JP2017159840A - Vehicle control device and vehicle control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control device which has improved safety during malfunction detection time.SOLUTION: A vehicle control device comprises: an automatic drive circuit 21 for automatically driving a vehicle; a manual drive circuit 26 used for a manual drive of the vehicle; a malfunction detection circuit 23 for detecting malfunction of the automatic drive circuit 21 or the manual drive circuit 26; and a retreat drive circuit 22 for retreating the vehicle. The malfunction detection circuit 23 outputs a changeover instruction so as to switch a drive to any of the manual drive by the manual drive circuit 26, and the retreat drive by the retreat drive circuit 22, when malfunction of the automatic drive circuit 21 is detected, and outputs a changeover instruction so as to switch a drive to any of the automatic drive by the automatic drive circuit 21 and the retreat drive by the retreat drive circuit 22, when malfunction of the manual drive circuit 26 is detected.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device and a vehicle control method. In particular, it relates to an automobile safety device.

  A conventional vehicle control device includes an imaging unit that captures an image in front of the vehicle, and a white line detection unit that detects a white line in the captured image. Further, the apparatus includes a recognition confidence degree calculation unit that calculates the recognition confidence level of the detected white line, and a preceding vehicle detection unit that detects a preceding vehicle traveling ahead of the vehicle. Further, when the preceding vehicle is detected and the white line recognition confidence level is less than a predetermined value, the vehicle is automatically moved to a position where the white line recognition confidence level is equal to or higher than a predetermined value. And a control means (for example, Patent Document 1).

  In addition, in the conventional electric vehicle, the torque command for the left and right drive wheel motors by the torque distribution means is compensated by detecting the abnormality of the steering system including the steering motor and the steering mechanism to compensate for the insufficient steering due to the abnormality. Torque distribution means for changing the distribution is provided. In such an electric vehicle, there is provided a steering system abnormality detecting means for detecting an abnormality of the steering system, and in response to the detection of the abnormality by the steering system abnormality detecting means, the torque distribution means is made up to compensate for the insufficient steering due to the abnormality. Is provided with an abnormality corresponding torque distribution changing unit that changes the distribution of torque commands to the motors of the left and right drive wheels (for example, Patent Document 2).

JP 2014-051241 A JP 2012-176663 A JP 2007-245821 A JP 2003-063373 A JP 2013-006595 A JP 2003-327151 A

  When an abnormality occurs in a steering system or a control system in a traveling vehicle, there is a possibility that an operation of turning a curve normally cannot be performed. In particular, when an abnormality occurs during traveling on a highway, it is dangerous to stop the vehicle in the traveling lane, and therefore retraction control to the shoulder outside the traveling lane is necessary.

  It is an object of the present invention to safely retreat a vehicle from the traveling lane even if an abnormality occurs in the steering system or the control system.

The vehicle control device according to the present invention includes:
An automatic driving circuit for automatically driving the vehicle;
A manual driving circuit used for manual driving of the vehicle;
An abnormality detection circuit for detecting an abnormality in the automatic operation circuit or the manual operation circuit;
A evacuation operation circuit for evacuating the vehicle,
The abnormality detection circuit is
When detecting an abnormality in the automatic operation circuit, it outputs a switching instruction to switch between manual operation by the manual operation circuit and retreat operation by the retreat operation circuit,
When an abnormality is detected in the manual operation circuit, a switching instruction for switching between an automatic operation by the automatic operation circuit and a retreat operation by the retreat operation circuit is output.

  According to the present invention, the vehicle can be safely retracted out of the traveling lane.

1 is a diagram illustrating a configuration of a vehicle control device 100 according to a first embodiment. FIG. 3 is a diagram illustrating an operation of the vehicle control device 100 according to the first embodiment. The figure which shows operation | movement of the vehicle control apparatus 100 of Embodiment 2. FIG. FIG. 4 is a diagram illustrating a configuration of a vehicle control device 100 according to a third embodiment. FIG. 10 is a diagram illustrating an operation of the vehicle control device 100 according to the third embodiment. The figure which shows the structure of the vehicle control apparatus 100 of Embodiment 4. FIG. The figure which shows operation | movement of the vehicle control apparatus 100 of Embodiment 4. FIG. FIG. 10 shows an operation of the vehicle control apparatus 100 according to the fifth embodiment.

Embodiment 1 FIG.
*** Explanation of configuration ***
FIG. 1 is a diagram illustrating a configuration of a vehicle control device 100 according to the first embodiment. Here, a vehicle control device for an electric vehicle capable of manual operation and automatic operation will be described.

