JP2018127153A - Automatic operation vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operation vehicle that is able to limit a vehicle speed by scoring anxiety factors present in a surrounding environment of the own vehicle.SOLUTION: An automatic operation vehicle comprises: a limit speed detecting section that detects a limit speed for a road on which the own vehicle travels; and a travel control section that exerts control such that the own vehicle travels at the limit speed detected by the limit speed detecting section. The automatic operation vehicle further comprises: a factor detecting section that detects anxiety factors from a surrounding environment of the own vehicle; a storage section that stores a scoring table in which a score is set for each anxiety factor and a speed table in which a speed decreased from the limit speed is set for each integral point; a point integrating section that refers to the scoring table and integrates points set for corresponding anxiety factors detected by the factor detecting section; and a decreased speed determining section that refers to the speed table and determines a speed decreased from the limit speed on the basis of the integral point into which the points are integrated by the point integrating section.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an autonomous driving vehicle.

  Patent Document 1 discloses a driving support device that collects information related to traveling of a vehicle and supports driving of the vehicle based on the collected information. Such a driving support device is based on an image recognition unit that recognizes a pedestrian from an image around the vehicle acquired by the image acquisition unit, and a risk that the pedestrian recognized by the image recognition unit is in contact with the host vehicle. Operation control means for performing operation control. The operation control means is either a vehicle outside notification device, an engine control device, a brake control device, a transmission control device, a steering control device, an occupant airbag, a pedestrian airbag, or a vehicle outside notification device, engine control. Operation control using a combination of a device, a brake control device, a shift control device, a steering control device, an occupant airbag, and a pedestrian airbag is performed. For example, when it is indicated that there is a possibility that the pedestrian and the host vehicle are in contact with each other according to the degree of risk, the operation control unit performs operation control on the engine control device to limit acceleration of the host vehicle. In addition, for example, the operation control unit performs operation control on the engine control device, the brake control device, and the transmission control device when it is indicated that there is a possibility that the pedestrian and the host vehicle come into contact with each other depending on the degree of danger. Assists the driver to decelerate. For example, the degree of risk is calculated using a road shape, a pedestrian state, a relative distance and a relative speed between the pedestrian and the host vehicle. Further, for example, the risk level is calculated by further using at least one of the state of surrounding vehicles, surrounding map information, time information, and weather information.

JP 2006-151114 A

  In the driving support device disclosed in Patent Document 1, the risk level is calculated in seven stages from “risk level 1” having the lowest risk to “risk level 7” having the highest risk, but there is anxiety inherent in the surrounding environment of the host vehicle. There is no disclosure of limiting the vehicle speed by scoring factors.

  In view of the above circumstances, an object of at least one embodiment of the present invention is to provide an automatic driving vehicle capable of limiting the vehicle speed by scoring anxiety factors inherent in the surrounding environment of the host vehicle.

  (1) An autonomous driving vehicle according to at least one embodiment of the present invention has a speed limit acquisition unit for acquiring a speed limit of a road on which the vehicle travels, and a speed limit acquired by the speed limit acquisition unit. A self-driving vehicle including a travel control unit that controls the host vehicle to travel, a factor detection unit for detecting anxiety factors from the surrounding environment of the host vehicle, and a score for each anxiety factor Referring to the storage unit storing the set scoring table, the deceleration speed table in which the deceleration speed from the speed limit is set for each integrated point, and the factor detection unit to detect A point accumulating unit for accumulating the points set for each anxiety factor and the deceleration speed table, and determining a deceleration speed from the speed limit based on the accumulated points accumulated by the point accumulating unit Decrease It comprises a speed determination unit.

  According to the configuration of (1) above, the score accumulating unit refers to the scoring table stored in the storage unit, integrates the points detected by the factor detection unit, and then stores the deceleration speed determination unit in the storage unit. The deceleration speed table is determined, and the deceleration speed from the speed limit is determined based on the accumulated points accumulated by the point accumulation unit. Thereby, the autonomous driving vehicle can limit the vehicle speed by scoring the anxiety factor, and the vehicle speed of the autonomous driving vehicle becomes a speed obtained by subtracting the deceleration speed from the limiting speed.

(2) In some embodiments, in the configuration of (1), the deceleration speed determination unit determines any one of the deceleration speeds provided in multiple stages.
According to the configuration of (2) above, the deceleration rate determination unit refers to the deceleration rate table stored in the storage unit, and the deceleration rate provided in multiple stages based on the accumulated points accumulated by the point accumulation unit. Decide on one of the deceleration speeds. As a result, the vehicle speed of the autonomous driving vehicle is a speed obtained by subtracting any one of the deceleration speeds provided in multiple stages from the limit speed.

