JP2017208056A5 - - Google Patents

Description

Self-driving car

  The present invention relates to an autonomous driving vehicle that safely evacuates the vehicle after contact with the outside.

  Patent Document 1 below discloses a technique for quickly and safely evacuating a driving vehicle when the driver is not in a state where the driving operation can be appropriately performed.

JP2015-228090A

  The technique described in Patent Document 1 maps risk matters such as a course change risk and a deceleration stop risk on a map obtained by dividing a road in the direction of travel of the vehicle vertically and horizontally when the driver is unable to drive appropriately. Based on the information and information from the image sensor, it is digitized and mapped, and the vehicle is evacuated by automatic driving according to the map. However, with this technology, the rightmost lane is not subject to risk analysis, and therefore moving to the opposite lane is not considered. Therefore, it is necessary to evacuate the vehicle more safely and quickly by determining the evacuation position in a wider range.

Accordingly, an object of the present invention is to quickly retract an autonomous driving vehicle to a safe position after contact with another vehicle.

The present invention comprises map information storage means for storing information such as roads and facilities, and position setting means for setting destinations and waypoints , along the travel route set by the car navigation function. An autonomous driving vehicle that automatically travels to the destination through the ground, contact detection means for detecting contact with the outside during traveling of the autonomous driving vehicle , and the contact detection during traveling of the autonomous driving vehicle Control means for determining a stop by means of detecting the contact and causing the position setting means to automatically set the stop as a new waypoint.

With this configuration, in order to automatically set the position determined as the stop position as a new waypoint, it is a short and extremely simple process, allowing the autonomous driving vehicle to pass through the waypoint more quickly and safely. You can drive to your destination automatically.

Further, in the autonomous driving vehicle of the present invention, the stop is on the traveling lane side of the road on which the autonomous driving vehicle currently travels or on the opposite traveling lane side.

With this configuration, since the stop range determination range includes not only the current travel lane side but also the opposite travel lane side, the stop position can be determined in a wider range.

Further, the automatic driving vehicle of the present invention has traffic volume detecting means for detecting the respective traffic volumes on the current traveling lane side and the opposite traveling lane side on the road on which the autonomous driving vehicle is traveling, Based on the detection result, the position setting means sets the stop point on either the current traveling lane side or the opposite traveling lane side as a stop.

With this configuration, the autonomous driving vehicle determines whether to set a stop position on the current lane side or a stop position on the opposite lane side on the currently traveling road based on the traffic volume. A safer stop position can be set.

Further, the autonomous driving vehicle of the present invention further includes stop detection means for detecting a stop area based on the map information stored in the map information storage means, and the stop detection means includes the contact detection means. By detecting the contact, the self-driving vehicle is currently traveling on the leftmost lane in the traveling direction or in the leftmost lane in the traveling direction of the opposite traveling lane, An area having a predetermined distance along the traveling direction is detected by the information stored in the map information storage means, and the control means is the frontmost in the traveling direction within the area detected by the stop detection means. Is set in the position setting means as a new waypoint.

With this configuration, in determining the position to stop the autonomous driving vehicle, it is possible to secure a safer stopable position by setting the forefront position within a predetermined distance area along the traveling direction of the vehicle. it can.

Furthermore, the autonomous driving vehicle of the present invention further includes voice notification means for guiding the travel route by voice, and the voice notification means sets the automatic driving vehicle after the contact with the automatic driving vehicle. Before starting to travel to the stop, a voice guidance is given to indicate that the vehicle will go straight and stop or turn right.

With this configuration, the user can confirm whether the self-driving vehicle goes straight after the contact and stops or turns right, and can call attention to the subsequent driving.

The automatic driving vehicle according to the present invention further includes voice instruction means for instructing whether the vehicle travels straight or turns right according to a user's voice. When an instruction from the voice instruction means is detected after the driving car has started traveling to the stop, the stop set based on the travel in accordance with the instruction is set as a new waypoint by the position setting means. Let

With this configuration, when the user finds an obstacle or the like at the current planned stop position , the position can be immediately changed, so that safer and quick stop is possible.

