JP2019127238A - Control device of vehicle - Google Patents

Abstract

To provide a control device of a vehicle capable of executing more properly automatic driving control corresponding to a body condition of a crewman.SOLUTION: A control device of a vehicle has a constitution including state detection means 12 for detecting the state of a crewman, body condition determination means 13 for determining a body condition of the crewman based on detection information of the state detection means 12, body condition confirmation means 14 for confirming the body condition of the crewman by asking questions to the crewman, result determination means 15 for determining whether a determination result by the body condition determination means 13 agrees with a confirmation result by the body condition confirmation means 14 or not, and automatic driving control means 11 for executing automatic driving control corresponding to a determination result by the result determination means 15.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control device of a vehicle capable of automatic driving without requiring a driver.

  In recent years, development of vehicles capable of autonomous driving has been promoted. Further, in such a vehicle capable of automatic driving, there is a technology for detecting the physical condition of an occupant (passenger) boarding the vehicle on the vehicle side and performing automatic driving control according to the physical condition of the occupant based on the detection result. It has been developed (see, for example, Patent Documents 1 and 2).

JP 2008-120271 A JP 2012-59274 A

  By appropriately changing the automatic driving control according to the physical condition of the occupant as described above, the deterioration of the physical condition of the occupant can be suppressed.

  However, as in the invention described in the above-mentioned patent documents and the like, when the physical condition of the occupant is determined only on the vehicle side, there is a possibility that the automatic driving control suitable for the physical condition of the occupant can not be performed.

  This invention is made | formed in view of such a situation, and it aims at providing the control apparatus of the vehicle which can perform the automatic driving control according to a passenger | crew's physical condition more appropriately.

  One aspect of the present invention that solves the above-described problem is a control device that controls a vehicle capable of automatic driving, and includes a state detection unit that detects a state of an occupant and detection information based on the detection information of the state detection unit. Whether or not the judgment result of the physical condition judging means matches the judgment result of the physical condition judging means, the physical condition judging means for judging the physical condition of the passenger, the physical condition judging means for asking the occupant to check the physical condition of the passenger According to another aspect of the present invention, there is provided a control apparatus for a vehicle comprising: result determination means for determining whether or not automatic operation control is performed according to the determination result of the result determination means.

  Here, it is preferable that the physical condition confirmation means make an inquiry to the occupant when the physical condition judgment means judges that the physical condition of the occupant is abnormal.

  Thus, when it is determined that there is an abnormality in the physical condition of the occupant and an inquiry is made to the occupant, the automatic driving control means determines the result of the physical condition determination by the result determination means and the confirmation result of the physical condition confirmation means. When it is determined that they match, the first suppression control for limiting the behavior of the vehicle is executed, and the result determination unit does not match the determination result of the physical condition determination unit and the confirmation result of the physical condition confirmation unit When it is determined that the second suppression control is performed, it is preferable to execute the second suppression control in which the restriction of the behavior of the vehicle is weaker than that of the first suppression control.

  Furthermore, when there is no answer from the passenger to the question, the physical condition confirmation means carries out the question asking to the passenger a predetermined number of times, and when the result judging means does not answer the occupant for the predetermined number of times. It is preferable to determine that the determination result of the physical condition determination means and the confirmation result of the physical condition confirmation means match.

  Preferably, the physical condition judging means judges the presence or absence of a car sickness as the physical condition of the occupant.

  According to the control apparatus for a vehicle of the present invention, the accuracy of the determination of the physical condition of the occupant can be improved, and more appropriate automatic driving control can be performed according to the physical condition of the occupant.

It is a block diagram showing a schematic structure of a control device of vehicles concerning one embodiment of the present invention. It is a flowchart which shows an example of the automatic driving | operation control which concerns on one Embodiment of this invention.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
The control device for a vehicle according to the present embodiment is mounted on a vehicle capable of automatic driving without requiring a driver, and controls the automatic driving of the vehicle.

