JP2002230682A - Automatic drive service judgment system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic drive service judgment system for automatically inspecting the automatic drivability of a vehicle while keeping the traveling state of the vehicle, and reporting the propriety of transfer or non-transfer to automatic drive together with the inspection result to a driver. SOLUTION: This automatic drive service judgment system is provided with a steering actuator 2a for adjusting the steering quantity, a steering angle detector 4a for detecting the steering quantity, a speed change actuator 3a for adjusting the speed; and a speed detector 4b for detecting the speed, and also an on-vehicle control device 15 for conrolling the steering actuator 2a and the speed change actuator 3a and arithmetically calculating the steerability, decelerating operability, and accelerating operability of the vehicle, and a roadside control device 7 for instructing the vehicle control device 15 for a desired steering quantity and a desired speed and judging whether the automatic driving of the vehicle is possible or not on the basis of at least one of the operation results of steerability, decelerating operability and accelerating operability.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving system for judging whether or not a vehicle entering an automatic driving service area has the possibility of automatic driving based on steering possibility, deceleration operation possibility and acceleration operation possibility. It relates to a service decision system.

[0002]

2. Description of the Related Art Recently, ITS (Intelligent Transport)
System: Intelligent transportation system) and other road systems are becoming increasingly sophisticated. One of the research techniques for the ITS is an automatic driving technique relating to automatic driving of a vehicle.

[0003] Autonomous driving technology means that when a vehicle capable of autonomous driving enters an autonomous driving service area, a driver of the vehicle does not operate a steering wheel, an accelerator pedal, and a brake pedal, so that the vehicle can move within a predetermined lane. Means a technology that enables a vehicle to automatically travel.

[0004] In order to realize automatic driving of a vehicle and enable automatic driving, many experiments on automatic driving technology have been conducted in Japan and overseas. For example, as shown in FIG. 5, a plurality of self-driving vehicles 1 are moved along a position marker 13 installed at the center of a traveling lane 53 on which the self-driving vehicles 1 run, by an autonomous driving technique. 2. Description of the Related Art Experiments have been conducted to enable a vehicle to automatically travel in a single-lane lane while maintaining the inter-vehicle distance.

[0005] In the research and experiment on such automatic driving technology, the basic part of the technology for automatically running the single track portion is being established.

[0006]

As described above, in a research experiment on an automatic driving technique as shown in FIG. 5, a basic part of a technique for automatically traveling a single track portion is being established. However, a technique for checking whether or not the target vehicle is capable of automatic driving, that is, a technique for checking whether or not the target vehicle is capable of automatic driving has not yet been established, and has been regarded as an important issue.

That is, in order to realize safe and reliable automatic driving in the automatic driving service providing section, in the vehicle inspection section, the automatically driving vehicle that has entered the automatic driving service area is brought into an automatic driving state. After confirming that there is, it is necessary to shift to automatic operation. Therefore, when a vehicle enters the automatic driving service area, it is necessary to immediately check whether the vehicle is capable of automatic driving.

In order to prevent traffic congestion at the entrance of the automatic driving service area, it is desirable to automatically check for the possibility of automatic driving while maintaining the running state of the vehicle.

Furthermore, in order to eliminate the anxiety of the driver and the passenger of the vehicle, to enable the driver to ride with peace of mind, and to prevent an accident due to the overconfidence of the driver in the vehicle that cannot be driven automatically, It is desirable to notify the driver and the passenger who have manually driven the target vehicle whether or not to shift to automatic driving together with the inspection result.

The present invention has been made in view of the above points, and automatically determines whether or not a vehicle that has entered an automatic driving service area is capable of automatic driving while maintaining the running state of the vehicle. It is an object of the present invention to provide an automatic driving service determination system that can inspect and notify a driver or a passenger who has manually driven a target vehicle of whether or not to shift to automatic driving together with the inspection result.

[0011]

SUMMARY OF THE INVENTION The present invention relates to an automatic driving service determining system for determining whether or not a vehicle is capable of automatic driving. In the automatic driving service determining system, a steering actuator is controlled based on a steering amount instruction signal and a speed instruction signal is controlled. An in-vehicle control device that controls the speed change actuator, calculates a steering possibility of the vehicle based on the steering amount detection signal, and calculates a deceleration operability and an acceleration operability of the vehicle based on the speed detection signal; A steering amount instruction signal for instructing a desired steering amount of the vehicle and a speed instruction signal for instructing a desired speed of the vehicle are transmitted to the in-vehicle control device, and the steering possibility and the deceleration operation possibility from the in-vehicle control device are transmitted. A roadside control device that determines whether or not the vehicle can be automatically driven based on at least one of the calculation results of the acceleration operation possibility. It is a dynamic operation service determination system.