It is a circuit block diagram in an embodiment of an automatic driving vehicle of the present invention. It is a functional block diagram in an embodiment of an automatic driving vehicle of the present invention. It is an operation | movement flowchart in embodiment of the automatic driving vehicle of this invention. It is traveling explanatory drawing of the automatic driving | running | working in embodiment of the automatic driving vehicle of this invention.

  Embodiments of an automatic driver according to the present invention will be described below with reference to the drawings. Note that the present invention is not limited to the following embodiments.

With reference to FIG. 1, a circuit configuration and the like in the embodiment of the autonomous driving vehicle of the present invention will be described in detail. The automatic driving vehicle according to the present embodiment includes a manual driving function, an automatic driving function, a car navigation function, and the like. Therefore, for the automatic driving function of the automatic driving vehicle, the control unit 125 including a CPU or the like automatically controls driving operations such as an accelerator, a brake, and a steering wheel. The autonomous driving vehicle has a traveling route set by car navigation and automatically travels along the route by a camera unit 112 and a radar unit 114 described later. The camera unit 112 mainly captures images on the road outside the vehicle, and the radar unit 114 measures a distance from an object outside the vehicle. Artificial intelligence for automated driving is also used in autonomous vehicles.

First, the engine drive control unit 101 controls the engine drive unit 102 that drives the engine, raises and lowers the rotational speed of the engine, and also has a brake function. The steering function control unit 103 controls the steering driving unit 104 that is responsible for steering the autonomous vehicle by the driver or the automatic driving function. The car navigation function unit 105 detects the position of the vehicle by the GPS function, and reaches a destination (including a transit point) set by the user based on road information, traffic regulation information, facility information, etc. stored in the database unit 106 The route (route) is displayed and guided by display and voice. When the user sets the destination, the items displayed on the display unit 107 are selected or input by the touch panel function unit 108 and set. In addition, if the in-vehicle speaker unit 120 is used, the voice recognition unit 121 operates to recognize the words uttered by the user, so that the voice can be set.

  The automatic traveling instruction unit 109 instructs automatic driving of the autonomous driving vehicle, and can display an instruction screen on the display unit 107 and instruct automatic traveling using the touch panel function unit 108. If the in-vehicle speaker unit 120 is used, the voice recognition unit 121 can be operated to give a voice instruction. The voice synthesis generation unit 110 stores specific voice information, synthesizes information selected from the information, and outputs the voice from the in-vehicle speaker unit 120. The wireless reception unit 111 wirelessly receives current temporary traffic information, for example, traffic stop and traffic jam information, and reflects the information in the information stored in the database unit 106.

The camera unit 112 acquires front, rear, and side images outside the vehicle and stores them in the image information memory unit 124. The outside microphone unit 113 obtains outside sound and stores it in the sound information memory unit 122. The radar unit 114 is provided in front of and behind the vehicle and measures the distance from the moving body. The sensor unit 115 detects contact or collision with an object outside the vehicle, for example, another vehicle. The sensor unit 115 includes hydraulic sensors (not shown) provided at the front, rear, and side parts of the vehicle body, and bumpers (not shown) connected to the hydraulic sensors at the vehicle front and rear parts. The contact is detected by pressing.

  The sign / regulation recognition unit 116 detects and recognizes a traffic sign, a temporary regulation display board, and the like from the image information and video information stored in the database unit 106 and the image information memory 124 by the image recognition unit 123. The traveling vehicle recognition unit 117 receives the image information in the image information memory unit 124 in which the video taken by the camera unit 112 is stored, and the audio information input from the outside microphone unit 113 and stored in the audio information memory unit 122. Based on this, the number of vehicles traveling in the vicinity (on the current driving lane and on the opposite lane) is measured. That is, the traveling vehicle recognition unit 117 recognizes an image of a traveling vehicle that overtakes the own vehicle in the image or a traveling vehicle in the opposite lane that faces the direction of the own vehicle, and measures the number thereof. At night, the number of headlights or tail lamps is measured. In addition, the traveling vehicle recognition unit 117 detects the passage of another vehicle (the lane opposite to the current lane) with respect to the voice information (change in the pitch of the sound, change in the magnitude of the sound, etc.), and measures the traffic volume. Therefore, the larger one of the traffic volume measurement result based on the image information and the traffic volume measurement result based on the audio information is adopted and compared with a predetermined number by the control unit 125.

