JPWO2018220707A1 - Vehicle control apparatus and vehicle control method - Google Patents

Abstract

The determination unit (2) determines the distance between the target object and the control vehicle expected in the driving condition of the control vehicle. The comparison unit (3) compares the distance between the object and the controlled vehicle with the allowable lower limit value based on the driver's subjective evaluation registered in the DB (4). The determination unit (5) determines the control content to make the distance equal to or more than the allowable lower limit value when the distance is less than the allowable lower limit value. The control unit (6) generates and outputs vehicle control information for controlling the control vehicle with the control content determined by the determination unit (5).

Description

  The present invention relates to a vehicle control apparatus and a vehicle control method for automatically driving a vehicle.

  In recent years, an automatic driving technology for automatically driving a vehicle has been realized regardless of the driver's driving operation. For example, the vehicle control device described in Patent Document 1 exists in the traveling direction of the vehicle, and in the traveling direction of the vehicle, and the first inter-vehicle distance from the preceding vehicle traveling at a slower speed than the vehicle. The second inter-vehicle distance and the second inter-vehicle distance are estimated to be equal to each other by acquiring the second inter-vehicle distance from the rear vehicle traveling at a speed higher than that of the vehicle, The target vehicle speed of the vehicle is set so that the value of the distance between the two vehicles becomes equal to or more than the allowable value, and the vehicle speed control is performed so that the vehicle travels at the target vehicle speed.

  The tolerance value is determined by the degree of anxiety degree according to the driver's degree of anxiety factor. Uncertainty factors include vehicle width, road shape, and road width. For example, when the vehicle width of the front vehicle and the rear vehicle is wider, the degree of anxiety and feeling felt by the driver in a situation where the vehicle is pinched by the front vehicle and the rear vehicle is considered to increase Set to An anxiety degree point is set for each of the plurality of anxiety degree factors, and the allowable value is determined according to a value obtained by adding up the anxiety degree points.

JP, 2014-151838, A

  However, since the degree of anxiety described in Patent Document 1 is set for an anxiety factor unrelated to the driver, it is not taken into consideration whether the driver actually feels anxiety. For this reason, there is a tendency that deviation occurs between the vehicle speed that the driver can tolerate and the target vehicle speed set from the anxiety level, and the driver often feels uneasy even when the vehicle is run at the target vehicle speed. is expected.

  This invention solves the said subject, and it aims at obtaining the vehicle control apparatus which can perform vehicle control based on a driver | operator's emotion, and a vehicle control method.

  A vehicle control device according to the present invention includes a determination unit, a database, a comparison unit, a determination unit, and a control unit. The determination unit determines the distance between the target object predicted in the driving situation of the control vehicle and the control vehicle. In the database in which the comparison lower limit value based on the subjective evaluation of the driver regarding the distance between the object and the control vehicle determined by the determination unit is registered in the database for each driving situation Compare with the corresponding lower limit of the operating situation. When the determination unit determines that the distance between the object and the control vehicle is less than the allowable lower limit by the comparison unit, the control unit determines control content to make the distance between the object and the control vehicle equal to or larger than the allowable lower limit. The control unit generates and outputs vehicle control information for controlling the control vehicle with the control content determined by the determination unit.

  According to the present invention, since the allowable lower limit value regarding the distance between the target object and the controlled vehicle predicted in the driving situation of the controlled vehicle is a value based on the driver's subjective evaluation, the vehicle control based on the driver's emotion It can be performed.

It is a block diagram which shows the function structure of the vehicle control apparatus which concerns on Embodiment 1 of this invention. FIG. 2A is a block diagram showing a hardware configuration for realizing the function of the vehicle control device according to the first embodiment. FIG. 2B is a block diagram showing a hardware configuration that executes software that implements the functions of the vehicle control device according to the first embodiment. 3 is a flowchart showing a vehicle control method according to Embodiment 1; It is a figure which shows the example (right turn) of the driving condition of a control vehicle. It is a figure which shows the example (back parking) of the driving | running condition of a control vehicle. It is a figure which shows the example (the avoidance of a front parking vehicle) of the driving | running condition of a control vehicle. It is a graph which shows the driver's subjective-evaluation result with respect to the driving condition of FIG. It is a graph which shows the driver's subjective-evaluation result with respect to the driving condition of FIG. It is a graph which shows the driver's subjective-evaluation result with respect to the driving condition of FIG.

