CN110182212A - Controller of vehicle - Google Patents

Abstract

The present invention relates to a kind of controller of vehicle (10), come in the following manner implementing direction disk (120) relative movement control: relative to the 1st driving condition in 2 driving condition the position of direction of expansion disk (120) and driver (122) separating distance, relative to the 2nd driving condition in 3 driving condition the position of direction of expansion disk (120) and driver (122) separating distance.Steering wheel relatively moves control unit (82) according to the mode transition information from mode conversion process (80) come at least one party in drive control leaning device (110), telescoping mechanism (112), seat slide mechanism (114), seat reclining mechanism (116).Hereby it is possible to which it is mobile to suitable position to make the relative position of steering wheel according to automatic Pilot grade, such as manual operation request, override control and adapter tube can also be coped with.

Description

Controller of vehicle

Technical field

The present invention relates to a kind of at least semi-automatically to carry out the vehicle control that the traveling of this vehicle controls by automatic Pilot Device processed.

Background technique

In Japanese invention patent Publication special open 2016-168972, technical problems to be solved are to provide It is a kind of when can be adjusted to be suitble to respectively automatic Pilot and the steering position control device of seat position when manual drive.

In order to solve the technical problem, in Japanese invention patent Publication special open 2016-168972, control device Diverter position moving portion, seat position moving portion and pedal position moving portion are controlled according to position detection result.It is specific and Speech loosens to becoming than the 1st position in the case where being switched by automatic Pilot control unit from manual drive to automatic Pilot 2nd position of relaxed position is mobile, wherein the 1st position is the predetermined position for being suitble to the driving during manual drive It sets.It is mobile to the 1st position in the case where being switched by automatic Pilot control unit from automatic Pilot to manual drive.Accordingly, energy Consider traffic information enough accurately to determine whether to control by automatic Pilot and be travelled.

Summary of the invention

As described above, control device documented by Japanese invention patent Publication special open 2016-168972 is worked as from hand It is mobile from the 1st position to the 2nd position when dynamic driving is converted to automatic Pilot, when being converted from automatic Pilot to manual drive, from 2nd position is mobile to the 1st position.In this case, the case where there are multiple automatic Pilot grades can not be coped with.Such as exist In the case where multiple automatic Pilot grades, need to consider that whether there is or not (either with or without) manual operation (hands-on) requests (to driver Steering wheel hold request), until switching (handover) is driven that (override control (override) is taken over by driver (takeover)) time allowance etc. until, but such situation can not be coped with.

The present invention is to consider above-mentioned problem and complete, it is intended that providing one kind can be according to automatic Pilot etc. Grade makes the relative position of steering wheel be moved to suitable position, for example, can also cope with manual operation request, override control with And the controller of vehicle of adapter tube.

1st mode of the invention has extraneous identification mechanism and travel controlling system, wherein external world's identification mechanism quilt It is set to vehicle；The travel controlling system carries out vehicle control, the traveling according to the output of the extraneous identification mechanism Control device can control the 1st driving condition, the 2nd driving condition and the 3rd driving condition, wherein the 1st driving condition refers to It needs to carry out environment monitoring by driver and needs to be held the driving condition of steering wheel by the driver；Described 2nd drives shape State, which refers to, to be needed to be carried out environment monitoring by the driver and not to need the driving condition for holding steering wheel by the driver；Institute State the 3rd driving condition refer to do not need by the driver carry out environment monitoring and do not need by the driver hold steering wheel Driving condition, in the following manner come implement the steering wheel relative movement control: relative to the 1st driving condition Expand the position of the steering wheel and the separating distance of the driver when 2 driving condition, is driven relative to the described 2nd State and expand the position of the steering wheel and the separating distance of the driver in 3 driving condition.

In accordance with the invention it is possible to make the relative position of steering wheel to the movement of suitable position, example according to automatic Pilot grade Manual operation request, override control and adapter tube can also such as be coped with.

According to the explanation carried out referring to attached drawing to following implementation, above-mentioned objects, features and advantages should be easy to be managed Solution.

Detailed description of the invention

Fig. 1 is the block diagram for indicating to have the structure of this vehicle of controller of vehicle involved in present embodiment.

Fig. 2 is the block diagram of the structure for indicating traveling control processing unit and the relative moving mechanism of steering wheel.

Fig. 3 A is the explanatory diagram for indicating the inclination angle of the steering wheel under the 1st driving condition.

Fig. 3 B is the explanatory diagram for indicating the inclination angle of the steering wheel under the 2nd driving condition.

Fig. 3 C is the explanatory diagram for indicating the inclination angle of the steering wheel under the 3rd driving condition.

Fig. 4 A is the explanatory diagram for indicating the position of the steering wheel under the 1st driving condition.

Fig. 4 B is the explanatory diagram for indicating the position of the steering wheel under the 2nd driving condition.

Fig. 4 C is the explanatory diagram for indicating the position of the steering wheel under the 3rd driving condition.

Fig. 5 A is the explanatory diagram for indicating the position of the seat cushion (cushion seat) under the 1st driving condition.

Fig. 5 B is the explanatory diagram for indicating the position of the seat cushion under the 2nd driving condition.

Fig. 5 C is the explanatory diagram for indicating the position of the seat cushion under the 3rd driving condition.

Fig. 6 A is the explanatory diagram for indicating the position of the backrest under the 1st driving condition.

Fig. 6 B is the explanatory diagram for indicating the position of the backrest under the 2nd driving condition.

Fig. 6 C is the explanatory diagram for indicating the position of the backrest under the 3rd driving condition.

Fig. 7 is the flow chart for indicating the relative movement processing of the corresponding steering wheel of conversion with driving mode.

Fig. 8 is setting place for indicating the transfer time shifted from the 3rd driving condition or the 2nd driving condition to the 1st driving condition The flow chart of reason.

Fig. 9 is to indicate to be relatively moved the 1st particular procedure movement of control unit progress by steering wheel (relative movement of steering wheel stops Flow chart only).

Figure 10 is the 2nd particular procedure movement (the history note based on driver for indicating to be relatively moved control unit progress by steering wheel The processing of record) flow chart.

Figure 11 is to indicate to be relatively moved the 3rd particular procedure movement of control unit progress by steering wheel (based on usually transfer and specific The processing of transfer) flow chart.

Figure 12 is the 4th particular procedure movement (the opposite position based on steering wheel for indicating to be relatively moved control unit progress by steering wheel The processing for the forcibly changing set) flow chart.

Figure 13 is the process for indicating to execute the processing that control unit progress is relatively moved by steering wheel after the movement of the 4th particular procedure Figure.

Specific embodiment

In the following, on one side referring to Fig.1~Figure 13 while be directed at controller of vehicle according to the present invention embodiment example Son is illustrated.

Controller of vehicle 10 involved in present embodiment is assembled in this vehicle 100, and by automatic Pilot or Manual drive controls to carry out the traveling of vehicle.In this case, " automatic Pilot " is not only including fully automatically carrying out vehicle Traveling control " full-automatic driving ", further include semi-automatically carry out traveling control " semi-automatic driving " concept.

Controller of vehicle 10 is substantially made of input system device group, control system 12 and output system device group. The each device for constituting input system device group and output system device group is connected by communication line with control system 12.

Input system device group have extraneous sensor 14, communication device 16, navigation device 18, vehicle sensors 20, from The driver 122 in driver's seat is taken in the dynamic operation detection sensor 26 for driving switch 22, being connected to operation equipment 24 and detection State camera in car 28.