[0012] According to the present invention, for the target vehicle that has entered the automatic driving service area, the on-board controller can control the target vehicle for steering, deceleration, and deceleration based on the steering amount detection signal and the speed detection signal. Calculate the acceleration operation possibility. Next, the roadside control device determines whether or not the target vehicle can be automatically driven based on at least one of the calculation results from the onboard control device. Therefore, it is possible to automatically inspect whether or not the target vehicle can be automatically driven while maintaining the running state of the target vehicle.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment An embodiment of the present invention will be described below with reference to the drawings.

FIGS. 1, 2 and 3 show a first embodiment of the present invention.
It is a figure showing an embodiment. Here, FIG. 1 is a functional block diagram showing the configuration of an inspection method and an inspection device for the possibility of automatic driving of a vehicle, FIG. 2 is a configuration diagram of an automatic driving service area, and FIG. 4 is a flowchart for explaining an operation of an inspection method and an inspection device for the possibility of automatic driving of a vehicle.

First, referring to FIG. 2, an outline of an automatic driving service judging system for judging the possibility of automatic driving of a vehicle will be described. As shown in FIG. 2, the automatic driving service determination system includes an automatic driving service area (roadside equipment) 5
0 and a target vehicle (vehicle-mounted device) 1a that travels in the automatic driving service area 50. A start point marker 11a for generating a spatially modulated magnetic field distribution is provided at a start point P1 of the automatic driving service area 50 where the target vehicle 1a runs, as a start point recognition means for recognizing the start point P1. Is provided, and a start point marker detection device 12 is provided on the vehicle-mounted device side.

On the vehicle-mounted device side, a hydraulically driven steering actuator 2a for adjusting a steering amount of the target vehicle 1a is provided.
A hydraulically driven shift actuator 3a for adjusting the speed of the target vehicle 1a, a steering angle detecting device 4a for detecting the amount of steering of the target vehicle 1a, and a speed detecting device 4b for detecting the speed of the target vehicle 1a. Is provided.

The vehicle-mounted device is provided with a vehicle-mounted control device 15 for controlling the steering actuator 2a for adjusting the steering amount and for controlling the speed-change actuator 3a for adjusting the speed. This in-vehicle control device 15
Based on the steering amount detection signal 31 from the steering angle detection device 4a, the steering possibility of the target vehicle 1a is calculated by using the expression (i) described later, and based on the speed detection signal 32 from the speed detection device 4b. It is possible to calculate the deceleration operability and the acceleration operability of the target vehicle 1a using equations (ii) and (iii) described later.

Further, on the vehicle-mounted device side, the vehicle recognition signal 33 from the start point marker detecting device 12, the inspection of the steering function, the deceleration function, and the acceleration function are started, and the target vehicle 1a can be automatically driven. A human interface device 5 for notifying the driver of the target vehicle 1a of whether or not the target vehicle 1a can shift to automatic driving based on the presence or absence of the property.
(HMI device) is provided, and the HMI device 5 includes a sound generation device 6.

On the other hand, a vehicle recognition signal 33 is provided on the roadside facility side.
An identification number is assigned to the target vehicle 1a based on a signal from the on-board controller 15 based on the
a steering amount instruction signal 34a for instructing a desired steering amount of a, and a deceleration instruction signal 34b for instructing a desired speed of the target vehicle 1a.
And the acceleration instruction signal 34c to the in-vehicle device side,
Further, it is determined whether or not the target vehicle 1a can be automatically driven.
A roadside control device 7 for transmitting the determination result to the vehicle-mounted control device is provided.

As shown in FIG. 1, the roadside control device 7 and the on-vehicle control device 15 are connected to the communication equipment 8 provided on the roadside equipment side.
And a communication device 9 provided on the in-vehicle device side, and can communicate with each other.

