JP2018197080A - Vehicle with automatic travelling function - Google Patents

Abstract

To eliminate a concern that a driver conducts an improper operation in switching from automatic operation to manual operation.SOLUTION: When a determination function 12 of automatic operation ECU11 determines that a condition of conducting automatic operation is not met (when switching to manual operation), deceleration function 13 decelerates a vehicle 1, automatic travel is continued until the vehicle 1 stops (continuance function 14), and the operation is switched to manual operation while reliably securing safety (permission function 15).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle capable of performing automatic driving by an automatic driving function.

  In recent years, a technique (automatic driving technique) for automatically driving a vehicle to a desired place using an automatic driving function has been attracting attention. The automatic driving technique is a technique for automatically controlling traveling and moving a vehicle to a target place without performing an operation by a driver. Specifically, the position of the vehicle is ascertained with a navigation system, etc., and the surrounding situation and the operation (behavior) of the vehicle are confirmed with vehicle sensors, and the accelerator amount, brake amount, steering state are determined according to the surrounding situation. Etc., and the vehicle is automatically driven.

  For vehicles that can perform automatic driving, the vehicle sensors, driving means, braking means, driver status, etc. are updated to ensure safety during automatic driving, and the operation of the sensors does not meet the standards. Conventionally, a technique for determining that automatic operation cannot be performed in a state has been proposed (for example, Patent Document 1). Thereby, when the conditions for performing an automatic driving | operation are not satisfy | filled, it cancels | releases an automatic driving | operation and it can switch to the manual driving | operation by a driver | operator.

  In the conventional technique, when it is determined that the automatic operation cannot be performed, the automatic operation is canceled and the operation is switched to the manual operation. In this case, in order to prevent the traveling flow from being interrupted, a situation in which switching to manual operation during traveling is also conceivable. When switching from automatic driving to manual driving while driving, the driver is forced to make a jealous decision and cannot deny the possibility of an unexpected operation being performed. Under such circumstances, it is currently required to construct an automatic driving technique including a technique for ensuring safety when switching to manual driving.

JP 2014-106854 A

  The present invention has been made in view of the above situation, and an object of the present invention is to provide a vehicle having an automatic traveling function that does not cause a driver to perform an inappropriate operation when switching to manual driving.

  In order to achieve the above object, a vehicle having an automatic traveling function according to the first aspect of the present invention automatically operates a mechanism including a driving unit and a braking unit to automatically travel the vehicle along a predetermined route. An automatic travel control means, wherein the automatic travel control means determines whether or not a condition for performing automatic driving is satisfied, and determines that the conditions for performing automatic driving by the determination function are not satisfied. A deceleration function for decelerating the vehicle to a predetermined vehicle speed, and a continuation function for continuing automatic travel until the vehicle is decelerated to a predetermined vehicle speed by the operation of the deceleration function. .

  In the present invention according to claim 1, when it is determined that the conditions for performing the automatic driving are not satisfied by the determination function, the vehicle is decelerated to a predetermined vehicle speed (for example, in a low speed state or a stopped state) by the deceleration function. Until the vehicle is decelerated to a predetermined vehicle speed, automatic driving is continued by the continuation function to prohibit manual operation. Thereby, until the vehicle is decelerated to a predetermined vehicle speed (for example, until the vehicle is in a low speed state or a stopped state), manual driving is not permitted, and the driver is not forced to make a judgment.

  As a result, there is no possibility that an inappropriate operation by the driver is performed when switching to manual operation.

  A vehicle having an automatic traveling function according to a second aspect of the present invention is the vehicle having the automatic traveling function according to the first aspect, wherein the automatic traveling control means is configured such that the vehicle is decelerated to a predetermined vehicle speed. And a permission function for permitting manual operation and performing notification for permitting the manual operation.

  In the present invention according to claim 2, when the vehicle is decelerated to a predetermined vehicle speed and the manual operation is permitted, the permission function notifies that the manual operation is permitted, and the driver performs an unexpected operation. The fear can be eliminated.

  According to a third aspect of the present invention, there is provided a vehicle having an automatic traveling function according to the present invention, wherein the permission function of the automatic traveling control means is conditional on operation of the brake means. In addition, the manual operation is permitted.

  In the present invention according to claim 3, since the manual operation is permitted on condition that the brake means is operated, the intention of the driver can be reflected when switching the manual operation.