Output system device group includes driving force apparatus 30, drives wheel (not shown)；Steering gear 32, to this Wheel carries out steering；Brake apparatus 34 brakes the wheel；With informing device 36, mainly pass through vision and the sense of hearing To be informed to driver 122.

Extraneous sensor 14 obtains the information (hereinafter referred to as external information) for indicating the ambient conditions of vehicle, and by the external world Information is exported to control system 12.Specifically, extraneous sensor 14 be configured to include multiple cameras 38, multiple radars 40, Multiple LIDAR42 (Light Detection and Ranging；Light detection and ranging/Laser Imaging Detection and Ranging；Laser imaging detection and ranging).

Communication device 16 is configured to be led to roadside device, other vehicles and external device (ED) including server Letter, such as transmitting-receiving information related with transit equipment, information related with other vehicles, detection information or newest map letter Breath 44.The cartographic information 44 is stored in the regulation storage region of storage device 46, or is stored in navigation device 18.

Navigation device 18 is configured to include the satellite positioning device and user interface (example for being able to detect the current location of vehicle Such as, the display of touch-screen type, loudspeaker and microphone).Navigation device 18 is according to specified by the current location of vehicle or user Designated position, to calculate to the path of designated destination, and export to control system 12.It is calculated by navigation device 18 Path is stored in the regulation storage region of storage device 46 as predetermined run routing information 48.

Vehicle sensors 20 include the vehicle speed sensor of the travel speed V (speed) of detection this vehicle 100, detection acceleration Acceleration transducer, the lateral acceleration sensor, the angular speed that is rotated around vertical axis of detection that detect transverse acceleration (horizontal G) Yawrate sensor, detection direction and orientation aspect sensor and detect gradient inclination sensor, and will Detection signal from each sensor is exported to control system 12.These detection signals are stored in as this vehicle information 50 In the regulation storage region of storage device 46.

Automatic Pilot switch 22 is, for example, the button switch for being set to instrument board.Automatic Pilot switch 22 is configured to, and passes through The manual operation of user including driver 122 allows hand over a variety of driving modes.

Operation equipment 24 is configured to include accelerator pedal, steering wheel 120, brake pedal, gear lever and direction indicator control Bar processed.Operation detection sensor 26 is installed in operation equipment 24, which detects the presence of by driver 122 operations carried out and operating quantity, operating position.

Detection sensor 26 is operated by accelerator tread-on quantity (accelerator opening), steering wheel operation amount (steering amount), braking Device tread-on quantity, gear, left and right turn direction etc. are exported as testing result to vehicle control section 60.

Driving force apparatus 30 is by driving force ECU (electronic control unit；Electronic Control Unit) and including hair The driving source of motivation and/or drive motor is constituted.Driving force apparatus 30 is according to the vehicle control value inputted from vehicle control section 60 To generate the traveling driving force (torque) of vehicle, and traveling driving force by speed changer or is directly passed to wheel.

Steering gear 32 is made of EPS (electric boosting steering system) ECU and EPS device.Steering gear 32 is according to from vehicle The vehicle control value that control unit 60 inputs changes the direction of wheel (deflecting roller).

Brake apparatus 34 is, for example, and with the electrical servo brake of hydraulic brake, is held by brake ECU and braking Row device is constituted.Brake apparatus 34 brakes wheel according to the vehicle control value inputted from vehicle control section 60.

Informing device 36 is by informing that ECU, display device and audio device are constituted.Informing device 36 is according to from control system 12 The informing instruction of (specifically, aftermentioned mode conversion process 80) output, carries out related with automatic Pilot or manual drive Informing act (including aftermentioned TOR).

Here, setting are as follows: whenever pressing automatic Pilot switch 22, be successively switched to " the 1st driving mode " → " the 2nd drives Sail mode " → " the 3rd driving mode " → " the 2nd driving mode " → " the 1st driving mode ".

When selecting 1 driving mode, the control of this vehicle 100 is the 1st driving condition by control system 12, the described 1st It needs to carry out environment monitoring by driver 122 (referring to Fig. 3 A) under driving condition, and needs to hold steering wheel by driver 122 120.When selecting 2 driving mode, the control of this vehicle 100 is the 2nd driving condition by control system 12, is driven the described 2nd It needs to carry out environment monitoring by driver 122 under state, and does not need to hold steering wheel 120 by driver 122.When selection the 3rd When driving mode, control system 12 by this vehicle 100 control be the 3rd driving condition, do not needed under the 3rd driving condition by Driver 122 carries out environment monitoring, and does not need to hold steering wheel 120 by driver 122.

3rd driving mode, which refers to, does not carry out operation equipment 24 (specifically, accelerator pedal, steering wheel in driver 122 120 and brake pedal) operation in the state of, driving mode that this vehicle 100 travels under the control of the control system 12.Change speech It, the 3rd driving mode refers to that control system 12 comes driving force device 30, steering gear according to successively manufactured action plan 32 and brake apparatus 34 in some or all driving modes.

In addition, when driver 122 uses operation equipment 24 during executing the 3rd driving mode (the 3rd driving condition) When having carried out defined operation, the 3rd driving mode is automatically released, and the automation grade for being switched to driving is relatively low Driving mode (such as the 2nd driving mode or the 1st driving mode).In the following, also by driver 122 in order to from the 3rd drive mould Formula is converted to the 2nd driving mode or is converted from the 3rd driving mode to the 1st driving mode or from the 2nd driving mode to the 1st The case where driving mode is converted and operates automatic Pilot switch 22 or operation equipment 24 is known as " override action (override action)".The information of current driving mode is stored in driving mode memory (not shown).

Control system 12 is made of 1 or multiple ECU, other than above-mentioned storage device 46, also has various function It is able to achieve portion.In addition, in the present embodiment, function achievement unit is by being stored in by CPU (central processing unit) execution The program of storage device 46 realizes the software function portion of function, but can also be by by FPGA (Field-Programmable Gate Array) etc. the hardware capability portion that constitutes of integrated circuits realize.

Control system 12 is configured to, other than storage device 46 and vehicle control section 60, further include extraneous identification part 62, Portion 64, traveling control processing unit 66, track generating unit 68 and information acquiring section 70 is made in action plan.

Extraneous identification part 62 is using the various information inputted by input system device group (for example, from extraneous sensor 14 External information), to identify the Lane Mark (white line) positioned at the two sides of vehicle, generating includes stop line and traffic lights Location information or be capable of running region " static state " extraneous identification information.In addition, extraneous identification part 62 uses input Various information, to generate the face of the traffic participants such as barriers, people and other vehicles or traffic lights such as including parking vehicles The extraneous identification information of " dynamic " of color.

Portion 64 is made according to the recognition result identified by extraneous identification part 62 each running section is made in action plan Action plan (timing of event), and update action plan as needed.The type of event can for example enumerate deceleration, add Speed, branch, interflow, lane keep, lane change, overtake other vehicles.Here, " deceleration ", " acceleration " are to make the thing of vehicle deceleration or acceleration Part." branch ", " interflow " are the events for travelling vehicle successfully in branch place or interflow place." lane change " is change The event of the traveling lane of vehicle." overtaking other vehicles " is the event for making vehicle surmount traveling ahead vehicle.

In addition, " lane holding " is the event for travelling vehicle in a manner of not departing from traveling lane, by with traveling side The combination of formula and be refined.Specifically, driving mode include constant speed drive, follow traveling, Reduced Speed Now, negotiation of bends or Barrier evacuation traveling.

Track generating unit 68 uses cartographic information 44, predetermined run routing information 48 and the Ben Che read from storage device 46 Information 50 is generated according to the driving trace (timing of goal behavior) that action plan made of portion 64 is made of action plan.Tool For body, which is using position, posture angle, speed, acceleration, curvature, yawrate, steering angle as data unit Time series data collection.