The vehicle control device 100 includes a white line detection unit 10 including an in-vehicle camera or the like that detects a white line on a road necessary for determining an angle at which the automobile turns. The white line detection part 10 acquires the direction information regarding the advancing direction of a motor vehicle.
Moreover, the vehicle control apparatus 100 includes an output device 11 that issues a warning to the driver and an input device 12 that the driver inputs an instruction. A preferable specific example of the output device 11 is a display, an LED lamp, a speaker, or a combination thereof. A preferable specific example of the input device 12 is a keyboard, a touch panel, a microphone, or a combination thereof.

  Moreover, the vehicle control apparatus 100 has the vehicle state control part 20 which controls the driving | running | working of a motor vehicle by controlling the state of a vehicle.

  Moreover, the vehicle control apparatus 100 includes an electric power steering control unit 30 that controls steering with electric power. The electric power steering control unit 30 has a circuit that performs control for bending the automobile in accordance with the output signal of the vehicle state control unit 20.

Further, the vehicle control device 100 includes a left tire torque control unit 40 that controls the torque of the left tire according to an output signal of the white line detection unit 10, and a right tire torque control unit 50 that controls the torque of the right tire.
The left tire torque control unit 40 includes a circuit that performs control to rotate the left tire of the front wheel of the automobile in accordance with the output signal of the vehicle state control unit 20.
The right tire torque control unit 50 includes a circuit that performs control to rotate the right tire of the front wheel of the vehicle according to the output signal of the vehicle state control unit 20.
The left tire torque control unit 40 and the right tire torque control unit 50 can bend the traveling direction of the automobile by causing a torque difference between the left and right tires.

  The vehicle state control unit 20 includes an automatic driving circuit 21 that calculates the direction in which the automobile bends using the electric power steering control unit 30 according to the output signal of the white line detection unit 10. The automatic driving circuit 21 calculates an advancing direction of the automobile based on the direction information acquired by the white line detection unit 10 and outputs an output signal indicating the advancing direction to the electric power steering control unit 30.

  In addition, the vehicle state control unit 20 includes a manual operation circuit 26 that receives an operation of the handle 13 and drives the electric power steering control unit 30. The manual driving circuit 26 is a circuit used for manual driving of the vehicle, and outputs an output signal for calculating the traveling direction of the automobile and instructing the traveling direction to the electric power steering control unit 30 based on the operation information of the steering wheel 13. To do.

  The electric power steering control unit 30 has a circuit that receives a signal from the automatic driving circuit 21 or the manual driving circuit 26 and performs control for bending the automobile.

  Further, the vehicle state control unit 20 determines the torque difference between the left and right tires necessary for turning the curve using the left tire torque control unit 40 and the right tire torque control unit 50 in accordance with the output signal of the white line detection unit 10. A evacuation operation circuit 22 is provided for calculation.

  In addition, the vehicle state control unit 20 includes an abnormality detection circuit 23 that detects an abnormality in the automatic operation circuit 21, the manual operation circuit 26, and the electric power steering control unit 30. The abnormality detection circuit 23 is a circuit that monitors the automatic operation circuit 21, the manual operation circuit 26, and the electric power steering control unit 30.

  Further, the vehicle state control unit 20 includes a switching circuit 24 that switches to a curve turning control using the left tire torque control unit 40 and the right tire torque control unit 50 when an abnormality is detected in the electric power steering control unit 30. The switching circuit 24 is a circuit that switches control of the vehicle traveling direction from electric power steering control to left tire torque control and right tire torque control.

  Further, the vehicle state control unit 20 includes a monitoring circuit 25 that monitors the evacuation operation circuit 22, the abnormality detection circuit 23, and the switching circuit 24 to detect an abnormality.

  The electric power steering control unit 30, the left tire torque control unit 40, and the right tire torque control unit 50 are independent circuits, and the electric power steering control unit 30, the left tire torque control unit 40, and the right tire torque control unit. Any of the 50 faults will not affect any of the other controls.

*** Explanation of operation ***
Next, FIG. 2 is an operation explanatory diagram of the vehicle control method of the vehicle control device 100.

