JP2014019301A - Emergency evacuation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an emergency evacuation device capable of enabling the occupant of a front passenger seat or a rear passenger seat to operate a vehicle.SOLUTION: An emergency evacuation device 1 gives emergency evacuation assistance for stopping a vehicle at a safe position irrespective of a driver's running operation of the vehicle. After the start of the emergency evacuation assistance or the stop of the vehicle by the emergency evacuation assistance, operation means (e.g., levers 20e) included in the vehicle or screen input operable display means (e.g., touch monitor 20f) is operated to enable a moving operation of the vehicle (e.g., operation of start or stop of preventive safety assistance included beforehand in the vehicle, operation of start of stop of automatic running of the vehicle, operation of back-and-forth or lateral movement of the vehicle, or operation of stop).

Description

  The present invention relates to an emergency evacuation device that performs emergency evacuation support when a driver of a vehicle becomes difficult to drive due to a decrease in consciousness or the like.

  The emergency evacuation device performs emergency evacuation support such as moving the vehicle and stopping it at a predetermined location when the driver of the vehicle becomes difficult to drive due to a decrease in consciousness or sudden illness. In the device described in Patent Document 1, when a driver's consciousness decrease is detected, a target road stop position is determined by detecting a road surrounding situation ahead, and the vehicle is automatically steered to the target stop position by rudder angle control and brake control. Force stop.

JP 2007-331652 A

  When a vehicle is stopped by emergency evacuation assistance, the vehicle may block the road due to road conditions (eg, narrow and face-to-face roads, narrow shoulders) and the surrounding environment (eg, there are many parked vehicles on the shoulders). There are cases where the vehicle is not stopped at an appropriate place, such as when stopping in the opposite lane or when stopping outside the opposite lane. In such a case, there is a possibility that the path of the other vehicle may be hindered, and it becomes necessary to move the vehicle to a safer place. Further, when the vehicle is moved by emergency evacuation support, it may be necessary to move the vehicle more safely. However, since the driver is not in a situation where the driver can operate due to reduced awareness, the passenger in the passenger seat or the rear seat may operate on behalf of the driver, but the driver seat or the rear seat operates. It is difficult.

  Then, this invention makes it a subject to provide the emergency evacuation apparatus which enables operation of the passenger of a passenger seat or a rear seat.

  The emergency evacuation device according to the present invention is an emergency evacuation device that stops the vehicle at a safe position regardless of the driving operation of the driver of the vehicle, and the operation means or screen provided in the vehicle after the vehicle is stopped by the emergency evacuation support The vehicle can be moved by an operation from a display means capable of input operation.

  In this emergency evacuation device, after the vehicle stops at a predetermined position by emergency evacuation support, operation means (for example, a lever, switch, button) provided on the vehicle or display means (for example, a touch monitor) capable of screen input operation are provided. The passenger in the passenger seat or the rear seat can perform an operation for moving the vehicle to another position. Accordingly, even when the emergency evacuation support does not stop the vehicle at an appropriate position, the vehicle can be quickly moved to a safer position by an operation by the passenger. The stop includes not only when the vehicle speed is strictly 0 km / h but also when the vehicle is moving at an extremely low speed.

  The emergency evacuation device according to the present invention is an emergency evacuation device that urgently evacuates the vehicle to a safe position regardless of the driving operation of the driver of the vehicle. The vehicle can be moved by an operation from an operable display means.

  In this emergency evacuation device, when the vehicle is moving by emergency evacuation support, passengers in the passenger seat and the rear seat can move the vehicle by operating means provided on the vehicle and display means capable of screen input operation. You can do the operation. As a result, even when the safety is lowered during the movement by the emergency evacuation support, the vehicle can be moved more safely by the operation by the passenger.

  The emergency evacuation device of the present invention includes communication means capable of communicating with a communication terminal brought into the vehicle, and enables the vehicle to be moved by an operation from the communication terminal via the communication means. In this emergency evacuation device, passengers in the passenger seat and the rear seat can perform an operation for moving the vehicle using a communication terminal (for example, a smartphone, a tablet personal computer, a mobile phone) brought into the vehicle. .

  In the emergency evacuation device of the present invention, it is possible to start and stop the preventive safety support provided in advance in the vehicle by an operation from the operation means or the display means capable of screen input operation. In this emergency evacuation device, an operation related to preventive safety support (for example, follow-up traveling, lane change assist) can be performed as a movement operation by a passenger, so the vehicle can be safely moved using the preventive safety support on the vehicle side. be able to.

  In the emergency evacuation device of the present invention, the operation of the vehicle can be started and stopped by the operation from the operation means or the display means capable of screen input operation. In this emergency evacuation device, an operation related to automatic driving can be performed as a moving operation by the passenger, so that the vehicle can be safely moved using automatic driving on the vehicle side.

