JP2002163799A - Release device for automatic driving - Google Patents

Release device for automatic driving

Info

Publication number
JP2002163799A
JP2002163799A JP2000360361A JP2000360361A JP2002163799A JP 2002163799 A JP2002163799 A JP 2002163799A JP 2000360361 A JP2000360361 A JP 2000360361A JP 2000360361 A JP2000360361 A JP 2000360361A JP 2002163799 A JP2002163799 A JP 2002163799A
Authority
JP
Japan
Prior art keywords
vehicle
driver
automatic driving
state
route
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2000360361A
Other languages
Japanese (ja)
Inventor
Kazuhiko Yamaguchi
和彦 山口
Masayuki Takami
雅之 高見
Minoru Okada
岡田　　稔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Institute for Land and Infrastructure Management
Original Assignee
National Institute for Land and Infrastructure Management
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National Institute for Land and Infrastructure Management filed Critical National Institute for Land and Infrastructure Management
Priority to JP2000360361A priority Critical patent/JP2002163799A/en
Publication of JP2002163799A publication Critical patent/JP2002163799A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping

Abstract

PROBLEM TO BE SOLVED: To provide a release device of automatic driving, where automatic driving is easily released and guide to a saving path is precisely carried out without confusion. SOLUTION: The device is provided with a means judging the travel route of a self-vehicle and judging whether branch is required, a means requesting awakening to a driver and detecting the awaken state of the driver and a means for guiding the vehicle in terms of saving when the awaken state of the driver cannot be confirmed.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】本発明は、自動運転車両にお
いて自動運転状態から手動運転状態へ移行する際、ドラ
イバの覚醒状態を確認する手段及びドライバが覚醒しな
い場合の自動運転の解除装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a means for confirming a driver's awake state when an automatic driving vehicle shifts from an automatic driving state to a manual driving state, and to an automatic driving canceling device when the driver does not awake. is there.

【０００２】[0002]

【従来の技術】従来技術として、特開平９−１６１１９
６号公報には、自動運転から手動運転への切り替えを勧
告すること、それに応じないとき（間に合わないとき）
に走行レーンから退避させることが記載されている。こ
の特許においては、退避の場合の状態に関わらず車両を
退避させることとなり退避場所が満車の場合などは考慮
されていない。2. Description of the Related Art As a prior art, Japanese Patent Application Laid-Open No. 9-16119 is known.
No. 6 recommends switching from automatic operation to manual operation, and when not responding (when it is not in time)
Describes that the vehicle is evacuated from the traveling lane. In this patent, the vehicle is evacuated irrespective of the state of evacuation, and the case where the evacuation place is full is not considered.

【０００３】[0003]

【発明が解決しようとする課題】自動運転中におけるド
ライバの意識レベルは、睡眠状態であることも考えられ
必ずしも手動運転に対応できるレベルであるとは限らな
いため、安全に自動運転から手動運転へ移行するために
何らかの形でドライバの意識レベルを確認する事が必要
となる。また、自動運転システムはドライバが覚醒して
いない状態で自動運転を終了しなければならない場合
（目的地に到着した場合等）についても、他の自動運転
車両の妨げになることなく自動運転を終了できる必要が
ある。The driver's consciousness level during automatic driving is considered to be in a sleep state and is not always a level that can cope with manual driving. Therefore, it is safe to switch from automatic driving to manual driving. In order to make the transition, it is necessary to somehow confirm the driver's awareness level. In addition, the automatic driving system also terminates automatic driving without interrupting other self-driving vehicles when the driver must end the automatic driving without awakening (for example, when the driver arrives at the destination). I need to be able to do it.

【０００４】[0004]

【発明が解決しようとする課題】そこで、本発明の目的
は、ドライバの覚醒状態を確認する装置及び、ドライバ
が覚醒しないまま自動運転を終了させる必要がある場合
に、自動運転車両を自動で退避場所に移動させるシステ
ムを提供するにあり、また、退避場所は常に退避可能な
状態であるとは限らないので、システムは退避場所の状
態を認識する機能及びその状態により退避場所へ移動す
るか否かを判断する機能を有する装置を提供するにあ
る。。SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a device for confirming a driver's arousal state and an automatic evacuation of an automatic driving vehicle when it is necessary to terminate automatic driving without the driver awakening. In order to provide a system for moving to a place, and since the evacuation place is not always in a state where evacuation is possible, the system recognizes the state of the evacuation place and determines whether or not to move to the evacuation place based on the state. Another object of the present invention is to provide a device having a function of judging whether or not there is a problem. .

