JP2019156057A - Travel control system of vehicle - Google Patents

Abstract

To provide a travel control system enabling a driver to adjust a driving posture when finishing automatic driving not on the premise of holding of steering wheels in accordance with intervention operation by the driver.SOLUTION: A travel control system as a travel control system of performing automatic travel control of a vehicle includes: a travel control device performing travel control of the vehicle by selectively executing a manual driving mode of executing steering and acceleration-deceleration of the vehicle in accordance with the operation of a driver of the vehicle, a first driving support mode of executing the automatic travel control on the premise of holding of steering wheels by the driver, and a second driving support mode of executing the automatic travel control without requiring holding of the steering wheels by the driver; and an operation detection device detecting intervention operation to the automatic travel control by the driver when the automatic travel control of the second driving support mode is executed by the travel control device.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a travel control system that performs automatic travel control of a vehicle.

  In vehicles such as automobiles, for example, as disclosed in Japanese Patent Application Laid-Open No. 2007-196809, there is known a travel control system that performs automatic driving of a vehicle without assuming that the driver holds the steering wheel. The automatic driving that does not presuppose holding of the steering wheel by the driver corresponds to level 3 or higher of the definition by SAE (SAE J3016_201609).

  In addition, when performing automatic driving that does not require the driver to hold the steering wheel, if the driver intervenes in driving using the steering wheel, accelerator pedal, or brake pedal, manual driving or steering wheel by the driver There is also known a technique for switching to automatic driving on the premise of maintenance of the vehicle.

JP 2007-196809 A

  When performing automatic driving that does not require the driver to hold the steering wheel, if the automatic driving is terminated in response to an intervention operation by the driver, the automatic driving ends before the driving posture of the driver is adjusted. There is a possibility that. For example, if the driver reacts more sensitively to the approach of surrounding vehicles than the driving control system and depresses the brake pedal, the automatic driving ends without the driver holding the steering wheel. there is a possibility.

  The present invention solves the above-described problem, and a traveling control system that allows the driver to adjust the driving posture in the case of terminating automatic driving that does not presuppose holding of the steering wheel in response to an intervention operation by the driver. The purpose is to provide.

  A travel control system according to an aspect of the present invention is a travel control system that is mounted on a vehicle and performs automatic travel control including control of steering and acceleration / deceleration of the vehicle. A manual driving mode for performing steering and acceleration / deceleration, a first driving support mode for performing the automatic driving control on the premise that the steering wheel is held by the driver, and the automatic driving without requiring the steering wheel to be held by the driver A driving control device that selectively executes the second driving support mode for performing the control to control the driving of the vehicle, and driving when the driving control device executes the automatic driving control in the second driving support mode. An operation detection device that detects an intervention operation on the automatic travel control by a person, and the travel control device includes the second driving support mode. A first step of determining whether the intervention operation detected during execution of the automatic travel control is for steering control or acceleration / deceleration control of the vehicle; and after the first step, Of acceleration / deceleration control, one of the intervention operations is switched to control according to the operation by the driver, and the other of the acceleration operations is not equivalent to the automatic driving control in the second driving support mode. A second step of executing a temporary automatic control degeneration process for maintaining control and a third step of starting the manual operation mode or the first driving support mode after the second step are executed.

  ADVANTAGE OF THE INVENTION According to this invention, when complete | finishing the automatic driving | operation which does not presuppose holding | maintenance of a steering wheel according to the intervention operation by a driver | operator, the driving | running | working control system which a driver | operator can arrange a driving posture can be provided.

It is a lineblock diagram of a run control system. It is a flowchart which shows an automatic driving | operation completion | finish process.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the drawings used for the following description, the scale of each component is made different in order to make each component recognizable on the drawing. It is not limited only to the quantity of the component described in (1), the shape of the component, the ratio of the size of the component, and the relative positional relationship of each component.

  In FIG. 1, reference numeral 1 denotes a travel control system for a vehicle such as an automobile, which performs travel control including autonomous automatic driving of the vehicle. Hereinafter, a vehicle on which the traveling control system 1 is mounted is referred to as a host vehicle.

  The host vehicle includes an operation unit 201 for a driver to perform a driving operation. The operation unit 201 includes an accelerator pedal 201a, a brake pedal 201b, and a steering wheel 201s. The operation unit 201 may include a switch that performs an operation for switching between manual driving and automatic driving of the host vehicle.

  The travel control system 1 includes the state control device 10, the external environment recognition device 20, the acceleration / deceleration control device 30, the steering control device 40, the operation detection device 50, the alarm control device 60, and the like centered on the travel control device 100. The communication network 150 is connected to each other.