Further, in FIG. 2, automatic operation service area 50 (from the _{P 2 P} 3) vehicle inspection section target vehicle 1a determines whether the automatic operation is possible with the 51, the target vehicle 1a
And automatic running is allowed automatic operation serving interval (P ₃ or later) and a 52 in a lane that has been decided.

[0022] the starting point P ₁ of the automatic operation service area 50 is provided to be like the start marker 11a is embedded for example in a road surface as described above, also in the traffic lane 53, the position marker 13 is a vehicle traveling It is embedded at regular intervals in the direction.

Next, the operation of the present embodiment having the above configuration will be described.

The target vehicle 1a that has entered the automatic driving service area 50 is in the vehicle inspection section 51, as shown in FIGS. 1 and 3, whether or not automatic driving is possible, that is, whether or not automatic driving is possible. Is determined.

First, when the target vehicle 1a that has entered the automatic driving service area 50 passes through the start point marker 11a and the start point marker detection device 12 provided on the vehicle-mounted device senses the start point marker 11a, the vehicle recognition signal 33 is generated. It is sent from the starting point marker detection device 12 to the roadside control device 7 via the on-vehicle control device 15, the communication device 9, and the communication facility 8 (S
1).

The vehicle recognition signal 33 roadside control device 7 which has received together with assigned a unique identification number to the target vehicle 1a (S2), and this identification number, the steering amount indicating a desired steering quantity theta _r of the target vehicle 1a An instruction signal 34a, a deceleration instruction signal 34b for instructing a desired speed of the target vehicle 1a, and an acceleration instruction signal 34c are transmitted to the in-vehicle control device 15 via the communication equipment 8 and the communication device 9 (S3).

Upon receiving the steering amount instruction signal 34a, the on-vehicle control device 15 sets the pre-inspection steering amount θ _{0 as} the current steering amount before the steering function inspection of the target vehicle 1a, the pre-inspection speed V _{01 as} the current speed, The pre-inspection lateral position Y ₀₁ , which is the lateral position of the target vehicle in the current travel lane 53, is detected and stored, and the driver of the target vehicle 1a is inspected for the steering function via the HMI device 5. Notice.

[0028] Thereafter, the onboard control unit 15, the steering amount indicating signal 34a is required based on the desired steering amount θ steering actuator for inspection steering command signal 35a corresponding to _r 2
Send to a. After steering actuator 2a is operated in accordance with the inspection steering command signal 35a, a steering angle detection device 4a detects the inspection after steering amount theta ₁ is a steering amount of the target vehicle 1a after inspection, after this inspection steering The amount θ ₁ is transmitted to the vehicle-mounted control device 15. The in-vehicle control device 15 has the following (i)
An operation is performed to determine whether the expression holds.

(I) | (θ ₀ + θ _r ) −θ ₁ | <Δθ Here, the expression (i) represents the sum of the pre-inspection steering amount θ ₀ and the desired steering amount θ _r and the post-inspection steering amount θ ₁ . It is determined whether or not the absolute value of the difference falls within a predetermined small steering amount Δθ. Therefore, when the equation (i) is satisfied, it can be determined that the steering function is sound,
If the equation (i) does not hold, it can be determined that the steering function is unhealthy.

The result calculated as to whether or not the equation (i) is established is stored in the on-vehicle control device 15 (S
4).

Next, the on-vehicle control device 15 that has received the deceleration instruction signal 34b detects and stores the first pre-inspection speed _Va0 , which is the current speed before the deceleration function test of the target vehicle 1a, and stores the HMI. The driver of the target vehicle 1a is notified via the device 5 that the deceleration function is to be inspected.

Thereafter, the on-vehicle control device 15 sends the first pre-inspection speed V, which is requested based on the deceleration instruction signal 34b.
_a0 to the desired deceleration _{V ar} inspection deceleration V obtained by subtracting the
An inspection deceleration command signal 35b corresponding to _aq ( _Vaq = _Va0 - _Var ) is transmitted to the shift actuator 3a. After the shift actuator 3a operates according to the inspection deceleration command signal 35b, the speed detection device 4b detects a first post-inspection speed _Va1 that is the speed of the target vehicle 1a after the inspection, and performs the first inspection. The rear speed _{Va1 is set} to the on-vehicle control device 1.
Send to 5. The in-vehicle control device 15 calculates whether or not the following equation (ii) is satisfied.

