JP6701771B2 - Automatic operation control device - Google Patents

Description

  The present invention relates to an automatic driving control device for a vehicle such as an automobile, and particularly to a technical field of switching from automatic driving to manual driving.

  As a device of this type, for example, when the vehicle is traveling on a road by automatic driving, when the time comes to switch to manual driving, the driver is informed of switching the driving mode, and steering override is detected. Under such a condition, a device that switches the operation mode from the automatic operation mode to the manual operation mode has been proposed (see Patent Document 1).

JP, 2000-276690, A

  In the technique described in Patent Document 1, even when the driver unintentionally operates the steering wheel (hereinafter, appropriately referred to as “steering wheel”), the driving mode may be switched from the automatic driving mode to the manual driving mode. There is a technical problem that there is.

  The present invention has been made in view of the above problems, and it is an object of the present invention to provide an automatic driving control device capable of preventing switching of the driving mode from the automatic driving mode not intended by the driver to the manual driving mode. And

In order to solve the above problems, an automatic driving control device of the present invention is an automatic driving mode by an automatic driving controller capable of controlling the vehicle so that the vehicle automatically travels, and a manual driving mode by a driver of the vehicle. An automatic driving control device configured to be able to switch between, and an in-vehicle camera that captures an image of the driver, a storage unit that stores a driving posture image indicating a driving posture suitable for driving the vehicle that serves as a reference, In the automatic driving mode, a detection unit that detects an override operation of the driver, a driver posture that is the posture of the driver in an image captured by the in-vehicle camera, and a vehicle posture indicated by the driving posture image A determination means for comparing the driving posture suitable for driving with the driving posture suitable for driving the vehicle, and (i) an overriding operation by the detecting means. If it is determined that the driver posture and the driving posture suitable for driving the vehicle are detected by the determination means, the switching from the automatic driving mode to the manual driving mode is permitted, and ii) In the case where the detecting unit detects the override operation and the determining unit determines that the driver posture does not match the driving posture suitable for driving the vehicle, the manual operation is performed from the automatic driving mode. And a permitting means for disabling the switching to the driving mode , wherein the automatic driving controller, if the permission means prohibits the switching from the automatic driving mode to the manual driving mode, The vehicle is controlled to evacuate .

  When the vehicle is traveling in the automatic driving mode, the override operation may be detected due to, for example, a driver who is sleeping while leaning against the steering wheel. By the way, it is considered that the driver's posture at this time largely deviates from the appropriate driving posture.

  Therefore, in the present invention, the posture of the driver imaged by the in-vehicle camera is compared with the reference driving posture. The switching from the automatic operation mode to the manual operation mode is permitted only when the override operation is detected in the automatic operation mode and the attitude of the driver matches the reference driving attitude.

  Therefore, according to the automatic driving control device of the present invention, even if an overriding operation is detected due to, for example, a drowsiness or sudden illness, or an erroneous operation, switching from the automatic driving mode not intended by the driver to the manual driving mode is performed. Can be prevented.

  The operation and other advantages of the present invention will be clarified from the modes for carrying out the invention described below.

It is a block diagram which shows the principal part structure of the vehicle which concerns on embodiment. It is a flow chart which shows the driving mode switching judgment processing concerning an embodiment.

  An embodiment of an automatic driving control device of the present invention will be described with reference to the drawings. In the present embodiment, a process of determining whether or not to permit switching from the automatic operation mode to the manual operation mode will be mainly described.

(Vehicle configuration)
The configuration of the vehicle 1 in which the automatic driving control device 100 according to the embodiment is mounted will be described with reference to FIG. 1. FIG. 1 is a block diagram showing a main configuration of a vehicle according to the embodiment. Although only the engine is shown as the drive source in FIG. 1, the vehicle in which the automatic driving control device 100 is mounted may be a hybrid vehicle or an electric vehicle.

  In FIG. 1, the vehicle 1 includes an engine 31 (that is, a drive mechanism), a steering 32 (that is, a steering mechanism), a brake 33, and an HMI (Human Machine Interface) 34.

(Structure of automatic operation controller)
In FIG. 1, an automatic driving control device 100 includes an automatic driving controller 10, a camera 21 that captures at least a part of the outside of the vehicle 1, a radar 22, a LIDAR (Light Detection and Ranging) 23, and a vehicle 1. A driver state monitor 24 that monitors the state of the driver (hereinafter, appropriately referred to as “driver”) and a driver override detector 25 that detects an override operation by the driver are configured.

  The automatic driving controller 10 is, for example, an image captured by the camera 21, output information from the radar 22 and the LIDAR 23, and further output from various sensors such as a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, and a steering angle sensor. Based on the above, by controlling the engine 31, the steering 32, and the brake 33, respectively, the vehicle 1 can be automatically driven. A driving mode in which the automatic driving controller 10 causes the vehicle 1 to travel automatically is referred to as an "automatic driving mode".

  As a concept contrasted with this automatic driving mode, there is a “manual driving mode” in which the driver himself operates the vehicle 1. Since existing technology can be applied to the automatic operation mode, the detailed description thereof will be omitted.

  The driver state monitor 24 includes an in-vehicle camera 241 that captures an image of a passenger compartment of the vehicle 1 (in particular, a driver), and the driver state monitor 24 includes a storage unit 242 that stores a driving posture image indicating a reference driving posture in advance. Have Here, the driving posture image is an image simulating the appearance of the driver that would appear in the image captured by the in-vehicle camera 241 when the driver takes a reference driving posture (for example, an appropriate driving posture). means.

  Especially in the automatic driving mode, the driver state monitor 24 determines whether or not the posture of the driver in the image captured by the in-vehicle camera 241 and the reference driving posture indicated by the driving posture image match. The existing technology can be applied to the image processing (for example, pattern matching) related to this determination, and thus the detailed description thereof will be omitted. It should be noted that “match” is a concept including not only a perfect match but also a degree of practical match.

