JP2016206028A - Automatic driving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic driving device that enables an occupant to simply select a travel route even when a second branch exists at a near distance to a first branch in front of a vehicle.SOLUTION: In an automatic driving device, when a vehicle approaches a branch of a road, route candidates at the branch are created and the route candidates are presented in order to make an occupant perform selection. The automatic driving device comprises: a branch detection unit that detects branches existing around the vehicle; and a route candidate creation unit that creates the route candidates by combining a first branch and a second branch if, of the branches, the second branch exists within a predetermined distance from the first branch existing nearest the vehicle in front of that.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic driving apparatus for automatically driving a vehicle.

  2. Description of the Related Art Conventionally, an automatic driving technique for automatically driving a vehicle under the control of a computer mounted on the vehicle is known. In the conventional automatic driving technology, when the occupant sets the final destination and waypoint, the computer sets the travel route and the vehicle travels automatically.

  Here, when the occupant can appropriately change the travel route set by the computer when the occupant wants to take a detour during automatic driving, the convenience of the occupant is improved. For example, Patent Document 1 discloses an automatic driving device capable of appropriately changing a travel route set by a computer during automatic driving. In this automatic driving apparatus, when the occupant tilts a joystick that receives an instruction from the occupant in a predetermined direction before the branch in front of the vehicle during the automatic operation, the traveling route of the vehicle is in a branch direction that matches the direction. Be changed.

JP 2012-216069 A

  However, in the conventional automatic driving device described in Patent Document 1, when the second branch exists at a short distance from the first branch in front of the vehicle, the occupant must operate the joystick accurately in a short time. I must. For this reason, the occupant is panicked and there is a possibility that an incorrect travel route change may be accepted.

  The present invention has been made in view of the above problems, and can automatically select a travel route even when a second branch exists at a short distance from the first branch in front of the vehicle. It aims at providing a driving device.

  The present invention is an automatic driving device that generates a route candidate at a branch when the vehicle approaches a branch of a road, a branch detection unit that detects a branch existing around the vehicle, and a vehicle front of the branch A route candidate generation unit that generates a route candidate by combining the first branch and the second branch when the second branch exists within a predetermined distance from the first branch existing closest to Is provided.

  In the present invention, when a second branch exists within a predetermined distance from the first branch existing closest to the front of the vehicle, a route candidate is generated by combining the first branch and the second branch. A route candidate generation unit is provided. In other words, a route candidate that combines the first branch and the second branch is generated before the vehicle passes through the first branch.

According to the present invention, a route candidate that combines the first branch and the second branch is generated before the vehicle passes through the first branch and presented to the occupant. For this reason, even when the distance between the first branch and the second branch is short, the occupant can easily select the travel route.

Block diagram of an automatic driving apparatus according to an embodiment The flowchart which shows the flow of the automatic driving | operation process which concerns on embodiment The figure which showed the example of presentation of the route candidate to a crew member The flowchart which shows the flow of the automatic driving | operation process which concerns on a modification. The flowchart which shows the flow of the automatic driving | operation process which concerns on a modification.

  Hereinafter, embodiments will be described in detail with reference to FIGS.

[Overview]
The automatic driving apparatus according to the present embodiment combines the first branch and the second branch when the second branch exists near the first branch that is closest to the front of the vehicle. Generate route candidates. Then, the generated route candidate is presented to the occupant before the first branch. For this reason, even when the distance between the first branch and the second branch is short, the occupant can easily change the travel route.

[Configuration of automatic driving device]
FIG. 1 is a block diagram of an automatic driving apparatus 1 according to the present embodiment. The automatic driving apparatus 1 includes a branch detection unit 10, a route candidate generation unit 20, an HMI (Human Machine Interface) unit 30, and an operation control unit 40. The automatic driving device 1 according to the present embodiment is not only for a vehicle in which an occupant sets a final destination and starts automatic driving, but also for a vehicle in which an occupant starts automatic driving without setting a final destination. Even can be applied. The automatic driving is started when, for example, an automatic driving start switch (not shown) provided in the vehicle is pressed, and is ended when the automatic driving switch is pressed again. Hereinafter, each structure of the automatic driving device 1 will be described.