The map area recognizing unit 118 detects an area of a certain length along the traveling direction of the vehicle (both front side and rear side) based on the information stored in the database unit 106 and the image information memory 124. In addition, when the in-vehicle microphone unit 119 mainly inputs a user's voice, the voice recognition unit 121 is activated to give an instruction to automatic driving. The in-vehicle speaker unit 120 utters and outputs a predetermined sound stored in the sound information memory unit 122. The control unit 125 controls each of the above-described units.
The control unit 125 has a clock function.

Below, with reference to FIG. 2, the function structure etc. in embodiment of the automatic driving vehicle of this invention are demonstrated in detail. As described above, in the present embodiment, the autonomous driving vehicle is a private vehicle having a manual driving function, a car navigation function, an automatic driving function, and the like. A driving operation means 1 for controlling the operation is provided. As for the car navigation function, temporary information received by the map information storage means 2 for storing information such as road and facility map information and traffic signs, and the traffic information acquisition means 3 having a wireless reception function for acquiring traffic information. Traffic information storage means 4 for storing traffic information such as traffic regulations, position setting means 5 for the user to set arbitrary destinations and waypoints, the set travel route, the position of the currently running vehicle, the road, etc. Display means 6 for displaying is provided.

  Therefore, the driving operation means 1 corresponds to the engine control unit 102, the engine drive control unit 101, the steering drive unit 104, and the steering drive control unit 103. The map information storage unit 2 corresponds to the database unit 106. The traffic information acquisition unit 3 corresponds to the wireless reception unit 111. The traffic information storage unit 4 corresponds to the database unit 106. The position setting unit 5 corresponds to the touch panel function unit 108, the display unit 107, and the database unit 106. Further, the display unit 6 corresponds to the display unit 107.

The automatic driving vehicle includes an automatic traveling instruction unit 7A that controls the above-described units to instruct automatic driving, and a mode setting unit 7B that allows the user to set either an interactive mode or an autonomous mode (described later). Is provided. In this automatic driving, imaging information obtained by imaging the front and rear of the vehicle (including the side of the vehicle) by the imaging unit 8A is stored in the imaging information storage unit 8B, and obstacles on the road and passing people are determined. And run automatically while avoiding collisions. Therefore, the automatic travel instruction unit 7A corresponds to the automatic travel instruction unit 109 and the touch panel function unit 108, or the in-vehicle speaker unit 120 and the voice recognition unit 121. The mode setting unit 7B corresponds to the touch panel function unit 108, the display unit 107, or the in-vehicle microphone unit 119 and the voice recognition unit 121. Further, the imaging unit 8A corresponds to the camera unit 112, and the imaging information storage unit 8B corresponds to the image information memory 124.

Furthermore, this autonomous driving vehicle is provided with contact detection means 10 for detecting that the vehicle body has come into contact with the outside. Therefore, the contact detection unit 10 corresponds to the sensor unit 115. Furthermore, the voice acquisition unit 9A acquires a voice outside the vehicle and stores it in the voice information storage unit 9B. Therefore, the voice acquisition unit 9A corresponds to the outside microphone unit 113, and the voice information storage unit 9B corresponds to the voice information memory unit 122.

In addition, this autonomous driving vehicle travels forward from a predetermined area and current position, and information on the presence / absence of a sign or the like for restricting a right turn within 100 meters is provided as map information storage means 2, traffic information storage means 4 and A right turn regulation detecting means 11 for detecting from each information of the imaging information storing means 8B is provided. Therefore, the right turn regulation detection unit 11 corresponds to the sign / regulation recognition unit 116.

Further, the automatic driving vehicle has a traffic volume detecting means 12 for detecting whether or not the number of traveling vehicles within a predetermined time is larger than a predetermined number in both the traveling direction of the currently traveling lane and the opposite lane. It has. The traffic volume detection means 12 is captured for a predetermined time based on the video imaged by the imaging means 8 and stored in the imaging information storage means 9 and the audio information acquired by the audio acquisition means 9A and stored in the audio information storage means 8B. It is determined whether the traffic volume exceeds a predetermined amount (number). That is, the traffic volume detection means 12 recognizes an image of a traveling vehicle that overtakes the own vehicle in the image or a traveling vehicle that is moving toward the own vehicle, and measures the number thereof. At night, the traffic volume detection means 12 measures the number of headlights or tail lamps. Further, the traffic volume detection means 12 obtains the voice outside the vehicle after contact by the voice acquisition means 9A and stores it in the voice information storage means 9B, and about the voice (change in the pitch of the sound, change in the magnitude of the sound). Detects the passage of other vehicles and measures traffic.