<< Schematic operation of vehicle control method >>
The schematic operation of the vehicle control method of the vehicle control apparatus 100 of the first embodiment is as follows.
(1) In automatic driving on a highway, when an abnormality occurs in a part related to control of the electric power steering by the automatic driving circuit 21 and the electric power steering control unit 30 and the curve cannot be turned, the abnormality detection circuit 23 Detect abnormalities.
(2) When the abnormality detection circuit 23 detects an abnormality in the electric power steering, the abnormality detection circuit 23 determines whether it is a manual operation or a retreat operation.
(3) In the case of evacuation operation, the evacuation operation circuit 22 predicts the relative angle between the curve white line and the traveling direction of the host vehicle. Then, the retreat driving circuit 22 measures the vehicle speed, the steering state, and the left-right torque difference, and sets a retreat route to the road shoulder.
(4) Further, the retreat operation circuit 22 learns the amount of travel direction of the vehicle due to the difference in the left and right torque due to the influence of the friction coefficient between the road surface and the tire, etc. carry out.
In this manner, the retreat operation circuit 22 safely retreats the vehicle to the road shoulder by the bending control based on the left-right torque difference when the power steering abnormality occurs.

<< Detailed operation of vehicle control method >>
Hereinafter, the detailed operation of the vehicle control method of the vehicle control device 100 will be described with reference to FIG.

As a premise, it is assumed that an automobile can be operated automatically and manually.
Here, automatic driving refers to autonomous driving of a car that does not require the driver to use a steering wheel, an accelerator, and a brake. In this embodiment, the driver travels without using at least the steering wheel. Autonomous driving.
In addition, manual driving refers to manual driving of an automobile in which the driver needs to use a steering wheel, an accelerator, and a brake. In this embodiment, the driver is driving at least using the steering wheel. Say.

Automatic operation step S10.
Automobiles are driving automatically on highways.
The white line detection unit 10 outputs road information obtained by the in-vehicle camera to the vehicle state control unit 20.
During automatic driving, the automatic driving circuit 21 calculates the direction in which the vehicle bends using the electric power steering control unit 30 according to the output signal of the white line detection unit 10 and determines the traveling direction of the vehicle. Does not need to operate the handle 13.

Failure determination step S11.
When the automobile is traveling on the highway by automatic driving, the abnormality detection circuit 23 constantly monitors the automatic driving circuit 21 and the electric power steering control unit 30 for any abnormality.

When there is no abnormality in the automatic driving circuit 21 or the electric power steering control unit 30, the automatic driving circuit 21 calculates the direction in which the vehicle bends using the signal input from the white line detection unit 10, and sends it to the electric power steering control unit 30. Output the calculation result. The electric power steering control unit 30 controls the vehicle based on the signal input from the automatic driving circuit 21.
When the abnormality detection circuit 23 detects an abnormality in the automatic driving circuit 21 or the electric power steering control unit 30, the operation proceeds to the deceleration step S12.

Deceleration step S12.
The abnormality detection circuit 23 outputs a torque signal for decelerating the vehicle speed to the left tire torque control unit 40 and the right tire torque control unit 50 when an abnormality is detected in the automatic driving circuit 21 or the electric power steering control unit 30. To do. Thereafter, as long as the inter-vehicle distance from the other vehicle can be maintained, this deceleration process continues, and the vehicle gradually decreases in speed.

Warning step S13.
When an abnormality is detected in the automatic driving circuit 21 or the electric power steering control unit 30, the abnormality detection circuit 23 outputs the fact that the abnormality has been detected and the content of the abnormality to the output unit 11 to warn the driver. . Further, a warning signal 14 for blinking the hazard lamp of the automobile is output. For example, the abnormality detection circuit 23 outputs a warning to the output device 11 “An abnormality has been found during automatic operation. The vehicle will decelerate. Do you want to cancel automatic operation?”.

Adherence determination step S14.
The abnormality detection circuit 23 uses a sensor (not shown) to determine whether there is a sticking failure in which the steering sticks and the steering does not rotate. When the steering is fixed, neither automatic driving nor manual driving is possible. If the steering is not fixed, automatic operation and manual operation are possible. If it is not a fixing failure, the process proceeds to the release determination step S15.

Release determination step S15.
The abnormality detection circuit 23 checks whether there is a cancel instruction to cancel the automatic driving from the driver. The driver can input a release instruction for canceling the automatic driving from the input device 12 based on the warning in the warning step S13. The cancellation instruction can be performed by selecting a button on the touch panel. Alternatively, a voice input “cancel” may be used. Alternatively, the operation of the driver's handle 13 may be detected and regarded as a release instruction.
When there is a release instruction, the abnormality detection circuit 23 proceeds to release step S16 in order to prioritize the release instruction from the driver.

Release acceptance step S16.
The abnormality detection circuit 23 receives a release instruction for canceling automatic driving from the driver. For example, the abnormality detection circuit 23 outputs a message “Automatic operation has been cancelled. Please perform manual operation” to the output device 11.