  A vehicle having an automatic travel function according to a fourth aspect of the present invention is the vehicle having the automatic travel function according to any one of claims 1 to 3, wherein the automatic travel control means is the deceleration vehicle. When the vehicle is decelerated to a predetermined vehicle speed by an operation of a function, a situation in which the vehicle is decelerated to a predetermined vehicle speed is determined in consideration of surrounding conditions.

  According to the fourth aspect of the present invention, when the vehicle is decelerated to a predetermined vehicle speed, a place where the vehicle is decelerated to the predetermined vehicle speed is determined in consideration of the surrounding situation. It can be decelerated to switch to manual operation. As a surrounding situation, the situation of a signal, the situation of a traveling lane, the situation of the presence position of a following vehicle, etc. are applied.

  The vehicle having the automatic traveling function of the present invention can eliminate the possibility of an inappropriate operation by the driver when switching to manual driving.

It is a schematic block diagram including the control block of the vehicle which has the automatic running function which concerns on one Example of this invention. It is a flowchart explaining completion | finish control of automatic driving | running | working.

  FIG. 1 shows a concept (schematic configuration) of a vehicle representing a control block for switching between automatic driving and manual driving in a vehicle having an automatic driving function according to an embodiment of the present invention, and FIG. The flowchart explaining the process in the case of ending is shown.

  The vehicle 1 shown in FIG. 1 has a function of performing automatic traveling. That is, the vehicle 1 can automatically move the vehicle and move the vehicle to a target location without performing an operation by the driver.

  Specifically, a navigation system or the like (information of GPS 2 or the like), information from the sensors 3 of the vehicle 1, information from the road-to-vehicle communication system 4 or the vehicle-to-vehicle communication system 5 is used as an automatic driving ECU 11 ( Is input to the automatic travel control means). In the automatic driving ECU 11, the position of the vehicle 1 is grasped by the information of the GPS 2, the surrounding situation and the vehicle 1 are determined by the information from the sensors 3 of the vehicle 1, the information from the road-to-vehicle communication system 4 and the vehicle-to-vehicle communication system 5. The operation (behavior) is confirmed.

  Based on the command from the automatic operation ECU 11, the operation amounts of the accelerator pedal 7 and the brake pedal 8 are controlled directly or indirectly according to the surrounding situation. In addition, the steering state of the steering 9 is controlled based on the command of the automatic operation ECU 11. As a result, the vehicle 1 can automatically travel to the destination without any operation by the driver.

  The automatic operation ECU 11 has a determination function 12 for determining whether or not conditions for performing automatic operation are satisfied. The determination function 12 diagnoses the sensors 3 and devices of the vehicle 1 and determines that the conditions for performing automatic driving are satisfied when it is determined that the vehicle 1 is operating normally.

  In addition, when it is determined by the determination function 12 that the conditions for performing automatic driving are not satisfied, the automatic driving ECU 11 decelerates the vehicle to a stop state at a predetermined vehicle speed, and the operation of the deceleration function 13 And a continuation function 14 that continues automatic driving until the vehicle stops. The deceleration by the deceleration function 13 is not limited to the stop as long as it is a predetermined vehicle speed that can travel safely, such as an extremely low speed state or a slow speed state, depending on the surrounding conditions.

  When the determination function 12 determines that the conditions for automatic driving are not satisfied, the vehicle is decelerated so that the vehicle is stopped by the deceleration function 13, and the automatic driving is continued by the continuation function 14 until the vehicle stops. Can be banned. Thus, manual driving is not permitted until the vehicle stops, and the driver is not forced to make a jealous determination. As a result, there is no possibility that an inappropriate operation by the driver is performed when switching to manual operation.

  Further, the automatic operation ECU 11 has a permission function 15 for allowing the notification means 21 to issue a notification instruction for permitting manual driving and permitting manual driving when the vehicle 1 is stopped. The notification means 21 is applied with a character image, a picture image, lighting of the lighting means (blinking), voice, and the like indicating that manual operation is permitted. The permission function 15 permits manual driving on the condition that the brake pedal 8 is operated after the vehicle is stopped.

  When the vehicle 1 is stopped and the manual operation is permitted, the permission function 15 notifies that the manual operation is permitted, so that the driver can be prevented from performing an unexpected operation. Since the permission function 15 permits manual driving on the condition that the brake pedal 8 is operated, the intention of the driver can be reflected when switching the manual driving.

  When it is determined that the conditions for performing automatic driving are not satisfied by the determination function 12 of the automatic driving ECU 11 and the vehicle 1 is stopped, the situation (location or the like) to be stopped is determined in consideration of the surrounding situation.