  The branch detection unit 10 detects a branch existing around the vehicle. A branch is a place where a road on which a vehicle can travel is divided into two or more hands, such as an intersection or a branch point. Specifically, the branch detection unit 10 first detects the current position of the vehicle by GPS (Global Positioning System) positioning or the like. And the branch detection part 10 extracts the branch which exists in the predetermined range around the present position from the map data 51 stored in a navigation apparatus (illustration omitted) etc. The predetermined range is, for example, a range from the vehicle to the set final destination.

  The branch detection unit 10 outputs to the route candidate generation unit 20 branch information including the detected position information of each branch, the number of branches, and the branch direction with respect to the traveling direction of the vehicle. In addition, the detection of a branch is not restricted to an above-described method. For example, a branch may be detected by capturing a road image or a road sign ahead of the vehicle with a camera mounted on the vehicle.

  Based on the branch information acquired from the branch detection unit 10, the route candidate generation unit 20 determines that the first branch existing closest to the front of the vehicle is within the first predetermined distance from the vehicle. A route candidate in one branch is generated. A route candidate is a candidate for the direction in which the vehicle at a branch travels. For example, the route candidate generation unit 20 generates a route candidate such as “turn left at the first branch”.

  Further, the route candidate generation unit 20 generates a route candidate by combining the first branch and the second branch when the second branch exists within the second predetermined distance from the first branch. To do. The second predetermined distance is set to a distance close enough to reach the second branch immediately after the vehicle passes through the first branch, for example, up to several hundred meters. The second predetermined distance is a distance shorter than the first predetermined distance. For example, the route candidate generation unit 20 generates a route candidate such as “turn right at the first branch and turn left at the second branch”. The route candidate generation unit 20 outputs information about the generated route candidate (hereinafter referred to as “route candidate information”) to the HMI unit 30. Even when two or more branches exist within the second predetermined distance from the first branch, the route candidate generation unit 20 can generate a route candidate by combining these branches.

  The HMI unit 30 presents the route candidates generated by the route candidate generation unit 20 to the occupant and accepts selection of route candidates by the occupant. The HMI unit 30 includes a display unit 31, an operation unit 32, and a reception unit 33.

  The display unit 31 is, for example, an instrument panel, a front windshield, or a liquid crystal display included in the navigation device. Based on the route candidate information received from the route candidate generation unit 20, the display unit 31 displays the route candidates before the first branch. Thereby, the route candidate in the branch is presented to the passenger.

  The operation unit 32 is, for example, an operation switch provided on a steering 61 described later, a touch panel provided in the navigation device, or the like. The occupant can select a route candidate by operating the operation unit 32. When operated by an occupant, the operation unit 32 outputs an operation signal to the reception unit 33.

  When the reception unit 33 receives the route candidate information from the route candidate generation unit 20 and receives an operation signal within a predetermined time, the reception unit 33 determines which route candidate is selected based on the operation signal. The route candidate (hereinafter referred to as “selected route”) is accepted. Further, the reception unit 33 outputs information related to the received selected route (hereinafter referred to as “selected route information”) to the operation control unit 40. On the other hand, the reception unit 33 determines that the selection is not performed when the operation signal is not received within a predetermined time after receiving the route candidate information from the route candidate generation unit 20, and information regarding the non-selection (hereinafter, “ The non-selection information ”is output to the operation control unit 40.

  The operation control unit 40 is a computer device that controls traveling of the vehicle. The operation control unit 40 is connected to a wheel drive device (not shown). The wheel drive device changes at least the steering angle of the wheel. When the driving control unit 40 receives the selected route information from the receiving unit 33, the driving control unit 40 outputs a control signal to the wheel drive device based on the selected route information. And a wheel drive device changes the steering angle of a wheel by a branch, and makes a vehicle run along a selection course.

  On the other hand, when the non-selection information is received from the reception unit 33, the driving control unit 40 outputs a control signal to the wheel drive device so as to proceed in the default direction at the branch position. The default direction is a traveling direction in a branch set in advance by the occupant, such as turning left at a branch when a route candidate is not selected by the occupant. And a wheel drive device changes the steering angle of a wheel by a branch, and makes a vehicle run along a default direction.

[Automatic driving process executed by the automatic driving device]
Next, the automatic driving process executed by the automatic driving device 1 will be described. FIG. 2 is a flowchart showing the flow of the automatic driving process. The automatic driving process starts when, for example, an automatic driving start switch provided in the vehicle is pressed.