Switching step S17.
The abnormality detection circuit 23 cancels the automatic operation by the automatic operation circuit 21 and switches to the manual operation by the handle 13 based on the release instruction. The abnormality detection circuit 23 cancels traveling by the automatic operation circuit 21 and outputs a signal for switching to manual operation by the manual operation circuit 26 to the switching circuit 24. The switching circuit 24 stops the operation of the automatic operation circuit 21 and activates the manual operation circuit 26.

Manual operation step S18.
The driver starts operating the handle 13 and continues traveling of the vehicle. The manual operation circuit 26 receives the operation of the handle 13 and outputs a signal for driving the steering to the electric power steering control unit 30.

Notification step S21.
If the abnormality detection circuit 23 determines that there is a fixing failure in the fixing determination step S14, the abnormality detection circuit 23 outputs a message for retracting the vehicle to the road shoulder to notify the driver of the retraction because the fixing failure is detected. For example, the abnormality detection circuit 23 outputs a message to the output device 11 “The steering is fixed, so that the vehicle cannot be driven manually. The vehicle is forcibly retreated to the road shoulder”.

Notification step S22.
When it is determined in the release determination step S15 that there is no release instruction, the abnormality detection circuit 23 outputs a message for retracting the vehicle to the road shoulder to notify the driver of the withdrawal because there is no release instruction. For example, the abnormality detection circuit 23 outputs to the output device 11 a message “There is no instruction to cancel automatic driving, so the vehicle is forcibly evacuated to the shoulder”.

Switching instruction step S23.
After the notification in the notification step S21 or the notification step S22, the abnormality detection circuit 23 cancels the traveling by the automatic operation circuit 21 and outputs a signal for switching to the retreat operation by the retreat operation circuit 22 to the switch circuit 24.

Switching step S31.
The switching circuit 24 stops the operation of the automatic operation circuit 21 and activates the evacuation operation circuit 22. That is, the switching circuit 24 switches from automatic operation by the automatic operation circuit 21 to retreat operation by the retreat operation circuit 22.

Vehicle data collection step S41.
The retreat driving circuit 22 collects the vehicle speed, the steering state, and the traveling direction of the vehicle based on the left-right torque difference as vehicle data indicating the traveling state of the vehicle. The vehicle speed is acquired from a speed sensor (not shown). The steering state is acquired from the electric power steering control unit 30. The left and right torque is acquired from the left tire torque control unit 40 and the right tire torque control unit 50.
Further, based on the in-vehicle camera, information on the white line, the traveling lane, the adjacent vehicle, the road shoulder, and the median strip is acquired as traveling data.

Prediction step S42.
The evacuation operation circuit 22 calculates the relative angle between the white line and the traveling direction from the white line direction acquired from the white line detection unit 10. The reason for calculating the relative angle between the white line and the traveling direction is to calculate the torque difference τ based on the current relative angle. Further, the evacuation operation circuit 22 predicts what the relative angle between the white line and the traveling direction will be in the future. The evacuation operation circuit 22 determines to maintain or change the traveling direction of the vehicle by predicting the relative angle between the white line and the traveling direction.

Save route determination step S43.
The retreat operation circuit 22 determines a retreat route based on the white line, the relative angle of the traveling direction, vehicle data, and travel data. Here, the retreat route refers to a travel route from the current position of the vehicle to the shoulder.

Torque difference calculation step S44.
The retraction driving circuit 22 calculates the torque difference between the left and right tires based on the retraction route.
That is, the evacuation operation circuit 22 calculates a relative angle between the white line and the traveling direction using the signal input from the white line detection unit 10, and based on the vehicle data and the traveling data, a torque difference τ necessary for evacuating to the road shoulder. Is calculated.
The evacuation operation circuit 22 acquires the white line, the relative angle of the traveling direction, the vehicle data, and the travel data in real time, and the torque difference τ is calculated based on the latest relative angle, the vehicle data, and the travel data. Specifically, the torque difference τ is calculated from the relative angle between the white line and the traveling direction, the vehicle speed, the inter-vehicle distance, the travel route, the deceleration state, the shoulder position, and the like. The torque difference τ changes from moment to moment.
Further, the retreat operation circuit 22 calculates the torque difference τ while learning the amount of traveling direction of the vehicle due to the difference between the left and right torques due to the influence of the friction coefficient between the road surface and the tire.
Further, the evacuation operation circuit 22 obtains or learns road conditions, weather conditions, tire wear conditions, vehicle weight, loaded weight, number of passengers, road inclination angle, road curve rate, and the like from various sensors not shown in the drawing, and generates torque. The difference τ is calculated.

