change operation instruction has been output, the output unit 36 determines whether the speed change by the driver is within the standard (S124). The output unit 36 is, for example, based on the acceleration or deceleration magnitude calculated from the sensor value acquired from the wheel speed sensor 22 and a predetermined acceleration / deceleration range, and the driver's acceleration operation unit 5 and braking operation unit 6. It is determined whether or not the speed change by the operation is within the standard. The acceleration / deceleration range includes the upper limit size of acceleration or deceleration and the lower limit size of acceleration or deceleration. Specifically, when the magnitude of acceleration or deceleration is within the acceleration / deceleration range, the output unit 36 determines that the speed change by the driver is within the reference. On the other hand, when the magnitude of acceleration or deceleration is not within the acceleration / deceleration range, the output unit 36 determines that the speed change by the driver is not within the reference.

  When the output unit 36 determines that the speed change by the driver is not within the reference (S124: No), the output unit 36 determines whether to stop automatically (S126). For example, the output unit 36 automatically stops depending on whether or not the number of times that the speed change operation instruction is output (or the number of times that the speed change by the driver is determined not to be within the reference) is equal to or greater than a predetermined third threshold number. Determine whether or not to do so. Specifically, the output unit 36 determines that the vehicle should be automatically stopped when the number of times of outputting the speed change operation instruction is equal to or greater than the third threshold number. On the other hand, the output unit 36 determines that the automatic stop should not be performed when the number of times of outputting the speed change operation instruction is less than the third threshold number. Moreover, the output part 36 may determine whether it should stop automatically according to whether the present position of the vehicle 1 is a manual operation area similarly to step S108.

  When the output unit 36 determines that the vehicle should not be stopped automatically (S126: No), the output unit 36 outputs a stimulus such as an arousal stimulus for awakening the driver to the stimulator 13, or the speed change is within the standard. The advice is output to the display device 8 or the audio output device 9 (S128). An example of advice here is “Check the vehicle situation ahead / backward when accelerating / decelerating” as advice on safety confirmation or “Speed change is steep.” Accelerator / brake "Slow down the pedal" or "Adjustment / maintenance to the specified speed is unstable. Let's be aware of the amount of accelerator / brake pedaling" as advice on speed adjustment. Thereafter, the output unit 36 outputs a re-operation processing instruction to the instruction unit 34. Thereby, the instruction | indication part 34 makes the display apparatus 8 repeat the output of the operation instruction | indication which makes a driver change speed again (S122).

  When the output unit 36 determines that the vehicle should be automatically stopped (S126: Yes), the output unit 36 automatically stops the vehicle 1 at an appropriate position (S112), and ends the flowchart of the driving support process.

  When the output unit 36 determines that the speed change by the driver is within the reference (S124: Yes), the output unit 36 outputs a next processing instruction to the instruction unit 34. The output unit 36 outputs a notification that the speed change is appropriate, such as “smooth acceleration / deceleration and stable adjustment / maintenance of the specified speed” along with the next processing instruction. You may make it output to the apparatus 9.

  When the instruction unit 34 acquires the next processing instruction, the instruction unit 34 outputs an operation instruction (= fourth operation instruction) for causing the driver to adjust the traveling position, and outputs to the output unit 36 that the operation instruction for traveling position adjustment has been output. (S130). For example, the instruction unit 34 operates the character information (for example, “in the lane” to move and adjust the traveling position to the right or left side of the lane for the vehicle 1 traveling in the center of the lane. Change the position to the right or left side ”). Here, the instruction unit 34 may determine whether or not to output an operation instruction for travel position adjustment according to the environment around the vehicle 1 together with the acquisition of the next processing instruction. Specifically, the instruction unit 34 may determine whether or not to output a driving position adjustment operation instruction depending on whether or not the surrounding environment of the vehicle 1 satisfies a predetermined driving position adjustment condition. . An example of the travel position adjustment condition is “no other vehicle exists within a predetermined range of the vehicle 1 of the host vehicle”. In this case, the instruction unit 34 obtains a next processing instruction and outputs an operation instruction for adjusting the traveling position when no other vehicle exists within a predetermined range of the vehicle 1 of the host vehicle. The instruction unit 34 may determine whether or not another vehicle exists within a predetermined range of the vehicle 1 of the host vehicle based on the captured image acquired from the imaging unit 15.