(Ii) V _a1 <V _a0 , | V _a1 −
(V _a0 −V _ar ) | <ΔV _a Equation (ii) indicates that the first post-inspection speed V _a1 is lower than the first pre-inspection speed V _a0 , and the inspection deceleration V _aq ,
This is to determine whether or not the absolute value of the difference from the first post-inspection speed _Va1 is within _a preset minute deceleration ΔVa. Therefore, when this equation (ii) holds,
It can be determined that the deceleration function is sound. If Expression (ii) is not satisfied, it can be determined that the deceleration function is unhealthy.

The result of the calculation as to whether the expression (ii) is established is stored in the on-vehicle control device 15 (S
4).

Next, the on-vehicle control device 15 which has received the acceleration instruction signal 34c detects and stores the second pre-inspection speed _Vb0 , which is the current speed of the target vehicle 1a before the acceleration function test, and stores the HMI device. 5, the driver of the target vehicle 1a is notified that the acceleration function is to be inspected.

Thereafter, the on-vehicle control device 15 determines the second pre-inspection speed V required based on the acceleration instruction signal 34c.
desired acceleration _{V br} inspection acceleration V was added to _b0
The inspection acceleration command signal 35c corresponding to _bq ( _Vbq = _Vb0 + _Vbr ) is transmitted to the shift actuator 3a. After the shift actuator 3a operates according to the inspection acceleration command signal 35c, the speed detection device 4b detects a second post-inspection speed _Vb1 , which is the speed of the target vehicle 1a after the inspection, and performs the second inspection. Speed _{Vb1 is set} to on-vehicle control device 1.
Send to 5. The in-vehicle control device 15 calculates whether or not the following equation (iii) is satisfied.

(Iii) V_b1> V_b0 , | V_b1
− (V_b0+ V_br) | <ΔV _b Here, the expression (iii) is the speed V after the second inspection._b1Is the second inspection
Front speed V_b0Higher speed and acceleration V for inspection
_bqAnd the speed V after the second inspection_b1The absolute value of the difference from
Set small acceleration ΔV_bTo determine if
To refuse. Therefore, equation (iii) holds.
In some cases, it can be determined that the acceleration function is sound.
If equation (iii) does not hold, the acceleration function is unhealthy.
It can be determined that it is all.

The result of the calculation as to whether or not the equation (iii) holds is stored in the on-vehicle control device 15 (S
4).

As described above, after the on-vehicle control device 15 calculates whether or not each of the expressions (i), (ii), and (iii) is established, the calculation result is sent from the on-vehicle control device 15. It is transmitted to the roadside control device 7 via the communication device 9 and the communication facility 8 (S5).

If equation (i) does not hold, it means that the target vehicle 1a has no steering possibility. If formula (ii) does not hold, the target vehicle 1a has the possibility of deceleration operation. If the expression (iii) does not hold, it means that the target vehicle 1a has no possibility of acceleration operation. The roadside control device 7 that has received the calculation result from the on-vehicle control device 15 determines whether the target vehicle 1a can be steered if any one of the equations (i), (ii), and (iii) does not hold. Since there is no possibility of deceleration operation or acceleration operation, it is determined that the target vehicle 1a has no possibility of automatic driving. On the other hand, when all of the expressions (i), (ii), and (iii) hold, the target vehicle 1a has all of the steering possibility, the deceleration operation possibility, and the acceleration operation possibility. Is determined to have the possibility of automatic driving (S
6).

The result of the determination as to whether or not the target vehicle 1a can be automatically driven is transmitted from the roadside control device 7 to the on-vehicle control device 15 via the communication equipment 8 and the communication device 9, and from the on-vehicle control device 15 to the HMI device 5 Target vehicle 1a via
(S7, S8).

Thereafter, the inspection of the possibility of automatic driving of the target vehicle 1a is completed (S9).

The calculation of whether or not each of the expressions (i), (ii) and (iii) is performed in the on-vehicle control device 15 may be performed in any order.

Further, the HMI device 5 may have an image display device 16 in addition to the sound generation device 6. In this case, the vehicle recognition signal 33 from the starting point marker detection device 12
From the image display device 16, the start of the inspection of each function of the steering function, the deceleration function, and the acceleration function, and whether or not the target vehicle 1a can shift to the automatic driving based on the possibility of the automatic driving of the target vehicle 1a are determined from the image display device 16. The driver can be notified by the image of.