(3) In some embodiments, in the configuration of the above (1), the deceleration speed determination unit determines a predetermined deceleration speed when the cumulative score is equal to or greater than a predetermined score.
According to the configuration of (3) above, the deceleration speed determining unit refers to the deceleration speed table stored in the storage unit, and the predetermined deceleration speed is obtained when the integrated singularity integrated by the score integrating unit is greater than or equal to a predetermined score. To decide. Thereby, the vehicle speed of the autonomous driving vehicle becomes a speed obtained by subtracting a predetermined deceleration speed from the speed limit.

(4) In some embodiments, in the configuration of (1), the deceleration speed determination unit determines the deceleration speed based on a predetermined deceleration speed set for a specific anxiety factor.
According to the configuration of (4) above, the deceleration speed determination unit determines the deceleration speed based on the predetermined deceleration speed set for the specific anxiety factor. Thereby, the vehicle speed of the autonomous driving vehicle becomes a speed obtained by subtracting a predetermined deceleration speed from the speed limit.

(5) In some embodiments, in any one of the configurations (1) to (4), the score integrating unit updates the integration every predetermined time, and the deceleration speed determining unit The decision is updated every predetermined time.
According to the configuration of (5) above, the score integrating unit updates the integration every predetermined time, and the deceleration speed determining unit updates the determination every predetermined time. Thereby, the deceleration speed is updated corresponding to the surrounding environment of the host vehicle.

  According to at least one embodiment of the present invention, the autonomous driving vehicle can limit the vehicle speed by scoring anxiety factors, and the traveling speed of the autonomous driving vehicle is a speed obtained by subtracting the deceleration speed from the limiting speed.

It is a schematic diagram which shows roughly the example of the anxiety factor inherent in the surrounding environment of the own vehicle. It is a mimetic diagram showing roughly composition of an automatic operation vehicle concerning one embodiment of the present invention. FIG. 3 is a diagram illustrating an example of a scoring table stored in a storage unit illustrated in FIG. 2. It is a figure which shows another example of the score conversion table memorize | stored in the memory | storage part shown in FIG. It is a figure which shows an example of the deceleration speed table memorize | stored in the memory | storage part shown in FIG. It is a flowchart which shows roughly the determination procedure of the deceleration speed from the speed limit of the autonomous driving vehicle which concerns on one Embodiment of this invention. FIG. 7 is a flowchart schematically showing anxiety factor scoring processing shown in FIG. 6. FIG. It is a flowchart which shows roughly the determination process of the deceleration speed shown in FIG.

  Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described in the embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples. Absent.

FIG. 1 is a schematic diagram schematically showing an example of anxiety factors inherent in the surrounding environment of the host vehicle 100.
The autonomous driving vehicle 1 is expected to travel with the speed limit set for each road as the travel speed (set speed). Therefore, if the speed limit is 30 km / h, it is predicted that the vehicle will travel at 30 km / h, and a normal vehicle (manually driven vehicle) such as a narrow road, a child or a pedestrian on the road, an oncoming vehicle, etc. Then, even when the traveling speed is lowered, it is possible that the vehicle travels at a speed limit (set speed). Even in such a case, the automatic driving vehicle 1 can avoid an accident by using an automatic brake (not shown), but sudden braking is required each time, and there is a possibility that a physical burden is imposed on the occupant.

  In the self-driving vehicle 1 according to the embodiment of the present invention, a factor that causes a decrease in traveling speed in a normal vehicle such as a narrow road, a child or a pedestrian on the road, or an oncoming vehicle is an anxiety factor. The anxiety factor inherent in the surrounding environment of the host vehicle 100 is scored to allow the vehicle speed to be limited.

  FIG. 2 is a schematic diagram schematically showing the configuration of the autonomous driving vehicle 1 according to the embodiment of the present invention. 3 and 4 are diagrams illustrating an example of the scoring table 61 stored in the storage unit 6 illustrated in FIG. FIG. 5 is a diagram showing an example of the deceleration speed table 62 stored in the storage unit 6 shown in FIG.

  As shown in FIG. 2, the autonomous driving vehicle 1 according to an embodiment of the present invention includes a speed limit acquisition unit 2, a device control unit 3, and a travel control unit 4.

  The speed limit acquisition unit 2 can acquire the speed limit of the road on which the host vehicle 100 travels from a system such as a navigation system. The system is not limited to the navigation system, and may be a road-vehicle communication system, for example.

  The equipment control unit 3 can control equipment including a power source such as an engine and a braking device such as a brake. The equipment is not limited to the power source and the braking device, and includes a transmission such as a transmission, for example.