  Specifically, as shown in FIG. 1, the vehicle control device 10 includes an automatic driving control unit 11, a state detection unit 12, a physical condition determination unit 13, a physical condition confirmation unit 14, a result determination unit 15, It has.

  When the travel route to the destination is set by the navigation device 20 included in the vehicle 1, the automatic driving control means 11 performs the automatic driving of the vehicle 1 toward the destination on the set travel route. Although illustration is omitted, the vehicle 1 includes a forward surveillance camera and various sensors. The automatic driving control means 11 executes automatic driving control according to the traveling state of the vehicle 1 based on the output information from these forward monitoring cameras and various sensors.

  In addition, since the automatic driving control according to the traveling state of the vehicle 1 by the automatic driving control means 11 is an existing technology, detailed description thereof is omitted here.

  The automatic driving control means 11 performs automatic driving control (normal control) according to the traveling state of the vehicle 1, but further changes the automatic driving control appropriately in consideration of the physical condition of the occupant. That is, although the automatic driving control means 11 basically performs the automatic driving control according to the traveling state of the vehicle 1, the automatic driving control according to the judgment result of the result judging means 15 is executed as described below .

  First, the state detection unit 12 detects the state of an occupant (for example, a driver) on the vehicle 1. The vehicle 1 is provided with a vehicle interior camera 30 that is an imaging means for imaging the vehicle interior, and the state detection unit 12 detects the state of the occupant based on the video of the vehicle interior camera 30. The state detection means 12 detects, for example, the occupant's movement, facial expression, facial color, breathing state, sweating state, etc. as the occupant state.

  The timing at which the state detection means 12 detects the state of the occupant may be appropriately determined, and may be always detected or may be detected at predetermined intervals.

  The physical condition judgment means 13 judges the physical condition of the occupant based on the detection information (detection result) of the state detection means 12. That is, the physical condition judging means 13 judges the presence or absence of abnormality of the physical condition of the occupant (whether the occupant is in the condition of poor physical condition or not) based on the detection information of the condition detecting means 12.

  Specifically, whether the occupant is awakened based on the detection information of the condition detection unit 12, for example, whether or not the occupant blinks, how the eyes are open, the direction of the face, etc. Judge whether or not. Further, for example, based on the movement of eyelids, eye opening, mouth opening, complexion, breathing state, sweating state, etc., it is determined whether or not the occupant's physical condition is abnormal.

  Here, the physical condition judgment means 13 judges the presence or absence of the physical condition abnormality of the occupant by comparing the detection information of the condition detection means 12 with the reference value (the condition of the occupant when there is no physical condition abnormality) stored in advance. . In addition, the said reference value has each memorize | stored the thing in the state where the passenger | crew is awake, and the thing in the state where the passenger | crew is sleeping. The stored reference value may be a value common to a plurality of passengers, but is preferably set for each passenger. Thereby, the physical condition judgment means 13 can judge more correctly the presence or absence of a passenger | crew's physical condition abnormality.

  Further, the method for determining the presence or absence of the physical condition abnormality of the occupant is not particularly limited. For example, a biological information detection sensor (biological information detection means) for detecting biological information such as the body temperature and heart rate of an occupant is provided in the vehicle 1, and the state detection means 12 is replaced with the imaging result of the vehicle interior camera 30. Or you may make it determine the presence or absence of a passenger | crew's physical condition abnormality based on the output information from this biological information detection sensor in addition to the imaging result of the vehicle interior camera 30. Thereby, the physical condition judgment means 13 can judge more correctly the presence or absence of a passenger | crew's physical condition abnormality.

  The physical condition confirmation means 14 makes an inquiry to the occupant and confirms the physical condition of the occupant when the physical condition determination means 13 determines that the physical condition is abnormal in the state where the occupant has awakened. For example, when the physical condition judging means 13 judges that the passenger is in a car sick state as an abnormal condition of the passenger, the physical condition confirmation means 14 makes a voice to the passenger by a voice such as "car sick?" Make a question and accept the passenger's voice response to the question as a confirmation result.