Torque instruction step S45.
The evacuation operation circuit 22 outputs calculation results to the left tire torque control unit 40 and the right tire torque control unit 50. For example, when the evacuation operation circuit 22 wants to turn left, the evacuation operation circuit 22 outputs α torque to the left tire torque control unit 40 and outputs α + τ torque to the right tire torque control unit 50. Here, α is a torque value corresponding to the current vehicle speed during deceleration.
The left tire torque control unit 40 and the right tire torque control unit 50 control the vehicle based on the signal input from the evacuation operation circuit 22. That is, the left tire torque control unit 40 and the right tire torque control unit 50 change the lane to the road shoulder by bending control in the traveling direction based on the difference between the left and right torques.

Road shoulder determination step S46.
The evacuation operation circuit 22 determines whether the vehicle has reached the road shoulder by changing the lane using the signal or the travel data input from the white line detection unit 10. When the vehicle has not reached the road shoulder, the evacuation operation circuit 22 repeats the torque difference calculation step S44 and the torque instruction step S45 until the vehicle reaches the road shoulder.

Evacuation completion step S47.
When the vehicle reaches the road shoulder, the evacuation operation circuit 22 stops the vehicle on the road shoulder in a travel with no left-right torque difference.

The torque value when the vehicle is simply retracted to the shoulder on the left side is as follows.
(1) In order to change the lane and head toward the shoulder on the left side, the evacuation operation circuit 22 outputs α torque to the left tire torque control unit 40 and outputs α + τ torque to the right tire torque control unit 50.
(2) When the vehicle crosses the lane, it is only necessary to go straight, so the evacuation operation circuit 22 sets the torque difference to zero.
(3) When entering the shoulder of the road across the lane, the evacuation operation circuit 22 outputs β torque to the left tire torque control unit 40 and β-τ torque to the right tire torque control unit 50. Here, β is a torque value corresponding to the current vehicle speed during deceleration, and α> β since the deceleration process in the deceleration step S12 is continued.
(4) When the vehicle reaches the road shoulder, if it is a straight road shoulder, it is only necessary to go straight through the road shoulder, so the evacuation operation circuit 22 sets the torque difference to zero. The evacuation operation circuit 22 sets a torque difference so that it can travel along the white line of the shoulder if it is a curved shoulder.
In actual evacuation, the evacuation operation circuit 22 changes the torque difference τ from time to time according to the relative angle between the white line and the traveling direction, the vehicle speed, the inter-vehicle distance, the travel route, the deceleration state, the shoulder position, the learning result, and the like.

The operation of the monitoring circuit 25 will be described.
The monitoring circuit 25 constantly monitors the evacuation operation circuit 22, the abnormality detection circuit 23, and the switching circuit 24, and detects an abnormality from any of the evacuation operation circuit 22, the abnormality detection circuit 23, and the switching circuit 24. In this case, a warning message is output to the output device 11. Alternatively, a warning signal 15 is used to turn on an in-vehicle warning light (not shown), and the driver is notified of an abnormality in the evacuation operation circuit 22, the abnormality detection circuit 23, or the switching circuit 24.

  The monitoring circuit 25 constantly monitors for abnormalities in the evacuation operation circuit 22, the abnormality detection circuit 23, and the switching circuit 24 even during manual operation or automatic operation. Even if the monitoring circuit 25 detects an abnormality from any one of the evacuation operation circuit 22, the abnormality detection circuit 23, and the switching circuit 24 during manual operation or automatic operation, the monitoring circuit 25 uses the manual operation circuit 26 or the automatic operation circuit 21. As long as driving is normal, the vehicle can drive normally. For this reason, even if the monitoring circuit 25 detects an abnormality during manual operation or automatic operation, the monitoring circuit 25 may simply notify the abnormality. For example, the monitoring circuit 25 outputs to the output device 11 a message “A safety drive mechanism abnormality has occurred during operation, but there is no problem in operation. Continue operation”.

  However, if the monitoring circuit 25 detects an abnormality from any one of the evacuation operation circuit 22, the abnormality detection circuit 23, and the switching circuit 24 during the vehicle evacuation operation after the abnormality detection of the abnormality detection circuit 23, the vehicle is It is not always safe to evacuate. In such a case, the monitoring circuit 25 outputs to the output device 11 a message “An error has occurred while the vehicle is being evacuated. Driving cannot be continued. The vehicle will be stopped.” The monitoring circuit 25 outputs an error signal to the left tire torque control unit 40 and the right tire torque control unit 50. When the left tire torque control unit 40 and the right tire torque control unit 50 detect an error signal, the left tire torque control unit 40 and the right tire torque control unit 50 limit the rotation of the tire by blocking the gate and perform safety processing to appropriately stop the automobile.