Further, instead of the starting point marker 11a for generating a spatially modulated magnetic field distribution, a starting point marker 11b for generating a time-modulated radio wave may be provided. In this case, when the target vehicle 1a passes the start point marker 11b and the start point marker detection device 12 detects the start point marker 11b, the vehicle recognition signal 33 is output from the start point marker detection device 12
The information is sent to the roadside control device 7 via the on-vehicle control device 15, the communication device 9, and the communication facility 8.

Further, at least one of the hydraulically driven steering actuator 2a and the speed change actuator 3a may be comprised of electric motor driven actuators 2b, 3b. In this case, the steering amount of the target vehicle 1a can be adjusted by the motor-driven steering actuator 2b, or the speed of the target vehicle 1a can be adjusted by the motor-driven speed change actuator 3b.

In FIGS. 1 and 2, a means for detecting a lateral position Y in the traveling lane 53 of the target vehicle 1a is provided on the roadside equipment, which generates a spatially modulated magnetic field distribution. The position marker 13 is embedded at regular intervals in the vehicle traveling direction in the automatic driving service area 50, and the position marker 1 is
3 in the traffic lane 53 due to the interaction with the vehicle 3
May be provided with a position marker detecting device 14 for detecting the horizontal position of the position marker.

[0048] transmitted in this case to detect the lateral position Y ₀ before the test in advance the target vehicle 1a in the previous steering function testing, the steering function tests, the onboard control unit 15 is an inspection steering command signal 35a to the steering actuator 2a Then, the steering actuator 2a is operated. After steering actuator 2a is operated, the position marker detection device 14 detects the inspection after lateral position Y ₁ of the target vehicle 1a, and transmits the inspection after lateral position Y ₁ to the vehicle-mounted control device 15. The lateral position change amount corresponding to the inspection steering command signal 35a is represented by _Yr
If the in-vehicle controller 15 and the pre-test the lateral position Y _0, the lateral position Y ₁ after the inspection, the lateral position change amount Y
_r , based on whether the steering function is sound, and then, based on the calculation result in the on-board controller 15, the road-side controller determines whether the target vehicle 1a has the possibility of automatic driving. to decide.

When the above-mentioned inspection of the steering function is carried out, the inspection is carried out in a straight traveling lane 53.
It is desirable to start the inspection from a state where the target vehicle 1a is traveling in the center of the traveling lane 53. That is, for example, first, the steering amount instruction signal 34a is moved rightward for a certain period of time.
Desired steering amount theta after given steering function tests the _r, inspect the steering function of giving desired steering amount theta _r of the same size for a certain time to the left in the lateral direction is followed based on.
In this way, after the inspection of the steering function is completed, the steering amount is set to be the steering amount before the inspection of the steering function, and the target vehicle 1a is checked at the end of the inspection of the steering function without largely changing the direction of the vehicle body by the inspection of the steering function. Can be returned to the center of the traveling lane 53 before the steering function test.

As described above, according to the present embodiment, the target vehicle 1 is controlled based on the signal from the roadside control device 7.
a) is automatically determined while maintaining the traveling state of the target vehicle 1a by determining all of the steering possibility, the deceleration operation possibility, and the acceleration operation possibility of the target vehicle 1a. Can be inspected for In addition, it is possible to notify the driver of the target vehicle 1a of whether or not to shift to the automatic driving together with the inspection result. This makes it possible to smoothly and comfortably inspect whether or not the target vehicle 1a can be automatically driven.

Second Embodiment FIGS. 1, 2 and 4 are views showing a second embodiment of the present invention. Here, FIG. 4 is a flowchart for explaining the operation of the inspection method and the inspection device for the possibility of automatic driving of the vehicle.

In the configuration of the automatic driving service judging system according to the present embodiment, the same parts as those of the first embodiment shown in FIG.

The target vehicle 1a that has entered the automatic driving service area 50 is, in the vehicle inspection section 51, as to whether or not automatic driving is possible as shown in FIGS. Is determined.

When the target vehicle 1a that has entered the automatic driving service area 50 passes the start point marker 11a and the start point marker detection device 12 detects the start point marker 11a, the vehicle recognition signal 33 is transmitted from the start point marker detection device 12 to the on-board control. It is sent to the roadside controller 7 via the device 15, the communication device 9, and the communication facility 8 (S11).

