JP4737239B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that supports driving of a moving body such as a vehicle.

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 the presence or absence of the possibility of automatic driving of a vehicle, 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

  In such a system, the driver of the vehicle may feel uncomfortable when driving support control such as automatic driving is terminated. For example, if automatic operation control is terminated and the operation is suddenly switched to manual operation, the driver cannot perform a stable operation. In addition, when the automatic driving section and the non-automatic driving section are intermittent, automatic driving and manual driving are switched every time the section is switched, and the driver feels uncomfortable.

  Accordingly, the present invention has been made to solve such a technical problem, and an object of the present invention is to provide a driving support device capable of suppressing the driver from feeling uncomfortable when the driving support level is lowered. To do.

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. When the vehicle is predicted to enter a region where the reliability of the traveling environment information is lower than the region where the vehicle is currently traveling, the driving support level is set before entering the vehicle. gradually Ru is configured to include a driving support control means for decreasing.

According to the present invention, when the reliability of the running environment information is predicted that the vehicle in the region lower than the region currently traveling enters, by reducing stepwise driving support level before the entry, travel When the vehicle enters an area where the reliability of the environmental information is lower than the area where the vehicle is currently traveling, the driving support level can be adjusted to be low in advance, and appropriate driving support according to the reliability of the driving environment information In addition, the driver of the vehicle can recognize that the driving support level is reduced, and the uncomfortable feeling felt by the driver due to the reduction of the driving support level can be reduced.

In the driving support device according to the present invention, the driving support control means Ru lowers the driving support level reliability as low of the traveling environment information.

  According to the present invention, by reducing the driving support level as the reliability of the driving environment information is lower, it is possible to avoid a situation where advanced driving support cannot be performed appropriately when the reliability of the driving environment information is low. In addition, appropriate driving support can be performed according to the reliability of the driving environment information.

  Further, in the driving support device according to the present invention, the driving support control means does not decrease the driving support level when the driving support level is decreased when the time to decrease is shorter than a predetermined time. It is preferable to provide driving assistance.

  According to the present invention, when the driving support level is lowered, when the time to be reduced is shorter than the predetermined time, the driving support is performed without lowering the driving support level, so that the content of the driving support is reduced. It is possible to suppress frequent changes.

  In the driving support device according to the present invention, it is preferable that the driving support device further includes a bodily sensation speed adjusting unit that increases the bodily sensation speed when the driving support level of the driving support unit decreases according to the driving environment information.

  According to the present invention, when the driving support level decreases according to the driving environment information, it is possible to naturally encourage the driver of the vehicle to perform a driving operation by increasing the sensible speed of the vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, when a driving assistance level falls, it can suppress producing a discomfort to a driver | operator by reducing the driving assistance level in steps.

  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.

  FIG. 1 shows a schematic configuration diagram of a driving support apparatus according to the first embodiment of the present invention.

  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, and is, for example, an automation level of the vehicle according to a traveling environment. Is set to perform automatic operation control.

  The driving support device 1 includes, for example, a navigation system 2, a travel environment detection unit 3, a direction indicator 4, a communication unit 5, an ECU (Electronic Control Unit) 6, a travel output unit 7, and a sensory speed adjustment unit 8. .

  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.

  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.

  The direction indicator 4 displays the traveling direction of the vehicle, and is used as traveling direction estimation means for estimating the traveling direction of the vehicle. 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.

  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 executes driving support control so as to gradually decrease the driving support level when the driving support level is decreased. For example, the ECU 6 executes the driving support control so that the driving support level decreases stepwise when the driving support level is decreased. The ECU 6 reduces the driving support level in advance when it is predicted that the vehicle will enter an area where the reliability of the traveling environment information is low.

  The driving support level is, for example, an automatic driving automation level, and is set according to the reliability of the driving environment information, and is preferably set to be lower as the driving environment information has a lower reliability. In this case, by lowering the driving support level as the reliability of the driving environment information is lower, it is possible to avoid a situation where advanced driving support cannot be performed properly when the reliability of the driving environment information is low. Appropriate driving support according to the reliability of information can be provided.