  For example, depending on the status of the signal, the vehicle stops in response to a red light, stops when there is no following vehicle during traveling, or does not exist when there is a following vehicle during traveling. It is designed to be stopped in the event of a failure.

  In addition, if the situation where the running position cannot be detected due to the type of sensor 3 in which a problem has occurred (for example, the situation where the road shoulder or the center line cannot be detected) continues, the vehicle continues to slow down (move left and right). Stop the car slowly. In addition, when a problem occurs in the drive system, the power is cut off and the engine is naturally stopped using a regenerative brake, an engine brake or the like. In this case, the failure status can be displayed by the notification means 21.

  Since the situation of stopping is determined in consideration of the surrounding situation, the vehicle 1 can be decelerated to a predetermined vehicle speed and stopped so that the traveling flow is not interrupted, and the operation can be switched to manual operation.

  The automatic operation ECU 11 always determines whether or not the conditions for performing automatic operation are satisfied. In other words, it is always determined whether or not the automatic driving can be continued during traveling.

  Based on FIG. 2, the process in the case of terminating automatic driving and switching to manual operation will be specifically described.

  In step S1, the sensors 3 and the devices of the vehicle 1 are diagnosed. In step S2, whether or not the conditions for automatic driving are not satisfied based on the diagnosis result, that is, whether or not automatic driving can be continued. It is determined whether or not. If it is determined in step S2 that automatic driving is not continued, that is, it is determined that automatic driving can be continued, the process ends.

  If it is determined in step S2 that the conditions for performing automatic driving are not satisfied, deceleration processing is performed in step S3 (deceleration function 13), and the vehicle 1 is decelerated. In step S4, it is determined whether or not the vehicle 1 has stopped. If it is determined in step S4 that the vehicle 1 has not stopped, the process proceeds to step S3 and the deceleration process is continued.

  If it is determined in step S4 that the vehicle 1 has stopped, it is determined in step S5 whether or not the driver has operated the brake pedal 8 (whether or not there is a brake operation). The judgment is repeated. If the driver does not operate the brake pedal 8 even after the predetermined time has elapsed, the process is terminated.

  If it is determined that the driver has operated the brake pedal 8 in step S5, a notification / alarm indicating that manual operation is permitted is performed in the notification means 21 in step S6, and manual operation is permitted in step S7 ( Permit function 15), the process ends.

  As described above, when it is determined that the conditions for automatic driving are not satisfied (when switching to manual driving), automatic driving continues until the vehicle 1 stops, and manual driving is permitted until the vehicle 1 stops. It will not be done. In other words, switching to manual operation is performed with the vehicle 1 stopped and sufficiently safe.

  For this reason, the driver is not forced to make a hesitation while the vehicle 1 is traveling, and there is no possibility that an inappropriate operation by the driver is performed when switching to manual driving.

  The vehicle having the automatic traveling function described above can prevent an inappropriate operation by the driver from being performed when switching to manual driving.

  The present invention can be used in the industrial field of vehicles having an automatic running function.

1 Vehicle 2 GPS
3 Sensors 4 Road-to-vehicle communication system 5 Vehicle-to-vehicle communication system 7 Accelerator pedal 8 Brake pedal 9 Steering 11 Automatic operation ECU
12 Judgment Function 13 Deceleration Function 14 Continuation Function 15 Permission Function 21 Notification Means

Claims (4)

By automatically operating a mechanism including a driving means and a brake means, an automatic travel control means for automatically traveling the vehicle along a predetermined route is provided,
The automatic travel control means includes
A judgment function for judging whether or not conditions for automatic driving are satisfied,
A deceleration function for decelerating the vehicle to a predetermined speed when it is determined that the conditions for performing automatic driving are not satisfied by the determination function;
A vehicle having an automatic traveling function, wherein the vehicle has an automatic traveling function until the vehicle is decelerated to a predetermined speed by the operation of the deceleration function. In the vehicle having the automatic traveling function according to claim 1,
The automatic travel control means includes
A vehicle having an automatic travel function, wherein when the vehicle is decelerated to a predetermined speed, the vehicle has a permission function for permitting manual operation and for notifying that the manual operation is permitted. In the vehicle having the automatic traveling function according to claim 2,
The permission function of the automatic travel control means is:
The vehicle having an automatic travel function, wherein the manual operation is permitted on condition that the brake means is operated. In the vehicle having the automatic traveling function according to any one of claims 1 to 3,
The automatic travel control means includes
When the vehicle is decelerated to a predetermined speed, a situation in which the vehicle is decelerated to a predetermined speed in consideration of surrounding conditions is determined. A vehicle having an automatic travel function.

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