  The driver override detector 25 detects a driver's override operation (for example, steering wheel operation, stepping on an accelerator pedal or a brake pedal, etc.) in the automatic driving mode.

(Operation mode switching judgment)
Next, the operation mode switching determination process executed by the automatic driving control device 100 will be described with reference to the flowchart in FIG. The operation mode switching determination process described below is a process of determining switching from the automatic operation mode to the manual operation mode. The operation mode switching determination process is periodically executed while the vehicle 1 is traveling at predetermined time intervals.

  In FIG. 3, the automatic driving controller 10 determines whether or not the current driving mode is the automatic driving mode (step S101). If the result of this determination is that it is not in the automatic operation mode (step S101: No), the processing ends.

  On the other hand, as a result of the determination in step S101, when it is determined that the automatic driving mode is set (step S101: Yes), the automatic driving controller 10 determines whether the driver override detector 25 detects an override operation. (Step S102). As a result of this determination, when it is determined that the override operation is not detected (step S102: No), the process ends. In this case, the automatic operation mode is continued.

  On the other hand, as a result of the determination in step S102, when it is determined that the override operation is detected (step S102: Yes), the automatic driving controller 10 is imaged by the in-vehicle camera 241 based on the output from the driver state monitor 24. It is determined whether or not the posture of the driver in the captured image matches the reference driving posture indicated by the driving posture image (step S104).

  When it is determined as a result of the determination in step S104 that the driver's posture and the reference driving posture match (step S104: Yes), the automatic driving controller 10 permits switching from the automatic driving mode to the manual driving mode. (Step S106).

  On the other hand, as a result of the determination in step S104, when it is determined that the driver's posture does not match the reference driving posture (step S104: No), the automatic driving controller 10 shifts from the automatic driving mode to the manual driving mode. The switching to is prohibited (step S105). In this case, the automatic driving controller 10 may issue a warning to the driver via the HMI 34 or the like, for example.

(Technical effect)
In the automatic driving control apparatus 100 according to the present embodiment, the driver's override operation is detected, and the driver's posture in the image captured by the vehicle interior camera 241 matches the reference driving posture indicated by the driving posture image. Only when the driver operates the vehicle 1 appropriately (that is, the driver can appropriately operate the vehicle 1), the switching from the automatic operation mode to the manual operation mode is permitted.

  If the automatic operation mode is switched to the manual operation mode on the condition that the override operation is detected, the driver's body accidentally touches the steering wheel and the override operation is accidentally performed without the driver's awareness such as falling asleep. If it is detected, the automatic operation mode may be switched to the manual operation mode.

  However, in the present embodiment, not only the detection of the override operation but also the determination of whether or not the driver's posture matches the reference driving posture is permitted, and the switching from the automatic driving mode to the manual driving mode is permitted.

  Therefore, the automatic driving mode is not switched to the manual driving mode even though the driver is not in a state where the vehicle 1 can be driven. That is, according to the automatic driving control device 100, it is possible to prevent switching from the automatic driving mode which is not intended by the driver to the manual driving mode.

  The "automatic operation controller 10" according to the present embodiment is an example of the "automatic operation controller" and the "permission means" according to the present invention. The “driver state monitor 24” and the “driver override detector 25” according to the present embodiment are examples of the “determination means” and the “detection means” according to the present invention, respectively.

<Modification>
As a result of the determination in step S104 described above, when it is determined that the driver's posture does not match the reference driving posture (step S104: No), the automatic driving controller 10 shifts from the automatic driving mode to the manual driving mode. Alternatively, the vehicle 1 may be controlled so that the vehicle 1 is evacuated to a safe place.

  With this configuration, the safety of the driver can be ensured, and the vehicle 1 can be prevented from obstructing the traffic of other vehicles.

  The present invention is not limited to the above-described embodiments, but can be appropriately modified within the scope of the gist or idea of the invention that can be read from the claims and the entire specification, and automatic operation control involving such modifications The device is also included in the technical scope of the present invention.

  1... Vehicle, 10... Automatic driving controller, 21... Camera, 22... Radar, 23... LIDAR, 24... Driver status monitor, 25... Driver override detector, 31... Engine, 32... Steering, 33... Brake, 34... HMI, 241... In-vehicle camera, 242... Storage unit

Claims (1)

An automatic driving control device configured to be capable of switching an automatic driving mode by an automatic driving controller capable of controlling the vehicle so that the vehicle automatically travels, and a manual driving mode by a driver of the vehicle,
An in-vehicle camera that images the driver,
A storage unit for storing a driving posture image showing a driving posture suitable for driving the vehicle, which serves as a reference;
In the automatic driving mode, detection means for detecting the override operation of the driver,
The driver posture, which is the posture of the driver in the image captured by the in-vehicle camera, is compared with a driving posture suitable for driving the vehicle, which is indicated by the driving posture image, and the driver posture and the vehicle are compared. Determination means for determining whether or not the driving posture suitable for driving
(I) In the case where the detecting unit detects the override operation and the determining unit determines that the driver posture and the driving posture suitable for driving the vehicle match each other, the automatic operation mode is followed by the manual operation. Switching to the driving mode is permitted, (ii) the detecting unit detects the override operation, and the determining unit determines that the driver posture does not match the driving posture suitable for driving the vehicle. In the case of, the permission means for disallowing switching from the automatic operation mode to the manual operation mode,
Equipped with
The automatic driving controller controls the vehicle so that the vehicle retreats when the permission unit prohibits switching from the automatic driving mode to the manual driving mode.
An automatic operation control device characterized in that

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