JP6601028B2 - Vehicle operation control device and vehicle operation control method - Google Patents

Description

  The present invention relates to a vehicle operation control device and a vehicle operation control method.

  Conventionally, if a decrease in the driver's arousal level is detected during automatic driving in which the vehicle automatically travels, for example, an alarm is issued. For example, if an alarm is issued a plurality of times, the automatic operation is canceled and the driver switches to manual operation.

JP-A-6-171391

  However, the alerting effect of the alarm is low, and there is a high possibility that the alarm will be issued multiple times. Therefore, in the end, it is often switched to manual operation. Therefore, when the driver's arousal level is lowered, there is a problem that the time for performing automatic driving is shortened.

  The present invention has been made in view of the above problems, and provides a vehicle driving control device and a vehicle driving control method capable of extending the duration of automatic driving even when the driver's arousal level is reduced. Objective.

A vehicle driving control apparatus according to an aspect of the present invention includes a vehicle control unit that performs automatic driving control for automatically driving a vehicle, and acquires the arousal level of the driver of the vehicle. If the awakening level in the automatic driving mode becomes less than a predetermined threshold value, the automatic driving control is canceled and the automatic driving mode is switched to the manual driving mode that allows the driver to perform manual driving. If the condition for switching to the automatic driving switchable mode that can be switched to the automatic driving mode by the driver switching operation is satisfied , the manual driving mode is switched to the automatic driving switchable mode. If the switching operation is performed by the driver, the mode is switched from the automatic driving switchable mode to the automatic driving mode.

  According to the present invention, when the condition for switching to the automatic driving switchable mode that can be switched to the automatic driving mode by the switching operation of the driver is satisfied, the mode is switched to the automatic driving switchable mode. Therefore, even when the driver's arousal level is lowered, the time for performing automatic driving can be extended.

FIG. 1 is a diagram illustrating an example of a configuration of a vehicle operation control device 1 and peripheral devices according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating the vehicle operation control method according to the first embodiment. FIG. 3 is a time chart illustrating an example of mode switching in the first embodiment. FIG. 4 is a flowchart illustrating a vehicle operation control method according to the second embodiment. FIG. 5 is a flowchart illustrating a vehicle operation control method according to the third embodiment.

  Hereinafter, embodiments will be described with reference to the drawings. The same members are denoted by the same reference numerals and the description thereof is omitted.

  A vehicle operation control device 1 shown in FIG. 1 performs operation control of a vehicle (not shown) to be controlled, and includes a vehicle control unit 11, a wakefulness acquisition unit 12, an automatic operation control unit 13, and a traveling state acquisition. Unit 14 and information presentation unit 15.

  The vehicle control unit 11 performs automatic traveling control for automatically traveling the vehicle. For example, the vehicle control unit 11 performs automatic travel control based on signals from a vehicle outside sensor that detects a distance from a preceding vehicle, a state of a traffic signal, a navigation device that guides the vehicle to a destination, and a GPS receiver. In the automatic travel control, for example, the steering, the accelerator, and the brake are controlled to automatically travel the vehicle.

  The awakening level acquisition unit 12 acquires the awakening level of the driver of the vehicle. The awakening level acquisition unit 12 calculates the awakening level by using, for example, at least one of an image obtained by a camera to be photographed and a biological signal obtained by a biological sensor attached to the driver. The biological sensor is, for example, an electrocardiographic sensor.

  The automatic driving control unit 13 cancels the automatic driving control and performs manual driving by the driver when the awakening level in the automatic driving mode for performing automatic driving control is less than a predetermined threshold (hereinafter referred to as threshold A). Switch to manual operation mode. The automatic driving control unit 13 switches to the automatic driving switchable mode if the conditions for switching to the automatic driving switchable mode capable of switching to the automatic driving mode by the driver's switching operation are satisfied. Further, the automatic operation control unit 13 switches to the automatic operation mode when the switching operation is performed by the driver.

For example, the traveling state acquisition unit 14 detects the states of the steering, the accelerator, and the brake, and acquires the traveling state of the vehicle based on the detection result.
The automatic operation control unit 13 determines whether or not the operation mode can be safely switched to the automatic operation mode or the manual operation mode based on the running state.

  In response to an instruction from the automatic driving control unit 13, the information presenting unit 15 presents the driver with a decrease in arousal level via, for example, a monitor or a speaker.

Next, a vehicle operation control method according to the first embodiment will be described with reference to FIG. Note that the automatic operation mode is initially set.
First, after the awakening level acquisition unit 12 initializes the awakening level (S1), the awakening level is calculated (S3) and notified to the automatic driving control unit 13. Since the arousal level acquisition unit 12 calculates the arousal level using at least one of the image obtained by the camera of FIG. 1 and the biometric signal obtained by the biometric sensor attached to the driver, the level of the driver's arousal is indicated. Awakening level can be acquired.