[0055] the vehicle perception signals 33 roadside control device 7 which has received together with assigned a unique identification number to the target vehicle 1a (S12), and this identification number, the steering amount indicating a desired steering quantity theta _r of the target vehicle 1a The instruction signal 34a is transmitted to the in-vehicle control device 15 via the communication facility 8 and the communication device 9 (S13).

The in-vehicle control device 15 having received the steering amount instruction signal 34a outputs the pre-inspection steering amount θ ₀ , which is the current steering amount before the steering function inspection of the target vehicle 1a, the pre-inspection speed V ₀₁ , which is the current speed, Target vehicle 1a in current driving lane 53
The horizontal position Y ₀₁ before inspection, which is the horizontal position of the target vehicle 1, is detected and stored.
The driver a is notified that the steering function is to be inspected.

[0057] Thereafter, the onboard control unit 15, the steering amount indicating signal 34a is required based on the desired steering amount θ steering actuator for inspection steering command signal 35a corresponding to _r 2
Send to a. After steering actuator 2a is operated in accordance with the inspection steering command signal 35a, a steering angle detection device 4a detects the inspection after steering amount theta ₁ is a steering amount of the target vehicle 1a after inspection, after this inspection steering The amount θ ₁ is transmitted to the vehicle-mounted control device 15. The in-vehicle control device 15 is configured as described in (i) above.
It is calculated whether or not the equation holds (S14).

The result of the calculation as to whether or not the equation (i) holds is transmitted from the on-board controller 15 to the roadside controller 7 via the communication device 9 and the communication equipment 8 (S15).

If the formula (i) is not satisfied, the target vehicle 1a does not have the possibility of steering. Therefore, the roadside controller 7 receiving the calculation result determines that the target vehicle 1a does not have the possibility of automatic driving. (S16), the communication equipment 8, the communication device 9,
Via the in-vehicle control device 15 and the HMI device 5, the driver of the target vehicle 1a is notified that the target vehicle 1a does not have the possibility of automatic driving, and cannot be shifted to automatic driving (S25). The inspection for the possibility of automatic operation ends (S27).

On the other hand, when the calculation result indicating that the equation (i) is satisfied is received, the roadside control device 7 sends the deceleration instruction signal 34 to the on-vehicle control device 15 via the communication equipment 8 and the communication device 9.
b is transmitted (S16, S17).

Upon receiving the deceleration instruction signal 34b, the on-vehicle controller 15 detects and stores the first pre-inspection speed _Va0 , which is the current speed before the deceleration function test of the target vehicle 1a, and stores the HMI device 5 in the vehicle. The driver of the target vehicle 1a is notified of the fact that an inspection of the deceleration function is to be performed.

Thereafter, the on-vehicle control device 15 transmits an inspection deceleration command signal 35b corresponding to the inspection deceleration _Vaq required based on the deceleration instruction signal 34b to the shift actuator 3a. After the shift actuator 3a operates according to the inspection deceleration command signal 35b, the speed detection device 4b detects a first post-inspection speed _Va1 that is the speed of the target vehicle 1a after the inspection, and performs the first inspection. Rear speed V _a1
Is transmitted to the in-vehicle control device 15. The in-vehicle control device 15 includes:
It is calculated whether or not the above equation (ii) is satisfied (S18).

The result calculated as to whether or not the equation (ii) is satisfied is transmitted from the on-board controller 15 to the roadside controller 7 via the communication device 9 and the communication equipment 8 (S19).

If the formula (ii) is not satisfied, the target vehicle 1a has no possibility of deceleration operation, and therefore the roadside control device 7 having received the calculation result determines that the target vehicle 1a has no possibility of automatic driving. (S20), via the communication equipment 8, the communication device 9, the in-vehicle control device 15, and the HMI device 5,
The driver of the target vehicle 1a is notified that the target vehicle 1a does not have the possibility of automatic driving, so that it is not possible to shift to the automatic driving (S25), and the inspection on the possibility of automatic driving of the target vehicle 1a ends (S27). .

On the other hand, when the calculation result indicating that the expression (ii) is satisfied is received, the roadside control device 7 transmits the acceleration instruction signal 34c to the on-vehicle control device 15 via the communication equipment 8 and the communication device 9. (S20, S21).