【０００５】[0005]

【課題を解決するための手段】本発明は、前記のような
目的を達成するために、自動運転装置において、請求項
１に記載の発明は、自車両の走行ルートを判断し、分枝
が必要であるか否かを判断する手段と、ドライバに覚醒
を要求するとともにドライバの覚醒状態を検知する手段
と、ドライバの覚醒状態が確認できない場合に、その車
両を待避的に誘導する手段とを有することを特徴とする
ものである。。According to the present invention, in order to achieve the above object, in an automatic driving device, the invention according to claim 1 determines a traveling route of the own vehicle, and determines whether or not a branch is to be made. Means for determining whether it is necessary, means for requesting the driver to be awake, and means for detecting the driver's awake state, and means for guiding the vehicle in an evacuation state when the driver's awake state cannot be confirmed. It is characterized by having. .

【０００６】請求項２に記載の発明は、自動運転中の車
両が分岐路において分枝が必要であるか否かを判断する
手段は、車両の目的地を入力する手段と、地図情報から
走行すベきルートを判断する手段と、ドライバが覚醒し
ない車両を待避的に誘導すベきかどうかを判断する手段
は、待避路の状態を常に監視し、待避路に駐車スペース
が存在するときにのみ車両を待避路に誘導する機能を有
することを特徴とするものである。According to a second aspect of the present invention, the means for determining whether or not a vehicle that is automatically driving requires branching at a branch road includes a means for inputting a destination of the vehicle and a travel based on map information. The means for judging the slip route and the means for judging whether or not the driver should evacuate the vehicle that does not wake up always monitor the status of the escape route, and only when there is a parking space in the escape route. It has a function of guiding a vehicle to an escape route.

【０００７】[0007]

【発明の実施の形態】図面を参照して、本発明の実施形
態を説明する。本発明は、図１に示すインフラ側の設備
と、図２に示す車両側の設備とを有している。インフラ
側の設備としては、対比エリア監視センサ１と、路車間
通信ユニット２と、完成制御ユニット３とが設けられて
いる。Embodiments of the present invention will be described with reference to the drawings. The present invention has the infrastructure equipment shown in FIG. 1 and the vehicle equipment shown in FIG. As facilities on the infrastructure side, a comparison area monitoring sensor 1, a road-to-vehicle communication unit 2, and a completion control unit 3 are provided.

【０００８】車両側の設備としては、目的地入力装置５
と、メモリユニット６と、レーンマーカセンサ７と、車
輪速センサ８と、ドライバ覚醒装置９と、ドライバ状態
確認装置１０と、路車間通信ユニット１１と、ＧＰＳ１
２と、自動運転車両制御ユニットとを具えている。The equipment on the vehicle side includes a destination input device 5
, A memory unit 6, a lane marker sensor 7, a wheel speed sensor 8, a driver awakening device 9, a driver state checking device 10, a road-vehicle communication unit 11, a GPS 1
2 and an autonomous driving vehicle control unit.

【０００９】前記のような自動運転車両は、図３に示す
ように道路１５に設置されているレーンマーカ１６を、
レーンマーカセンサ７によつ検出して、自車両の位置を
判断するとともに自車両の走行速度を車輪速センサ８に
て検出しており、それらの情報を路車間通信装置１１に
より送信している。またインフラは、専用道を走行する
全ての車両の位置及び速度を認識しており、専用道を効
率よくかつ安全に走行できるように各車両の走行ベクト
を計算し、その結果を各車両に路車間通信装置１１を介
して通達することにより自動運転を実現している。[0009] The automatic driving vehicle as described above has a lane marker 16 installed on a road 15 as shown in FIG.
The lane marker sensor 7 detects the position of the own vehicle, detects the traveling speed of the own vehicle by the wheel speed sensor 8, and transmits the information by the road-vehicle communication device 11. . In addition, the infrastructure recognizes the position and speed of all vehicles traveling on the dedicated road, calculates the travel vector of each vehicle so that the vehicle can travel on the dedicated road efficiently and safely, and transfers the result to each vehicle. The automatic driving is realized by notification via the inter-vehicle communication device 11.