Hereinafter, in order to explain the present invention in more detail, embodiments for carrying out the present invention will be described according to the attached drawings.
Embodiment 1
FIG. 1 is a block diagram showing a functional configuration of a vehicle control device 1 according to Embodiment 1 of the present invention. The vehicle control device 1 generates vehicle control information for performing automatic driving of the controlled vehicle, and outputs the generated vehicle control information to a driving control device (not shown). The operation control device receives the vehicle control information output from the vehicle control device 1 and performs automatic operation control of the controlled vehicle according to the control content included in the vehicle control information. For example, the drive control device performs forward and reverse travel of the vehicle, steering wheel operation, brake operation, and blinker control.

The control vehicle is provided with a sensor information source, a driving information source and an environmental information source.
The sensor information source is, for example, an on-board sensor mounted on a control vehicle and provides sensor information. The sensor information is vehicle peripheral information indicating the position of an object present around the vehicle, the moving speed of the object, and the state of the road, which are detected by the on-vehicle sensor.
Further, the objects include obstacles, vehicles, pedestrians and features existing around the vehicle.

The driving information source includes, for example, the driving control device and the in-vehicle device to provide the driving information. The driving information is information related to driving of the vehicle, such as position information of the vehicle, speed information of the vehicle, steering information of the vehicle, and travel route information of the vehicle.
The environmental information source comprises, for example, an in-vehicle device and a wireless communication device to provide environmental information. The environmental information is information indicating the environment in which the vehicle is placed, such as the shape of the road on which the vehicle travels, the weather around the vehicle, and the attribute information of the driver. The driver's attribute information includes the driver's age, sex and driving skill.

The vehicle control device 1 includes a determination unit 2, a comparison unit 3, a database (hereinafter, referred to as a DB) 4, a determination unit 5, and a control unit 6.
The determination unit 2 determines, based on the sensor information, the driving information, and the environmental information, the distance between the control vehicle and the target object predicted in the driving condition of the control vehicle and the driving condition of the control vehicle.
For example, on the basis of the sensor information, the driving information, and the environment information, the judging unit 2 states that “the control vehicle is going to join the main road from the side road at a speed of 50 km / h, and the rear vehicles are 60 km / h on the main road. Determine the driving situation of the controlled vehicle that is approaching the junction point by speed. Furthermore, the determination unit 2 determines that the distance between the rear vehicle and the control vehicle estimated at the merging point is 10 m based on the movement state of the rear vehicle, the movement state of the control vehicle, and the positional relationship between the rear vehicle and the control vehicle. It is determined that

  The comparison unit 3 compares the distance between the target object determined by the determination unit 2 and the control vehicle with the allowable lower limit value of the corresponding driving situation registered in the DB 4. For example, the comparison unit 3 sets the distance (10 m) between the rear vehicle and the control vehicle expected at the junction point to the allowable lower limit value associated with the driving condition of “junction from side road to trunk road” in DB4. Compare.

In the DB 4, an allowable lower limit value registered based on a driver's subjective evaluation regarding the distance between the object and the control vehicle is registered for each driving situation.
For example, when the driving condition of the controlled vehicle is "right turn" and the object is the center line of the road, in the subjective evaluation, when the distance between the center line in the corner and the controlled vehicle is changed, the driver actually Evaluate the degree of anxiety felt by points. When the driver feels that the centerline and the control vehicle are too close to each other at the corner and is unacceptable, the driver evaluates at a low point and feels that the distance between the centerline and the control vehicle at the corner is large enough to be acceptable. Evaluate with high points.