Information acquiring section 70 obtains at the judgement of condition (hereinafter referred to as environmental condition) related with the running environment of vehicle Information needed for reason.As concrete example, required information can enumerate temporal information (for example, current time, the period, estimated Arrival time), geography information (for example, latitude, longitude, height above sea level, landform, difference of height), weather information (for example, weather, temperature, Humidity, forecast information).

Vehicle control section 60 is according to the driving trace (timing of goal behavior) generated by track generating unit 68, to determine use In each vehicle control value for carrying out traveling control to vehicle.Then, vehicle control section 60 is by obtained each vehicle control Value output is to driving force apparatus 30, steering gear 32 and brake apparatus 34.

On the other hand, as shown in Fig. 2, traveling control processing unit 66 has mode conversion process 80 and the opposite shifting of steering wheel Dynamic control unit 82.

Mode conversion process 80 carry out driving mode conversion process, and to steering wheel relative movement control unit 82, Portion 64 (referring to Fig.1), informing device 36 (referring to Fig.1) output signal is made in action plan.Mode conversion process 80 has row It sails environment obtaining portion 84, switching request portion 86, switching request site setting portion 88, switching time configuration part 90, drive difficulty Acquisition unit 92, driver status acquisition unit 94, handover operation portion 96.

The running environment of acquisition this vehicle 100 of running environment acquisition unit 84.It include extraneous identification part in the running environment 62 recognition results identified recently or from information acquiring section 70 acquisition information (for example, above-mentioned temporal information, Manage information, weather information).

Switching request portion 86 makes requests the request action that driver 122 switches to manual drive.Accordingly, informing device 36 According to the request action (inform instruction) from switching request portion 86, manual operation request is informed to driver 122 and should be to The meaning that the driving of driver 122 switches over.

Switching request site setting portion 88 is set shown in predetermined run routing information 48 in 100 driving process of this vehicle This vehicle 100 predetermined driving path in, the switching request switched to the manual drive of driver 122 may be made requests Place is completed in the manual switching that switching starts the predetermined area and indicates that the switching to manual drive is completed.

Manual switching completes place and is set at the high place of driving difficulty nearby.Hereby it is possible to pass through driver 122 Manual drive to travel driving the high place of difficulty.As the high place of difficulty is driven, interflow can be enumerated, divided The places such as branch, lane change, intersection, traffic jam, super expressway charge station (including ETC (Electronic Toll Collection System: electronic toll collection)).

Difficulty acquisition unit 92 is driven in 100 driving process of this vehicle, manual switching is obtained and completes the later sheet in place The driving difficulty for the running section that vehicle 100 is travelled.The so-called surrounding enviroment for driving difficulty according to manual drive when are (inverse Light, mist, rain, night etc.), nearby vehicle situation (crowded, other vehicles speed etc.), (bend, can be shown in inclination road environment Degree etc.) etc. evaluated with index value.

Driver status acquisition unit 94 monitors the state of driver 122, shoots driver's 122 according to camera in car 28 Whether detection signals from various sensors such as photographed data, 122 touch direction disk 120 of driver etc., will rapid in energy The state index to manual drive switching is converted to carry out numerical value judgement.Such as driver 122 is being subjected to periphery prison Depending on the case where, positive the case where dozing off, positive operation personal digital assistant device the case where, positive reading the case where etc. indexings counted Value determines.

Steering wheel relatively moves control unit 82 according to the mode transition information from mode conversion process 80, to drive control Leaning device 110 processed, telescoping mechanism 112, seat slide mechanism 114, seat reclining mechanism (seat reclining Mechanism) at least one party in 116.

If current driving mode is the 1st driving mode, and mode transition information is the 2nd driving mode, then for example such as Shown in Fig. 3 A and Fig. 3 B, steering wheel relatively moves at least one party in the above-mentioned various mechanisms of 82 drive control of control unit, so that The position of steering wheel 120 is far from the 1st stage of driver 122.

Equally, if current driving mode is the 2nd driving mode, and mode transition information is the 3rd driving mode, then example As shown in Fig. 3 B and Fig. 3 C, steering wheel relatively moves at least one party in the above-mentioned various mechanisms of 82 drive control of control unit, So that the position of steering wheel 120 is far from the 2nd stage of driver 122.

Equally, if current driving mode is the 1st driving mode, and mode transition information is the 3rd driving mode, then example As shown in figs. 3 a and 3 c, steering wheel relatively moves at least one party in the above-mentioned various mechanisms of 82 drive control of control unit, So that the position of steering wheel 120 is far from the 3rd stage of driver 122.

Here, as shown in Fig. 3 A~Fig. 6 C, so-called steering wheel 120 far from the 1st stage of driver 122 or the 2nd stage, Or the 3rd the stage it is different according to various mechanisms.

Firstly, steering wheel 120 refers to far from the 1st stage of driver 122, and in the case where leaning device 110, steering wheel phase To the steering column 124 of 82 driving direction disk 120 of mobile control division from original state as shown in Figure 3A (when 1 driving mode Gradient) as shown in Figure 3B as rotate the 1st inclination angle H θ 1 upwards.

In the case where telescoping mechanism 112, steering wheel relatively moves the steering column 124 of 82 driving direction disk 120 of control unit From original state (pull-out location when 1 driving mode) as shown in Figure 4 A as shown in Figure 4 B as towards this vehicle 100 Front move in parallel the 1st separating distance Hd1.

In the case where seat slide mechanism 114, steering wheel relatively moves control unit 82 and drives seat cushion 126 from such as figure It is parallel towards the rear of this vehicle 100 as original state shown in 5A (position when 1 driving mode) is as shown in Figure 5 B Mobile 1st separating distance Sd1.

In the case where seat reclining mechanism 116, steering wheel relatively move control unit 82 drive backrest 128 from To the rear of this vehicle 100 as original state (gradient when 1 driving condition) as shown in Figure 6A is as shown in Figure 6B Rotate the 1st inclination angle S θ 1.

Secondly, steering wheel 120 refers to far from the 2nd stage of driver 122, and in the case where leaning device 110, steering wheel phase Gradient (referring to Fig. 3 B) such as Fig. 3 C when to the steering column 124 of 82 driving direction disk 120 of mobile control division from 2 driving condition The 2nd inclination angle H θ 2 is rotated as shown upwards.Here, the relationship of the 1st inclination angle H θ 1 and the 2nd inclination angle H θ 2 can be H θ 1=H θ 2, or 1 > H θ 2 of H θ, or 1 < H θ 2 of H θ.It is of course also possible to (be preset for H θ 1=H θ 2=H θ The 1st specified amount).Alternatively, when the allowable angle of inclination for setting steering column 124 is H θ max, or H θ 1=H θ 2=H θ max/ 2。

In the case where telescoping mechanism 112, steering wheel relatively moves the steering column 124 of 82 driving direction disk 120 of control unit Pull-out location (referring to Fig. 4 B) when from 2 driving condition as shown in Figure 4 C as moved in parallel towards the front of this vehicle 100 Dynamic 2nd separating distance Hd2.The relationship of 1st separating distance Hd1 and the 2nd separating distance Hd2 can be Hd1=Hd2, or Hd1 > Hd2, or Hd1 < Hd2.It is of course also possible to be Hd1=Hd2=Hd (preset 2nd specified amount).Or Person, when setting the maximum pull-out amount of steering column 124 as Hdmax, or Hd1=Hd2=Hdmax/2.