Therefore, the larger one of the traffic volume measurement result based on the image information and the traffic volume measurement result based on the audio information is adopted and compared with a predetermined number by the control means 16. Therefore, the traffic volume detection unit 12 corresponds to the traveling vehicle recognition unit 117. In addition, the control means 16 gives priority to the determination of the travel lane after the contact described above as the lane in which the own vehicle is stopped among the traffic volume measurement results of the current travel lane and the opposite lane. You can also.

The self-driving vehicle has three private vehicles in a predetermined area along the vehicle traveling direction, that is, a point where contact is detected, within 100 meters of the traveling direction in the currently traveling lane and the opposite lane. A stop detection unit 13 for detecting a stopable area (about 20 meters) is provided. Here, the control unit 16, by the contact detecting means 10 detects the contact with the outside, in the video imaging means 8 are stored in the imaging information storage unit 9 by taking, corresponding to the time at which the detected Control is performed so that predetermined marks (characters, symbols) are added to the video (including changes in character color such as date and time). Therefore, the stop detection means 13 corresponds to the map area recognition unit 118, and the control means 16 corresponds to the control unit 125.

Further, in this self-driving vehicle, the contact detection means 10 detects contact with the outside and, as described above, behind the leftmost lane in front of the currently running road or behind the leftmost lane in the opposite lane (after turning right) When a zone where the vehicle can stop is detected in front of the vehicle in the traveling direction of the vehicle, a voice notification unit 14 is provided to notify by voice whether the vehicle travels straight by voice or stops in the opposite lane. The voice command means 15 for voice-indicating the intention of consent or the opposite intention to the designated area is provided, and the autonomous driving vehicle stops in the designated area. Further, in the autonomous mode (described later), the autonomous driving vehicle automatically stops in the notified area regardless of the user's voice after the voice notification means 14 notifies. Further, the control means 16 controls the whole of the above means. Therefore, the voice notification unit 14 corresponds to the in-vehicle speaker unit 120, and the voice instruction unit 15 corresponds to the in-vehicle microphone unit 119 and the voice recognition unit 121.

Hereinafter, the operation of the autonomous vehicle will be described with reference to FIG. When the user sets the destination and waypoint using the position setting means 5 (step 1), the traffic information obtaining means 3 obtains the map information (including traffic sign information) stored in the map information storage means 2. The travel route is set according to traffic information such as traffic restrictions stored in the traffic information storage means 4, and the travel route is displayed on the display means 6.

Next, when the user instructs automatic driving using the automatic driving instruction means 7A, automatic driving is started (step 2), and the control means 16 controls the driving operation means 1 to start automatic driving. As described above, the traveling mode can be set to the interactive mode and the autonomous mode by the mode setting means 7B. However, if the user does not set the interactive mode, the autonomous type is automatically set.

In step 3, when the contact detection means 10 detects contact between the autonomous driving vehicle and the outside (another vehicle) during traveling by automatic driving (see FIG. 4), it is necessary to try to pause immediately. In step 4, the stop detection means 13 detects an area in which a private car of a general length can stop in the leftmost lane ahead (on one side road in the case of only one lane). 20 meters) is detected. If it is the said area, at least 3 private vehicles can stop.

If step 4 in stop locations, detecting means 13 detects the area (see section A of FIG. 4), the process proceeds to step 5, the traffic amount detector 12, the in leftmost lane (one lane only In that case, the traffic volume per minute of the vehicle (on the one side road) is measured. In step 6, the right turn regulation information detection means 11 prohibits the right turn within 100 meters ahead of the currently running road from any one of the map information storage means 2, the traffic information storage means 4 and the imaging information storage means 9. The presence or absence of traffic information that restricts movement to the opposite lane is detected.

