JP2019028766A - Vehicle control system - Google Patents

Abstract

To provide a vehicle control system capable of ensuring a collision avoidance ability in consideration of interior safety.SOLUTION: A vehicle control system 7 includes a determination unit 71 that, when an abnormality is detected in a driver who drives a vehicle 1, determines based on an ambient situation of the vehicle whether at least one of conditions that the vehicle is approaching an obstacle located ahead, a moving or stationary entity exists near a lateral direction of the vehicle, and the vehicle is deviating from a lane or there is a sign of lane deviation is satisfied, that, if at least one of the conditions is satisfied, determines execution of first braking at a predefined maximum deceleration, that, if none of the conditions is satisfied, determines execution of second braking with the rise and fall of a deceleration sloped, and a control unit 75 that, if at least one of the conditions is satisfied, controls a power generator 9 and braking device 11 so that the first braking can be executed, and that, if none of the conditions is satisfied, controls the power generator and braking device so that the second braking can be executed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device that controls braking of a vehicle.

  The development of a driver abnormality response system that automatically stops a bus in the event of an abnormality in a driver driving the bus has been promoted in the event of a serious accident caused by a series of sightseeing buses. The above system has been developed in accordance with guidelines such as a driver abnormality response system guideline issued by the Ministry of Land, Infrastructure, Transport and Tourism. In the above system, when it is determined that an abnormality has occurred in the driver, the vehicle is finally stopped by a flow of warning, notification, and automatic braking. The above system is assumed to be applied to, for example, a sightseeing bus, and is assumed to be applied to a route bus traveling in the city in the future.

  As an example of the driver abnormality response system, Japanese Patent Application Laid-Open No. 2004-151867 provides a warning outside the vehicle with a hazard lamp when the driver is determined to be incapable of driving and does not detect a stop operation of the alarm by the driver. In some cases, a vehicle control device that performs deceleration, stop, and shoulder retraction is disclosed.

JP, 2006-054713, A

  However, if there is a risk of collision with pedestrians and structures around the vehicle when the driver is abnormal and this system is operating, the above guidelines allow it. It is better to immediately decelerate and stop at the maximum deceleration.

  On the other hand, assuming application to a sightseeing bus, there is a possibility that passengers and passengers who are not wearing belts may fall or come into contact with the vehicle interior structure due to vehicle swing (shock) caused by braking by the above system. There is. Further, assuming application to a route bus, a passenger who is not seated may fall over or come into contact with an in-vehicle structure due to the swinging of the vehicle due to braking by the system.

  That is, the maximum deceleration for avoiding the above risk causes an in-vehicle accident. On the other hand, when the deceleration is reduced in order to mitigate the swinging of the vehicle, the braking distance is increased correspondingly, and the risk of collision with structures around the vehicle, other vehicles, and pedestrians increases during that time.

The present invention has been made in view of such problems, and its object is to
An object of the present invention is to provide a vehicle control device capable of ensuring collision avoidance while considering in-vehicle safety.

  The present invention can be realized as the following application examples. A vehicle control device according to this application example detects an abnormality of a driver driving the vehicle in a vehicle control device provided in a vehicle having a power generation device that generates power and a braking device for performing deceleration or stop. In this case, based on the surrounding situation of the vehicle, the vehicle is approaching an obstacle ahead, there is a moving object or a stationary object in the vicinity of the side surface of the vehicle, and the vehicle lane deviation or the It is determined whether or not at least one condition of whether there is a sign of lane departure is satisfied, and when the at least one condition is satisfied, it is determined to perform the first braking with a predetermined maximum deceleration, If neither of the conditions is satisfied, a determination unit that determines to perform the second braking in which the rising and falling of the deceleration are sloped, and the at least one condition is satisfied The power generation device and the braking device are controlled to perform the determined first braking, and if neither condition is satisfied, the power generation is performed to perform the determined second braking. A control unit for controlling the device and the braking device.

  The vehicle control device according to this application example includes a determination unit and a control unit. If the determination unit detects an abnormality of the driver, the determination unit determines whether or not at least one of a plurality of conditions stored in the storage unit in advance is satisfied based on the vehicle surroundings transmitted from the vehicle periphery monitoring device. If at least one condition is satisfied, it is determined to perform the first braking with a predetermined maximum deceleration. If neither condition is satisfied, the deceleration rise and fall are sloped. To perform the second braking.