In the case where seat slide mechanism 114, steering wheel relatively moves control unit 82 and drives seat cushion 126 from the 2nd Position (referring to Fig. 5 B) when driving condition as shown in Figure 5 C as towards the rear of this vehicle 100 move in parallel the 2nd separation Distance Sd2.The relationship of 1st separating distance Sd1 and the 2nd separating distance Sd2 can be Sd1=Sd2, or Sd1 > Sd2, It may be Sd1 < Sd2.It is of course also possible to be Sd1=Sd2=S θ (preset 3rd specified amount).Alternatively, when chair of choosing a place to give a banquet When the maximum amount of movement of seat cushion 126 is Sdmax, or Sd1=Sd2=Sdmax/2.

In the case where seat reclining mechanism 116, steering wheel relatively move control unit 82 drive backrest 128 from Gradient (referring to Fig. 6 B) when 2 driving condition as shown in Figure 6 C as to the rear of this vehicle 100 rotate the 2nd inclination angle Sθ2.The relationship of 1st inclination angle S θ 1 and the 2nd inclination angle S θ 2 can be S θ 1=S θ 2, or 1 > S θ 2 of S θ, or S 1 < S θ 2 of θ.It is of course also possible to be S θ 1=S θ 2=S θ (preset 4th specified amount).Alternatively, when chair back 128 of choosing a place to give a banquet When allowable angle of inclination is S θ max, or S θ 1=S θ 2=S θ max/2.

Secondly, so-called steering wheel 120 referred in the 3rd stage far from driver 122, and in the case where leaning device 110, direction Disk relatively moves gradient (referring to Fig. 3 A) of the steering column 124 of 82 driving direction disk 120 of control unit from 1 driving condition when such as The 3rd inclination angle H θ 3 (the 2nd inclination angle H θ 2 of the=the 1 inclination angle H θ 1+) is rotated upwards as shown in Fig. 3 C.

In the case where telescoping mechanism 112, steering wheel relatively moves the steering column 124 of 82 driving direction disk 120 of control unit Pull-out location (referring to Fig. 4 A) when from 1 driving condition as shown in Figure 4 C as moved in parallel towards the front of this vehicle 100 Dynamic 3rd separating distance Hd3 (the 2nd separating distance Hd2 of the=the 1 separating distance Hd1+).

In the case where seat slide mechanism 114, steering wheel relatively moves control unit 82 and drives seat cushion 126 from the 1st Position (referring to Fig. 5 A) when driving condition as shown in Figure 5 C as to the rear of this vehicle 100 move in parallel the 3rd separation away from From Sd3 (the 2nd separating distance Sd2 of the=the 1 separating distance Sd1+).

In the case where seat reclining mechanism 116, steering wheel relatively move control unit 82 drive backrest 128 from Gradient (referring to Fig. 6 A) when 1 driving condition as shown in Figure 6 C as to the rear of this vehicle 100 rotate the 3rd inclination angle S θ 3 (the 2nd inclination angle S θ 2 of the=the 1 inclination angle S θ 1+).

It is preferred that are as follows: so that above-mentioned steering wheel 120 is relatively left the 1st stage of driver 122, the 2nd stage or the 3rd stage Steering wheel relative movement control unit 82 when being controlled, consider the position of seat that driver 122 takes one's seat to control.

Such as it is located at the position of forefront in seat cushion 126, seat reclining mechanism 116 had been located at initial position (both The position that also do not topple over rearward to the front of this vehicle 100) in the case where, not to above-mentioned inclination angle and above-mentioned separation Distance is corrected.

Also, above-mentioned inclination angle or above-mentioned separating distance can also be corrected according to following amount of movement: along with Before the seat cushion 126 implemented when driver 122 takes this vehicle 100 and takes one's seat to seat or when having taken one's seat on the seat The amount of movement of the mobile adjustment of rear direction, along with seat inclination angle adjust adjustment backrest 128 corresponding with rotation angle Amount of movement in the front-back direction.

Such as when it is assumed that the amount of movement in the front-back direction of seat cushion 126 for example to the amount of movement at the rear of this vehicle 100 For Δ S1, since the amount of movement rearward that the rotation angle of the adjustment along with seat reclining mechanism 116 generates is Δ S2, When based on the rotation angle for rotating steering wheel 120 by leaning device 110, the amount of movement Δ H forwards of steering wheel 120, If Δ H- (Δ S1+ Δ S2)=+ Δ h, makes steering wheel 120 rotate rotation angle corresponding with Δ h upwards.If Δ H- (Δ S1+ Δ S2)≤0 does not implement the disk of driving direction upwards 120 carried out by leaning device 110 rotation then.

This is also same in other telescoping mechanisms 112, seat slide mechanism 114, seat reclining mechanism 116.

In addition, when assuming to pass through multiple machines in the case where combining relative movement of multiple mechanisms to carry out steering wheel 120 When the amount of movement Δ H that structure moves steering wheel 120 forwards, if Δ H- (Δ S1+ Δ S2)=+ Δ h, pass through multiple machines Structure makes steering wheel 120 move Δ h forwards.If Δ H- (Δ S1+ Δ S2)≤0, do not implement to carry out by multiple mechanisms The relative movement of steering wheel 120.

On the other hand, handover operation portion 96 is carried out from the 3rd driving condition to the 1st driving condition or from the 2nd driving condition The handover operation switched to the 1st driving condition.Handover operation portion 96 obtains transfer time (when transition from switching time configuration part 90 Between), auxiliary driver 122 completes the switching to above-mentioned various driving conditions within the transfer time.

Such as steering wheel relative movement control unit 82 is implemented and makes above-mentioned steering wheel 120 to the side far from driver 122 The shift action opposite to the movement of relative movement is implemented to relatively move steering wheel 120 to the direction close to driver 122 Movement, such as carry out urge driver 122 carry out manual drive TOR (display, voice output etc.).After this, according to It is released by override action that driver 122 carries out and the related automatic Pilots such as steering, acceleration and deceleration.

Switching time, configuration part 90 was by the transfer time T32 shifted from the 3rd driving condition to the 2nd driving condition and from 2 driving conditions are set separately than from the 3rd driving condition to the 1st driving condition to the transfer time T21 that the 1st driving condition shifts The transfer time T31 of transfer is short.

This is because relatively move control unit 82 by above-mentioned steering wheel, driver 122 and steering wheel 120 it is opposite away from It is maximum from being set under the 3rd driving condition, it is set most short under the 1st driving condition, is set under the 2nd driving condition It is set to in-between distance, accordingly, it is considered to enabling steering wheel 120 to be moved to the position that driver 122 holds steering wheel 120 Time and carry out the setting of above-mentioned transfer time.

Certainly, make leaning device 110, telescoping mechanism 112, seat slide mechanism 114 and seat reclining mechanism 116 Each movement speed can be according to the relative distance of steering wheel 120 and in adjustable situation, when can make above-mentioned various transfers Between it is identical, can also make a part transfer time it is identical.

In addition, being the 1st driving mode in current driving mode, and mode transition information is the 2nd driving mode (from the 1st Driving mode to the 2nd driving mode convert in the case where), this vehicle 100 to park conversion in the case where or within certain period In the lower situation of maximum speed, i.e., the speed of the vehicle speed sensor from this vehicle 100 is within certain period below threshold value In the case where, steering wheel relative movement control unit 82 relatively moves steering wheel 120, and keeps the side under the 1st driving condition To disk position.

In addition, when the phase for implementing the steering wheel 120 that current driving mode is the 1st driving mode or the 2nd driving mode When to mobile control, if the driving difficulty got by driving difficulty acquisition unit 92 more than set quota value, Steering wheel relatively moves the rate of travel that control unit 82 reduces steering wheel 120.