  The travel control unit 4 can control the device control unit 3 so that the host vehicle 100 travels at the speed limit acquired by the speed limit acquisition unit 2.

  As shown in FIG. 2, the autonomous driving vehicle 1 according to an embodiment of the present invention further includes a factor detection unit 5, a storage unit 6, a score integration unit 7, and a deceleration speed determination unit 8.

  The factor detector 5 is for detecting anxiety factors inherent in the surrounding environment of the host vehicle 100, and is a system such as a camera, a radar, a sensor, etc., a navigation system, a vehicle-to-vehicle communication system, a road-to-vehicle communication system, etc. Can detect anxiety factors.

As described above, the anxiety factor is a factor that reduces the traveling speed of a normal vehicle such as a narrow road, a child or a pedestrian on the road, an oncoming vehicle, etc. (Hereinafter referred to as “invariant factors”) and variable anxiety factors (hereinafter referred to as “variable factors”).
For example, narrow roads, commuting roads, traffic accident occurrence points, etc. are classified as invariable factors, and at night, children on the road, pedestrians on the road, oncoming vehicles, etc. are classified as variable factors.

As shown in FIG. 2, the storage unit 6 stores a scoring table 61 and a deceleration speed table 62.
As shown in FIGS. 3 and 4, in the scoring table 61, a score is set for each anxiety factor. For example, in the example shown in FIG. 3 and FIG. 4, a high score is set for the school route taking into account the attendance of children, and in the daytime it is easy to find people and obstacles. On the other hand, a low score is set.
For example, as shown in FIGS. 3 and 4, the score may be adjusted by anxiety factors. For example, in the examples shown in FIGS. 3 and 4, a high score is set for a narrow road in consideration of the delay in finding people and obstacles at night, and the night is outside school hours. A low score is set for the school route.
In the example shown in FIGS. 3 and 4, an example is shown in which the score is adjusted at night. However, the score is not limited to this, and the score may be adjusted according to the weather (rain or snow).
Further, for example, as shown in FIG. 4, a score may be set for each anxiety factor to be excluded. For example, in the example shown in FIG. 4, a negative score may be set for no pedestrians on the road and no oncoming vehicles on the road.

  As shown in FIG. 5, in the deceleration speed table 62, the deceleration speed from the speed limit is set for each number of points. For example, when the cumulative number is small, the deceleration speed from the speed limit is set to be small, and when the cumulative number is large, the deceleration speed from the speed limit is set to be large.

The score integrating unit 7 refers to the scoring table 61 stored in the storage unit 6 and integrates the points set for each anxiety factor detected by the factor detecting unit 5.
For example, as shown in FIG. 3, when the factor detecting unit 5 detects that there is a child on a narrow road or road, one point for the thin road and five points for the child on the road are integrated. The accumulated score (score) is 6 points.
For example, as shown in FIG. 4, when the factor detection unit 5 detects that a narrow road, a pedestrian is on the road, and there is no oncoming vehicle on the road, one point for the thin road One point for the presence of a pedestrian and -1 point for the absence of an oncoming vehicle on the road are accumulated, and the accumulated score (score) is one point.
Also, for example, as shown in FIG. 3, when the factor detection unit 5 detects that there are children at night, narrow roads, roads, there are four points for the night narrow roads, and children at night roads. 5 points are integrated and the total number of points is 9.
Also, for example, as shown in FIG. 4, when the factor detection unit 5 detects that there are pedestrians on the road at night, a narrow road, and there is no oncoming vehicle on the road, four points for the night narrow road 5 points for the presence of pedestrians on the night road and -1 point for the absence of oncoming vehicles on the night road are accumulated, and the total number of points is 8.

The deceleration speed determination unit 8 refers to the deceleration speed table 62 stored in the storage unit 6 and determines the deceleration speed from the limit speed based on the accumulated points obtained by the point accumulation unit 7.
For example, as shown in FIG. 5, when the number of accumulated points is 6 (see FIG. 3), the deceleration speed from the speed limit is determined to be 5 km / h. Therefore, as shown in FIG. 1, when the speed limit is 30 km / h, the speed of the autonomous driving vehicle 1 is limited to 25 km / h (set to 25 km / h).
For example, as shown in FIG. 5, when the number of integrated points is 1 (see FIG. 4), the deceleration speed from the speed limit is determined to be 0 km / h. Therefore, as shown in FIG. 1, when the speed limit is 30 km / h, the speed of the autonomous driving vehicle 1 is limited to 30 km / h (set to 30 km / h).
Further, for example, as shown in FIG. 5, when the number of accumulated points is 9 (see the score (nighttime) in FIG. 4), the deceleration speed from the speed limit is determined to be 5 km / h. Therefore, as shown in FIG. 1, when the speed limit is 30 km / h, the speed of the autonomous driving vehicle 1 is limited to 25 km / h (set to 25 km / h).
Further, for example, as shown in FIG. 5, when the number of accumulated points is 8 (refer to the score (nighttime) in FIG. 5), the deceleration speed from the speed limit is determined to be 5 km / h. Therefore, as shown in FIG. 1, when the speed limit is 30 km / h, the speed of the autonomous driving vehicle 1 is limited to 25 km / h (set to 25 km / h).