Upon receiving the acceleration instruction signal 34c, the on-vehicle control device 15 detects and stores the second pre-inspection speed _Vb0 , which is the current speed before the acceleration function test of the target vehicle 1a, and also via the HMI device 5. To notify the driver of the target vehicle 1a that the acceleration function is to be inspected.

Thereafter, the on-vehicle control device 15 transmits an inspection acceleration command signal 35c corresponding to the inspection acceleration _Vbq required based on the acceleration instruction signal 34c to the shift actuator 3a. After the shift actuator 3a operates according to the inspection acceleration command signal 35c, the speed detection device 4b detects a second post-inspection speed _Vb1 , which is the speed of the target vehicle 1a after the inspection, and performs the second inspection. Speed V _b1
Is transmitted to the in-vehicle control device 15. The in-vehicle control device 15 includes:
It is calculated whether or not the above equation (iii) is satisfied (S2
2).

The result of the calculation as to whether or not the equation (iii) holds is transmitted from the on-board controller 15 to the roadside controller 7 via the communication device 9 and the communication equipment 8 (S23).

If the equation (iii) does not hold, the roadside controller 7 having received the calculation result determines that the target vehicle 1a does not have the possibility of automatic driving (S24), and the communication equipment 8, the communication device 9, and the vehicle Via the control device 15 and the HMI device 5, the driver of the target vehicle 1a is notified that the target vehicle 1a does not have the possibility of automatic driving, and cannot be shifted to automatic driving (S25), and the target vehicle 1a is inspected. Ends (S27).

When equation (iii) is calculated and satisfied as described above, all of equations (i), (ii), and (iii) are satisfied, so that the target vehicle 1a can be steered and decelerated. It has both the possibility and the acceleration operation possibility. Therefore, the roadside control device 7 that has received the calculation result indicating that the formula (iii) is established determines that the target vehicle 1a has the possibility of automatic driving (S24), and the communication equipment 8, the communication device 9, and the in-vehicle control device. 15, and via the HMI device 5,
The driver of the target vehicle 1a is notified that the target vehicle 1a has the possibility of automatic driving and can shift to automatic driving (S2).
6), the inspection of the target vehicle 1a ends (S27).

Incidentally, in the above embodiment,
An example in which each of the expressions (i), (ii), and (iii) is calculated in this order has been described. In addition, the expression (i)-(iii)-(ii)
Formula, (ii) Formula- (i) Formula- (iii) Formula, (ii) Formula- (ii
i) Formula- (i) Formula, (iii) Formula- (ii) Formula- (i) Formula, (ii)
The calculation may be performed in the order of i)-(i)-(ii) to check whether the target vehicle 1a can be automatically driven.

As described above, according to the present embodiment, the roadside control device 7 sequentially determines the steering possibility, the deceleration operation possibility, and the acceleration operation possibility of the target vehicle 1a. If it is determined that there is no such possibility, the determination on other possibilities that have not been determined is stopped. Therefore, whether or not the target vehicle 1a can be automatically driven can be automatically inspected while maintaining the running state of the target vehicle 1a, and the inspection result can be notified to the driver of the target vehicle 1a. Also,
If it is determined that any one possibility does not exist, the determination of other possibilities that have not been determined is stopped, so the inspection time can be reduced compared to the case of determining all possibilities. Can be planned.

[0073]

As described above, according to the present invention,
For the target vehicle that has entered the automatic driving service area, the roadside control device can steer and decelerate the target vehicle based on the steering amount detected by the steering angle detection device and the speed detected by the speed detection device. And the possibility of an acceleration operation are calculated, and the presence or absence of the automatic driving possibility of the target vehicle is determined based on at least one of the calculation results. Therefore, the vehicle is automatically inspected for the possibility of automatic driving while maintaining the running state of the vehicle, and the vehicle that cannot be automatically driven is prevented from shifting to the automatic driving in advance, thereby ensuring a safe and reliable operation. Automatic driving can be realized. In addition, a human interface device (H
MI device) notifies the driver of the target vehicle of whether or not to shift to automatic driving together with the inspection result of the possibility of automatic driving, so that the driver can feel safe and
It is possible to smoothly check whether or not the target vehicle can be automatically driven, and to prevent an accident due to the driver's overconfidence.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a configuration of an inspection method and an inspection apparatus for the possibility of automatic driving according to the present invention.