  First, in step S11, the route candidate generation unit 20 determines whether or not the first branch exists within the first predetermined distance in front of the vehicle based on the branch information acquired from the branch detection unit 10. To do. If the first branch exists, the process proceeds to step S12. If the first branch does not exist, the process returns to the start position.

  Subsequently, in step S12, the route candidate generation unit 20 determines whether the second branch exists within the second predetermined distance from the first branch based on the branch information acquired from the branch detection unit 10. Determine whether. If the second branch exists, the process proceeds to step S13. If the second branch does not exist, the process proceeds to step S14.

  When it is determined in step S12 that the second branch exists, in step S13, the route candidate generation unit 20 generates a route candidate by combining the first branch and the second branch, and generates route candidate information. Is output to the HMI unit 30. Then, the display unit 31 of the HMI unit 30 presents a route candidate that combines the first branch and the second branch to the occupant. On the other hand, when it is determined in step S12 that the second branch does not exist, in step S14, the route candidate generation unit 20 generates a route candidate in the first branch and sends the route candidate information to the HMI unit 30. Output. Then, the display unit 31 of the HMI unit 30 presents the route candidate in the first branch to the occupant.

  Subsequently, in step S15, it is determined whether or not a route candidate has been selected by the passenger. Specifically, the reception unit 33 determines that the route candidate is selected by the occupant when the operation signal is received from the operation unit 32 within a predetermined time after the route candidate is displayed on the display unit 31, and the selected route information Is output to the operation control unit 40. On the other hand, the reception unit 33 determines that the route candidate is not selected by the occupant when the operation signal is not received from the operation unit 32 within a predetermined time after the route candidate is displayed on the display unit 31, and is not selected. Information is output to the operation control unit 40. The reception unit 33 may determine that the route candidate has not been selected by the occupant when the operation signal is not received from the operation unit 32 until the vehicle approaches the first branch a predetermined distance. If the route candidate is selected by the occupant, the process proceeds to step S16. If the route candidate is not selected by the occupant, the process proceeds to step S17.

  When a route candidate is selected in step S15, in step S16, the operation control unit 40 outputs a control signal to the wheel drive device based on the selected route information so that the vehicle travels along the selected route. On the other hand, when a route candidate is not selected in step S15, in step S17, the driving control unit 40 sends a control signal to the wheel drive device so that the vehicle travels along the default direction based on the non-selection information. Output.

  Subsequently, in step S18, the reception unit 33 determines whether or not an operation for terminating automatic driving has been performed. Specifically, the reception unit 33 determines that an operation for ending automatic driving has been performed, for example, when the automatic driving start switch is pressed for the second time. When the operation for ending the automatic driving is not performed, the operation returns to the start position, and when the operation for ending the automatic driving is performed, the automatic driving device 1 ends the automatic driving process.

[Example of route candidate presentation]
An example of route candidate presentation will be described with reference to FIG. FIG. 3 is a diagram illustrating an example of route candidate presentation to the occupant. FIG. 3A is a schematic diagram showing a branch existing in front of the vehicle. FIG. 3B is a diagram illustrating an example of presenting route candidates when the branch illustrated in FIG. 3A exists.

  As shown to Fig.3 (a), the 1st branch in the front of a vehicle and the 2nd branch exist ahead of the 1st branch at the left. At this time, as shown in FIG. 3B, the route candidate A, the route candidate B, and the route candidate C are presented at predetermined positions on the display unit 31 (instrument panel). In each route candidate, the traveling direction at each branch is indicated by an arrow. For example, in route candidate A, the first branch turns left and the second branch goes straight. The route candidate A and the route candidate B are route candidates that pass the second branch, and a route candidate that combines the first branch and the second branch is presented. The occupant can select one of route candidate A, route candidate B, and route candidate C by operating an operation unit 32 (operation switch) provided on the steering 61. In addition, as shown in FIG.3 (b), the arrival direction at the time of progressing to each route candidate may be shown together with the advancing direction in each branch.

[Effect of the embodiment]
In the present embodiment, when the branch detection unit 10 detects the first branch and the second branch at the destination of the vehicle, the route candidate generation unit 20 determines the first branch and the second branch. A plurality of route candidates are generated by combining. Then, before the vehicle passes through the first branch, the plurality of generated route candidates are presented to the occupant. For this reason, even when the distance between the first branch and the second branch is short, the occupant can easily select the travel route.