  FIG. 6 is a flowchart schematically showing a procedure for determining the deceleration speed from the speed limit of the autonomous driving vehicle 1 according to the embodiment of the present invention. FIG. 7 is a flowchart schematically showing the anxiety factor scoring process shown in FIG. 6, and FIG. 8 is a flowchart schematically showing the deceleration speed determination process shown in FIG.

  As shown in FIG. 6, when the autonomous driving vehicle 1 according to an embodiment of the present invention starts automatic driving (step S1), score integration is performed until the autonomous driving vehicle 1 ends automatic driving (step S6: Yes). The anxiety factor scoring process (step S3) by the unit 7 and the deceleration speed determining process (step S5) by the deceleration speed determining unit 8 are repeatedly executed.

As shown in FIG. 7, in the scoring process of the anxiety factor by the score accumulating unit 7, it is first determined whether it is daytime or nighttime (step S31). In the case of daytime, the normal (daytime) score set for each factor is used (step S32), and in the case of nighttime, the nighttime score set for each factor (step S33) is used.
Next, it is determined whether or not the host vehicle 100 travels on a narrow road (step S34). When the host vehicle 100 travels on a narrow road (step S34: Yes), the number of points set for the narrow road (for example, one point) is accumulated (step S35), and the host vehicle 100 travels. If is not a narrow road (step S34: No), the points set for the narrow road are not integrated.
Next, it is determined whether or not there is a child on the road on which the host vehicle 100 travels (step S36). When there is a child on the road on which the host vehicle 100 travels, the score (for example, 5 points) set for the presence of the child on the road is accumulated (step S37), and the road on which the host vehicle 100 travels is accumulated. If there are no children, the points set for having children on the road are not accumulated.
In this way, the score accumulating unit 7 refers to the scoring table stored in the storage unit 6, integrates the scores detected by the factor detecting unit 5, and obtains the total score (step S40) (anxiety factor) Scoring process).

As shown in FIG. 8, in the deceleration speed determination process (step S5) by the deceleration speed determination unit 8, first, the deceleration speed determination unit 8 determines whether or not the vehicle speed of the host vehicle 100 is 15 km / h or less. (Step S51). The deceleration speed determination unit 8 does not decelerate when the vehicle speed of the host vehicle 100 is 15 km / h or less (step S60). This is because the host vehicle 100 is sufficiently slow if the vehicle speed is 15 km / h or less.
On the other hand, the deceleration speed determination unit 8 determines the deceleration speed when the vehicle speed of the host vehicle 100 is faster than 15 km / h (steps S52 to S57).

  For example, the deceleration speed determination unit 8 determines the deceleration speed to be 0 km / h when the total score P (integrated score P) accumulated by the score accumulation unit 7 is less than 5 (No in step S52). (Step S53). Thereby, the traveling control unit 4 controls the host vehicle 100 to travel at the speed limit acquired by the speed limit acquiring unit 2.

  Further, for example, the deceleration speed determination unit 8 sets the deceleration speed when the total P (integrated points P) of the points accumulated by the point accumulation unit 7 is 5 or more and less than 10 (step S54: Yes). It determines to 5 km / h (step S55). Thereby, the traveling control unit 4 controls the host vehicle 100 to travel at a speed that is decelerated by 5 km / h from the speed limit acquired by the speed limit acquiring unit 2.

  For example, the deceleration speed determination unit 8 determines the deceleration speed to be 10 km / h when the total P (integrated points P) accumulated by the point accumulation unit 7 is 10 points or more (step S56) (step S56). Step S57). Thereby, the traveling control unit 4 controls the host vehicle 100 to travel at a speed that is decelerated by 5 km / h from the speed limit acquired by the speed limit acquiring unit 2. When the score is less than 10 in step S56, there is some error (step S58).

  As described above, the deceleration speed determination unit 8 refers to the deceleration speed table 62 stored in the storage unit 6 and determines the deceleration speed from the speed limit based on the accumulated point P accumulated by the point accumulation unit 7. (Deceleration speed determination process).