  In the emergency evacuation device of the present invention, the operation of the vehicle in the front-rear direction and the lateral direction and the stop operation can be performed by the operation from the operation means or the display means capable of screen input operation. In this emergency evacuation device, since the vehicle can be operated by acceleration, deceleration (stop), and steering as movement operations by the passenger, the vehicle can be safely moved by driving by the passenger.

  The emergency evacuation device of the present invention includes guide means for guiding the operation method from the operation means or the display means capable of screen input operation. In this emergency evacuation device, the traveling method using the steering means or the display means capable of screen input operation can be grasped by the passenger by the operation method guide by the guide means.

  According to the present invention, passengers in the front passenger seat and the rear seat can perform operations for safely moving the vehicle by operating means provided on the vehicle and display means capable of screen input operation. Can be stopped at any position.

It is a block diagram of the emergency evacuation apparatus which concerns on this Embodiment. It is operation | movement explanatory drawing of the emergency evacuation apparatus and driver which concern on this Embodiment. It is a flowchart which shows the flow of the operation | movement corresponding to passenger operation in the emergency evacuation apparatus which concerns on this Embodiment.

  Hereinafter, embodiments of an emergency evacuation device according to the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected about the element which is the same or it corresponds in each figure, and the overlapping description is abbreviate | omitted.

  The emergency evacuation device according to this embodiment determines that the emergency evacuation support needs to be implemented and then determines that sovereignty is transferred from the driver to the vehicle side. Provide support to move and stop. In particular, the emergency evacuation device according to the present embodiment makes it easy for passengers in the front passenger seat and the rear seat to move the vehicle after emergency evacuation assistance is implemented (after sovereignty transfer). It can be so. The stop includes not only when the vehicle speed is strictly 0 km / h but also when the vehicle is moving at an extremely low speed. For example, this is a case where the vehicle has moved due to creep force or road surface gradient.

  With reference to FIG.1 and FIG.2, the emergency evacuation apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of an emergency evacuation device according to the present embodiment. FIG. 2 is an operation explanatory diagram of the emergency evacuation device and the driver according to the present embodiment.

  The emergency evacuation device 1 has a predetermined scene that influences safety (including not only the own vehicle but also other vehicles, pedestrians, etc.) during movement or stop holding by the emergency evacuation assistance after the emergency evacuation assistance starts. Is detected, it is determined whether the passenger in the passenger seat or the rear seat is about to move the vehicle. The emergency evacuation device 1 cancels the emergency evacuation support in response to the ON operation on the cancel switch when the passenger is moving the vehicle, and the driver's seat is moved when the driver can move. In the situation where it is easy to operate and the driver cannot be moved, the in-vehicle lever or touch monitor functions as a simple control stick.

  Before specifically describing the emergency evacuation device 1, the operation of the emergency evacuation device 1 and the driver when emergency evacuation assistance is performed will be described with reference to FIG. The emergency evacuation device 1 determines whether or not the emergency evacuation support needs to be performed. As the determination method, a determination is made by detecting the first ON operation on the operation switch by the driver itself, and a decrease in the state of the driver recognized on the vehicle system side is determined (for example, the consciousness level or the arousal level is There is a method of making a determination by making the driver's posture not a normal driving posture below a threshold value. By the way, the driver recognizes that driving will be difficult due to deterioration of his / her condition (for example, low consciousness, sudden illness, drowsiness), and when it is judged that emergency evacuation assistance is necessary, an operation switch that requests emergency evacuation assistance Perform an ON operation on.

  When the emergency evacuation device 1 determines that the emergency evacuation support needs to be performed, the emergency evacuation device 1 gives advance explanation to the driver. As this prior explanation, for example, emergency evacuation support for forcibly stopping the vehicle by automatic driving on the vehicle system side is performed, and input operation by the driver is disabled during the emergency evacuation support. Then, the emergency evacuation device 1 asks the driver for confirmation of consent after giving the prior explanation. When the driver agrees with this, the sovereignty (authority) regarding the driving of the vehicle is transferred from the driver to the vehicle system side. In order to drive the vehicle safely until the driver's consent is obtained (the driver's condition may be getting worse during this period), the emergency evacuation device 1 performs steering for lane keeping. Implement control. During this time, partial input operation of the drive is possible.

  The driver, after hearing the explanation of the circumstances of the emergency evacuation device 1, determines whether or not the sovereignty (authority) regarding the driving of the vehicle may be delegated to the vehicle system side. If the driver decides to delegate sovereignty, the driver performs an ON operation on the operation switch. By this operation switch ON operation, the driver recognizes that the sovereignty (authority) regarding the driving of the vehicle is transferred to the system side of the vehicle. If the driver cannot make such a determination and the operation switch cannot be turned ON, the driver's state recognized on the vehicle system side further decreases after a lapse of a predetermined time from the execution decision of the emergency evacuation support. Judgment of sovereignty is made by determining what has been done.