Each of a plurality of drivers who got on the same vehicle performs the same subjective evaluation about "right turn" which is the same driving condition, and points evaluated by a plurality of drivers in these evaluation results start to converge to high values Identify the distance statistically. The distance specified in this way is the allowable lower limit value of the operating condition of “right turn”.
Since the driver's subjective evaluation also changes depending on the speed of the controlled vehicle, the subjective evaluation is performed for each speed range of the controlled vehicle for the driving condition "right turn", and the allowable lower limit for each speed range of the controlled vehicle is registered in DB4. You may

In addition, when the driving condition of the controlled vehicle is "back parking" and the object is a parked vehicle adjacent to the parking area, in the subjective evaluation, the driving is performed when the distance between the parked vehicle and the controlled vehicle is changed. Assess the degree of anxiety that a person actually felt at a point. If the driver feels that the parked vehicle and the control vehicle are too close to be acceptable, the driver evaluates at a low point, and if the distance between the parked vehicle and the control vehicle feels that there is enough margin, the point is high Evaluate.
Each of a plurality of drivers who got on the same vehicle performs similar subjective evaluation about "back parking" which is the same driving situation, and points evaluated by a plurality of drivers in these evaluation results converge to high values. Identify the starting distance statistically. The distance specified in this way is the allowable lower limit value of the driving condition "back parking".

  Furthermore, when the driving condition of the control vehicle is "ahead parking vehicle avoidance" and the object is a front parking vehicle, in the subjective evaluation, the driver changes the distance between the front parking vehicle and the control vehicle. Evaluate the degree of anxiety that you actually felt with points. If the driver feels that the front parking vehicle and the control vehicle are too close to be acceptable, the driver evaluates at a low point and the distance between the front parking vehicle and the control vehicle feels that it is acceptable and acceptable. Evaluate at high points.

Each of a plurality of drivers who got on the same vehicle performs the same subjective evaluation on the "avoided front parking vehicle" which is the same driving condition, and the points evaluated by the plurality of drivers in these evaluation results are high values Statistically identify the distance at which convergence to The distance specified in this way is the allowable lower limit value of the driving situation of "avoiding forward parked vehicles".
The driver's subjective evaluation also changes depending on the speed of the controlled vehicle, so the driving situation "avoidance of forward parked vehicles" is evaluated subjectively for each speed range of the controlled vehicle, and the allowable lower limit for each speed range of the controlled vehicle May be registered in DB4.

The allowable lower limit value when the driver is on board and the allowable lower limit value when the driver is getting off may be registered in the DB 4.
The autonomous driving vehicle can automatically drive regardless of the presence or absence of a passenger. For example, it is possible to automatically drive only the control vehicle after the driver gets off.
Since the object is outside the vehicle, the driver can easily see the positional relationship between the object and the control vehicle in the outside of the vehicle than in the vehicle, and it becomes less likely to feel uneasy even if the object and the control vehicle approach.
For this reason, the allowable lower limit when the driver gets off becomes smaller than the allowable lower limit when the driver gets on the vehicle.
Therefore, even in the same driving situation, the allowable lower limit value when the driver is getting on and the allowable lower limit value when the driver is getting off are registered in the DB 4.
In this way, when determining the control content of the controlled vehicle, it is possible to use the allowable lower limit value according to the degree of anxiety felt by the driver in the actual state of automatic driving.

Further, the allowable lower limit value corresponding to each driver may be registered in the DB 4.
For example, the same driver who got on the same vehicle performs the subjective evaluation about the same driving situation multiple times, and specifies statistically the distance at which the point evaluated by the driver in these evaluation results starts to converge to a high value The specified distance is taken as the allowable lower limit value corresponding to the driver.
By registering the allowable lower limit corresponding to each driver in DB 4, when determining the control content of the controlled vehicle, the allowable lower limit corresponding to the driver who is actually in the vehicle can be used. .

  When it is determined by the comparison unit 3 that the distance between the object and the control vehicle is less than the allowable lower limit, the determination unit 5 determines control content to make the distance between the object and the control vehicle equal to or larger than the allowable lower limit. . For example, when the driving condition is "right turn" and the distance between the center line and the control vehicle is less than the allowable lower limit at the road corner, the determination unit 5 determines that the distance between the center line and the control vehicle at the road corner is the allowable lower limit. Determine the content of the steering control that exceeds the value.

The control unit 6 generates vehicle control information for controlling the control vehicle based on the control content determined by the determination unit 5 and outputs the vehicle control information to the operation control device.
For example, the control unit 6 determines control parameters for realizing the steering control content determined by the determination unit 5, generates vehicle control information including the determined control parameters, and outputs the vehicle control information to the operation control device. The operation control device receives the vehicle control information output from the control unit 6 and performs automatic operation control of the controlled vehicle in accordance with control parameters included in the vehicle control information.