【００１０】自動運転中の車両は、ＧＰＳ１２やレーン
マーカにより車両位置を認識している。自動運転開始時
に入力された目的地及び地図データにより、目的地まで
に分枝が必要であるか判断し、分流が必要と判断される
場合、道路インフラに対しサービスアウト要求信号、車
両位置を路車間通信にて送信する。The position of a vehicle during automatic driving is recognized by the GPS 12 and lane markers. Based on the destination and map data entered at the start of automatic driving, it is determined whether branching is necessary to the destination. If branching is determined to be necessary, a service-out request signal and vehicle position are sent to the road infrastructure. Transmit by inter-vehicle communication.

【００１１】そしてサービスアウト要求をした車両は、
分枝ポイントまでにドライバに覚醒を促し覚醒を確認す
る。ドライバの覚醒が確認された場合は、その旨を道路
インフラに送信しサービスアウト処理を継続する。サー
ビスアウト処理とは、インフラの指示により本線からラ
ンプウェイに分流しサービスアウト施設において自動運
転から手動運転に切り替わる処理を言う。[0011] The vehicle requesting service out is
Prompt the driver to wake up by the branch point and confirm the wake up. If the driver's awakening is confirmed, the driver is notified to the road infrastructure to continue the service out process. The service-out process refers to a process of switching from the automatic operation to the manual operation in the service-out facility by diverting from the main line to the ramp way according to an instruction from the infrastructure.

【００１２】しかし、ドライバの覚醒が確認できなかっ
た場合は、その旨を道路インフラに送信する。道路イン
フラは、退避エリアの状態を退避エリア監視センサ１に
て常に監視しており、退避エリアへの移動が可能なとき
（退避エリアに駐車スペースが存在するとき）には、そ
のまま自動運転を持続し、所定の退避エリアに導くため
の走行ベクトルを計算し、その結果を車両に通達する。
車両はインフラの指示に従い自動で所定の位置に導かれ
て停車し、その後自動運転を解除しドライバの覚醒を待
つ。退避エリアに移動することが不可能な場合において
は、車両をランプウェイ内で停止させるか、又はそのま
ま自動走行を続け次のＩＣまで走行し同様の処理を繰り
返す。However, if the driver's awakening cannot be confirmed, the fact is transmitted to the road infrastructure. The road infrastructure constantly monitors the state of the evacuation area with the evacuation area monitoring sensor 1, and when the evacuation area can be moved (when there is a parking space in the evacuation area), the automatic driving is continued as it is. Then, a traveling vector for leading to a predetermined evacuation area is calculated, and the result is transmitted to the vehicle.
The vehicle is automatically guided to a predetermined position and stopped according to the instruction of the infrastructure, and then releases the automatic driving and waits for the driver to wake up. If it is not possible to move to the evacuation area, the vehicle is stopped in the rampway, or the vehicle continues to travel automatically, travels to the next IC, and repeats the same processing.

【００１３】[0013]

【発明の効果】本発明は、前記のようであって、請求項
１に記載の発明は、自車両の走行ルートを判断し、分枝
が必要であるか否かを判断する手段と、ドライバに覚醒
を要求するとともにドライバの覚醒状態を検知する手段
と、ドライバの覚醒状態が確認できない場合に、その車
両を待避的に誘導する手段とを有し、請求項２に記載の
発明は、自動運転中の車両が分岐路において分枝が必要
であるか否かを判断する手段は、車両の目的地を入力す
る手段と、地図情報から走行すベきルートを判断する手
段と、ドライバが覚醒しない車両を待避的に誘導すベき
かどうかを判断する手段は、待避路の状態を常に監視
し、待避路に駐車スペースが存在するときにのみ車両を
待避路に誘導する機能を有するので、自動運転の解除が
容易に行われ、待避路への誘導が正確に混乱なく行われ
るという効果がある。The present invention is as described above. According to the first aspect of the present invention, a means for judging a traveling route of a host vehicle and judging whether branching is necessary, and a driver are provided. Means for requesting awakening and detecting the awakening state of the driver; and means for evacuating the vehicle when the awakening state of the driver cannot be confirmed. The means for determining whether or not the driving vehicle needs to branch on the branch road includes means for inputting the destination of the vehicle, means for determining the route to be traveled from the map information, and The means for judging whether or not a vehicle that should not be guided by evacuation should always monitor the state of the evacuation route, and has a function of guiding the vehicle to the evacuation route only when there is a parking space in the evacuation route. Operation can be easily released and sheltered Induction into is there is an effect that is done without confusion precisely.