The automatic driving control unit 13 compares the arousal level with the threshold value A (S5). If the threshold value A is equal to or greater than the threshold value A, the process returns to step S3.
In step S7, the automatic driving control unit 13 compares the arousal level with a second threshold value (hereinafter referred to as threshold value B) lower than the threshold value A (S7). If the threshold value is equal to or higher than the threshold value B, the process proceeds to step S9. Proceed to S21.

In step S9, the automatic operation control unit 13 instructs the vehicle control unit 11 to cancel the automatic travel control and switch to the manual operation mode (S9).
For example, the automatic operation control unit 13 determines whether or not the operation mode can be safely switched to the manual operation mode based on the traveling state acquired by the traveling state acquisition unit 14, and gives an instruction if it is determined that the switching can be performed safely. . For example, an instruction is given while going straight, avoiding the time when the vehicle is traveling on a curve. In response to the instruction, the vehicle control unit 11 releases the automatic travel control and switches to the manual operation mode.

Subsequently, the awakening level acquisition unit 12 newly calculates the awakening level (S11) and notifies the automatic driving control unit 13 of it.
The automatic driving control unit 13 compares the arousal level with the threshold value A (S13), and if it is less than the threshold value A, the process proceeds to step S17.
If the threshold value A is equal to or greater than the threshold A, the automatic operation control unit 13 switches the manual operation mode to the automatic operation switchable mode (S14), and waits for the driver to switch to the automatic operation mode (S15: NO). When the driver performs a switching operation according to his / her own intention (S15: YES), the process proceeds to step S16.

In step S16, the automatic driving control unit 13 instructs the vehicle control unit 11 to switch to the automatic driving mode (S15), and returns to step S3. In response to an instruction from the automatic driving control unit 13, the vehicle control unit 11 switches to the automatic driving mode.
For example, the automatic operation control unit 13 gives an instruction if it is determined that the automatic operation mode can be safely switched to the automatic operation mode, similarly to the switching to the manual operation mode.

  In step S17, the automatic driving control unit 13 compares the arousal level with the threshold B (S17). If the threshold is greater than or equal to the threshold B, the process returns to step S11, and if less than the threshold B, the process proceeds to step S21. For example, the wakefulness is less than the threshold B when the driver is asleep.

  In step S21, the automatic driving control unit 13 instructs the information presenting unit 15 to present a decrease in the arousal level to the driver (S21), and stops the traveling of the vehicle to the vehicle control unit 11. (S23) and the control is terminated. In response to an instruction from the automatic operation control unit 13, the information presentation unit 15 displays, for example, characters and images with a reduced arousal level on the monitor. The information presenting unit 15 generates, for example, a voice with a lowered arousal level from a speaker. Moreover, the vehicle control part 11 stops driving | running | working of a vehicle.

  As shown in FIG. 3, when the driver's arousal level decreases during the period of the automatic driving mode and becomes less than the threshold value A, the mode is switched to the manual driving mode. When the manual operation is performed, the wakefulness level is increased and exceeds the threshold value A. If a switching operation is performed, the automatic operation mode is switched. In this way, automatic operation and manual operation are repeated alternately. If the awakening level does not increase even by manual driving and becomes less than the threshold value B, the vehicle stops running. For the driver, a decrease in arousal level is presented.

As described above, in the present embodiment, the manual operation is not maintained, and the automatic operation and the manual operation are alternately repeated. Therefore, even when the driver's arousal level is lowered, the execution time of the automatic operation can be extended.
In addition, switching to the automatic driving mode by switching operation at the driver's will, not forcedly, can prevent the driver's feelings agitation due to sudden switching to the automatic driving mode, and can improve safety .

  Further, since it is determined whether or not the mode can be switched safely based on the traveling state of the vehicle, and if it is determined that the mode can be switched safely, the mode is switched. Therefore, the safety in switching the mode can be improved.

  In addition, if the awakening level in the manual operation mode is equal to or higher than the threshold A, the mode is switched to the automatic operation switchable mode, so that the automatic operation and the manual operation are surely alternately generated by adjusting the threshold A. Can be adjusted.

  In addition, if the awakening level in the manual driving mode is less than the second threshold B, which is lower than the threshold A, the information presenting unit 15 presents a decrease in the awakening level to the driver, and the vehicle control unit 11 If it becomes like this, since driving | running | working of a vehicle is stopped, it can prevent beforehand that a danger arises by performing manual driving | running in the state where arousal level is very low.

  Next, a vehicle operation control method according to the second embodiment will be described with reference to FIG. Here, differences from the first embodiment will be described, the same reference numerals are used for the same processes, and descriptions thereof are omitted.

  In step S9, the automatic operation control unit 13 instructs the vehicle control unit 11 to switch to the manual operation mode. When the automatic operation control unit 13 switches to the manual operation mode, the automatic operation control unit 13 starts measuring the elapsed time after switching to the manual operation mode. (S31).