  In the above-described autonomous driving vehicle 1 according to the embodiment of the present invention, the score accumulating unit 7 refers to the scoring table 61 stored in the storage unit 6 and accumulates the points detected by the factor detecting unit 5. Thereafter, the deceleration speed determination unit 8 refers to the deceleration speed table 62 stored in the storage unit 6 and determines the deceleration speed from the speed limit based on the accumulated point P accumulated by the point accumulation unit 7. Thereby, the automatic driving vehicle 1 can limit the vehicle speed by scoring anxiety factors, and the vehicle speed of the automatic driving vehicle 1 becomes a speed obtained by subtracting the deceleration speed from the speed limit.

  Further, in the autonomous driving vehicle 1 according to the embodiment of the present invention, the deceleration speed determination unit 8 refers to the deceleration speed table 62 stored in the storage unit 6, and the accumulated point P accumulated by the point accumulation unit 7 is set. Based on the deceleration speeds provided in the three stages, any one deceleration speed is determined. Thereby, the vehicle speed of the autonomous driving vehicle 1 determines any one of the deceleration speeds provided in multiple stages. As a result, the vehicle speed of the autonomous driving vehicle 1 becomes a speed obtained by subtracting one of the deceleration speeds from the speed limit provided from multiple stages.

  Further, in the autonomous driving vehicle 1 according to the embodiment of the present invention, when the deceleration speed determination unit 8 refers to the deceleration speed table 62 and the accumulated point P accumulated by the point accumulation unit 7 is equal to or greater than a predetermined score. A predetermined deceleration speed is determined. Thereby, the vehicle speed of the autonomous driving vehicle 1 becomes a speed obtained by subtracting a predetermined deceleration speed from the speed limit.

  In the autonomous driving vehicle 1 according to the embodiment of the present invention, the deceleration speed determination unit 8 determines the deceleration speed based on a predetermined deceleration speed set for a specific anxiety factor. Thereby, the vehicle speed of the autonomous driving vehicle 1 becomes a speed obtained by subtracting a predetermined deceleration speed from the speed limit.

  Moreover, in the autonomous driving vehicle 1 according to the embodiment of the present invention, the score integrating unit 7 updates the integration every predetermined time, and the deceleration speed determining unit 8 updates the determination every predetermined time. As a result, the deceleration speed is updated corresponding to the surrounding environment of the host vehicle 100.

The present invention is not limited to the above-described embodiments, and includes forms obtained by modifying the above-described embodiments and forms obtained by appropriately combining these forms.
For example, the user may be able to set the deceleration speed for each anxiety factor.
The factor detection unit 5 may increase the update interval of the invariant factor among the anxiety factors (for example, 100 msec), while shortening the update interval of the variable factor among the anxiety factors (for example, 10 msec).

DESCRIPTION OF SYMBOLS 1 Self-driving vehicle 2 Speed limit acquisition part 3 Equipment control part 4 Travel control part 5 Factor detection part 6 Storage part 61 Pointing table 62 Deceleration speed table 7 Point accumulation part 8 Deceleration speed determination part

Claims (5)

A speed limit acquisition unit for acquiring the speed limit of the road on which the vehicle travels;
A travel control unit that controls the host vehicle to travel at the speed limit acquired by the speed limit acquisition unit;
An autonomous driving vehicle comprising:
A factor detection unit for detecting anxiety factors from the surrounding environment of the host vehicle;
A storage unit storing a scoring table in which a score is set for each of the anxiety factors, and a deceleration speed table in which a deceleration speed from a speed limit is set for each cumulative score;
A score accumulating unit that refers to the scoring table and accumulates the score set for each anxiety factor detected by the factor detecting unit;
A deceleration speed determining unit that refers to the deceleration speed table and determines a deceleration speed from the speed limit based on the accumulated points accumulated by the point accumulation unit;
An automatic driving vehicle comprising:   The automatic driving vehicle according to claim 1, wherein the deceleration speed determining unit determines any one of the deceleration speeds provided in multiple stages.   The automatic driving vehicle according to claim 1, wherein the deceleration speed determination unit determines a predetermined deceleration speed when the cumulative score is a predetermined score or more.   The automatic driving vehicle according to claim 1, wherein the deceleration speed determination unit determines a deceleration speed based on a predetermined deceleration speed set for a specific anxiety factor. The score integration unit updates the integration every predetermined time,
The deceleration speed determination unit updates the determination every predetermined time.
The autonomous driving vehicle according to any one of claims 1 to 4, wherein the vehicle is an autonomous driving vehicle.

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