JP2019001350A5

JP2019001350A5 -

Info

Publication number: JP2019001350A5
Application number: JP2017118799A
Authority: JP
Filing date: 2017-06-16
Publication date: 2019-05-30
Anticipated expiration: 2037-06-16

Description

上記目的を達成するため、開示された一つの態様は、運転者に代わって運転操作を実施可能な自動運転機能を備える車両（Ａ）において、運転者と自動運転機能との間における運転交代を制御する運転交代制御装置であって、車両に搭載された操舵装置（１０）に入力されている操舵操作を示す操舵情報を取得する操舵情報取得部（６５）と、車両が自動運転機能によって走行している状態で、運転者へ向けた運転交代の要求を行なう交代要求部（６６）と、交代要求部による交代要求の後に、操舵装置のアクチュエータ（１７）にステアリングホイール（１１）を回転させて車両に横方向の移動を生じさせる駆動トルクを発生させるトルク制御部（６７）と、操舵情報に基づき、アクチュエータの駆動トルクによるステアリングホイールの回転を修正する操舵操作を運転者が行っている場合に、自動運転機能から運転者への運転交代を可能にする交代制御部（６９）と、を備える運転交代制御装置とされる。 In order to achieve the above object, one aspect disclosed provides a driving change between a driver and an automatic driving function in a vehicle (A) having an automatic driving function capable of performing a driving operation on behalf of the driver. A steering information acquisition unit (65) that acquires a steering information indicating a steering operation input to a steering device (10) mounted on the vehicle, and the vehicle travels by an automatic driving function. Under this condition, the steering wheel actuator (17) rotates the steering wheel (11) after the alternation request unit (66) for requesting the driver's alternation toward the driver and the alternation request by the alternation request unit. Te torque control unit for generating allowed that the driving torque resulting lateral movement of the vehicle and (67), based on the steering information, in accordance with the driving torque of the actuator of the steering wheel When the steering operation to correct the rolling the driver is performing, shift control unit that allows operation alternation from automatic cruise functional to the driver and (69), are operated alternating control device comprising a.

また開示された一つの態様は、運転者に代わって運転操作を実施可能な自動運転機能を備える車両（Ａ）において、運転者と自動運転機能との間における運転交代を制御する運転交代制御プログラムであって、少なくとも一つの処理部（５０ａ）を、車両に搭載された操舵装置（１０）に入力されている操舵操作を示す操舵情報を取得する操舵情報取得部（６５）、車両が自動運転機能によって走行している状態で、運転者へ向けた運転交代の要求を行なう交代要求部（６６）、交代要求部による交代要求の後に、操舵装置のアクチュエータ（１７）にステアリングホイール（１１）を回転させて車両に横方向の移動を生じさせる駆動トルクを発生させるトルク制御部（６７）、操舵情報に基づき、アクチュエータの駆動トルクによるステアリングホイールの回転を修正する操舵操作を運転者が行っている場合に、自動運転機能から運転者への運転交代を可能にする交代制御部（６９）、として機能させる運転交代制御プログラムとされる。 Moreover, one aspect disclosed is a driving shift control program for controlling driving shift between a driver and an automatic driving function in a vehicle (A) having an automatic driving function capable of performing a driving operation on behalf of the driver. A steering information acquisition unit (65) for acquiring steering information indicating a steering operation input to a steering device (10) mounted on the vehicle, at least one processing unit (50a); While driving by function, the shift request unit (66) for requesting the driver's shift to the driver, and the steering wheel (11) on the actuator (17) of the steering device after the shift request by the shift request unit. torque control unit which is rotated to generate a drive torque that causes a movement transverse to the vehicle (67), based on the steering information, steering by the driving torque of the actuator The driving shift control program causes the vehicle to function as a shift control unit (69) that enables the driving shift from the automatic driving function to the driver when the driver is performing a steering operation that corrects the rotation of the wheel .

Claims

A driving shift control device for controlling a driving shift between the driver and the automatic driving function in a vehicle (A) having an automatic driving function capable of performing a driving operation on behalf of the driver.
A steering information acquisition unit (65) for acquiring steering information indicating a steering operation input to the steering device (10) mounted on the vehicle;
A shift request unit (66) for requesting a driving shift to the driver while the vehicle is traveling by the automatic driving function;
The replacement after replacement request by the requesting unit, said steering system actuator (17) to the steering wheel (11) torque control unit for generating allowed that the driving torque resulting lateral movement of the vehicle by rotating a (67) When,
When the driver is performing a steering operation for correcting the rotation of the steering wheel by the driving torque of the actuator based on the steering information, a shift that enables a drive change from the automatic driving function to the driver And a control unit (69).

And a grip determination unit (68) for determining whether the driver is gripping the steering wheel after the change request.
The torque control unit is configured such that, when the grip determination unit determines that the driver is gripping the steering wheel, the torque determination unit is an input determination torque that is a driving torque for determination by the shift control unit. The driving shift control device according to claim 1, wherein

The torque control unit generates, after the change request, a periodically changing grip determination torque for determination of gripping by the grip determination unit,
The steering information acquisition unit acquires the steering information including a value of torque input to the steering device,
The grip determination unit determines whether or not the driver is gripping the steering wheel, based on comparison between the transition of the grip determination torque generated by the actuator and the transition of the torque based on the steering information. The driving shift control device according to claim 2.

The torque control unit causes the actuator to generate the input determination torque that changes periodically,
The driving shift control device according to claim 3, wherein a frequency of the input determination torque is set to be lower than a frequency of the grip determination torque.

The driving shift control device according to claim 3 or 4, wherein the value of the input determination torque is set to a value larger than the value of the grip determination torque.

The drive control according to any one of claims 3 to 5, wherein the torque control unit causes the actuator to generate the grip determination torque having a frequency or a magnitude that does not substantially cause the vehicle to move laterally. apparatus.

The driving torque control device according to any one of claims 1 to 6, wherein the torque control unit controls the direction of the driving torque generated by the actuator so that the vehicle does not deviate from a traveling lane.

The alternation control unit enables alternation of driving from the automatic driving function to the driver when the driver performs a steering operation in a direction opposite to a driving torque input by the actuator. The driving shift control device according to any one of to 7 .

The replacement control unit, if the value of the steering torque input by the driver exceeds the determination threshold, according to claim 1-8 to transfer control of the driving operation to the driver from the automatic cruise functional The driving shift control device according to any one of the preceding claims.

10. The drive change control device according to claim 9 , wherein the torque control unit causes the actuator to generate a drive torque such that a torque acting on the steering wheel is equal to or less than the determination threshold.

A driving shift control program for controlling a driving shift between the driver and the automatic driving function in a vehicle (A) having an automatic driving function capable of performing a driving operation on behalf of the driver.
At least one processing unit (50a),
A steering information acquisition unit (65) for acquiring steering information indicating a steering operation input to the steering device (10) mounted on the vehicle;
A shift request unit (66) for requesting a driving shift to the driver while the vehicle is traveling by the automatic driving function;
The replacement after replacement request by the requesting unit, said steering system actuator (17) to the steering wheel (11) torque control unit for generating allowed that the driving torque resulting lateral movement of the vehicle by rotating a (67) ,
When the driver is performing a steering operation for correcting the rotation of the steering wheel by the driving torque of the actuator based on the steering information, a shift that enables a drive change from the automatic driving function to the driver The driving shift control program to function as the control unit (69).