  In the present embodiment, the physical condition confirmation means 14 asks the occupant only if it is judged by the physical condition judgment means 13 that there is an abnormal physical condition of the occupant.

  The result determination unit 15 determines whether or not the “determination result” by the physical condition determination unit 13 and the “confirmation result” by the physical condition determination unit 14 match when an inquiry is made to the occupant by the physical condition confirmation unit 14. . For example, when the occupant gives a voice response saying “I'm sick of car sickness” by the physical condition confirmation means 14 in response to the voice question “Would you be sick?” , It is determined that the "determination result" and the "confirmation result" match.

  On the other hand, when the occupant replies that “the vehicle is not sick”, the result determination unit 15 determines that the “determination result” and the “confirmation result” do not match.

  When there is no answer to the question to the occupant, the physical condition confirmation unit 14 makes another question after a predetermined period (for example, about 10 seconds). If there is no reply from the occupant thereafter, the physical condition confirmation means 14 repeats the inquiry to the occupant a predetermined number of times.

  When there is no response from the occupant for the predetermined number of questions, the physical condition confirmation means 14 sets the confirmation result to “no answer”. If the confirmation result is “no answer”, the judgment result of the physical condition judgment unit 13 and the confirmation result of the physical condition confirmation unit 14 do not match. However, in this case, the result determination unit 15 exceptionally determines that the “determination result” matches the “confirmation result”.

  Then, when the judgment by the result judgment means 15 is performed, the automatic driving control means 11 executes the automatic driving control according to the judgment result. That is, the automatic driving control means 11 executes the automatic driving control according to the judgment result of the result judging means 15.

  Specifically, the automatic driving control means 11 restricts the behavior of the vehicle 1 when the result judgment means 15 judges that the judgment result of the physical condition judgment means 13 and the confirmation result of the physical condition confirmation means 14 match. Execute the first suppression control. That is, the automatic driving control means 11 executes the first suppression control, limits upper limit values such as acceleration, deceleration, yaw rate, pitching and vehicle speed of the vehicle 1, for example, and makes the vehicle 1 travel more smoothly. As a result, recovery of the occupant's poor health can be achieved.

  In addition, when performing the 1st suppression control, you may make it the automatic driving | running control means 11 expand a distance between vehicles, or may expand a surrounding sensing range, for example. Furthermore, for example, the air conditioner (air conditioner) may be adjusted to improve the in-vehicle environment.

  On the other hand, when the result determination unit 15 determines that the determination result of the physical condition determination unit 13 and the confirmation result of the physical condition confirmation unit 14 do not match, the automatic driving control unit 11 determines that the vehicle 1 is more effective than the first suppression control. Execute a second suppression control that weakens the restriction of the behavior of

  The result judgment unit 15 judges that the judgment result of the physical condition judgment unit 13 and the confirmation result of the physical condition confirmation unit 14 do not match because the physical condition judgment unit 13 judges that there is an abnormality in the occupant's physical condition. It is a case where it responds that there is no abnormality in physical condition with respect to the question by the confirmation means 14.

  Such a condition is assumed to be a condition that is relatively mild even if there is a physical condition of the occupant. Therefore, the automatic operation control unit 11 executes the second suppression control in which the behavior restriction of the vehicle 1 is weaker than the first suppression control.

  In the second suppression control, similar to the first suppression control, for example, upper limit values such as acceleration, deceleration, yaw rate, pitching, and vehicle speed of the vehicle 1 are limited, but the upper limit value is higher than the first suppression control. Set to a higher value. That is, when the second suppression control is executed, the behavior of the vehicle 1 is limited, but becomes the behavior of the vehicle 1 closer to the normal control than when the first suppression control is executed. Thereby, the restriction | limiting of the behavior of the vehicle 1 which is excessive can be suppressed, aiming at the recovery of poor physical condition of a passenger | crew.