In the first embodiment, the following three types of operation mechanisms are provided.
(1) An automatic driving mechanism by the automatic driving circuit 21 and the electric power steering control unit 30.
(2) A manual operation mechanism by the manual operation circuit 26 and the electric power steering control unit 30.
(3) A safe driving mechanism by the retreat driving circuit 22, the left tire torque control unit 40, and the right tire torque control unit 50.
The abnormality detection circuit 23 is a circuit that prioritizes an automatic driving mechanism, a manual driving mechanism, and a safe driving mechanism in order of driving the vehicle.

*** Explanation of effects of embodiment 1 ***
According to the first embodiment, even if the automatic driving mechanism breaks down, the safety is improved because there are the manual driving mechanism and the safe driving mechanism.
According to the first embodiment, even when an abnormality occurs in the automatic driving mechanism and the curve cannot be turned, the driving can be continued by the manual driving mechanism. Thus, the safety is improved by the dual operation mechanism including the automatic operation mechanism and the manual operation mechanism.

  According to the first embodiment, even when an abnormality occurs in the automatic driving mechanism and the curve cannot be turned, the safe driving mechanism by the retreat driving circuit 22 can retreat to the road shoulder. Thus, the safety is improved by the dual operation mechanism including the automatic operation mechanism and the safe operation mechanism.

  According to the first embodiment, even when an abnormality occurs in both the automatic driving mechanism and the manual driving mechanism and the curve cannot be turned, the safe driving mechanism by the retraction driving circuit 22 can retreat to the road shoulder. Thus, the safety is improved by the triple operation mechanism including the automatic operation mechanism, the manual operation mechanism, and the safe operation mechanism.

In addition, according to the first embodiment, since the traveling direction control by the driving mechanism using the electric power steering and the traveling direction control by the driving mechanism using the tire torque difference are made independent, the safety is improved.
Further, according to the first embodiment, the abnormality detection circuit 23 and the monitoring circuit 25 are provided independently, and the safety monitoring mechanism is duplicated, so that safety is improved.

  Further, according to the first embodiment, since the evacuation control is realized using two independent drive control units of the left tire torque control unit 40 and the right tire torque control unit 50, there are few safety-related parts. And safety is improved. Even when one of the left tire torque control unit 40 and the right tire torque control unit 50 fails and the torque cannot be controlled, the torque difference τ can be realized by controlling the other torque.

  Further, according to the first embodiment, the left-right torque difference is not realized by a mechanical structure such as a brake system, a differential gear, or a steering angle of the steering, but two independent drive control units are used. Since the difference in torque between the left and right is realized, abnormality detection is easy and safety is improved.

  Further, the vehicle control device 100 of the first embodiment can be applied to a vehicle having the electric power steering control unit 30, the left tire torque control unit 40, and the right tire torque control unit 50, and is an electric vehicle or a hybrid. It can be suitably mounted on an automobile.

  Moreover, the vehicle control apparatus 100 of Embodiment 1 is applicable not only to a motor vehicle but to the vehicle which has a wheel and runs on a road. In particular, the vehicle control apparatus 100 of the first embodiment can be suitably mounted on a vehicle that rotates a tire with a motor.

*** Explanation of other components ***
Each unit and each circuit described in the first embodiment may be configured only by hardware, or may be configured by a processor and a program. Alternatively, each unit and each circuit may be configured by a combination of hardware, firmware, and software.

  The monitoring circuit 25 may not monitor all of the abnormality detection circuit 23, the evacuation operation circuit 22, and the switching circuit 24. At least one of the abnormality detection circuit 23, the evacuation operation circuit 22, and the switching circuit 24 may be monitored. Even when a circuit failure is monitored.

  The same functions as those of the abnormality detection circuit 23 and the switching circuit 24 may be added to the monitoring circuit 25 described in the first embodiment. When the monitoring circuit 25 detects an abnormality in the abnormality detection circuit 23 or the switching circuit 24, the monitoring circuit 25 performs all the operations of the abnormality detection circuit 23 or the switching circuit 24 instead of the abnormality detection circuit 23 or the switching circuit 24. May be. Since the abnormality detection circuit 23 and the switching circuit 24 are duplicated by the monitoring circuit 25, the safety is further improved.