  When the emergency evacuation device 1 determines that the sovereignty is transferred, the emergency evacuation device 1 performs emergency evacuation support in which the vehicle is forcibly stopped by moving automatically. Specifically, it recognizes the situation of surrounding roads and obstacles (other vehicles, pedestrians, bicycles, etc.), determines a location (position) where the vehicle can be stopped, and places the vehicle in that location. Steering control and deceleration control for stopping the vehicle are performed. During this time, the emergency evacuation device 1 explains the situation to the driver. As explanations of this situation, for example, the vehicle is decelerated by automatic driving while being moved to the left side, and the vehicle is stopped. During this time, the driver cannot perform an input operation. When the host vehicle stops at a predetermined location, the emergency evacuation device 1 performs control to maintain the stop state of the host vehicle. In the meantime, the emergency evacuation device 1 gives a post-explanation to the driver. As the subsequent explanation, for example, holding the stop of the own vehicle, a rescuer or the like is heading here.

  In addition, the emergency evacuation device 1 notifies that there is an abnormality in the host vehicle by flashing a hazard lamp or the like from the time when the emergency evacuation support is determined. After the vehicle stops, the rescuer rescues the driver, and the rescuer cancels the emergency evacuation support with the cancel switch.

  Now, the emergency evacuation device 1 will be specifically described. The emergency evacuation device 1 acquires various types of information from the environmental information recognition ECU [Electronic Control Unit] 10, the vehicle information recognition ECU 11, and the driver state recognition ECU 12. The emergency evacuation device 1 performs HMI with a driving assistance HMI [Human Machine Interface] 20 and performs vehicle control with various driving assistance systems 21 (various actuators 22). Moreover, the emergency evacuation apparatus 1 performs each process for implement | achieving the various functions of the emergency evacuation apparatus 1 by determination process ECU30. The determination processing ECU 30 is connected to an environment information recognition ECU 10, a vehicle information recognition ECU 11, a driver state recognition ECU 12, a driving support HMI 20, and various driving support systems 21 (various actuators 22) via a CAN [Controller Area Network].

  The environmental information recognition ECU 10 acquires various information from the GPS [Global Positioning System] 10a, the in-vehicle network 10b, the front / rear side camera 10c, the front / rear side sensor 10d, the car navigation system 10e, and the white line recognition camera 10f. Recognize environmental information around the vehicle using various information. Examples of environmental information to be recognized include road information around the own vehicle, traffic information, obstacle information (other vehicle information, pedestrian information, etc.), and lane information on which the own vehicle is traveling. The environment information shown here is an example, and other environment information may be recognized.

  The GPS 10a is a device that receives a GPS signal from each GPS satellite by a GPS antenna and calculates a current position (latitude, longitude) based on each GPS signal. The in-vehicle network 10b is a road-to-vehicle communication device that acquires traffic jam information, traffic regulation information, intersection information, road shape information, signal cycle information, etc. from a roadside device through road-to-vehicle communication such as a beacon. This is an inter-vehicle communication device that acquires other vehicle information such as the current position, vehicle speed, and traveling direction from another vehicle. The front / rear side camera 10c is a camera that captures the periphery of the host vehicle and acquires the captured image, and is a camera that captures the front of the host vehicle and a camera that captures the rear and rear sides of the host vehicle. The front / rear side sensor 10d is a radar sensor such as a laser radar, a millimeter wave radar, or the like, and detects a radar sensor for detecting an object ahead of the host vehicle or an object behind and behind the host vehicle. Radar sensor. The car navigation system 10e includes a map database and holds road information, lane information, and the like. The white line recognition camera 10f is a camera sensor that recognizes a pair of left and right white lines constituting a lane (lane), and includes a camera that images the front of the host vehicle and a processing device that recognizes the white line by image processing from the captured image.

  The vehicle information recognition ECU 11 acquires various types of information from the rudder angle sensor 11a, the G sensor 11b, the vehicle speed sensor 11c, and the shift position sensor 11d, and recognizes information about the host vehicle using the various types of information. Examples of the vehicle information to be recognized include turning information, acceleration information, speed information, and shift position information of the host vehicle. The vehicle information shown here is an example, and other vehicle information may be recognized. For example, the position information of the host vehicle is recognized by the GPS 10a and the car navigation system 10e.

  The steering angle sensor 11a is a sensor that detects the steering angle of the steering wheel. The G sensor 11b is a sensor that detects the longitudinal acceleration of the host vehicle. The vehicle speed sensor 11c is a sensor that detects the vehicle speed of the host vehicle. The shift position sensor 11d is a sensor that detects the position of the shift lever.

  The driver state recognition ECU 12 acquires various information from the physiological measurement device 12a, the gaze / face orientation measurement device 12b, the operation switch 12c, and the seating sensor 12d, and uses the various information to determine the driver state (some information is passengers). Recognize the state). The driver state to be recognized includes, for example, the degree of consciousness reduction, the degree of arousal, the posture, and whether or not the driver is in a difficult state based on his / her judgment. In addition, the state of the driver and passengers to be recognized includes whether or not the driver is seated in each seat. Note that the driver states shown here are examples, and other driver states may be recognized. Further, based on the judgment of the driver using the operation switch 12c and the means for recognizing the driver state (decrease in consciousness, wakefulness, etc.) on the system side using the physiological measurement device 12a and the gaze / face orientation measurement device 12b. Although both of the means for recognizing the driver state may be provided, only one of the means may be provided.