  In the present embodiment, when the occupant is not awakened, no question is made to the occupant, and the automatic driving control means 11 executes the automatic driving control according to the determination result of the physical condition determination means 13.

  Specifically, when it is determined by the physical condition judging means 13 that there is no abnormality in the physical condition of the occupant, for example, when it is judged that the occupant is simply sleeping, the automatic driving control means 11 restricts the behavior of the vehicle 1 Do not perform normal control.

  When the physical condition determining unit 13 determines that the occupant's physical condition is abnormal, the automatic driving control unit 11 executes, for example, first suppression control. If the physical condition judging means 13 judges that the physical condition of the occupant is abnormal while the occupant is not awakening, the vehicle 1 is stopped at a safe place, and the communication device provided to the vehicle 1 It may be possible to make a report.

  Further, the destination may be changed to a medical institution or the like and moved by automatic driving control. Furthermore, the vehicle 1 may be moved to a predetermined position and be merged with an ambulance, for example. In such a case, while the vehicle 1 is moving, it is desirable to continue to report position information by the communication device.

  FIG. 2 is a flowchart showing an example of the automatic driving control according to the present embodiment. An example of the automatic driving control according to the physical condition of the occupant will be described with reference to FIG.

  As shown in FIG. 2, the state detection means 12 detects the state of an occupant (for example, a driver) at a predetermined timing while the vehicle 1 is traveling under automatic driving control (step S1), and the physical condition is based on the detected information. The judging means 13 judges the presence or absence of the physical condition abnormality of the occupant (step S2).

  As described above, it is determined whether or not the occupant is in the awakening state based on, for example, the presence or absence of blinks of the occupant, how the eyes are open, the direction of the face, etc. The presence or absence of an abnormal physical condition of the occupant is determined based on the opening of the eyes, the opening of the mouth, the face color, the breathing state, the sweating state, and the like.

  Here, when it is judged that there is no physical condition abnormality (step S2: No), it progresses to step S3 and performs normal control. That is, if the normal control is executed as the automatic operation control, the normal control is continued, and if the first suppression control or the second suppression control is performed, the control is changed to the normal control. Then, it returns to step S1.

  On the other hand, when it is determined in step S2 that the occupant is awake and there is an abnormality in the physical condition (step S2: Yes), the process proceeds to step S4, and the physical condition confirmation means 14 performs an inquiry by voice to the occupant. As described above, the occupant is asked, for example, "Are you sick of a car?"

  Next, the result determination means 15 determines whether or not the “determination result” by the physical condition determination means 13 and the “confirmation result (answer to the inquiry)” by the physical condition confirmation means 14 match (step S5), When the “judgment result” matches the “confirmation result” (step S5: Yes), the process proceeds to step S6 and the first suppression control is executed. That is, if the first suppression control is being performed, the first suppression control is continued, and if the normal control or the second suppression control is being performed, the control is changed to the first suppression control. Then, it returns to step S1.

  If the "judgment result" and the "confirmation result" do not match (step S5: No), the process proceeds to step S7 to execute the second suppression control. That is, if the second suppression control is being executed, the second suppression control is continued, and if the normal control or the first suppression control is being executed, the control is changed to the second suppression control. Thereafter, the process returns to step S1.

  As described above, in the present embodiment, when the automatic driving control according to the physical condition of the occupant is executed, if the occupant is awake and it is determined that the physical condition is abnormal, the occupant is asked to confirm the physical condition of the occupant. I did it. And based on this check result, automatic operation control was suitably changed. Thus, appropriate automatic driving control can be performed according to the physical condition of the occupant. That is, when an occupant's physical condition arises, automatic operation control can be appropriately changed.

  By the way, the control device 10 of the vehicle 1 may be provided with an evaluation receiving unit for receiving an evaluation of a passenger. For example, when the vehicle 1 arrives at the destination, the evaluation receiving unit receives an evaluation of the traveling state of the vehicle 1 up to the destination by the occupant. Specifically, for example, an operation of an input button (not shown) provided on the vehicle 1 or an evaluation of the traveling state of the vehicle 1 input by voice is accepted.