FIG. 2A is a block diagram showing a hardware configuration for realizing the function of the vehicle control device 1. In FIG. 2A, the information input interface 100, the information output interface 101, the DB input / output interface 102, and the processing circuit 103 are connected to each other by signal lines. FIG. 2B is a block diagram showing a hardware configuration that executes software for realizing the functions of the vehicle control device 1. In FIG. 2B, the information input interface 100, the information output interface 101, the DB input / output interface 102, the processor 104, and the memory 105 are connected to one another by signal lines.
The information registered in the DB 4 is input to the comparison unit 3 through the DB input / output interface 102.

The sensor information, the driving information, and the environment information are input to the determination unit 2 through the information input interface 100. Further, vehicle control information generated by the control unit 6 is output from the vehicle control device 1 to the operation control device (not shown) through the information output interface 101.
The DB 4 may be provided in the storage device provided in the vehicle control device 1, but may be provided in the internal memory provided in the processing circuit 103 shown in FIG. 2A, or may be provided in the memory 105 shown in FIG.

  Each function of the determination unit 2, the comparison unit 3, the determination unit 5, and the control unit 6 in the vehicle control device 1 is realized by a processing circuit. That is, the vehicle control device 1 includes a processing circuit for executing the processing from step ST1 to step ST5 shown in FIG. The processing circuit may be dedicated hardware or a CPU (Central Processing Unit) that executes a program stored in a memory.

When the processing circuit is dedicated hardware shown in FIG. 2A, the processing circuit 103 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), an FPGA (FPGA) Field-Programmable Gate Array) or a combination thereof is applicable.
The respective functions of the determination unit 2, the comparison unit 3, the determination unit 5, and the control unit 6 may be realized by separate processing circuits, or these functions may be realized collectively by one processing circuit.

When the processing circuit is the processor 104 shown in FIG. 2B, each function of the determination unit 2, the comparison unit 3, the determination unit 5, and the control unit 6 is realized by software, firmware or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 105.
The processor 104 implements the respective functions of the determination unit 2, the comparison unit 3, the determination unit 5, and the control unit 6 by reading and executing the program stored in the memory 105.
That is, the vehicle control device 1 includes the memory 105 for storing a program that is to be executed as a result of the processing from step ST1 to step ST5 shown in FIG. 3 when executed by the processor 104. These programs cause the computer to execute the procedures or methods of the determination unit 2, the comparison unit 3, the determination unit 5, and the control unit 6.

  The memory 105 is, for example, a nonvolatile or volatile semiconductor memory such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), or an EEPROM (electrically-EPROM). A magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, etc. correspond.

  The respective functions of the determination unit 2, the comparison unit 3, the determination unit 5 and the control unit 6 may be partially realized by dedicated hardware and partially realized by software or firmware. For example, the function of the determination unit 2 and the comparison unit 3 is realized by a processing circuit as dedicated hardware, and the processor 104 reads a program stored in the memory 105 for the determination unit 5 and the control unit 6. The function may be realized by execution. Thus, the processing circuit can implement each of the above functions by hardware, software, firmware, or a combination thereof.

Next, the operation will be described.
FIG. 3 is a flowchart showing a vehicle control method according to the first embodiment.
The determination unit 2 acquires sensor information from the sensor information source among the sensor information source, the driving information source, and the environmental information source mounted on the control vehicle, acquires the driving information from the driving information source, and acquires the environmental information source. Get environmental information from The determination unit 2 determines the distance between the control vehicle and an object predicted in the driving condition of the control vehicle and the driving condition of the control vehicle based on the sensor information, the driving information, and the environment information (step ST1).