  The execution order of the sticking determination step S14 and the release determination step S15 in FIG. 2 may be reversed. When the release determination step S15 is executed first and the release instruction is input, the sticking determination step S14 need not be executed, and the processing speed is improved.

Embodiment 2. FIG.
*** Explanation of configuration ***
The configuration of the vehicle control device 100 of the second embodiment is the same as the configuration of the vehicle control device 100 of the first embodiment shown in FIG.

*** Explanation of operation ***
FIG. 3 is a diagram illustrating a vehicle control method of the vehicle control apparatus 100 according to the second embodiment. The vehicle control method of the second embodiment is obtained by changing the operation start timings of the vehicle data collection step S41, the prediction step S42, and the save route determination step S43 of the vehicle control method of the first embodiment shown in FIG. .
In the vehicle control method of the second embodiment, when the abnormality detection circuit 23 detects an abnormality in the automatic driving circuit 21 and the electric power steering control unit 30 in the failure determination step S11, the abnormality detection circuit 23 is connected via the switching circuit 24. The evacuation operation circuit 22 is activated. The evacuation operation circuit 22 starts the operations of the vehicle data collection step S41, the prediction step S42, and the evacuation route determination step S43. When the evacuation route determination step S43 is completed, the evacuation operation circuit 22 waits for a switching instruction from the switching circuit 24 in the switching step S31, and starts the torque difference calculation step S44.

*** Explanation of effects of embodiment 2 ***
According to the second embodiment, the evacuation operation circuit 22 starts the operations of the vehicle data collection step S41, the prediction step S42, and the evacuation route determination step S43 simultaneously with the detection of the failure. At the same time, the physical evacuation of the vehicle can be started.
As described above, according to the second embodiment, the abnormality detection circuit 23 and the evacuation operation circuit 22 operate in parallel at the same time, so that the processing time can be shortened and the safety is improved.

Embodiment 3 FIG.
*** Explanation of configuration ***
FIG. 4 is a diagram illustrating a configuration of the vehicle control device 100 according to the third embodiment. The configuration of the vehicle control device 100 of the third embodiment is obtained by deleting the handle 13 and the manual operation circuit 26 from the configuration of the vehicle control device 100 of the first embodiment shown in FIG.

*** Explanation of operation ***
FIG. 5 is a diagram illustrating a vehicle control method of the vehicle control apparatus 100 according to the third embodiment.
In the vehicle control method of the third embodiment, the manual operation step S18, the notification step S21, and the notification step S22 are deleted from the sticking determination step S14 of the vehicle control method of the first embodiment shown in FIG. .
In the vehicle control method according to the third embodiment, when an abnormality occurs in the automatic driving mechanism and the curve cannot be bent, the vehicle is retreated to the road shoulder by the safe driving mechanism by the retreat driving circuit 22.

*** Explanation of effects of Embodiment 3 ***
According to the third embodiment, even when an abnormality occurs in the automatic driving mechanism and the curve cannot be turned, the safe driving mechanism by the retreat driving circuit 22 can retreat to the road shoulder. Thus, the safety is improved by the dual operation mechanism including the automatic operation mechanism and the safe operation mechanism.
According to the third embodiment, since it is not necessary to wait for a release instruction from the driver, the evacuation process can be started simultaneously with the abnormality detection, and safety is improved.

Embodiment 4 FIG.
*** Explanation of configuration ***
FIG. 6 is a diagram illustrating a configuration of the vehicle control device 100 according to the fourth embodiment. The configuration of the vehicle control device 100 of the fourth embodiment is obtained by deleting the automatic driving circuit 21 from the configuration of the vehicle control device 100 of the first embodiment shown in FIG.

*** Explanation of operation ***
FIG. 7 is a diagram illustrating a vehicle control method of the vehicle control device 100 according to the third embodiment.
The vehicle control method of the fourth embodiment is obtained by replacing the automatic operation step S10 of the vehicle control method of the third embodiment shown in FIG. 5 with a manual operation step S18.
In the vehicle control method according to the fourth embodiment, when an abnormality occurs in the manual driving mechanism and the curve cannot be bent, the vehicle is retracted to the road shoulder by the safe driving mechanism by the retreat driving circuit 22.

*** Explanation of effects of Embodiment 4 ***
According to the fourth embodiment, even when an abnormality occurs in the manual operation mechanism and the curve cannot be bent, the safe operation mechanism by the retreat operation circuit 22 can retreat to the road shoulder. Thus, the safety is improved by the dual operation mechanism including the manual operation mechanism and the safe operation mechanism.
According to the fourth embodiment, since it is not necessary to wait for a release instruction from the driver, the evacuation process can be started simultaneously with the abnormality detection, and safety is improved.