For example, if current driving mode is the 1st driving mode or the 2nd driving mode, and mode transition information is the 3 driving modes, then in the case where leaning device 110, steering wheel relatively moves the steering column of 82 driving direction disk 120 of control unit 124 from 1 driving condition when gradient (referring to Fig. 3 A) or gradient (referring to Fig. 3 B) when 2 driving condition upwards Rotate the 3rd inclination angle H θ 3- Δ θ or the 2nd inclination angle H θ 2- Δ θ (referring to Fig. 3 C).Equally, if current driving mode is 1st driving mode, and mode transition information is the 2nd driving mode, then steering wheel relatively moves 82 driving direction disk 120 of control unit Steering column 124 from 1 driving condition when gradient (referring to Fig. 3 A) rotate the 1st inclination angle H θ 1- Δ θ upwards (referring to figure 3B).Accordingly, compared with defined relative movement, the position of the steering wheel 120 after the relative movement of steering wheel 120 is located at close The position of driver 122.

This is also same in telescoping mechanism 112, seat slide mechanism 114 and seat reclining mechanism 116, therefore omits Its description.

In addition, the relative movement of above-mentioned steering wheel 120 control (relative movement control) including correction can also be according to The historical record of driver 122 is implemented.It is driven that is, steering wheel relative movement control unit 82 for example obtains the 2nd of driver 122 State or running time under the 3rd driving condition or operating range store in memory as data.Also, such as Fruit running time stored in memory is more than the stipulated time or operating range is more than predetermined distance, then regard as be It is familiar with the driver of automatic Pilot, implements the relative movement control of above-mentioned steering wheel 120.In contrast, if running time Not more than the stipulated time, operating range does not implement the relative movement control of above-mentioned steering wheel 120 then not more than predetermined distance System.That is, not reaching the stipulated time or more between in motion or during operating range does not reach predetermined distance or more, no The relative movement of implementing direction disk 120 controls, and therefore, the position of steering wheel 120 is unrelated with driving condition and keeps certain.

Certainly, due to vehicles various there is also 122 carriage of driver the case where, accordingly it is also possible to from cloud (cloud cloud clothes Business) etc. the identification information of acquisitions and driver 122 establish associated level of learning, especially obtain driver 122 and driven the 2nd Running time or operating range under state or the 3rd driving condition, in addition the row stored in memory by this vehicle Time or operating range are sailed, to determine the implementation for relatively moving control of steering wheel 120, not implement.

The relative movement control of above-mentioned steering wheel 120 can also be in the case where carrying out the usually transfer as predetermined In the case where carrying out specific transfer other than usually shifting, change the rate of travel or steering wheel 120 of steering wheel 120 Relative moving speed.

It is so-called as predetermined such usually transfer can enumerate due to close to destination and shifted to the 1st driving mode, by Cancel automatic Pilot in driver 122 and shifted to the 1st driving mode etc..Specific jump routine other than so-called usual transfer as can Enough enumerate the system defect according to this vehicle 100, system reduced performance etc. and shifted to the 1st driving mode etc..

In addition, as described above, being converted from the 1st driving condition to the 2nd driving condition or from the 1st driving condition to the 3rd The relative movement control of implementing direction disk 120 whens driving condition conversion etc..But direction is being manually changed by driver 122 In the case where the position of disk 120, the position of steering wheel 120 can also be stored in memory.Also, after this, when from the 1st It, can also be from storage when being converted when driving condition is converted to the 2nd driving condition or from the 1st driving condition to the 3rd driving condition The relative movement control of implementing direction disk 120 is carried out in the position of device readout direction disk 120 in such a way that steering wheel 120 reaches the position System.It is of course also possible to which the position of steering wheel 120 is chronologically stored in memory, study is preferred for driver 122 The position of steering wheel 120.

Then, the processing movement of above-mentioned controller of vehicle 10 is directed at while also referring to the flow chart of Fig. 7~Figure 13 It is illustrated.

Firstly, steering wheel relative movement control unit 82 obtains current driving mode in the step S1 of Fig. 7.

In step s 2, steering wheel relative movement control unit 82 obtains the mode from mode conversion process 80 and converts letter Breath, the information for obtaining the driving mode that should then convert.

In step s3, steering wheel relative movement control unit 82 discriminates whether to turn from the 1st driving mode to the 2nd driving mode It changes, that is, discriminates whether to be the 1st driving mode for current driving mode, and mode transition information is the 2nd driving mode.If sentenced Other result is that certainly (step S3: yes), then in step s 4, steering wheel relatively moves the setting of control unit 82 for making steering wheel Steering wheel of 120 position far from the 1st stage of driver 122 (therefore omitting repetition record due to having carried out narration above) 120 rate of travel.

In addition, carrying out adjustment mobile in the front-back direction, the seat of seat cushion 126 in 122 carriage this vehicle 100 of driver In the case where the adjustment of chair tilt adjustment, as described above, steering wheel relative movement control unit 82 considers along with these adjustment Amount of movement (adjustment amount of movement) carrys out the rate of travel of direction initialization disk 120.Also same below.

On the other hand, if the differentiation result in above-mentioned steps S3 is negative (step S3: no), S5 is entered step, is sentenced Whether do not converted from the 2nd driving mode to the 3rd driving mode, that is, discriminate whether as current driving mode to be the 2nd driving mode, And mode transition information is the 3rd driving mode.If differentiating that result is certainly (step S5: yes), to enter step S6, steering wheel The setting of control unit 82 is relatively moved for making the position of steering wheel 120 far from the 2nd stage of driver 122 (due to carrying out above Therefore narration is omitted repeats to record) steering wheel 120 rate of travel.

If differentiation result in above-mentioned step S5 is negative (step S5: no), enter step S7, discriminate whether from 1st driving mode is converted to the 3rd driving mode, that is, discriminates whether to be the 1st driving mode for current driving mode, and mode turns Changing information is the 3rd driving mode.If differentiating that result is affirmative, S8 is entered step, steering wheel relative movement control unit 82 is set It is fixed that for making the position of steering wheel 120 far from the 3rd stage of driver 122, (due to having carried out narration above, therefore omission is repeated Record) steering wheel 120 rate of travel.

The time point that processing terminate in above-mentioned steps S4, step S6 or step S8 enters step S9, steering wheel phase Mobile control division 82 is differentiated the driving difficulty that is got by driving difficulty acquisition unit 92 whether set quota value with On.If driving difficulty more than set quota value, S10 is entered step, reduces the opposite of set steering wheel 120 Amount of movement.

The stage that processing terminate in above-mentioned steps S10 is determined as driving difficulty in above-mentioned steps S9 and is lower than In the case where set quota value, into step S11 then, steering wheel relatively moves 82 drive control leaning device of control unit 110, at least one party in telescoping mechanism 112, seat slide mechanism 114 and seat reclining mechanism 116, driving direction disk 120 mobile set rate of travel.

When differentiation result at this stage or in above-mentioned steps S7 is negative (step S7: no), temporarily terminate direction The relative movement of disk 120 is handled, but in the stage for having switched driving mode, comes into effect steering wheel 120 from step S1 again Relative movement processing.

Then, switching time configuration part 90, handover operation portion 96 and steering wheel relative movement control are directed at while referring to Fig. 8 The teamwork in portion 82 processed is illustrated.

Firstly, steering wheel relative movement control unit 82 obtains current driving mode in the step S101 of Fig. 8.

In step s 102, steering wheel relative movement control unit 82 obtains the mode conversion from mode conversion process 80 Information obtains the information for the driving mode that should then convert.