FIG. 4 is a view showing an example (right turn) of the driving condition of the control vehicle 200. As shown in FIG.
When the control vehicle 200 is in the driving condition shown in FIG. 4, the determination unit 2 determines the driving condition of “right turn” based on the sensor information, the driving information, and the environment information. Furthermore, the determination unit 2 determines the centerline a expected at the corner and the control vehicle 200 based on the detection information of the centerline a, the movement state of the control vehicle 200, and the positional relationship between the centerline a and the control vehicle 200. And the distance A between

FIG. 5 is a diagram showing an example (back parking) of the driving condition of the control vehicle 200. As shown in FIG.
When the control vehicle 200 is in the driving condition shown in FIG. 5, the determining unit 2 determines the driving condition “back parking” based on the sensor information, the driving information, and the environment information. Further, the determination unit 2 determines the distance B between the minimum parked vehicle 201 and the control vehicle 200 expected in back parking based on the movement state of the control vehicle 200 and the positional relationship between the parked vehicle 201 and the control vehicle 200. Do.

FIG. 6 is a diagram showing an example of the driving condition of the control vehicle 200 (avoidance of a front parking vehicle).
When the control vehicle 200 is in the driving condition shown in FIG. 6, the determination unit 2 determines the driving condition of “ahead parking vehicle avoidance” based on the sensor information, the driving information, and the environmental information.
Further, the determination unit 2 may estimate the position of the front parking vehicle 202 closest to the front parking vehicle 202 based on the movement state of the control vehicle 200 and the positional relationship between the front parking vehicle 202 and the control vehicle 200. A distance C to the control vehicle 200 is determined.

Next, the comparison unit 3 compares the distance between the target object determined by the determination unit 2 and the control vehicle with the allowable lower limit value of the corresponding driving situation registered in the DB 4 to determine the distance between the object and the control vehicle It is determined whether or not the value is equal to or more than the allowable lower limit (step ST2).
In step ST2, the comparison unit 3 searches the DB 4 based on the driving situation of the control vehicle 200 determined by the determination unit 2, reads out the allowable lower limit corresponding to the driving situation, and determines the distance between the object and the control vehicle. Compare.

For example, the allowable lower limit value corresponding to the driving situation shown in FIG. 4 is obtained based on the subjective evaluation result shown in FIG. The graph of FIG. 7 is a graph in which each of a plurality of drivers performs a subjective evaluation on the driving condition of “right turn” and plots the evaluation results.
The tolerance represents a degree of anxiety actually felt by the driver as a point indicating whether or not the driving situation can be tolerated. Higher tolerance points indicate that the driver is not anxious about the driving situation.
As shown in FIG. 7, the tolerance increases as the distance A between the center line a and the control vehicle 200 increases. Since the tolerance starts to converge at five points or more, the distance A corresponding to the five point tolerance is specified as the lower limit of the driving condition “right turn”.

The autonomous driving vehicle can also automatically drive, for example, from a parking lot at a remote place to the front of the house when the driver is not boarding.
When the control vehicle 200 is turned to the right by automatic driving, the driver can easily visually recognize the positional relationship between the center line a and the control vehicle 200 in the corner, and the center line a and the control vehicle 200 Even if it approaches, it becomes difficult to feel anxiety.

In FIG. 7, a curve c1 is a subjective evaluation result of “right turn” performed by the control vehicle 200 on which the driver is riding, and a curve c2 is a row on the control vehicle 200 from which the driver is getting off. It is a subjective evaluation result about the "right turn".
Curves c1 and c2 are lower than the allowable lower limit value THin when the driver turns the controlled vehicle 200 on the right than the allowable lower limit value TH _in when the driver turns the control vehicle 200 on the right side. It shows that TH _out is smaller. Therefore, the allowable lower limit value TH _in and the allowable lower limit value TH _out are registered in the DB 4 for the operating condition “right turn”.

For example, the allowable lower limit corresponding to the driving situation shown in FIG. 5 is obtained based on the subjective evaluation result shown in FIG. The graph in FIG. 8 is a graph in which the evaluation results are plotted by subjecting the plurality of drivers to a subjective evaluation on the driving condition of “back parking”.
As shown in FIG. 8, the tolerance increases as the distance B between the parked vehicle 201 and the control vehicle 200 increases. Since the tolerance starts to converge at five points or more, the distance B corresponding to the five point tolerance is specified as the lower limit of the driving condition "back parking".