【図面の簡単な説明】[Brief description of the drawings]

【図１】本発明のインフラ側の基本的な構成図である。FIG. 1 is a basic configuration diagram on the infrastructure side of the present invention.

【図２】同上の車両側の基本的な構成図である。FIG. 2 is a basic configuration diagram of the same vehicle side.

【図３】同上の動作説明図である。FIG. 3 is an operation explanatory diagram of the above.

フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） // Ｇ０５Ｄ 1/02 Ｇ０５Ｄ 1/02 Ｗ (72)発明者 岡田 稔 愛知県刈谷市昭和町１丁目１番地 株式会 社デンソー内 Ｆターム(参考） 3D037 FA05 5H180 AA01 AA27 BB04 CC24 FF05 LL06 LL20 5H301 AA03 AA10 BB20 CC03 CC06 DD07 DD17 EE06 EE13 FF08 GG14 HH13 KK02 KK03 KK07 KK18 KK19 MM04 MM10 Continued on the front page (51) Int.Cl. 7 Identification FI FI Theme Court II (Reference) // G05D 1/02 G05D 1/02 W (72) Inventor Minoru Okada 1-1-1 Showa-cho, Kariya-shi, Aichi Pref. 3D037 FA05 5H180 AA01 AA27 BB04 CC24 FF05 LL06 LL20 5H301 AA03 AA10 BB20 CC03 CC06 DD07 DD17 EE06 EE13 FF08 GG14 HH13 KK02 KK03 KK07 KK18 KK19 MM04 MM10

Claims (2)

【特許請求の範囲】[Claims] 【請求項１】自車両の走行ルートを判断し、分枝が必要
であるか否かを判断する手段と、ドライバに覚醒を要求
するとともにドライバの覚醒状態を検知する手段と、ド
ライバの覚醒状態が確認できない場合に、その車両を待
避的に誘導する手段とを有することを特徴とする自動運
転装置。1. A means for judging a traveling route of a host vehicle and judging whether branching is required, a means for requesting a driver to be awake and detecting a driver's awake state, and a driver's awake state Means for evacuating the vehicle when the vehicle cannot be confirmed. 【請求項２】 請求項１記載の自動運転装置において、
自動運転中の車両が分岐路において分枝が必要であるか
否かを判断する手段は車両の目的地を入力する手段と、
地図情報から走行すベきルートを判断する手段と、ドラ
イバが覚醒しない車両を待避的に誘導すベきかどうかを
判断する手段は、待避路の状態を常に監視し、待避路に
駐車スペースが存在するときにのみ車両を待避路に誘導
する機能を有することを特徴とする自動運転の解除装
置。2. The automatic driving device according to claim 1, wherein
The means for determining whether the automatically driving vehicle needs branching at the branch road is means for inputting the destination of the vehicle,
The means for judging the route to be driven from the map information and the means for judging whether or not the driver should evacuate the vehicle that does not wake up constantly monitor the state of the evacuation route, and there is a parking space in the evacuation route. An automatic driving canceling device having a function of guiding a vehicle to an evacuation route only when the vehicle is running.
JP2000360361A 2000-11-27 2000-11-27 Release device for automatic driving Pending JP2002163799A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2000360361A JP2002163799A (en) 2000-11-27 2000-11-27 Release device for automatic driving

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2000360361A JP2002163799A (en) 2000-11-27 2000-11-27 Release device for automatic driving

Publications (1)

Publication Number Publication Date
JP2002163799A true JP2002163799A (en) 2002-06-07

Family

ID=18831979

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
JP (1) JP2002163799A (en)

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