In step s 103, steering wheel relative movement control unit 82 is discriminated whether from the 3rd driving mode to the 1st driving mode Conversion, that is, discriminate whether to be the 3rd driving mode for current driving mode, and mode transition information is the 1st driving mode.Such as Fruit differentiates that result is certainly (step S103: yes), then to enter step S104, and switching time configuration part 90, which is set from the 3rd, drives shape The transfer time T31 that state is shifted to the 1st driving condition.

If the differentiation result in above-mentioned steps S103 is negative (step S103: no), S105, steering wheel are entered step Relative movement control unit 82 discriminates whether to convert from the 2nd driving mode to the 1st driving mode.If differentiating that result is affirmative, Enter step S106, switching time 90 transfer time T21 from the 2nd driving condition to the 1st driving condition that shift from of setting of configuration part (< transfer time T31).

In the stage that processing terminate in step S104 or step S106, enter step S107, handover operation portion 96 into Row is from the 3rd driving condition to the 1st driving condition or the handover operation switched from the 2nd driving condition to the 1st driving condition.It cuts It changes operation portion 96 and obtains transfer time from switching time configuration part 90, auxiliary driver 122 completes upwards within the transfer time The switching for the various driving conditions stated.

That is, in step S108, steering wheel relative movement control unit 82 implement to make during transfer time steering wheel 120 to The movement relatively moved close to the direction of driver 122, such as the TOR for carrying out that driver 122 is urged to carry out manual drive are (aobvious Show, voice output etc.).After this, according to the override action carried out by driver 122, releasing and steering, acceleration and deceleration etc. Related automatic Pilot.After this, it is reprocessed since step S101 after the stipulated time.In above-mentioned steps S105 In differentiation result be negative in the case where (step S105: no), also repeated since step S101 after the stipulated time Processing.

Then, it is directed at while referring to Fig. 9 and the 1st particular procedure movement that control unit 82 carries out is relatively moved by steering wheel (stopping of the relative movement of steering wheel 120) is illustrated.

Firstly, in step s 201, steering wheel relative movement control unit 82 obtains current driving mode.

In step S202, steering wheel relatively moves control unit 82 and obtains the mode conversion from mode conversion process 80 Information obtains the information for the driving mode that should then convert.

In step S203, steering wheel relative movement control unit 82 is discriminated whether from the 1st driving mode to the 2nd driving mode Or the 3rd driving mode conversion.If differentiating that result is certainly (step S203: yes), to enter step S204, steering wheel is opposite Mobile control division 82 is according to the information from extraneous identification part 62 etc., to differentiate whether this vehicle 100 is in conversion of parking State or whether within certain period be in the lower state of maximum speed.

If the differentiation result in step S204 is certainly (step S204: yes), to enter step S205, do not make steering wheel 120 relatively move and keep the steering wheel position of the 1st driving mode.If the differentiation result in step S204 is negative (step S204: no), then S206 is entered step, steering wheel relatively moves in the above-mentioned various mechanisms of 82 drive control of control unit at least One side, so that steering wheel position is far from the 1st stage of driver 122 or the 3rd stage.After this, by the stipulated time it It is reprocessed since step S201 afterwards.In the case that differentiation result in above-mentioned steps S204 is negative (step S204: It is no), it is also reprocessed since step S201 after the stipulated time.

Then, it is directed at while referring to Fig.1 0 and the 2nd particular procedure movement that control unit 82 carries out is relatively moved by steering wheel (processing of the historical record based on driver 122) is illustrated.

Firstly, steering wheel relatively moves the historical record that control unit 82 obtains driver 122 in step S301.As above It is described, running time or row of the driver 122 under the 2nd driving condition or the 3rd driving condition can be enumerated as historical record It sails distance or the driver 122 that associated level of learning obtains is established based on the identification information with driver 122 and driven the 2nd Sail the running time or operating range under state or the 3rd driving condition.

In step s 302, whether the historical record (running time or operating range) for differentiating driver 122 is more than rule Fixed running time or defined operating range.If the differentiation result in step S302 is affirmative (step S302: yes), S303 is entered step, the relative movement as described above for relatively moving the steering wheel 120 that control unit 82 carries out by steering wheel is implemented Processing.

If the differentiation result in above-mentioned steps S302 is negative (step S302: no), S304 is entered step, is not implemented The relative movement processing for the steering wheel 120 that control unit 82 carries out is relatively moved by steering wheel.After this, passing through the stipulated time It is reprocessed since step S301 later.

Then, it is directed at while referring to Fig.1 1 and the 3rd particular procedure movement that control unit 82 carries out is relatively moved by steering wheel (processing based on usual transfer and specific transfer) is illustrated.

Firstly, steering wheel relative movement control unit 82 obtains current driving mode in the step S401 of Figure 11.

In step S402, steering wheel relatively moves control unit 82 and obtains the mode conversion from mode conversion process 80 Information obtains the information for the driving mode that should then convert.

In step S403, steering wheel relative movement control unit 82 is discriminated whether from the 3rd driving mode to the 1st driving mode Conversion.If differentiating that result is certainly (step S403: yes), to enter step S404, setting is for from the 3rd driving mode to the The rate of travel or relative moving speed for the steering wheel 120 of 1 driving mode usually shifted.

After this, in step S405, steering wheel relative movement control unit 82 discriminates whether it is other than usual transfer Specific transfer.The differentiation is for example carried out according to whether systems inspection result is the reduced performance of system defect or system, if Systems inspection result is then determined as being specific transfer for the reduced performance of system defect or system.

In the case that differentiation result in step S405 is specific transfer, S406 is entered step, is changed to for from the 3rd Specific transfer from driving mode to the 1st driving mode rate of travel or relative moving speed.That is, making rate of travel ratio The rate of travel usually shifted is small, or keeps relative moving speed faster than the relative moving speed usually shifted.

On the other hand, it if the differentiation result in above-mentioned steps S403 is negative (step S403: no), enters step S407, steering wheel relative movement control unit 82 discriminate whether to convert from the 2nd driving mode to the 1st driving mode.If differentiating knot Fruit is certainly (step S407: yes), then to enter step S408, and setting is for from the 2nd driving mode to the usual of the 1st driving mode The rate of travel or relative moving speed of the steering wheel 120 of transfer.

After this, in step S409, steering wheel relative movement control unit 82 discriminates whether it is specific transfer.Differentiating As a result in the case where being specific transfer, S410 is entered step, is changed to for the spy from the 2nd driving mode to the 1st driving mode Surely the rate of travel or relative moving speed shifted.That is, keep rate of travel smaller than the rate of travel usually shifted, or Person keeps relative moving speed faster than the relative moving speed usually shifted.

Also, the stage that processing terminate in above-mentioned steps S406, or be determined as in above-mentioned steps S405 be not In the case where specific transfer, the stage or sentence in above-mentioned steps S409 that perhaps processing terminate in above-mentioned steps S410 In the case where Wei not being specific transfer, into step S411 then, steering wheel is relatively moved in 82 drive control of control unit At least one party in various mechanisms stated, driving direction disk 120 is with opposite set by set relative moving speed movement Amount of movement.After this, it is reprocessed since step S401 after the stipulated time.Differentiation in above-mentioned steps S407 As a result it is (step S407: no) in the case where negating, is also reprocessed since step S401 after the stipulated time.

Then, it is directed at while referring to Fig.1 2 and the 4th particular procedure movement that control unit 82 carries out is relatively moved by steering wheel (processing of the forcibly changing of the relative position based on steering wheel 120) is illustrated.