  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. In addition, when the driving support level is lowered, when the time for the reduction is shorter than a predetermined time, the driving assistance level functions as a correction unit that corrects the reliability of the driving environment information so as not to lower the driving support level. Further, the ECU 6 functions as a sensation speed control means for increasing the sensation speed of the vehicle when the driving support level decreases according to the travel environment information.

  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 sensation speed changing unit 8 functions as an sensation speed adjusting unit that adjusts the sensation speed of the vehicle, and includes, for example, a vehicle height adjustment mechanism, a speedometer adjustment machine, and a steering response adjustment mechanism.

  Next, the operation of the driving support apparatus according to the present embodiment will be described.

  FIG. 2 is an explanatory diagram of the operation of the driving support apparatus according to the present embodiment. FIG. 3 is an explanatory diagram of the driving support contents when the reliability of the driving environment information is lowered.

  As shown in FIG. 2, 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 high, a high driving support level is set according to the high reliability, and driving support control at a high driving support level is executed. For example, automatic driving control is executed in which steering operation, accelerator operation, and brake operation are all automatic operations.

  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 traveling environment information on the route R2 is lower than the reliability of the traveling environment information on the route R1, the information reliability is drastically lowered as shown in FIG. 3A (t = t0 to t0). d2 chain line).

  In this case, in the driving assistance device 1, a decrease in the reliability of the travel environment information is estimated in advance, and the reliability is adjusted in advance so that the information reliability is lowered (FIG. 3 (a) t = t0 to t1). Solid line). For this reason, when the driving support level, that is, the automation level is set according to such information reliability, the automation level gradually decreases as shown in FIG.

  Moreover, as shown in FIG.3 (c), the sensible speed of the vehicle 3 is adjusted so that it may become high gradually, when the fall of the reliability of driving environment information is estimated previously. For example, the vehicle height is adjusted to gradually decrease, the speed value of the speedometer is adjusted to gradually increase, and the steering response is adjusted to increase.

  FIG. 4 is an explanatory diagram of the operation of the driving support apparatus according to the present embodiment. FIG. 5 is an explanatory diagram of the driving support contents when the reliability of the travel environment information temporarily decreases.

  As shown in FIG. 4, 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 high, a high driving support level is set according to the high reliability, and driving support control at a high driving support level is executed. For example, automatic driving control is executed in which steering operation, accelerator operation, and brake operation are all automatic operations.

  When the vehicle M goes straight at the intersection, the vehicle M temporarily passes on the route R2 from the route R1. When the reliability of the travel environment information on the route R2 is lower than the reliability of the travel environment information on the route R1, as shown in FIG. 5A, the information reliability temporarily decreases (t = t1). -T2 alternate long and two short dashes line).

  In this case, the driving support apparatus 1 estimates a temporary decrease in the reliability of the travel environment information in advance, and adjusts the reliability so that the information reliability does not decrease in advance (FIG. 5 (a) t = Solid line from t1 to t2). Therefore, when the driving support level, that is, the automation level is set according to such information reliability, stable driving support can be performed without fluctuation of the automation level as shown by the solid line in FIG. .

  FIG. 6 is a flowchart showing the operation of the driving support apparatus according to the present embodiment.

  The control process shown in FIG. 6 is repeatedly executed by the ECU 6 at a predetermined cycle, for example. First, as shown in S10 of FIG. 6, 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 lower as the reliability of the travel environment information is lower.

  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.

  And it transfers to S12 and it is judged whether it was estimated that the reliability of driving environment information fell. If it is determined in S12 that the reliability of the travel environment information is not estimated to decrease, automatic driving control is performed according to the automation level set in accordance with the reliability of the travel environment information (S22).

  On the other hand, if it is determined in S12 that the reliability of the travel environment information is estimated to decrease, it is determined whether or not the decrease in the reliability of the travel environment information is shorter than a predetermined time. (S14). Here, the predetermined time is a time value preset in the ECU 6. When it is determined in S14 that the decrease in the reliability of the travel environment information is not shorter than the predetermined time, the process of correcting the reliability of the travel environment information so as to gradually decrease the reliability of the travel environment information Is performed (S18). This reliability correction process is a process for correcting the reliability of the travel environment information in advance before the vehicle reaches a point on the road where the reliability of the travel environment information decreases. For example, as indicated by a solid line at t = t0 to t1 in FIG. 3A, correction is performed so that the information reliability gradually decreases.