  The control unit controls the power generation device and the braking device to perform the first braking when at least one of the plurality of conditions stored in the storage unit is satisfied. Further, the control unit controls the power generation device and the braking device so as to perform the second braking when none of the plurality of conditions stored in the storage unit is satisfied. That is, the vehicle control device switches between the first braking and the second braking according to whether or not at least one of the plurality of conditions stored in the storage unit is satisfied.

  The jerk caused by the second braking is smaller than the jerk caused by the first braking. In other words, the swing of the vehicle 1 caused by the second braking is smaller than the swing of the vehicle 1 caused by the first braking. That is, when the second braking is performed, it is possible to reduce the possibility that the passenger or the passenger falls or contacts the in-vehicle structure due to the swing of the vehicle 1.

  On the other hand, the braking distance when the second braking is performed is longer than the braking distance when the first braking is performed. For this reason, the danger that the vehicle 1 collides with surrounding structures, other vehicles, and pedestrians will increase. However, the vehicle control device 7 according to the present embodiment switches between the first braking and the second braking after grasping the surrounding situation of the vehicle 1 in advance. For this reason, the danger that the vehicle 1 collides with surrounding structures, other vehicles, and pedestrians can be reduced.

  Therefore, the vehicle control device according to this application example can ensure collision avoidance while considering in-vehicle safety.

It is a block diagram which shows the structure of a vehicle provided with the vehicle control apparatus which concerns on one Embodiment of this invention. It is a flowchart which shows the flow from the abnormality detection of the driver in the vehicle control apparatus shown in FIG. 1 to the braking control of a vehicle. It is a figure which shows the deceleration, braking distance, and jerk accompanying 1st braking, and the deceleration, braking distance, and jerk accompanying 2nd braking in the vehicle control apparatus shown in FIG.

  Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the drawings. In addition, this embodiment is not limited to the content demonstrated below, In the range which does not change the summary, it can change arbitrarily and can implement. The drawings used for describing the embodiments schematically show constituent members, and are partially emphasized, enlarged, reduced, omitted, or the like. In some cases, the scale and shape of the constituent members are not accurately represented.

  FIG. 1 is a block diagram illustrating a configuration of a vehicle 1 including a vehicle control device according to an embodiment of the present invention. The vehicle 1 shown in FIG. 1 is a bus such as a sightseeing bus and a route bus. The vehicle 1 according to the present embodiment is assumed to be used on a highway, for example. A vehicle 1 shown in FIG. 1 includes a driver state detection device 3, a vehicle periphery monitoring device 5, a vehicle control device 7, a power generation device 9, a braking device 11, and a human machine interface (HMI) 13. The driver state detection device 3, the vehicle periphery monitoring device 5, the vehicle control device 7, the braking device 11, and the human machine interface 13 are connected to each other by at least one of wired and wireless.

  The driver state detection device 3 is a device for detecting the state of the driver who drives the vehicle 1. The driver state detection device 3 in this embodiment includes a driver camera 31, a driver sensor 33, and a state determination unit 35, for example. The driver camera 31 is installed toward the driver in the meter panel and the steering column, and images the driver's face and posture. The driver camera 31 is, for example, a CCD camera.

  The detection device (hereinafter referred to as a driver sensor) 33 that detects a driver's seating status and driver operation information includes, for example, a seat belt sensor, a seat surface sensor, a vehicle speed sensor, a steering angle sensor, an accelerator sensor, and a brake sensor. It is. The seat belt sensor detects the pull-out amount of the seat belt. The seat surface sensor detects the pressure distribution in the seat portion of the driver's seat. The vehicle speed sensor detects the speed of the vehicle 1. The steering angle sensor detects the steering angle of the steering wheel. The accelerator sensor detects the amount of operation of the accelerator pedal. The brake sensor detects the operation amount of the brake pedal.

  The state determination unit 35 includes predetermined processors such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit), a ROM (Read-Only Memory), and a RAM (Random Access Memory) as hardware resources. Including memory. The memory included in the state determination unit 35 stores a state determination program. The processor included in the state determination unit 35 executes the state determination program stored in the memory, and thereby based on the driver image captured by the driver camera 31 and various sensing information detected by the driver sensor 33. Determine your health.

  Specifically, the state determination unit 35 includes characteristics indicating driver abnormality that can be read from the driver image (such as prone or supine), the speed of the vehicle 1, the steering angle of the steering wheel, the operation amount of the accelerator pedal, and the operation amount of the brake pedal. The driver's health status is determined based on the above. The state determination unit 35 transmits to the vehicle control device 7 the driver image, the sensing information regarding the driver's health state, and the determination result regarding the driver's health state.