When the control vehicle 200 is back-parked by automatic driving, the driver can easily visually recognize the positional relationship between the parked vehicle 201 and the control vehicle 200 in the outside of the vehicle than in the vehicle, and the parked vehicle 201 and the control vehicle 200 Even if it approaches, it becomes difficult to feel anxiety.
In FIG. 8, a curve c3 is a subjective evaluation result of "back parking" performed by the control vehicle 200 on which the driver is riding, and a curve c4 is a control vehicle 200 on which the driver is getting off. It is a subjective evaluation result about "back parking" performed.
The curve c3 and the curve c4 are lower than the allowable lower limit value TH _in when the driver is carrying the controlled vehicle 200 in the back parking, and the allowable lower limit when the driver is parked in the automatic driving when the driver is getting off It shows that the value TH _out decreases. Therefore, the allowable lower limit value TH _in and the allowable lower limit value TH _out are registered in the DB 4 for the driving condition “back parking”.

  For example, the allowable lower limit value corresponding to the driving situation shown in FIG. 6 is obtained based on the subjective evaluation result shown in FIG. The graph of FIG. 9 is a graph in which each of a plurality of drivers performs a subjective evaluation on the driving situation of "ahead parking vehicle avoidance" and the evaluation results are plotted. As shown in FIG. 9, the tolerance increases as the distance C between the front parking vehicle 202 and the control vehicle 200 increases. Since the tolerance starts to converge at 5 points or more, the distance C corresponding to the 5 point tolerance is specified as the lower limit of the driving condition "avoid parking vehicles ahead".

When making the control vehicle 200 avoid the front parking vehicle 202 by automatic driving, the driver can more easily visually recognize the positional relationship between the front parking vehicle 202 and the control vehicle 200 than the inside of the vehicle, and the front parking vehicle Even if 202 and the control vehicle 200 approach, it becomes difficult to feel anxiety.
In FIG. 9, a curve c5 is a result of subjective evaluation on "avoidance of a front parking vehicle" performed by the control vehicle 200 on which the driver is riding, and a curve c6 is a control on which the driver is getting off It is a subjective evaluation result about "avoidance of a front parking vehicle" performed by the vehicle 200. FIG.
In the curves c5 and c6, the allowable lower limit value TH _out when the driver gets off the controlled vehicle 200 is smaller than the allowable lower limit value TH _in when the driver is in the controlled vehicle 200. Is shown. Therefore, the allowable lower limit value TH _in and the allowable lower limit value TH _out are registered in the DB 4 with respect to the driving condition “avoiding of the front parking vehicle”.

If it is determined that the distance between the object and the control vehicle 200 is equal to or greater than the allowable lower limit (step ST2: YES), the process returns to step ST1 to repeat the above-described processing.
When it is determined that the distance between the object and the control vehicle 200 is less than the allowable lower limit (step ST2; NO), the control unit 5 controls the distance between the object and the control vehicle 200 to be equal to or larger than the allowable lower limit. The content is determined (step ST3).
For example, when the driving condition is “right turn”, the determination unit 5 determines the content of steering control in which the distance A between the center line a expected at the corner and the control vehicle 200 is equal to or more than the allowable lower limit.
When the driving condition is “back parking”, the determination unit 5 determines the content of steering control in which the distance B at which the parked vehicle 201 and the control vehicle 200 come closest to each other is equal to or larger than the allowable lower limit.
When the driving condition is "ahead parking vehicle avoidance", the determination unit 5 determines a steering control content in which the distance C at which the front parking vehicle 202 and the control vehicle 200 come closest to each other is equal to or larger than an allowable lower limit.

The control unit 6 generates vehicle control information for controlling the control vehicle based on the control content determined by the determination unit 5 and outputs the vehicle control information to the operation control device (step ST4).
For example, the control unit 6 determines vehicle control information including control parameters for achieving steering control content in which the distance A between the center line a at the corner and the control vehicle 200 is equal to or greater than the allowable lower limit. Are generated and output to the operation control device.
The operation control device receives the vehicle control information from the control unit 6 and makes the controlled vehicle 200 turn right by performing automatic operation control in accordance with the control parameters included in the vehicle control information.