  On the other hand, if it is determined in S14 that the decrease in the reliability of the travel environment information is shorter than the predetermined time, the reliability of the travel environment information is corrected so that the reliability of the travel environment information does not decrease. Processing is performed (S16). This reliability correction process is a process of correcting the reliability by interpolating the reliability so that the reliability of the travel environment information does not decrease even if the vehicle reaches a point on the road where the reliability of the travel environment information decreases. is there. For example, as indicated by a solid line from t = t1 to t2 in FIG. 5A, correction is performed so that the information reliability does not decrease.

  Then, the process proceeds to S20 in FIG. 6 and an automation level changing process is performed. This automation level changing process is a process of changing the setting of the automation level according to the reliability of the corrected traveling environment information. For example, as shown by a solid line in FIG. 3B or FIG. 5B, the automation level is changed. At this time, when the driving support level, that is, the automation level is lowered, the driving support level is gradually lowered. Further, in FIG. 3B, the automation level is gradually lowered by changing the driving assistance contents in stages, but the automation level is gradually lowered by lowering the driving assistance amount linearly. May be.

  And it transfers to S22 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, the process proceeds to S24, and a sensation speed control process is performed. This sensation speed control process is a process for controlling so that the sensation speed of the vehicle felt by the driver increases when the automation level is lowered. For example, when the automation level is lowered, the vehicle height is adjusted to gradually decrease, the speed value of the speedometer is adjusted to gradually increase, and the steering response is adjusted to increase. Then, when the processing of S24 is finished, a series of control processing is finished.

  As described above, according to the driving support device according to the present embodiment, when the driving support level is decreased, the driving support level is gradually decreased, thereby indicating that the driving support level is decreasing. And the uncomfortable feeling felt by the driver due to a decrease in the driving support level can be reduced.

  Further, in the driving support device according to the present embodiment, by reducing the driving support level, that is, the automation level as the reliability of the driving environment information is lower, advanced driving support is appropriate when the reliability of the driving environment information is low. Thus, it is possible to avoid a situation where the vehicle cannot be performed easily, and to perform appropriate driving support according to the reliability of the driving environment information.

  Further, in the driving support device according to the present embodiment, when it is predicted that the vehicle enters the area where the reliability of the driving environment information is low, the driving support level is lowered before the entry, thereby reducing the reliability of the driving environment information. The driving support level can be adjusted to be low in advance when the vehicle enters the low-degree area. For this reason, appropriate driving support according to the reliability of the traveling environment information can be performed.

  Further, in the driving support device according to the present embodiment, when the driving support level is reduced, if the time to decrease is shorter than a predetermined time, the driving support is performed without decreasing the driving support level. The content of driving assistance can be suppressed from being changed frequently.

  Furthermore, when the driving support level is lowered according to the driving environment information, it is possible to naturally encourage the driver of the vehicle to perform a driving operation by increasing the sensible speed of the vehicle.

  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.

1 is a schematic configuration diagram of a driving support apparatus according to an embodiment of the present invention. It is explanatory drawing about operation | movement of the driving assistance apparatus of FIG. It is explanatory drawing about operation | movement of the driving assistance apparatus of FIG. It is explanatory drawing about operation | movement of the driving assistance apparatus of FIG. It is explanatory drawing about operation | movement of the driving assistance apparatus of FIG. It is a flowchart which shows operation | movement of the driving assistance apparatus of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Navigation system, 3 ... Driving environment detection part, 4 ... Direction indicator, 5 ... Communication part, 6 ... ECU, 7 ... Traveling output part, 8 ... Sensory speed change part.

Claims (3)

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 the driving support level is lowered as the reliability of the driving environment information is lower , and the reliability of the driving environment information is the current driving a manner that lower region area, when the vehicle is expected to enter, the driving support control means for gradually lowering the driving support level before the entry,
A driving assistance device comprising: The driving support control means causes the driving support to be performed without decreasing the driving support level when the driving support level is decreased when the time to decrease is shorter than a predetermined time.
The driving support device according to claim 1. Sensible speed adjustment means for increasing the sensible speed of the vehicle when the driving support level of the driving support means decreases according to the driving environment information;
The driving support device according to claim 1.

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