  The physiological measurement device 12a is a device that measures a driver's heartbeat information, respiration information, brain wave information, and the like. The gaze / face orientation measuring device 12b is a device that captures a driver (especially around the face) with a driver camera and recognizes the driver's gaze information, blink information, face orientation information, and the like from the captured image. The operation switch 12c is an ON / OFF switch for the driver to determine his / her own state (a state in which driving is difficult due to reduced consciousness, drowsiness, sudden illness, etc.) and to activate emergency evacuation support by the driver himself / herself. The seating sensor 12d is a sensor that is provided for each seat of the vehicle and detects whether a person is seated in the seat.

  The driving support HMI 20 is a device used for the HMI in the emergency evacuation device 1. The driving support HMI 20 includes, for example, a display 20a, lights / displays 20b, a speaker 20c, a cancel switch 20d, levers 20e, a touch monitor 20f, and a comb switch 20g. The HMI performed by the emergency evacuation device 1 includes, for example, the above-described advance explanation, consent confirmation, situation explanation, situation explanation, subsequent explanation given to the driver, screen display or warning lamp lighting, and an abnormal state of the own vehicle with respect to the surroundings. There are notifications (hazard lamp blinking, etc.). The HMI performed by the passenger in the passenger seat or the rear seat includes, for example, an operation for moving or stopping the vehicle.

  The display 20a is a display provided in an in-vehicle display or a combination meter of the car navigation system 10e. The display 20a may be a touch monitor capable of screen input operation. The lamp / indicator 20b is a warning lamp, a hazard lamp, or the like related to emergency evacuation support provided in the combination meter. The speaker 20c is a vehicle-mounted speaker that is shared with the audio system, the car navigation system 10e, and the like. The cancel switch 20d is a switch for canceling the operation of the emergency evacuation device 1. For example, a rescuer or the like arrives at the location of the vehicle that is forcibly stopped, and the rescuer or the like turns on the cancel switch 20d, whereby the emergency evacuation support of the emergency evacuation device 1 is completed and the operation on the vehicle is performed. Is possible.

  The levers 20e are levers provided around the driver's seat of the vehicle, and include, for example, a shift lever, a wiper lever, and a direction indicating lever. In addition to the normal mode used in normal operation, the levers 20e have a control rod mode that is a simple control stick for the passenger on the passenger seat to operate. Since operation from the passenger seat is possible, the levers 20e having the control stick mode are preferably levers within a range that can be reached from a passenger sitting in the passenger seat. Moreover, as the levers 20e having the control stick mode so that various operations can be performed, a lever that can be operated in a plurality of directions is desirable. For example, a gate-type shift lever can be moved in the front-rear direction and the left-right direction, and a wiper lever can be moved in the up-down direction (operation stage operation) and the front-rear direction (washer liquid operation). In this case, a movable operation in the vertical direction (direction instruction operation) and the front-back direction (high beam operation) can be performed. The touch monitor 20f is a display that is disposed at a location that can be visually recognized by a person in the back seat of the vehicle and can perform a screen input operation. In addition to the normal mode used for normal viewing and operation, the touch monitor 20f has a control stick mode that is a simple control stick for operation by a passenger in the rear seat. Thus, the switch 20g is a switch provided in the vehicle, but is not normally used. Thus, the switch 20g is a switch that is operated by the passenger in the passenger seat or the passenger in the rear seat to move the vehicle. Thus, the switch 20g is disposed at a location that can be operated from the passenger seat or a location that can be operated from the rear seat. The switch 20g may be provided when the levers 20e and the touch monitor 20f do not function as a simple control stick or when the rear seat touch monitor 20f is not provided.

  In the present embodiment, the operation guide processing of the display 20a, the speaker 20c, and the determination processing ECU 30 corresponds to the guide means described in the claims, and the levers 20e (in some cases, the switch 20g in some cases) are claimed. The touch monitor 20f corresponds to the display means capable of screen input operation described in the claims.

  The various driving support systems 21 are driving support systems used for vehicle control performed by the emergency evacuation device 1. Examples of the various driving support systems 21 include ACC [Adaptive Cruise Control] 21a, PCS [Pre-CrashSafety] 21b, LKA [Lane Keep Assist] 21c, VSC [Vehicle Stability Control] 21d, and LCA [LaneChange Assist] 21e. . As vehicle control performed by the emergency evacuation device 1, for example, steering control for keeping the lane in which the host vehicle is traveling, steering control for changing the lane in which the host vehicle is traveling to an adjacent lane, the host vehicle is predetermined. Steering control for moving the vehicle to a predetermined location, deceleration control for stopping the vehicle at a predetermined location, and stop control for holding the vehicle at a predetermined location. In addition to this, in order to safely drive the host vehicle during emergency evacuation support, vehicle speed control for maintaining a safe inter-vehicle distance from the preceding vehicle, to prevent collision with other vehicles around the host vehicle Vehicle deceleration control, steering control, vehicle behavior control for preventing side slip, and the like.