[Modification 1]
FIG. 4 is a flowchart of the automatic driving process according to the first modification. In the automatic driving process according to the first modification, step S19 is added to the flowchart of the automatic driving process of FIG. 2 according to the embodiment.

  When the route candidate is selected in step S15, the automatic driving device 2 according to the first modification example uses a distance from the current position of the vehicle to the first branch (hereinafter referred to as “vehicle branch distance”) in step S19. Determines whether the automatic driving device 2 is a controllable distance when the vehicle travels along the selected route at the first branch. The distance that can be controlled by the automatic driving device 2 is a distance that can be decelerated to the first branch without sudden deceleration over a predetermined acceleration when the course is changed in the first branch.

  Specifically, the reception unit 33 acquires the curve shape (curvature) of the selected route in the first branch from the map data 51. Subsequently, the reception unit 33 calculates the maximum curve approach speed at which the vehicle can travel safely from the acquired curve shape. Subsequently, the receiving unit 33 calculates a deceleration acceleration for reaching the maximum curve approach speed from the current speed of the vehicle based on the distance between the vehicle branches. The current speed of the vehicle can be obtained from a vehicle speed sensor (not shown) or the like.

  If the calculated deceleration acceleration is less than the predetermined acceleration, the reception unit 33 determines that the distance between the vehicle branches is sufficient and outputs the selected route information to the driving control unit 40. On the other hand, if the calculated deceleration acceleration is equal to or greater than the predetermined acceleration, the reception unit 33 determines that the distance between the vehicle branches is not sufficient and outputs insufficient distance information to the driving control unit 40.

  If it is determined in step S19 that the distance to the first branch is sufficient, the process proceeds to step S16. If it is determined that the distance to the first branch is not sufficient, the process proceeds to step S17. In step S17, the driving control unit 40 starts vehicle control in the default direction based on the insufficient distance information. The default direction in this case is the traveling direction in the branch that was not selected in step S15, for example.

  According to the automatic driving device 2 according to the first modification, the vehicle smoothly passes through the branch. For this reason, the occupant can board the vehicle during automatic driving more comfortably.

[Modification 2]
FIG. 5 is a flowchart of the automatic driving process according to the second modification. In the automatic driving process according to the modification example 2, steps S20 to S22 are added to the flowchart of the automatic driving process of FIG. 2 according to the embodiment.

  In step S20, the automatic driving device 3 according to the modified example 2 confirms with the occupant whether or not it is necessary to change the route in the direction that did not proceed due to the branch that has just passed. Specifically, the reception unit 33 controls the display unit 31 to present the above-described route change confirmation to the occupant after a predetermined time after the vehicle passes through the branch.

  Subsequently, in step S <b> 21, the reception unit 33 outputs the selected route information to the operation control unit 40 when an operation signal is received from the operation unit 32 within a predetermined time after the route change confirmation is displayed on the display unit 31. To do. On the other hand, the reception unit 33 outputs non-selection information to the operation control unit 40 when an operation signal is not received from the operation unit 32 within a predetermined time after the route change confirmation is displayed on the display unit 31. If route change is selected in step S21, the process proceeds to step S16, and if route change is not selected, the process proceeds to step S22.

  When the route change is selected in step S21, in step S16, the operation control unit 40 starts the vehicle control so as to change the route in the direction that did not proceed in the previous branch based on the selected route information. On the other hand, when the route change is not selected in step S21, the operation control unit 40 continues the vehicle control in the current route direction in step S22.

  According to the automatic driving device 3 according to the modified example 2, even when the occupant fails to select a route candidate, it is confirmed whether or not to change the route again. For this reason, the convenience of the passenger is improved.

  The present invention can be applied to an automatic driving device for automatically driving a vehicle.

DESCRIPTION OF SYMBOLS 1 Automatic driving device 10 Branch detection part 20 Path | route candidate production | generation part 30 HMI part 31 Display part 32 Operation part 33 Reception part 40 Operation control part

Claims (1)

When a vehicle approaches a branch of a road, an automatic driving device that generates a route candidate at the branch and presents the route candidate to allow an occupant to select,
A branch detection unit for detecting branches existing around the vehicle;
A route combining the first branch and the second branch when the second branch is present within a predetermined distance from the first branch closest to the front of the vehicle. An automatic driving apparatus comprising a route candidate generation unit that generates candidates.

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