Next, the automatic operation control unit 13 proceeds to step S14 if the elapsed time is equal to or longer than a predetermined length of time (hereinafter referred to as a designated time C) (S33: C or more).
On the other hand, if the elapsed time is less than the specified time C (S33: less than C), the awakening level acquisition unit 12 newly calculates the awakening level (S35) and notifies the automatic driving control unit 13 of it.

The automatic driving control unit 13 compares the arousal level with the threshold value B (S17). If the threshold value is equal to or greater than the threshold value B, the process returns to step S31.
About others, it is the same as Example 1.

  In Example 2, the elapsed time after switching to the manual operation mode is measured, and if the elapsed time becomes equal to or longer than a predetermined time (designated time C), the mode is switched to the automatic operation switchable mode, so the designated time C is adjusted. By doing so, it is possible to adjust so that automatic operation and manual operation occur alternately.

  Next, a vehicle operation control method according to the third embodiment will be described with reference to FIG. Here, differences from the second embodiment will be described, and the same processes are denoted by the same reference numerals and description thereof is omitted.

In step S37, the automatic driving control unit 13 compares the arousal level (calculated in step S35) with the threshold value A (S37). If the threshold value A is greater than or equal to the threshold value A, the process proceeds to step S14.
About others, it is the same as Example 2.

  In the third embodiment, when the awakening level is equal to or higher than the threshold A or when the elapsed time is equal to or longer than a predetermined time C, the mode is switched to the automatic driving switchable mode. Therefore, automatic driving and manual driving are alternately performed. Adjustment for generation can be performed with the threshold A and the specified time C, and adjustment can be facilitated.

  Although the embodiments of the present invention have been described as described above, it should not be understood that the descriptions and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

DESCRIPTION OF SYMBOLS 1 Vehicle operation control apparatus 11 Vehicle control part 12 Arousal degree acquisition part 13 Automatic driving control part 14 Running condition acquisition part 15 Information presentation part

Claims (7)

A vehicle control unit that performs automatic traveling control for automatically traveling the vehicle;
An awakening level acquisition unit for acquiring an awakening level of a driver of the vehicle;
An automatic operation control unit,
The automatic operation control unit is
If the awakening level in the automatic driving mode for performing the automatic driving control is less than a predetermined threshold, the automatic driving control is canceled, and the driver can perform manual driving from the automatic driving mode. Switch to manual operation mode,
If the conditions for switching to automatic operation switchable mode switching is enabled to automatic operation mode by switching operation of the driver is satisfied, the switching from the manual operation mode to the automatic operation switchable mode,
If the switching operation is performed by the driver, the vehicle driving control device switches from the automatic driving switchable mode to the automatic driving mode. A traveling state acquisition unit for acquiring the traveling state of the vehicle;
The automatic driving control part, based on the running state, it is judged whether or not is securely switched to the automatic operation mode or the manual operation mode, which switching if it is determined that is safely switched,
In switching to the manual operation mode, if it is determined that the awakening level in the automatic operation mode for performing the automatic driving control is less than a predetermined threshold and can be switched safely, the mode is switched to the manual operation mode,
2. The vehicle driving control device according to claim 1 , wherein, in the switching to the automatic driving mode, when it is determined that the switching operation is performed by the driver and the switching is performed safely, the vehicle driving control device is switched to the automatic driving mode. . The vehicle driving control device according to claim 1, wherein the automatic driving control unit switches to the automatic driving switching enabled mode when the awakening level in the manual driving mode is equal to or greater than the threshold value. The automatic operation control unit measures an elapsed time after switching to the manual operation mode, and switches to the automatic operation switchable mode when the elapsed time is equal to or longer than a predetermined time. The vehicle operation control apparatus according to 1 or 2. When the awakening level in the manual driving mode is less than a second threshold lower than the threshold, an information presenting unit that presents a decrease in the awakening level to the driver,
The said automatic driving | operation control part stops the driving | running | working of the said vehicle, when the arousal level in the said manual driving mode becomes less than the said 2nd threshold value. Vehicle operation control device. The arousal level acquisition unit calculates the arousal level using at least one of an image obtained by a camera that captures the driver and a biological signal obtained by a biological sensor attached to the driver. The vehicle operation control device according to any one of claims 1 to 5. Get the driver's arousal level in the automatic driving mode that automatically drives the vehicle,
If the awakening level is less than a predetermined threshold, switch from the automatic driving mode to a manual driving mode that enables manual driving by the driver,
If the conditions for switching to automatic operation switchable mode switching is enabled to automatic operation mode by switching operation of the driver is satisfied, the switching from the manual operation mode to the automatic operation switchable mode,
When the driver performs a switching operation, the vehicle driving control method is characterized by switching from the automatic driving switchable mode to the automatic driving mode.

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