  When the preceding vehicle exists ahead of the host vehicle, the ACC 21a maintains the inter-vehicle distance so that the inter-vehicle distance with the preceding vehicle becomes the target inter-vehicle distance by vehicle speed control (following preceding vehicle), and when the preceding vehicle does not exist Is a system for traveling at a constant speed so that the vehicle speed of the host vehicle becomes a target vehicle speed by vehicle speed control. The PCS 21b is a system for avoiding a collision by HMI or vehicle control when there is a high risk of a collision between an obstacle (another vehicle, a pedestrian, etc.) around the own vehicle and the own vehicle. The LKA 21c is a system for maintaining in-lane traveling by HMI or vehicle control when the host vehicle is about to depart from the traveling lane (lane). The VSC 21d is a system for controlling an unstable behavior of the host vehicle by controlling the braking force and engine output of each wheel when a side slip of the host vehicle is detected. The LCA 21e is a system for changing from a lane in which the host vehicle is traveling to an adjacent lane by HMI or vehicle control.

  The various actuators 22 are actuators used when driving support control is performed by the various driving support systems 21 and actuators that move the seat. Examples of the various actuators 22 include an ECB [Electric Control Braking system] 22a, an EPB [Electric Parking Brake] 22b, an EPS [Electric Power Steering] 22c, and a seat actuator 22d. The ECB 22a is an electronically controlled brake system. The EPB 22b is an electric parking brake system. The EPS 22c is an electric power steering system. The seat actuator 22d is an actuator for moving the entire seat of the vehicle seat in the front-rear direction and changing the inclination of the seat back.

  The determination processing ECU 30 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the emergency evacuation device 1. Various environmental information from the environmental information recognition ECU 10, various vehicle information from the vehicle information recognition ECU 11, and various driver states from the driver state recognition ECU 12 are input to the determination processing ECU 30. The determination process ECU 30 performs processes described below based on the various environment information, various vehicle information, and various driver states, and outputs various commands to the driving support HMI 20 and various driving support systems 21 as necessary. Here, since the main process related to emergency evacuation support in the emergency evacuation device 1 is the same as the conventional process, it will be briefly described and the passenger operation handling process will be described in detail.

  The main process will be described. In the determination processing ECU 30, when the first ON operation on the operation switch 12 c is detected or when it is determined that the driver is in a lowered state (determination of support implementation), a voice output or screen display command for prior explanation is given. Is output to the driving support HMI 20 (particularly, the speaker 20c and the display 20a), and then a voice output for confirmation of consent and a screen display command are output to the driving support HMI 20. Further, the determination processing ECU 30 outputs a command to travel while maintaining the current travel lane to various driving support systems 21 (particularly, LKA 21c). In addition, the determination processing ECU 30 outputs a command notifying that there is an abnormality in the host vehicle to the driving support HMI 20 (particularly, the lighting / displays 20b).

  In the determination processing ECU 30, when the second ON operation for the operation switch 12 c is detected or when it is determined that the driver's state is further lowered (determination of sovereignty), based on the surrounding road information, obstacle information, and the like The location where the vehicle can be stopped is identified, and a command for stopping at that location is output to the various driving support systems 21. Here, when there is no driving support system capable of performing automatic driving to a place where the various driving support systems 21 can stop, the determination processing ECU 30 calculates the control amount of the deceleration control and the control amount of the steering control, Commands for performing deceleration and steering according to each control amount are directly output to various actuators 22 (particularly, ECB 22a and EPS 22c). During this time, the determination processing ECU 30 outputs a voice output for explaining the situation and a screen display command to the driving support HMI 20.

  When the host vehicle stops, the determination processing ECU 30 outputs a command for maintaining the stopped state to the various driving support systems 21. Here, when there is no driving support system capable of performing stop holding control in the various driving support systems 21, the determination processing ECU 30 directly outputs a stop holding command to the various actuators 22 (particularly, the EPB 22b). During this time, the determination processing ECU 30 outputs a voice output and a screen display command for ex-post explanation to the driving support HMI 20.

  The passenger operation handling process will be described. After the emergency evacuation support is started (after sovereignty transfer is determined), the determination processing ECU 30 keeps the vehicle moving or stopped based on the environment information recognized by the environment information recognition ECU 10 and the information of the vehicle recognized by the vehicle information recognition ECU 11. A predetermined scene that affects the safety (not only the own vehicle but also the surroundings of other vehicles, pedestrians, etc.) is detected. Examples of the predetermined scene include a scene in which another vehicle is approaching the host vehicle, a scene in which the host vehicle protrudes from the oncoming lane due to the presence of a parked vehicle, and the host vehicle is out of the road due to a narrow road. There are scenes where the vehicle is parked across a lane due to such a narrow road shoulder. When the passenger recognizes such a scene, the passenger may try to move the vehicle by operating himself / herself in order to move the vehicle more safely or stop the vehicle in a safer place. .