The control unit 6 obtains control parameters for realizing the steering control content in which the distance B at which the parked vehicle 201 and the control vehicle 200 come closest to each other is equal to or more than the allowable lower limit, and generates vehicle control information including the obtained control parameters. Output to the operation control device.
The operation control device receives the vehicle control information from the control unit 6 and performs the automatic operation control according to the control parameter included in the vehicle control information to back park the control vehicle 200.

The control unit 6 determines control parameters for realizing the steering control content in which the distance C between the front parking vehicle 202 and the control vehicle 200 is equal to or larger than the allowable lower limit value, and generates vehicle control information including the determined control parameters. Output to the operation control device.
The operation control device receives the vehicle control information from the control unit 6 and causes the control vehicle 200 to avoid the front parking vehicle 202 by performing automatic operation control according to the control parameter included in the vehicle control information.

Determination unit 2 confirms whether or not the operation control of control vehicle 200 has ended based on the operation information (step ST5).
When the operation control of the control vehicle 200 ends (step ST5; YES), a series of processes shown in FIG. 3 end.
If the operation control of the control vehicle 200 has not ended (step ST5; NO), a series of processes shown in FIG. 3 are repeated until the operation control ends.

As described above, in the vehicle control device 1 according to the first embodiment, the determination unit 2 determines the distance between the target object predicted in the driving situation of the control vehicle and the control vehicle. The comparison unit 3 compares the distance between the object and the control vehicle with the allowable lower limit value based on the subjective evaluation of the driver. When it is determined that the distance between the object and the control vehicle is less than the allowable lower limit, the determination unit 5 determines control content to make the distance between the object and the control vehicle equal to or larger than the allowable lower limit. The control unit 6 generates and outputs vehicle control information for controlling the control vehicle with the control content determined by the determination unit 5.
By configuring in this manner, the allowable lower limit value regarding the distance between the target object and the controlled vehicle predicted in the driving situation of the controlled vehicle is a value based on the driver's subjective evaluation, and thus based on the driver's emotions. Vehicle control can be performed.
In addition, since automatic driving in which the driver does not feel anxious is possible is possible, it is possible to improve the receptivity of the autonomous driving vehicle to an occupant who is not used to the autonomous driving.
Furthermore, since the number of times the driver feels anxious about automatic driving and feels tired is reduced, it is possible to maintain the driving performance of the driver when switching from automatic driving to manual driving.

  Further, in the vehicle control device 1 according to the first embodiment, the allowable lower limit value when the driver is getting on and the allowable lower limit value when the driver is getting off are registered in the DB 4. The comparison unit 3 compares the distance between the target object and the control vehicle, which is predicted when the driver is riding, with the allowable lower limit value when the driver registered in the DB 4 is riding. The comparison unit 3 compares the distance between the object and the vehicle predicted when the driver is getting off with the allowable lower limit value when the driver registered in the DB 4 is getting out. By configuring in this way, it is possible to use an allowable lower limit value according to the degree of anxiety felt by the driver in the actual situation of automatic driving.

  Furthermore, in the vehicle control device 1 according to the first embodiment, the allowable lower limit value corresponding to each driver is registered in the DB 4. The comparison unit 3 compares the distance between the object and the vehicle with the corresponding driver's allowable lower limit registered in the DB 4. By configuring in this way, when determining the control content of the control vehicle, it is possible to use the allowable lower limit value according to the driver who is actually in the vehicle.

  In the scope of the invention, the present invention can modify any of the components of the embodiment or omit any of the components of the embodiment.

  The vehicle control device according to the present invention can perform vehicle control based on the driver's emotion, and thus can be used for an autonomous driving vehicle.

  DESCRIPTION OF SYMBOLS 1 vehicle control apparatus, 2 determination part, 3 comparison part, 4 DB (database), 5 determination part, 6 control part, 100 information input interface, 101 information output interface, 102 DB input / output interface, 103 processing circuit, 104 processor, 105 Memory, 200 Control Vehicle, 201 Parking Vehicle, 202 Forward Parking Vehicle.