Embodiment 5. FIG.
*** Explanation of configuration ***
The configuration of vehicle control device 100 according to the fifth embodiment is the same as the configuration of vehicle control device 100 according to the first embodiment shown in FIG.

*** Explanation of operation ***
FIG. 8 is a diagram illustrating a vehicle control method of the vehicle control device 100 according to the fifth embodiment. The vehicle control method of the eighth embodiment replaces the automatic operation step S10 and the manual operation step S18 of the vehicle control method of the first embodiment shown in FIG. 1 and deletes the sticking determination step S14 and the notification step S21. is there.
In the vehicle control method of the fifth embodiment, when there is an instruction to cancel the manual operation from the driver in the release instruction step S15, the manual operation is released and the operation is continued by the automatic operation mechanism by the automatic operation circuit 21. Further, when there is no instruction to cancel the manual operation from the driver in the release instruction step S15, the driver retreats to the road shoulder by the safe driving mechanism by the retreat operation circuit 22.

*** Explanation of effects of embodiment 5 ***
According to the fifth embodiment, even when an abnormality occurs in the manual operation mechanism, the safety is improved by the triple operation mechanism including the automatic operation mechanism and the safe operation mechanism.

  DESCRIPTION OF SYMBOLS 10 White line detection part, 11 Output device, 12 Input device, 13 Handle, 14 Warning signal, 15 Warning signal, 20 Vehicle state control part, 21 Automatic driving circuit, 22 Retraction driving circuit, 23 Abnormality detection circuit, 24 Switching circuit, 25 Monitoring circuit, 26 Manual driving circuit, 30 Electric power steering control unit, 40 Left tire torque control unit, 50 Right tire torque control unit, 100 Vehicle control device.

Claims (7)

An automatic driving circuit for automatically driving the vehicle;
A manual driving circuit used for manual driving of the vehicle;
An abnormality detection circuit for detecting an abnormality in the automatic operation circuit or the manual operation circuit;
A evacuation operation circuit for evacuating the vehicle,
The abnormality detection circuit is
When detecting an abnormality in the automatic operation circuit, it outputs a switching instruction to switch between manual operation by the manual operation circuit and retreat operation by the retreat operation circuit,
A vehicle control device that outputs a switching instruction to switch between an automatic operation by the automatic operation circuit and a retreat operation by a retreat operation circuit when an abnormality of the manual operation circuit is detected.   The vehicle control device according to claim 1, wherein the abnormality detection circuit detects whether or not the steering is fixed, and outputs a switching instruction for switching to the retreat operation by the retreat operation circuit when the steering is fixed.   The abnormality detection circuit outputs a switching instruction to switch to manual driving by a manual driving circuit according to an automatic driving cancellation instruction from the driver, or an automatic driving by an automatic driving circuit according to a manual driving cancellation instruction from the driver. The vehicle control device according to claim 1 or 2, wherein a switching instruction to switch to is output.   The vehicle according to any one of claims 1 to 3, wherein the evacuation operation circuit collects vehicle data indicating a running state of the vehicle before a switching instruction of the abnormality detection circuit is output, and determines a evacuation route. Control device.   The vehicle control device according to any one of claims 1 to 4, further comprising a monitoring circuit that monitors a failure of the abnormality detection circuit. An automatic driving circuit for automatically driving the vehicle;
An evacuation operation circuit for evacuating the vehicle;
A switching circuit for switching from automatic operation by the automatic operation circuit to retreat operation by the retreat operation circuit;
An abnormality detection circuit for detecting an abnormality in the automatic operation circuit;
A vehicle control apparatus comprising: a monitoring circuit that monitors at least one of the abnormality detection circuit, the evacuation operation circuit, and the switching circuit. An automatic driving circuit for automatically driving the vehicle, a manual driving circuit used for manual driving of the vehicle, an abnormality detecting circuit for detecting an abnormality in the automatic driving circuit or the manual driving circuit, and a retreat driving circuit for retracting the vehicle In the vehicle control method of the vehicle control device provided,
The abnormality detection circuit is
When detecting an abnormality in the automatic operation circuit, it outputs a switching instruction to switch between manual operation by the manual operation circuit and retreat operation by the retreat operation circuit,
A vehicle control method for outputting a switching instruction to switch between an automatic operation by the automatic operation circuit and a retreat operation by a retreat operation circuit when an abnormality of the manual operation circuit is detected.

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