Firstly, steering wheel relative movement control unit 82 obtains current driving mode in the step S501 of Figure 12.

In step S502, steering wheel relatively moves control unit 82 and obtains the mode conversion from mode conversion process 80 Information obtains the information for the driving mode that should then convert.

In step S503, steering wheel relative movement control unit 82 is discriminated whether from the 1st driving mode to the 2nd driving mode Conversion.If differentiating that result is that certainly (step S503: yes), in step S504, steering wheel relative movement control unit 82 is set Determine the rate of travel for making steering wheel 120 of the position of steering wheel 120 far from the 1st stage of driver 122.

If the differentiation result in above-mentioned step S503 is negative (step S503: no), S505 is entered step, is differentiated Whether converted from the 1st driving mode to the 3rd driving mode.If differentiating that result is certainly (step S505: yes), in step In S506, steering wheel relatively moves the setting of control unit 82 for making the position of steering wheel 120 far from the 3rd stage of driver 122 The rate of travel of steering wheel 120.

In step S504 processing or step S506 in the stage that processing terminate, enter step S507, steering wheel At least one party in the above-mentioned various mechanisms of 82 drive control of control unit is relatively moved, driving direction disk 120 moves set Rate of travel.

After this, in step S508, whether the relative position of the steering wheel 120 after differentiating movement is forced to change. The steering column 124 that the differentiation is adjusted according to the inclination angle of the steering column 124 adjusted by leaning device 110, by telescoping mechanism 112 Pull-out location, the sliding position of the seat cushion 126 adjusted by seat slide mechanism 114 are adjusted by seat reclining mechanism 116 Whether it is forced to change either in the inclination angle of whole backrest 128 to carry out.

In the case where either one is changed, S509 is entered step, the relative position of the steering wheel 120 after change (is inclined Oblique angle, pull-out location, sliding position etc.) it is stored in memory.After this, it is opened after by the stipulated time from step S501 Begin to reprocess.

Also, when be stored in memory change after steering wheel 120 relative position when, as described below change by Steering wheel relatively moves the 4th particular procedure movement that control unit 82 carries out.

That is, steering wheel relative movement control unit 82 obtains current driving mode in the step S601 of Figure 13.

In step S602, steering wheel relatively moves control unit 82 and obtains the mode conversion from mode conversion process 80 Information obtains the information for the driving mode that should then convert.

In step S603 and step S604, steering wheel relative movement control unit 82 discriminate whether from the 1st driving mode to Whether the 2nd driving mode is converted or is converted from the 1st driving mode to the 3rd driving mode.If differentiating that result is (to walk certainly Rapid S603: being or step S604: yes), into step S605 then, differentiate whether be stored with steering wheel in memory 120 relative position.If being stored with the relative position (step S605: yes) of steering wheel 120, the step of entering then S606 keeps the relative position of steering wheel 120 mobile to the relative position for being stored in memory.If not storing steering wheel 120 Relative position, then enter step S607, steering wheel relatively moves in the above-mentioned various mechanisms of 82 drive control of control unit extremely A few side, so that steering wheel position is far from the 1st stage of driver 122 or the 3rd stage.Here, after by the stipulated time It is reprocessed since step S601.

In this way, controller of vehicle 10 involved in present embodiment includes extraneous identification part 62, it is arranged at this vehicle 100；With travel controlling system 66, vehicle control is carried out according to the output of extraneous identification part 62.Travel controlling system 66 The 1st driving condition, the 2nd driving condition and the 3rd driving condition can be controlled, wherein the 1st driving condition refers to needs by driving The person of sailing 122 carries out environment monitoring and needs to be held the driving condition of steering wheel 120 by driver 122；2nd driving condition is Refer to and needs to be carried out environment monitoring by driver 122 and do not need the driving condition for holding steering wheel 120 by the driver 122； 3rd driving condition, which refers to, not to need to be carried out environment monitoring by driver 122 and does not need to hold steering wheel by driver 122 120 driving condition.Also, travel controlling system 66 carrys out the relative movement control of implementing direction disk 120 in the following manner: opposite The separating distance of the position of direction of expansion disk 120 and driver 122 in the 1st driving condition and in 2 driving condition, relative to 2nd driving condition and in 3 driving condition the position of direction of expansion disk 120 and driver 122 separating distance.

Steering wheel 120 is set as suitable position and corresponding with automatic Pilot grade, it can be relative to manual behaviour When requesting, override control and adapter tube and make steering wheel 120 to optimal position transfer.Such as it is set in 2 driving condition The advantages of being set to middle position is that it is possible to consider the frequency of manual operation request, override control and adapter tube, and stopping at can It is operated manually, the position of override control and adapter tube, can be improved driver 122 to the reassurance of automatic Pilot.

In addition, so-called " position of direction of expansion disk 120 and the separating distance of driver 122 " can enumerate steering wheel 120 It is moved upward from a certain position (such as position of the knee of driver 122), from the seat that driver 122 takes one's seat to this vehicle 100 front is mobile, reduces the diameter of steering wheel 120 etc..

In the present embodiment, it will be set to from the 2nd driving condition to the transfer time that the 1st driving condition shifts than from The transfer time (time from TOR to override control) that 3 driving conditions are shifted to the 1st driving condition is short.

Hereby it is possible to it is corresponding with transfer time, to set the relative distance from driver 122 to steering wheel 120.That is, energy Enough settings are as follows: the transfer time the long then more to increase from driver 122 to the relative distance of steering wheel 120, transfer time more it is short then More shorten from driver 122 to the relative distance of steering wheel 120.

In the present embodiment, when being shifted from the 1st driving condition to the 2nd driving condition in park state or maximum In the case where the low state of speed, steering wheel position when 1 driving condition is not changed.

Relative to the automatic Pilot in travel, replace at automatic stopping (AP) in the presence of to the driving of driver 122 Therefore (override control or adapter tube), Emergency avoidance etc., do not change the 1st in addition, the driver behavior time can be completed for the short time Steering wheel position when driving condition is preferred, is reasonable.

In the present embodiment, steering wheel 120 when being shifted from from the 1st driving condition to the 2nd driving condition it is opposite The rate of travel of steering wheel 120 when amount of movement, 2 driving condition of He Cong are shifted to the 3rd driving condition is preset Specified amount.

When shifting from the 1st driving condition to the 2nd driving condition, steering wheel 120 relatively moves specified amount, drives from the 2nd When sailing state and shifting to the 3rd driving condition, steering wheel 120 also relatively moves specified amount.That is, no matter who is by bus all to steering wheel 120 are similarly relatively moved, therefore occupant can be made to have reassurance to the relative movement of steering wheel 120.

It in the present embodiment, will when maximum receiving state is in the position for setting the steering wheel 120 under the 3rd driving condition The position of steering wheel 120 under 1st driving condition and the middle position of maximum receiving state are set as the side under the 2nd driving condition To the position of disk 120.

By setting the steering wheel position under the 3rd driving condition as maximum receiving state, it is right under the 3rd driving condition to mitigate The constriction of driver 122 has unlimited sense spatially, driver 122 is also made to feel the solution freed from driving Put sense.

In the present embodiment, the running time under the 2nd driving condition or the 3rd driving condition or operating range or The identification information of person and driver 122 establish associated level of learning (running time, operating range etc.) more than regulation (such as 50 hours or more, such as 500km or more) in the case where implementing direction disk 120 relative movement control, in motion between or row It sails distance or establishes associated level of learning not implementing direction in the case where providing situation below with the identification information of driver 122 The relative movement of disk 120 controls.