FIG. 2 is a configuration diagram of an automatic driving service area according to the present invention.

FIG. 3 is a flowchart for explaining the operation of the inspection method and the inspection apparatus for the possibility of automatic driving of the vehicle according to the first embodiment of the present invention.

FIG. 4 is a flowchart for explaining an operation of an inspection method and an inspection device for the possibility of automatic driving of a vehicle in a second embodiment according to the present invention.

FIG. 5 is a diagram showing a research experiment on automatic driving technology.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Autonomous driving vehicle (vehicle-mounted device) 1a Target vehicle 2a Hydraulic drive type steering actuator 2b Electric drive type steering actuator 3a Hydraulic drive type speed change actuator 3b Electric drive type speed change actuator 4a Steering angle detecting device 4b Speed Detecting device 5 Human interface device (HMI device) 6 Sound generating device 7 Roadside control device 8 Communication equipment 9 Communication device 11a Starting point marker 11b having a device that generates spatially modulated magnetic field distribution 11b Time-modulated radio waves Start point marker having generated 12 Start point marker detection device 13 Position marker 14 Position marker detection device 15 In-vehicle control device 16 Image display device 31 Steering amount detection signal 32 Speed detection signal 33 Vehicle recognition signal 34a Steering amount instruction signal 34b Deceleration instruction Signal 34c acceleration command signal 35a inspection steering command signal 35b inspection deceleration command signal 35c inspection acceleration command signal 50 automatic operation coverage (roadside equipment) 51 vehicle inspection section 52 automatically operated service providing section 53 driving lane

Claims (10)

[Claims] An automatic driving service determination system for determining whether or not a vehicle is capable of automatic driving includes controlling a steering actuator based on a steering amount instruction signal, and controlling a shift actuator based on a speed instruction signal. A vehicle control device that calculates the steering possibility of the vehicle based on the steering amount detection signal, and calculates the deceleration operation possibility and the acceleration operation possibility of the vehicle based on the speed detection signal. A steering amount instruction signal for instructing a desired steering amount of the vehicle and a speed instruction signal for instructing a desired speed of the vehicle are transmitted, and the calculation results of the steering possibility, the deceleration operation possibility, and the acceleration operation possibility from the in-vehicle control device are obtained. A roadside control device for determining whether or not the vehicle is capable of automatic driving based on at least one of the following: Beam. 2. The roadside control device, when judging that any one of the steering possibility, the deceleration operation possibility, and the acceleration operation possibility does not exist, stops the determination of the other possibility. The automatic driving service determination system according to claim 1, wherein: 3. The automatic driving system according to claim 1, further comprising a starting point recognizing means for recognizing a starting point of an automatic driving service area where the vehicle travels. Service decision system. 4. A vehicle receives an automatic driving service based on the fact that an inspection is started for the possibility of steering, deceleration operation, acceleration operation, and the possibility of automatic driving of the vehicle. The apparatus according to any one of claims 1 to 3, further comprising a human interface device that notifies a driver of the vehicle of at least one of whether or not the human interface device is to be operated, wherein the human interface device has a voice generating device. Automatic driving service judgment system as described. 5. Initiation of an inspection for the possibility of steering, deceleration operation, acceleration operation possibility, and a transition to automatic operation of the vehicle based on the possibility of automatic operation of the vehicle. 4. The human interface device according to claim 1, further comprising: a human interface device that notifies a driver of the vehicle of at least one of the following items: a human interface device having an image display device. Automatic driving service judgment system. 6. The automatic driving service judging system according to claim 3, wherein said starting point recognizing means has a means for generating a spatially modulated magnetic field distribution. 7. The automatic driving service judging system according to claim 3, wherein said starting point recognizing means includes means for generating a time-modulated radio wave. 8. A vehicle according to claim 1, further comprising a vehicle position detecting means for detecting a position of the vehicle on the road, wherein the vehicle position detecting means generates a spatially modulated magnetic field distribution. 7. The automatic driving service determination system according to any one of 7 above. 9. The automatic driving service judging system according to claim 1, wherein at least one of the steering actuator and the speed change actuator comprises a hydraulically driven actuator. . 10. The apparatus according to claim 1, wherein at least one of the steering actuator and the speed change actuator comprises a motor-driven actuator.
The automatic driving service determination system according to any one of the above.