  The vehicle periphery monitoring device 5 is a device that monitors the surroundings of the vehicle 1. The vehicle periphery monitoring device 5 in the present embodiment includes, for example, a camera 51 and a radar 53. The camera 51 includes a front camera installed in front of the vehicle 1 and a rear camera installed in the rear of the vehicle 1. The front camera images the front of the vehicle 1 including the white line on the road. The rear camera images the rear and rear sides of the vehicle 1.

  The radar 53 is installed at the front, side, and rear of the vehicle 1. The radar 53 detects front, side, and rear objects of the vehicle 1 and acquires distances between the vehicle 1 and the front, side, and rear objects. The vehicle periphery monitoring device 5 in the present embodiment calculates the relative speed between the front vehicle and the rear vehicle based on the distances between the vehicle 1 acquired by the radar 53 and the front, side, and rear objects. The radar 53 is a laser radar, a millimeter wave radar, or the like.

  The peripheral determination unit 55 includes, as hardware resources, a predetermined processor such as a CPU and an MPU, and a predetermined memory such as a ROM and a RAM. The memory included in the periphery determination unit 55 stores a periphery determination program. The processor included in the periphery determination unit 55 executes the periphery determination program stored in the memory, and thus based on the periphery image of the vehicle 1 captured by the camera 51 and various sensing information detected by the radar 53. It is determined whether or not an object exists in the vicinity of the vehicle 1. The surrounding determination unit 55 transmits to the vehicle control device 7 the surrounding image, sensing information related to the surrounding situation of the vehicle 1, and a determination result related to the surrounding situation of the vehicle 1.

  The vehicle control device 7 performs a risk avoidance process such as stopping the vehicle 1 safely based on various information transmitted from the driver state detection device 3 and the vehicle periphery monitoring device 5. For example, the vehicle control device 7 in the present embodiment, based on various information transmitted from the driver state detection device 3 and the vehicle periphery monitoring device 5 in order to stop the vehicle 1 safely, The braking device 11 is controlled.

  The vehicle control device 7 includes a determination unit 71, a storage unit 73, and a control unit 75. The determination unit 71 includes, as hardware resources, a predetermined processor such as a CPU and an MPU, and a predetermined memory such as a ROM and a RAM. The memory included in the determination unit 71 stores a determination program. The processor included in the determination unit 71 executes the determination program stored in the memory so that when the driver state detection device 3 detects a driver abnormality, the processor peripheral state transmitted from the vehicle periphery monitoring device 5 is displayed. Based on this, it is determined whether or not at least one of a plurality of conditions stored in advance in the storage unit 73 is satisfied, and it is determined which of the first braking and the second braking is to be performed. .

  The memory | storage part 73 contains memory | storage devices, such as memory, such as ROM and RAM, HDD (Hard DiscDrive), and SSD (Solid State Drive), for example. The storage unit 73 includes the driver image transmitted from the driver state detection device 3, sensing information regarding the health state of the driver, a determination result regarding the health state of the driver, and the peripheral image and vehicle transmitted from the vehicle periphery monitoring device 5. Sensing information about the surrounding situation of 1 and a determination result about the surrounding situation of the vehicle 1 are stored. The storage unit 73 stores a plurality of conditions used in the determination unit 71.

  The control unit 75 includes, as hardware resources, a predetermined processor such as a CPU and an MPU, and a predetermined memory such as a ROM and a RAM. The memory included in the control unit 75 stores a control program. The processor included in the control unit 75 executes the control program stored in the memory so that the first braking is performed when at least one of the plurality of conditions stored in the storage unit 73 is satisfied. The power generation device 9 and the braking device 11 are controlled. Moreover, the control part 75 controls the motive power generator 9 and the braking device 11 so that 2nd braking may be performed when none of the several conditions memorize | stored in the memory | storage part 73 are satisfy | filled. In addition, the motive power generator 9 in this embodiment is an engine or a motor, for example. Moreover, the braking device 11 in this embodiment is a mechanical brake such as a disc brake or a drum brake, for example.

  Here, the flow of braking control of the vehicle 1 in the vehicle control device 7 shown in FIG. 1 will be described in detail with reference to FIG. 2 and FIG.

  FIG. 2 is a flowchart showing a flow from driver abnormality detection to braking control of the vehicle 1 in the vehicle control device 7 shown in FIG. FIG. 3 is a diagram showing the deceleration, braking distance, and jerk associated with the first braking, and the deceleration, braking distance, and jerk associated with the second braking in the vehicle control device 7 shown in FIG.