  Then, the automatic driving control means 11 appropriately performs automatic driving control of the vehicle 1 from the next time onward according to the evaluation contents received by the evaluation receiving means. For example, when a high evaluation is obtained from the occupant when the first suppression control is performed according to the physical condition of the occupant, the automatic driving control means 11 normally controls the first suppression control at the next traveling. The automatic driving control of the vehicle 1 may be performed as a default. Thus, the comfort of the occupant can be improved.

  As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment.

  For example, in the above-described embodiment, when the occupant is awake and the physical condition determining means determines that there is an abnormal physical condition, the physical condition confirmation means makes an inquiry to the occupant. Even when the physical condition judging means judges that the physical condition is not abnormal, the inquiry may be made.

  In this case, when the result determination unit determines that the “determination result” matches the “confirmation result”, the automatic operation control unit maintains the normal control. When the result determination unit determines that the “determination result” and the “confirmation result” do not match, the automatic operation control unit changes from the normal control to the second suppression control or the first suppression control. . Thereby, the automatic driving control can be more appropriately changed according to the physical condition of the occupant.

  In addition, for example, when a plurality of people are on the vehicle, the physical condition determination unit determines the physical condition of each occupant, and the physical condition confirmation unit confirms the physical condition of each occupant according to the determination result. Is preferred. In that case, it is preferable that the automatic driving control means appropriately changes the automatic driving control in accordance with the occupant determined to have physical condition abnormality (physical condition is poor) (priority to the occupant determined to have physical condition abnormality). .

  In the above-mentioned embodiment, although car sickness was mentioned as an example of physical condition abnormalities of a crew member, of course, the present invention is applicable also at the time of physical health abnormalities of crew members other than car sickness.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Control apparatus 11 Automatic driving control means 12 State detection means 13 Physical condition judgment means 14 Physical condition confirmation means 15 Result judgment means 20 Navigation apparatus 30 Car interior camera

Claims (5)

A control device for controlling a vehicle capable of autonomous driving,
State detection means for detecting the state of the occupant;
Physical condition judgment means for judging the physical condition of the occupant based on the detection information of the state detection means;
A physical condition confirmation means for making an inquiry to the occupant and confirming the physical condition of the occupant;
Result determination means for determining whether or not the determination result of the physical condition determination means matches the confirmation result of the physical condition confirmation means;
A control device for a vehicle, comprising: automatic operation control means for executing automatic operation control according to the judgment result of said result judgment means. The control device for a vehicle according to claim 1,
The control apparatus for a vehicle according to claim 1, wherein the physical condition confirmation means makes an inquiry to the occupant when the physical condition judgment means determines that the physical condition of the occupant is abnormal. The control device for a vehicle according to claim 2,
The automatic operation control means includes
When it is determined by the result determination means that the determination result of the physical condition determination means and the confirmation result of the physical condition confirmation means match, a first suppression control that restricts the behavior of the vehicle is executed,
When it is determined by the result determination means that the judgment result of the physical condition judgment means and the confirmation result of the physical condition confirmation means are inconsistent, the vehicle behavior limit is weaker than that of the first suppression control. A control device for a vehicle, which executes suppression control of 2. A control device of a vehicle according to any one of claims 1 to 3, wherein
When there is no reply from the occupant to the question, the physical condition confirmation means carries out the question to the occupant a predetermined number of times,
The result judging means judges that the judgment result of the physical condition judging means and the confirmation result of the physical condition confirming means match if there is no response from the occupant to the predetermined number of questions. A vehicle control device. A control device of a vehicle according to any one of claims 1 to 4, wherein
The control device for a vehicle, wherein the physical condition determining means determines the presence or absence of a car sickness as the physical condition of the occupant.

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