  When the output unit 36 acquires that the operation instruction for traveling position adjustment has been output, the output unit 36 determines whether or not the traveling position adjustment by the driver is within the reference (S132). For example, the output unit 36 detects the position in the lane before and after the operation instruction for adjusting the traveling position based on the captured image acquired from the imaging unit 15. Based on the detected position, the output unit 36 determines whether or not the vehicle 1 has moved to a position corresponding to the operation instruction in the lane before the travel position adjustment. The output unit 36 determines whether or not the driving position adjustment by the driver is within the reference based on the determination result. Specifically, when the vehicle 1 can move from the position in the lane before the travel position adjustment to the position according to the operation instruction, the output unit 36 determines that the travel position adjustment by the driver is within the reference. On the other hand, when the vehicle 1 cannot move from the position in the lane before the travel position adjustment to the position according to the operation instruction, for example, when the vehicle 1 enters the adjacent lane, the output unit 36 travels by the driver. It is determined that the position adjustment is not within the standard.

  When it is determined that the travel position adjustment by the driver is not within the reference (S132: No), the output unit 36 determines whether or not to automatically stop (S134). For example, the output unit 36 determines whether or not the number of times that the operation instruction for driving position adjustment is output (or the number of times that the driving position adjustment by the driver is determined not to be within the reference) is equal to or greater than a predetermined fourth threshold number. Determine whether to stop automatically. Specifically, the output unit 36 determines that the vehicle should be automatically stopped when the number of times that the operation instruction for traveling position adjustment is output is equal to or greater than the fourth threshold number. On the other hand, the output unit 36 determines that the automatic stop should not be performed when the number of times of outputting the operation instruction for the travel position adjustment is less than the fourth threshold number. Moreover, the output part 36 may determine whether it should stop automatically according to whether the present position of the vehicle 1 is a manual operation area similarly to step S108.

  If the output unit 36 determines that the vehicle should not be stopped automatically (S134: No), it outputs a stimulus such as an arousal stimulus for awakening the driver to the stimulator 13, or the running position adjustment is within the standard. Such advice is output to the display device 8 or the audio output device 9 (S136). One example of advice here is “Check the front, side, and back firmly” as advice on safety confirmation, or “Steep steering operation” as advice on steering surface. Let's slowly turn the steering wheel with the image ", or as a position adjustment surface advice," It is possible to move to the right or left a little. Check the positional relationship between the lane and the vehicle. " Thereafter, the output unit 36 outputs a re-operation processing instruction to the instruction unit 34. Thereby, the instruction | indication part 34 makes the display apparatus 8 repeat the output of the operation instruction | indication which makes a driver | operator adjust driving position again (S130).

  When the output unit 36 determines that the vehicle should be automatically stopped (S134: Yes), the output unit 36 automatically stops the vehicle 1 at an appropriate position (S112), and ends the flowchart of the driving support process.

  If the output unit 36 determines that the driving position adjustment by the driver is within the reference (S132: Yes), whether or not the current position of the vehicle 1 is within the authority delegation section for delegating authority to the driver for manual driving. Is determined (S138). Note that the output unit 36 notifies the display device 8 or the voice indicating that the travel position adjustment is appropriate, such as “smooth movement and appropriate travel position”, before determining whether or not it is within the authority delegation section. You may make it output to the output device 9.

  The output unit 36 determines, for example, whether or not it is within the authority delegation section based on position information from a position detection device such as GPS (Global Positioning System) and the like and information on the preset authority delegation section. When the output unit 36 determines that it is not within the authority delegation section (S138: No), the output unit 36 enters a standby state. On the other hand, when the output unit 36 determines that it is within the authority delegation section (S138: Yes), it delegates the driving authority to the driver (S140), and ends the driving support process.

  When the actual operation by the driver according to the operation instruction of the instruction unit 34 does not satisfy the standard, the driving support device 50 has a driver's concentrating power such as recognition and judgment of manual driving and a judgment by a stimulus or advice. The operational feeling can be sufficiently improved.