If there is no detection by the right turn regulation information detection means 11 in step 6, the process proceeds to step 7 where the stop detection means 13 is in the leftmost lane in the opposite lane of the currently running road (in the case of only one lane). It detects the presence or absence of an area (about 20 meters) where a general private car can stop. In step 7, when the stop detection means 13 detects the above-mentioned area (refer to area B in FIG. 4), the process proceeds to step 8 and the traffic volume detection means 12 (in the leftmost lane of the opposite lane) If the lane only, the traffic volume for one minute of the vehicle (on the one side road) is measured.

When it is determined in step 8 that the traffic volume detection means 12 is less than the predetermined traffic volume, in step 9, the voice notification means 14 provides voice guidance "Stop in the opposite lane." Here, if the user has set the interactive mode, in step 10, the control means 16 gives an instruction different from the voice guidance from the user, that is, the voice instruction means 15 saying “go straight and stop”. Determine if there is no voice instruction from within the specified time (within 5 seconds).

In step 10, when the control means 16 determines that there is no different instruction, the control means 16 activates the position setting means 5 and the most forward position (in the area on the opposite lane detected by the stop detection means 13) ( The direction of travel after a right turn) is set as a new waypoint or destination. Thereby, referring to FIG. 4, the autonomous driving vehicle turns right by automatic traveling (step 11), and stops at the foremost position in the above-mentioned area (step 12).

If the control means 16 determines in step 10 that the different instruction has been given, the control means 16 operates the position setting means 5 and the leftmost front of the currently traveling road detected by the stop position detection means 13. The frontmost position (traveling direction) in the detected area of the lane is set as a new waypoint or destination. Thereby, referring to FIG. 4, the autonomous driving vehicle goes straight on the current road (step 15) and stops at the front position of the above-mentioned area (step 12).

This voice instruction function from the user visually confirms that the other vehicle has suddenly stopped when it is judged that there is a danger that the user will make a right turn due to some sudden situation or when the user turns right and stops. This is extremely effective when

On the other hand, if the user has set the autonomous mode, the frontmost position of the area on the opposite lane detected by the stop detection means 13 regardless of the user's instruction by the voice instruction means 15 (travel direction after the right turn) Set as a new stopover or destination. As a result, the autonomous driving vehicle makes a right turn by automatic traveling (step 11) and stops at the front position (step 12).

Furthermore, when the traffic volume detecting means 12 detects the traffic volume below the predetermined traffic volume in step 5, the process proceeds to step 13, and as described above, in the interactive mode, depending on the presence / absence of a different instruction from the user (step 14). ), The process proceeds to step 11 or step 15, and finally the automatic driving vehicle stops in step 12. On the other hand, in the autonomous mode, the process proceeds from step 13 to step 15 as described above, and finally the automatic driving vehicle stops in step 12.

In Step 6, when the right turn restriction detecting means 11 detects the right turn restriction, the process proceeds to Step 13. If the stop detection means 13 does not detect the zone within a predetermined distance from the host vehicle behind the opposite lane (front in the traveling direction after a right turn) in step 7, the process proceeds to step 13. If the traffic volume detection means 12 is not less than the predetermined traffic volume (30 cars) within the predetermined time (1 minute) in the opposite lane in step 8, the process proceeds to step 13. In step 13, the voice notification means 14 gives a voice guidance saying “go straight and stop”. Here, if the user has set the interactive mode, in step 14, the control means 16 gives an instruction different from the voice guidance from the user, that is, the voice instruction means 15 saying "Stop in the opposite lane." Determine if there is no voice instruction from within the specified time (within 5 seconds).

In step 14, if the control means 16 determines that there is no different instruction, the control means 16 activates the position setting means 5 and is on the leftmost lane of the currently traveling road detected by the stop detection means 13. The most forward position (straight direction) in the area is set as a new waypoint or destination. Thereby, referring to FIG. 4, the autonomous driving vehicle goes straight by automatic traveling (step 15) and stops at the foremost position in the above-mentioned area (step 12).