In the case where uncomfortable automatic Pilot, if relatively moving steering wheel 120 according to driving condition, it may make to drive Member 122 has uneasy sense.Therefore, in the case where uncomfortable automatic Pilot, do not implement the relative movement control of steering wheel 120, The relative position of steering wheel 120 is set to be located at the position for being easy to carry out override control or adapter tube, accordingly, to the reassurance of automatic Pilot It improves.Also, implement the relative movement of the steering wheel 120 based on driving condition in the stage for being accustomed to automatic Pilot.In addition, with The identification information of driver 122 establishes associated level of learning other than 1 trolley, additionally it is possible to enumerate in various vehicles The learning time (running time, operating range etc.) of automatic Pilot adds up to.

In the present embodiment, the relative movement control of steering wheel 120 is controlled by the seat position of driver 122 System.By carrying out the relative movement of corresponding with seat position steering wheel 120, can be avoided when being operated manually request, Situations such as hand is touched less than steering wheel 120 when override control and when taking over.

In the present embodiment, when being shifted from the 3rd driving condition to the 2nd driving condition or the 1st driving condition, into Row as when predetermined such usually transfer (carrying out cancellation close to destination, by driver 122 to operate) and carry out it is usual shift with When outer specific transfer (system down, reduced performance etc.), change amount of movement or movement speed.

By changing amount of movement or movement speed when normal and abnormal (in the case where exception, than preset shifting Perhaps movement speed is big for momentum) it can promptly implement to replace (override control or adapter tube) to the driving of driver 122.

In the present embodiment, when the opposite shifting for implementing the steering wheel 120 under the 3rd driving condition or the 2nd driving condition When dynamic control, detection drives difficulty, in the case where meeting defined condition, reduces the rate of travel of steering wheel 120.

When shifted from the 3rd driving condition to the 2nd driving condition or shifted from the 3rd driving condition to the 1st driving condition, Or when being shifted from the 2nd driving condition to the 1st driving condition, if driving difficulty more than set quota value, consider A possibility that override control is carried out by driver 122, the rate of travel of augment direction disk 120, hereby it is possible to make steering wheel 120 nearby move to driver 122.Accordingly, reassurance when override control improves, and the ease for operation of override control is also mentioned It is high.

In addition, controller of vehicle 10 involved in present embodiment includes extraneous identification part 62, it is arranged at this vehicle 100；With travel controlling system 66, vehicle control is carried out according to the output of extraneous identification part 62.Travel controlling system 66 The 1st driving condition and the 2nd driving condition can be controlled, wherein the 1st driving condition refers to that needs are held by driver 122 The driving condition of steering wheel；2nd driving condition refers to the driving condition for not needing that steering wheel is held by driver 122.And And by make in 2 driving condition relative to the 1st driving condition steering wheel position far from driver 122 in the way of implement The relative movement of steering wheel 120 controls, and in the case that the position of steering wheel 120 is changed under the 2nd driving condition, stores the position It sets, when shifting again from the 1st driving condition to the 2nd driving condition, control steering wheel 120 is mobile to the position stored.

By the position of the learning direction disk 120 when implementing automatic Pilot, steering wheel 120 can be made to be located at for driver It is easy to carry out the position of override control, adapter tube for 122, so as to make driver 122 that there is reassurance.Certainly, there is also drive The person of sailing 122 wants the position for making steering wheel 120 be maintained at the steering wheel 120 under the 1st driving condition, so as to even if drive the 2nd Also the case where override control or adapter tube can be carried out under state at any time.In this case, when being shifted to the 2nd driving condition, Can stop steering wheel 120 relative movement control, so as to inhibit being not intended to property steering wheel 120 mobile control.

In addition, the present invention is not limited to above-mentioned embodiments, it certainly can be in no disengaging purport of the invention It is freely changed in range.

Claims (10)

1. a kind of controller of vehicle, which is characterized in that

With extraneous identification mechanism (62) and travel controlling system (66), wherein

External world's identification mechanism (62) is arranged at vehicle (100)；

The travel controlling system (66) carries out vehicle control according to the output of the extraneous identification mechanism,

The travel controlling system can control the 1st driving condition, the 2nd driving condition and the 3rd driving condition, wherein

1st driving condition refers to that needs carry out environment monitoring by driver and need to hold steering wheel by the driver (120) driving condition；

2nd driving condition refers to that needs are carried out environment monitoring by the driver and do not needed by the driver holding side To the driving condition of disk；

3rd driving condition, which refers to, not to need to be carried out environment monitoring by the driver and does not need to be held by the driver The driving condition of steering wheel,

It is controlled in the following manner to implement the relative movement of the steering wheel:

Relative to the 1st driving condition, expand in 2 driving condition steering wheel position and the driver Separating distance,

Relative to the 2nd driving condition, expand in 3 driving condition steering wheel position and the driver Separating distance.

2. controller of vehicle according to claim 1, which is characterized in that

It will be set to from the 2nd driving condition to the transfer time that the 1st driving condition shifts than driving shape from the described 3rd The transfer time that state is shifted to the 1st driving condition is short.

3. controller of vehicle according to claim 1, which is characterized in that

When being shifted from the 1st driving condition to the 2nd driving condition, park or the lower situation of maximum speed under The position of steering wheel when not changing 1 driving condition.

4. controller of vehicle described in any one of claim 1 to 3, which is characterized in that

It the rate of travel of steering wheel when being shifted from from the 1st driving condition to the 2nd driving condition and is driven from the described 2nd The rate of travel for sailing steering wheel when state is shifted to the 3rd driving condition is preset specified amount.

5. controller of vehicle described in any one of claim 1 to 3, which is characterized in that

When the position for the steering wheel being located under the 3rd driving condition is maximum receiving state, will be driven the described 1st The position of the steering wheel under state and the middle position of the maximum receiving state are set as under the 2nd driving condition The steering wheel position.

6. controller of vehicle according to claim 1, which is characterized in that

Running time or operating range under the 2nd driving condition or the 3rd driving condition or with the driver Identification information establish associated level of learning in the case where regulation is above, the relative movement for implementing the steering wheel controls,

In the running time or the operating range or associated level of learning is established with the identification information of the driver exist It provides in situation below, does not implement the relative movement control of the steering wheel.

7. controller of vehicle according to claim 1, which is characterized in that

The relative movement control of the steering wheel is controlled by the seat position of the driver.

8. controller of vehicle according to claim 1, which is characterized in that

When being shifted from the 3rd driving condition to the 2nd driving condition or the 1st driving condition, carrying out as pre- Change in the case where fixed such usually transfer and in the case where the specific transfer other than usually shift amount of movement or Movement speed.

9. controller of vehicle according to claim 1, which is characterized in that

When implementing the relative movement control of the steering wheel under the 3rd driving condition or the 2nd driving condition Detection drives difficulty, reduces the relative movement of the steering wheel in the case where the driving difficulty meets rated condition Amount.

10. a kind of controller of vehicle, which is characterized in that

With extraneous identification mechanism (62) and travel controlling system (66), wherein

External world's identification mechanism (62) is arranged at vehicle (100)；

The travel controlling system (66) carries out vehicle control according to the output of the extraneous identification mechanism,

The travel controlling system, which can control, to be needed to be held the 1st driving condition of steering wheel (120) by driver and not to need The 2nd driving condition of steering wheel is held by the driver,

It is controlled in the following manner to implement the relative movement of the steering wheel: relative to the 1st driving condition, the described 2nd Make the position of steering wheel far from the driver when driving condition,

In the case that the position of the steering wheel is changed under the 2nd driving condition, the position is stored,

When shifting again from the 1st driving condition to the 2nd driving condition, the steering wheel is controlled to the storage Position is mobile.