  In the driving support device 50, the instruction unit 34 outputs the fourth operation instruction from the first operation instruction having different operation contents. As a result, the output unit 36 outputs a more appropriate stimulus or advice in accordance with the operation of the driver in response to each operation instruction, and enhances the driver's steering feeling, acceleration and deceleration feeling, vehicle width feeling, and the like. be able to. Specifically, the output unit 36 can appropriately output stimulation or advice when the driver does not hold the steering unit 4 at an appropriate pressure. When the lane change by the driver is not appropriate, the output unit 36 can appropriately output stimulation or advice. When the speed change by the driver is not appropriate, the output unit 36 can appropriately output stimulation or advice. The output unit 36 can appropriately output stimulation or advice when adjustment of the travel position by the driver is not appropriate.

  In the driving support device 50, the instruction unit 34 can appropriately output an operation instruction according to the surrounding environment of the vehicle 1, for example, the traveling state of other vehicles traveling in the vicinity including the front, rear, left, and right of the vehicle 1.

  In the driving support device 50, when the operation of the driver with respect to the output operation instruction does not satisfy the standard, the instruction unit 34 causes the driver to output the same operation instruction multiple times, so that the operation of the driver is within the standard. Until it reaches, the driver can repeat the operation to improve arousal and concentration.

  In the driving support device 50, the instruction unit 34 outputs an appropriate operation instruction corresponding to the manual driving section according to the relationship between the current position of the vehicle 1 and the manual driving section, or switching to manual driving from the driver. Accordingly, it is possible to appropriately output an operation instruction.

  The function, connection relationship, number, arrangement, and the like of each configuration of the above-described embodiment may be changed as appropriate.

  For example, in the above-described embodiment, the example in which the instruction unit 34 outputs the operation instructions of the four operations of gripping the steering unit 4, changing the lane, changing the speed, and adjusting the traveling position has been described. One or more operation instructions may be output to the driver.

  Although the embodiments of the present invention have been described, these embodiments are presented as examples, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 4 ... Steering part 5 ... Acceleration operation part 6 ... Braking operation part 7 ... Shift operation part 8 ... Display apparatus 9 ... Audio | voice output device 13 ... Stimulator 15 ... Imaging part 22 ... Wheel speed sensor 24 ... ECU
26 ... Pressure sensor 30 ... Control unit 32 ... Storage unit 34 ... Instruction unit 36 ... Output unit 50 ... Driving support device

Claims (5)

An instruction unit that outputs an operation instruction to the driver when a predetermined condition is satisfied before the moving body is switched from automatic operation to manual operation;
When the driver's operation received in response to the operation instruction does not satisfy a predetermined standard for delegating authority to the manual driving, a stimulus or driving advice for awakening the driver is output. An output unit to be
A driving support apparatus comprising: The instruction unit includes:
A first operation instruction for instructing an operation for gripping the steering unit;
A second operation instruction for instructing an operation to change the lane;
A third operation instruction for instructing an operation to change the speed; and
Outputting at least one of the fourth operation instructions for instructing an operation for adjusting the travel position as the operation instruction;
The output unit is
When the first operation instruction is output and gripping of the steering portion of the driver does not satisfy a standard, the stimulus or the advice is output,
When the second operation instruction is output and the driver's lane change does not satisfy a standard, the stimulus or the advice is output,
When the third operation instruction is output and the speed change of the driver does not satisfy a standard, the stimulus or the advice is output,
The driving support device according to claim 1, wherein when the fourth operation instruction is output and the adjustment of the driving position of the driver does not satisfy a reference, the stimulus or the advice is output. The driving support apparatus according to claim 2, wherein the instruction unit outputs any one of the second operation instruction, the third operation instruction, and the fourth operation instruction according to an environment around the moving body. The driving support device according to any one of claims 1 to 3, wherein when the output unit outputs the stimulus or the advice, the instruction unit again outputs the same operation instruction to the driver. The instruction unit includes:
When the relationship between the current position of the mobile body and a predetermined manual operation section satisfies a predetermined threshold condition, or
When accepting a switch from the driver to the manual operation,
The driving support device according to any one of claims 1 to 4, wherein the operation instruction is output assuming that the predetermined condition is satisfied.

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