  When a predetermined scene is detected, the determination processing ECU 30 determines whether or not the seated state is switched from the seated state to the not-seated state based on each detection information by the seating sensor 12d of each seat other than the driver (on the seat). Whether or not the person who was sitting is about to move. When there is a person who is going to move from a seat other than the driver's seat, the determination processing ECU 30 is delegating sovereignty to the vehicle side based on each detection information by the steering angle sensor 11a and the shift position sensor 11d. It is determined whether or not there is an external input. When the passenger moves from the seat and there is an external input to the driving operation system, the determination processing ECU 30 allows the passenger in the passenger seat or the rear seat (which can determine which seat the person is from when the seating state is switched) It is determined that it is going to move. The determination that the passenger is about to move the vehicle may be only one of determination of movement from the seat and determination of input of the driving operation system.

  When the passenger is about to move the vehicle, the determination processing ECU 30 outputs a voice output and a screen display command for confirming the release of the emergency evacuation assistance to the driving assistance HMI 20 (particularly, the speaker 20c and the display 20a). As this confirmation, for example, “Do you want to cancel emergency evacuation support?”, “To cancel, press the cancel switch.” During the emergency evacuation support, in order to avoid an erroneous operation, an operation on the cancel switch 20d is not accepted except at this time. The determination process ECU 30 determines whether or not an ON operation has been performed on the cancel switch 20d based on the ON / OFF information from the cancel switch 20d. When the ON operation is performed on the cancel switch 20d, the determination process ECU 30 releases the emergency evacuation support. As a result, the delegated sovereignty is returned from the vehicle system side and can be operated by the passenger.

  Then, the determination process ECU 30 determines whether or not the driver cannot be moved based on the driver state recognized by the driver state recognition ECU 12. As this determination, for example, it is determined from the physiological information of the driver whether or not the consciousness level is significantly lowered, and from the posture of the driver, it is determined whether or not to move from the state where the face is faced down to the steering wheel. When the driver can be moved, the entire seat of the driver's seat can be moved back and forth and the inclination of the seat back can be changed, but when the driver cannot be moved, they cannot be moved.

  In a state where the driver can be moved, the determination processing ECU 30 outputs a command for lowering the entire seat of the driver's seat and / or a command for tilting the seat back backward to the seat actuator 22d of the driver's seat. By lowering the entire seat of the driver's seat backward or tilting the seat back backward, a large space can be secured in front of the driver seated on the seat of the driver's seat. Thereby, the passenger can put a body in the space and perform a normal driving operation such as a steering operation or a shift operation (accelerator operation or brake operation if possible).

  When the driver is not in a movable state (when the passenger cannot enter the driver's seat and cannot perform normal driving operation), the determination processing ECU 30 sets the levers 20e when the passenger in the passenger seat is about to move the vehicle. A command to switch to the control stick mode is output to the driving support HMI 20, and a command to switch the touch monitor 20 f to the control stick mode is output to the driving support HMI 20 when the passenger in the rear seat is about to move the vehicle. When the levers 20e are set to the control stick mode, instead of the normal operation of the lever in the normal mode, each operation for moving the vehicle is assigned to an operation in each movable direction of the lever, and the movable operation by the passenger is performed. Accept. For example, when assigning each driving support, the ACC 21a is activated by operating the lever in the front-rear direction, the LCA 21e is activated by operating the left-right direction, and the vehicle is stopped and held at the neutral position of the lever (each driving support is stopped). When allocating, acceleration is performed by operating the lever in the forward direction, deceleration is performed by operating the backward direction, left steering is performed by operating the left direction, right steering is performed by operating the right direction, and the vehicle is stopped and held when the lever is neutral. In the case of each driving operation, for example, the acceleration, deceleration, and steering amount are increased as the amount of movement and the number of movements in each direction increase. Further, when the touch monitor 20f is set to the control stick mode, each operation for moving the vehicle is displayed with a button or the like instead of displaying an image or an operation button or the like in the normal mode, and a screen operation by a passenger is accepted. . For example, each driving support start button or stop holding button assigned to the lever is displayed, or each driving operation button is displayed. In the case of each driving operation, for example, the acceleration, deceleration, and steering amount are increased as the time and the number of times the button is pressed are increased. At this time, the determination processing ECU 30 outputs to the driving support HMI 20 (particularly, the speaker 20c and the display 20a) a voice output of guide guidance and a screen display command of an operation method for moving the vehicle by the levers 20e or the touch monitor 20f. To do. For example, if the passenger in the passenger seat can perform driving support operations with the A lever, “Return to the seat.”, “You can perform the following operations with the A lever.”, “A lever. "Adaptive cruise control is activated by operating the front, the lane change assist to the left is activated by operating the A lever to the left, and it can be stopped and held by making the A lever neutral." . Thus, the passenger can perform an operation for moving the vehicle using the control stick mode levers 20e or the touch monitor 20f.