If the control means 16 determines in step 14 that the different instruction has been issued, the control means 16 activates the position setting means 5 and detects the opposite lane of the currently traveling road detected by the stop position detection means 13. The most forward position (the straight direction after the right turn) in the detected area of the rightmost lane is set as a new waypoint or destination. As a result, referring to FIG. 4, the autonomous vehicle turns right on the current road (step 11) and stops at the front position of the area (step 12).

This voice instruction function from the user visually confirms that the other vehicle has suddenly stopped when it is judged that there is a danger that the user will go straight ahead due to some sudden circumstances. This is extremely effective when

On the other hand, if the user has set the autonomous mode, the foremost position of the area on the leftmost lane of the currently traveling road detected by the stop detection means 13 regardless of the user's instruction by the voice instruction means 15 Set (straight direction) as a new waypoint or destination. As a result, the autonomous driving vehicle goes straight by automatic traveling (step 15) and stops at the front position (step 12).

Further, in the case where the lesser one of the current traffic lanes and the opposite lanes detected by the traffic volume detection unit 12 is preferentially determined as a stop, in FIG. Measures the traffic volume in both lanes, and the control means 16 determines whether the traffic volume in the current lane is less. Furthermore, in step 7, when the stop detection means 13 detects the area suitable for a stop, it will transfer to step 9.

The present invention can automatically retreat an autonomous driving vehicle to a safe position after contact with another vehicle or the like in the autonomous driving technology, and has high industrial applicability.

DESCRIPTION OF SYMBOLS 1 Driving operation means 2 Map information storage means 3 Traffic information acquisition means 4 Traffic information storage means 5 Position setting means 6 Display means 7A Automatic travel instruction means 7B Mode setting means 8 Imaging means 9 Imaging information storage means 10 Contact detection means 11 Right turn regulation Detection means
12 Traffic detection means 13 Stop detection means 14 Voice notification means 15 Voice instruction means

Claims (6)

It comprises map information storage means for storing information such as roads and facilities, and position setting means for setting destinations and waypoints , along the travel route set by the car navigation function, via the waypoints, A self-driving car that runs automatically to the ground,
Contact detection means for detecting contact with the outside during traveling of the autonomous vehicle ;
Control means for determining the stop by detecting the contact while the autonomous driving vehicle is running, and automatically setting the stop as a new waypoint in the position setting means;
Automatic operation vehicle, characterized in that it comprises a. The autonomous driving vehicle according to claim 1,
The autonomous driving vehicle is characterized in that the stop is located on the traveling lane side of the road on which the autonomous driving vehicle is currently traveling or on the opposite traveling lane side . The autonomous driving vehicle according to claim 1,
Traffic volume detecting means for detecting each traffic volume on the current traveling lane side and the opposite traveling lane side on the road on which the autonomous driving vehicle is traveling,
The control means causes the position setting means to set, based on the detection result, the stop position on either the current traveling lane side or the opposite traveling lane side as a transit point. . The autonomous driving vehicle according to claim 1,
Furthermore, it has a stop detection means for detecting a stop area based on the map information stored in the map information storage means,
The stop detection means detects the contact by the contact detection means, so that the self-driving vehicle is a road on which the autonomous driving vehicle is currently traveling and is in the leftmost traveling lane of the traveling direction or in the opposite traveling lane. In the leftmost lane of the traveling direction, an area having a predetermined distance along the traveling direction is detected by information stored in the map information storage means,
The automatic driving vehicle characterized in that the control means causes the position setting means to set a stop in front of the traveling direction in the area detected by the stop detection means as a new waypoint . The autonomous driving vehicle according to claim 1,
Furthermore, it has voice notification means for guiding the travel route by voice,
The voice notification means provides a voice guidance to the effect that the autonomous driving vehicle will go straight ahead or stop right after the contact of the autonomous driving vehicle and before the autonomous driving vehicle starts traveling to the set stop. A self-driving car characterized by The autonomous driving vehicle according to claim 1,
Furthermore, it has a voice instruction means for instructing whether the vehicle travels straight or turns right by voice of the user
When the control means detects an instruction from the voice instruction means after the autonomous driving vehicle starts to travel to the stop after the contact of the autonomous driving vehicle, the control means is set based on the traveling according to the instruction. A self-driving vehicle characterized in that the stop setting point is set by the position setting means as a new waypoint .