A vehicle control device according to the present invention includes a determination unit, a database, a comparison unit, a determination unit, and a control unit. The determination unit determines the distance between the target object predicted in the driving situation of the control vehicle and the control vehicle. In the database in which the comparison lower limit value based on the subjective evaluation of the driver regarding the distance between the object and the control vehicle determined by the determination unit is registered in the database for each driving situation , Compare with the corresponding lower limit value of the driving situation. When the determination unit determines that the distance between the object and the control vehicle is less than the allowable lower limit by the comparison unit, the control unit determines control content to make the distance between the object and the control vehicle equal to or larger than the allowable lower limit. The control unit generates and outputs vehicle control information for controlling the control vehicle with the control content determined by the determination unit.
In this configuration, in the database, the allowable lower limit value when the driver is on board and the allowable lower limit value when the driver is getting off are registered, and the allowance when the driver is getting off is registered. The lower limit is smaller than when the driver is riding. The comparison unit compares the distance between the object predicted when the driver is riding and the control vehicle with the allowable lower limit value when the driver registered in the database is riding, and the driver The distance between the target object and the control vehicle predicted when getting off is compared with the allowable lower limit value when the driver registered in the database is getting off.

A vehicle control device according to the present invention includes a determination unit, a database, a comparison unit, a determination unit, and a control unit. The determination unit determines the distance between the target object predicted in the driving situation of the control vehicle and the control vehicle. The comparison unit determines the distance between the object determined by the determination unit and the control vehicle , the subjective evaluation of the driver on the control vehicle regarding the distance between the object and the control vehicle, and the driver getting out of the control vehicle The allowable lower limit value based on the subjective evaluation of and is compared with the allowable lower limit value of the corresponding driving situation in the database registered for each driving situation. When the determination unit determines that the distance between the object and the control vehicle is less than the allowable lower limit by the comparison unit, the control unit determines control content to make the distance between the object and the control vehicle equal to or larger than the allowable lower limit. The control unit generates and outputs vehicle control information for controlling the control vehicle with the control content determined by the determination unit. In this configuration, in the database, the allowable lower limit value when the driver is on board and the allowable lower limit value when the driver is getting off are registered, and the allowance when the driver is getting off is registered. The lower limit is smaller than when the driver is riding. The comparison unit compares the distance between the object predicted when the driver is riding and the control vehicle with the allowable lower limit value when the driver registered in the database is riding, and the driver The distance between the target object and the control vehicle predicted when getting off is compared with the allowable lower limit value when the driver registered in the database is getting off.

Claims (4)

A determination unit that determines a distance between an object predicted in a driving condition of the controlled vehicle and the controlled vehicle;
The database in which the permissible lower limit based on the driver's subjective evaluation regarding the distance between the object and the control vehicle is registered for each driving situation,
A comparison unit which compares the distance between the target object determined by the determination unit and the controlled vehicle with the allowable lower limit value of the corresponding driving situation registered in the database;
A determination unit that determines control content to make the distance between the object and the control vehicle equal to or more than the allowable lower limit when the comparison unit determines that the distance between the object and the control vehicle is less than the allowable lower limit; ,
And a control unit that generates and outputs vehicle control information for controlling a control vehicle based on the control content determined by the determination unit. In the database, the allowable lower limit value when the driver is riding and the allowable lower limit value when the driver is getting off are registered.
The comparison unit compares the distance between the target object predicted when the driver is riding and the control vehicle with the allowable lower limit value when the driver registered in the database is riding. The distance between the object predicted when the driver is getting off and the control vehicle is compared with the allowable lower limit value when the driver registered in the database is getting out. The vehicle control apparatus of claim 1. The allowable lower limit value corresponding to each driver is registered in the database,
The vehicle control device according to claim 1, wherein the comparison unit compares the distance between the object and the control vehicle with the allowable lower limit value of the corresponding driver registered in the database. The determination unit determines a distance between an object to be predicted in a driving condition of the control vehicle and the control vehicle;
Database in which the comparison lower limit value based on the driver's subjective evaluation regarding the distance between the target object and the control vehicle determined by the determination part is the distance between the target object and the control vehicle for each driving situation Comparing with said permissible lower limit value of the corresponding driving situation in
When the determination unit determines that the distance between the object and the controlled vehicle is less than the allowable lower limit by the comparison unit, the control unit determines the control content to make the distance between the object and the controlled vehicle equal to or larger than the allowable lower limit Step to
A control unit generates and outputs vehicle control information for controlling a control vehicle with the control content determined by the determination unit.

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