  In the determination processing ECU 30, when the passenger performs an operation, driving assistance such as the PCS 21b may be activated in accordance with the situation of the host vehicle. Further, in the determination processing ECU 30, when the levers 20e and the touch monitor 20f cannot function as the control stick or when the touch monitor 20f is not equipped, the switch 20g functions as an operation means for moving the vehicle. The HMI of the guide method of the operation method for moving the vehicle by the HMI and the switch 20g that informs the location of 20g is performed.

  With reference to FIG.1 and FIG.2, the flow of the operation | movement corresponding to passenger operation in the emergency evacuation apparatus 1 is demonstrated along the flowchart of FIG. FIG. 3 is a flowchart showing a flow of operations corresponding to passenger operations in the emergency evacuation device according to the present embodiment.

  When the sovereignty is delegated and emergency evacuation support is started, the determination processing ECU 30 detects a predetermined scene that affects safety based on the environmental information from the environmental information recognition ECU 10 and the vehicle information from the vehicle information recognition ECU 11. (S1). When a predetermined scene that affects safety is detected, the determination processing ECU 30 determines whether the passenger seat or the rear part is based on the seating information in each seat from the driver state recognition ECU 12 and the driving operation system information from the vehicle information recognition ECU 11. It is determined whether the passenger in the seat is about to move the vehicle (S2). If it is determined in S2 that the passenger does not move the vehicle, the process returns to S1.

  If it is determined in S2 that the passenger is about to move the vehicle, the determination processing ECU 30 outputs a command for confirming the emergency evacuation support cancellation to the driving support HMI 20. In response to this command, the driving assistance HMI 20 performs an HMI that prompts the passenger to operate the cancel switch for confirming the cancellation of the emergency evacuation assistance. Based on the ON / OFF information of the cancel switch 20d from the driving support HMI 20, the determination process ECU 30 detects an ON operation for the cancel switch 20d (S3). When the ON operation for the cancel switch 20d is detected, the determination processing ECU 30 releases the emergency evacuation support (S4). Here, the sovereignty is returned from the system side of the vehicle, and the passenger can operate.

  Then, the determination processing ECU 30 determines whether or not the driver cannot be moved due to a serious injury or the like based on the driver state from the driver state recognition ECU 12 (S5). If it is determined in S5 that the driver cannot be moved, the determination processing ECU 30 outputs a command for switching the levers 20e to the control stick mode in the case of a passenger in the front passenger seat to the driving support HMI 20, and the passenger in the rear seat In this case, a command for switching the touch monitor 20f to the control stick mode is output to the driving support HMI 20, and a command for guiding the operation method as the control stick is output to the driving support HMI 20 (S6). In response to this command, the levers 20e function as a control stick or the touch monitor 20f functions as a control stick (S6). In addition, the driving support HMI 20 performs HMI to guide and guide the operation method as a control stick of the levers 20e or the touch monitor 20f to the passenger. Here, the passenger operates the levers 20e or the touch monitor 20f from the seated seat according to the guide guidance, moves the vehicle safely, and stops it at a safe place.

  When it is determined in S5 that the driver can be moved, the determination processing ECU 30 outputs a command for lowering the entire seat of the driver's seat and / or a command for tilting the seat back backward to the seat actuator 22d of the driver's seat ( S7). In response to this command, the seat actuator 22d lowers the entire seat of the driver's seat backward, or tilts the seat back backward (S7). This ensures space before the driver. Here, the passenger moves from the sitting seat, operates the steering wheel, the shift lever, etc., moves the vehicle safely, and stops at a safe place.

  According to the emergency evacuation device 1, the emergency evacuation support is canceled when a predetermined condition is satisfied even after the emergency evacuation support is started, and the levers 20e or the touch monitor 20f are simply operated when the driver cannot be moved. Since it functions as a bag, the passenger can use the levers 20e or the touch monitor 20f to perform an operation for moving the vehicle from the passenger seat or the rear seat. Further, according to the emergency evacuation device 1, the emergency evacuation support is canceled when a predetermined condition is satisfied even after the emergency evacuation support is started, and when the driver can be moved, the seat of the driver's seat is moved to make a space in front of the driver. Thus, the passenger can perform an operation for moving the vehicle using a normal driving operation system. As a result, even if the emergency evacuation assistance does not stop at an appropriate place or the situation where safety is reduced during movement by the emergency evacuation assistance, the vehicle moves more safely by the traveling operation by the passenger. Can be quickly stopped at a safer place.