  In step S <b> 1, the vehicle control device 7 determines whether or not a driver abnormality is detected in the driver state detection device 3. If no driver abnormality is detected in step S1 (No in step S1), the vehicle control device 7 ends the process.

If an abnormality of the driver is detected in step S1 (Yes in step S1), in step S2, the vehicle control device 7 stores the driver image, sensing information relating to the health state of the driver, and the driver stored in the storage unit 73. At least one of a plurality of conditions stored in advance in the storage unit 73 based on the determination result regarding the health state, the surrounding image, the sensing information regarding the surrounding state of the vehicle 1, and the determination result regarding the surrounding state of the vehicle 1. Whether or not two conditions are met. Here, the storage unit 73 stores the following plurality of conditions. The following plurality of conditions are examples, and the conditions stored in the storage unit 73 are not limited thereto.
(Condition 1) Is the vehicle 1 approaching an obstacle ahead?
For example, whether there is an obstacle ahead of the vehicle 1 and approaching it, whether TTC (time to collision) is below a threshold value or whether the distance is small (detected by the front radar and the front camera).
(Condition 2) Is there a moving object or a stationary object in the vicinity of the side surface of the vehicle 1?
For example, whether or not there is a moving object at a distance close to the vehicle 1 in the lateral direction, whether or not the vehicle 1 is approaching a stationary object that exists linearly and continuously in the lateral direction (forward radar, lateral (Detected by radar and rear radar)
(Condition 3) Does the vehicle 1 have a lane departure or a sign of a lane departure?
For example, whether or not the vehicle 1 is about to deviate from the lane or has deviated (detected by the front camera)

  If it is determined in step S2 that at least one condition is satisfied (Yes in step S2), in step S3, the vehicle control device 7 sets the power generation device 9 and the braking device 11 to perform the first braking. Control.

Here, as shown in FIG. 3A, the first braking is to perform braking from the start of braking to the end of braking at the maximum deceleration G _max determined by the system guideline for dealing with driver abnormality. . In step S3, the vehicle control device 7, to the end of the braking from the start of braking, implementing the braking of the vehicle 1 by maximum deceleration G _max.

  For example, when the vehicle 1 traveling at a predetermined speed is stopped by the first braking, the relationship between the time and the travel distance as shown by the solid line in FIG. At this time, the jerk generated when the vehicle 1 stops largely fluctuates at the time of braking start and stop, as shown by the solid line in FIG.

  When it is determined in step S2 that none of the conditions is satisfied (No in step S2), in step S4, the vehicle control device 7 causes the power generation device 9 and the braking device 11 to perform the second braking. Control.

Here, the second braking is to perform the braking with the rising and falling of the deceleration shown in FIG. The maximum deceleration G _max is the same as in the first braking. In step S3, the vehicle control device 7, as shown in FIG. 3 (a), carried out slowly falling increase braking of the vehicle 1 so that the deceleration from the start of braking until the time t ₁ compared to the first braking To do. Further, the deceleration from time t ₁ to time t ₂ is to implement the braking of the vehicle 1 such that the maximum deceleration G _max. Furthermore, to implement the braking of the vehicle 1 as fall slowly than the deceleration from time t ₂ until the end of the brake and the first brake.

  For example, when the vehicle 1 that travels at a predetermined speed is stopped by the second braking, the relationship between the time and the travel distance is indicated by a broken line in FIG. At this time, the jerk generated when the vehicle 1 stops hardly changes from the start of braking to the stop as shown by the broken line in FIG.

  According to the above configuration, the vehicle control device 7 according to the present embodiment includes the determination unit 71 and the control unit 75. When the driver state detection device 3 detects an abnormality of the driver, the determination unit 71 is based on the vehicle surroundings transmitted from the vehicle periphery monitoring device 5 and is selected from a plurality of conditions stored in the storage unit 73 in advance. It is determined whether or not at least one condition is satisfied. When at least one condition is satisfied, the determination unit 71 determines to perform the first braking with a predetermined maximum deceleration, and when neither condition is satisfied, the rising and falling of the deceleration are sloped. To perform the second braking.