  Further, according to the emergency evacuation device 1, when the levers 20e or the touch monitor 20f are functioned as a control stick, an operation for the driving support system can be performed as an operation for moving the vehicle. The system can be used to move the vehicle safely. In this case, even when the passenger does not have a driver's license, an operation for moving the vehicle can be performed. Further, according to the emergency evacuation device 1, when the levers 20e or the touch monitor 20f are functioned as the control sticks, the guidance of the operation method is provided, so that the passenger can use the levers 20e or the touch monitor 20f as the control sticks. Know how to operate.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in the present embodiment, on the condition that a predetermined scene is detected on the system side, the emergency evacuation support is canceled and the passenger can operate, but even when the system does not detect the predetermined scene, When the passenger is about to move the vehicle, the emergency evacuation support may be canceled to allow the passenger to perform an operation. In some cases, the system cannot detect such a scene.

  Further, in this embodiment, on the condition that the passenger detects the cancel switch ON operation, the emergency evacuation support is canceled and the passenger can perform the operation. However, even if the cancel switch ON operation is not detected. When the passenger is about to move the vehicle, the emergency evacuation support may be canceled to allow the passenger to perform an operation. Depending on the driver's situation, the passenger may not be able to operate the cancel switch.

  Also, in this embodiment, when emergency evacuation assistance is canceled, it is determined whether the driver cannot move due to serious injury, etc., and it can be operated from the passenger seat or rear seat that can be operated from the passenger seat only when it is not possible to move Although the simple touch monitor is configured as a simple control stick, the lever or touch monitor may be configured as a simple control stick regardless of the driver state.

  In the present embodiment, the passenger is allowed to operate when the condition is satisfied during the movement of the vehicle by the emergency evacuation support after the emergency evacuation support is started and when the vehicle is stopped. It is good also as a structure which enables a passenger | crew's operation, when conditions are satisfy | filled only during the movement of the vehicle by a vehicle, or the stop holding of a vehicle.

  Further, in this embodiment, when the passenger operates, it is configured to operate with a lever (or a switch) or a touch monitor provided in the vehicle. However, in addition to these operation means, the passenger is brought into the vehicle. It is good also as a structure which enables the same operation using communication terminals, such as a smart phone, a tablet personal computer, and a mobile telephone. These communication terminals are provided with a communication function such as Bluetooth (registered trademark) and can communicate with the vehicle side. Therefore, the vehicle side is also provided with a communication means for communicating with the communication terminal.

  In this embodiment, the levers such as a shift lever are used as operating means when operating from the passenger seat, but buttons, switches, etc. arranged around the driver seat may be used, or a car navigation system or the like. It is also possible to use a display (touch monitor) that can be used for screen input and is provided around the driver's seat.

  DESCRIPTION OF SYMBOLS 1 ... Emergency evacuation device, 10 ... Environmental information recognition ECU, 10a ... GPS, 10b ... In-vehicle network, 10c ... Front / rear side camera, 10d ... Front / rear side sensor, 10e ... Car navigation system, 10f ... White line recognition Camera 11 Recognizing vehicle information ECU 11a Steering angle sensor 11b G sensor 11c Vehicle speed sensor 11d Shift position sensor 12 Driver state recognition ECU 12a Physiological measurement device 12b Eye / face orientation Measuring device, 12c ... Actuation switch, 12d ... Seating sensor, 20 ... Driving support HMI, 20a ... Display, 20b ... Light / Displays, 20c ... Speaker, 20d ... Cancel switch, 20e ... Lever, 20f ... Touch monitor, 20g ... Kashiwa switch, 21 ... Various driving support systems, 21a ... ACC, 21 ... PCS, 21c ... LKA, 21d ... VSC, 21e ... LCA, 22 ... various actuators, 22a ... ECB, 22b ... EPB, 22c ... EPS, 22d ... seat actuator.

Claims (7)

An emergency evacuation device that stops the vehicle at a safe position regardless of the driving operation of the driver of the vehicle,
An emergency evacuation apparatus that enables a moving operation of the vehicle by an operation from an operation means provided in the vehicle or a display means capable of screen input operation after the vehicle is stopped by an emergency evacuation support. An emergency evacuation device that urgently evacuates the vehicle to a safe position regardless of the driving operation of the driver of the vehicle,
An emergency evacuation apparatus that enables a moving operation of the vehicle by an operation from an operation means provided in the vehicle or a display means capable of screen input operation after the emergency evacuation support is started. Comprising a communication means capable of communicating with a communication terminal brought into the vehicle;
The emergency evacuation device according to claim 1 or 2, wherein the vehicle can be moved by an operation from the communication terminal via the communication means.   The operation of the preventive safety support provided in advance in the vehicle can be started and stopped by an operation from the operation means or the display means capable of screen input operation. The emergency evacuation device according to any one of the above.   The operation of starting and stopping of the automatic driving of the vehicle is made possible by an operation from the operation means or the display means capable of screen input operation. The emergency evacuation device described.   6. An operation from the operation means or the display means capable of screen input operation enables an operation of moving the vehicle in the front-rear direction and the lateral direction, and an operation for stopping the vehicle. The emergency evacuation device according to any one of the above.   The emergency evacuation device according to any one of claims 1 to 6, further comprising guide means for guiding an operation method from the operation means or the display means capable of screen input operation.

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