  The control unit 75 controls the power generation device 9 and the braking device 11 to perform the determined first braking when at least one of the plurality of conditions stored in the storage unit 73 is satisfied. In addition, the control unit 75 controls the power generation device 9 and the braking device 11 to perform the determined second braking when none of the plurality of conditions stored in the storage unit 73 is satisfied. That is, the vehicle control device 7 switches between the first braking and the second braking depending on whether or not at least one of the plurality of conditions stored in the storage unit 73 is satisfied.

  As shown in FIG. 3, the jerk by the second braking is smaller than the jerk by the first braking. In other words, the swing of the vehicle 1 caused by the second braking is smaller than the swing of the vehicle 1 caused by the first braking. That is, when the second braking is performed, it is possible to reduce the possibility that the passenger or the passenger falls or contacts the in-vehicle structure due to the swing of the vehicle 1.

  On the other hand, the braking distance when the second braking is performed is longer than the braking distance when the first braking is performed. For this reason, the danger that the vehicle 1 collides with surrounding structures, other vehicles, and pedestrians will increase. However, the vehicle control device 7 according to the present embodiment switches between the first braking and the second braking after grasping the surrounding situation of the vehicle 1 in advance. For this reason, the danger that the vehicle 1 collides with surrounding structures, other vehicles, and pedestrians can be reduced.

  Therefore, the vehicle control device 7 according to the present embodiment can ensure the collision avoidance while considering the in-vehicle safety.

  Here, the human machine interface 13 includes a display, a speaker, and the like. The display is a destination display provided outside the vehicle 1, an in-vehicle display provided in the meter panel, or the like. The display may be a touch display including a liquid crystal panel or an organic EL panel. The vehicle control device 7 according to the present embodiment notifies the passenger of the vehicle 1 and a passerby existing around the vehicle 1 that the abnormality of the driver is detected by the display.

  The speaker is a vehicle-mounted speaker that is shared with a car navigation device, an audio device, and the like. When the vehicle control device 7 according to the present embodiment detects an abnormality of the driver, the speaker informs the passenger of the vehicle 1 or a passerby existing around the vehicle 1 by voice that the abnormality of the driver is detected. To do.

  In addition, the vehicle 1 according to the above embodiment may include a hazard lamp (emergency blinking indicator lamp). The vehicle control device 7 according to the present embodiment blinks the hazard lamp and notifies a passerby existing around the vehicle 1 that a driver abnormality has been detected.

  Further, the vehicle control device 7 according to this embodiment may be used in combination with an existing driving support system such as an advanced emergency braking system (AEBS). Existing driver assistance systems work when conditions are met. However, the conditions are limited from the viewpoint of preventing malfunction, and priority is given to the driver operation. Therefore, if the steering wheel or the accelerator operation is performed without the driver's intention, the operation is canceled. On the other hand, the vehicle 1 can be stopped more safely by using the vehicle control device 7 according to the present embodiment and the existing driving support system together.

  In addition, the braking of the existing driving support system may be applied as long as the braking condition of the existing driving support system is satisfied during the first braking or during the second braking. .

  The term “predetermined processor” used in the above description means, for example, a dedicated or general-purpose processor. In addition, each component (each processing unit) of the present embodiment is not limited to a single processor, and may be realized by a plurality of processors. Furthermore, a plurality of components (a plurality of processing units) may be realized by a single processor.

DESCRIPTION OF SYMBOLS 1 Vehicle 3 Driver state detection apparatus 5 Vehicle periphery monitoring apparatus 7 Vehicle control apparatus 9 Power generation apparatus 11 Braking apparatus 13 Human machine interface (HMI)
31 Driver Camera 33 Detection Device (Driver Sensor)
35 State determination unit 51 Camera 53 Radar 55 Peripheral determination unit 71 Determination unit 73 Storage unit 75 Control unit

Claims (1)

In a vehicle control device provided in a vehicle having a power generation device that generates power and a braking device for performing deceleration or stop,
When an abnormality of a driver driving the vehicle is detected, the vehicle is approaching an obstacle in front of the vehicle based on the surrounding situation of the vehicle, or there is a moving object or a stationary object near the side of the vehicle. And whether or not at least one of the lane deviation of the vehicle or the sign of the lane deviation is satisfied, and if the at least one condition is satisfied, the predetermined maximum deceleration is applied. A decision unit that decides to perform the first braking, and decides to perform the second braking in which the rising and falling of the deceleration are sloped when neither condition is satisfied;
When the at least one condition is satisfied, the power generation device and the braking device are controlled to perform the determined first braking. When neither condition is satisfied, the determined second braking is performed. A control unit for controlling the power generation device and the braking device,
A vehicle control apparatus comprising:

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