  The state quantity detection device 10 includes a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, a rudder angle sensor, and the like, and detects state quantities such as the vehicle speed, the acceleration in the front-rear direction, the yaw rate, and the steering angle. Note that at least some of the plurality of sensors included in the state quantity detection device 10 may share a sensor attached to another device included in the host vehicle. For example, the angular velocity sensor that detects the yaw rate of the host vehicle included in the state quantity detection device 10 may be shared with the angular velocity sensor included in the skid prevention device included in the host vehicle.

  The external environment recognition device 20 recognizes the road shape ahead of the host vehicle and the positions and shapes of objects existing around the host vehicle based on information from a sensor that recognizes the external environment of the host vehicle, and the recognition result. Is output. The external environment recognition device 20 recognizes the road shape in front of the host vehicle and the position and shape of the object by performing known image processing on the image picked up by the camera, and a radar such as a millimeter wave radar or a laser radar. The position of an object existing around the host vehicle is recognized by the device.

  The external environment recognition device 20 may recognize the road shape ahead of the host vehicle based on the position information of the host vehicle detected by a positioning device such as GNSS and map information stored in advance. Further, the external environment recognition device 20 may recognize the road shape ahead of the host vehicle based on information acquired by wireless communication with an outside vehicle infrastructure such as road-to-vehicle communication.

  The acceleration / deceleration control device 30 is an electronic control device that controls the operation of the prime mover and the braking device provided in the host vehicle based on the operation of the operation unit 201 by the driver and instructions output from the travel control device 100 described later. The acceleration / deceleration control device 30 controls acceleration and deceleration, start and stop of the host vehicle. In other words, the acceleration / deceleration control device 30 controls the movement of the host vehicle in the front-rear direction.

  The prime mover included in the host vehicle may be one or a plurality of internal combustion engines, one or a plurality of electric motors, or a combination thereof. In addition, the braking device is not limited to a mode in which the kinetic energy of the host vehicle is converted into thermal energy to generate a braking force, and may be a mode in which the kinetic energy of the host vehicle is converted into electric energy.

  The actual acceleration / deceleration control device 30 includes a plurality of electronic control devices, ie, an electronic control device that controls the prime mover and an electronic control device that controls the braking device, and these cooperate with each other via the information communication network 150. It has been realized.

  The steering control device 40 is an electronic control device that controls the operation of the steering device included in the host vehicle based on the operation of the operation unit 201 by the driver and an instruction output from the travel control device 100 described later. The steering device is a device that adds a yaw moment to the host vehicle by generating a braking force difference or a driving force difference between the left and right wheels in addition to a device that adds a yaw moment to the host vehicle by changing the steering angle. May be further provided. The steering control device 40 controls the yaw moment of the host vehicle generated by the operation of the steering device. That is, the steering control device 40 controls the movement of the host vehicle in the left-right direction.

  The operation detection device 50 detects the operation of the operation unit 201 by the driver. The operation detection device 50 includes an accelerator pedal sensor 50a that detects the operation of the accelerator pedal 201a, a brake pedal sensor 50b that detects the operation of the brake pedal 201b, and a steering sensor 50s that detects the operation of the steering wheel 201s. A part or all of the configuration of the operation detection device 50 may also serve as the configuration of the state quantity detection device 10.

  The accelerator pedal sensor 50a is a sensor that detects the amount of depression of the accelerator pedal 201a, for example. The brake pedal sensor 50b is a sensor that detects, for example, brake fluid pressure. The steering sensor 50s is, for example, a steering torque sensor that detects torque applied by the driver to the steering wheel 201s.

  The brake pedal sensor 50b may include a switch that detects an operation of the brake pedal 201b for controlling lighting of a brake lamp of the host vehicle. Further, the steering sensor 50s may include a touch sensor provided on the steering wheel 201s.

  The alarm control device 60 is an electronic control device that controls a notification device that generates an alarm for a driver. The notification device includes, for example, a display device that displays images and characters, a light emitting device that emits light, a speaker that emits sound, an actuator that emits vibration, or a combination thereof.

  The travel control device 100 is an electronic control device that controls the acceleration / deceleration control device 30 and the steering control device 40, and performs travel control of the host vehicle. The travel control device 100 recognizes the state amount of the host vehicle and the external environment detected by the state quantity detection device 10, the external environment recognition device 20, and the operation detection device 50, and the recognition result of the operation of the operation unit 201 by the driver. The acceleration / deceleration control device 30 and the steering control device 40 are controlled based on the information.

  The travel control apparatus 100 according to the present embodiment includes a plurality of operation modes (operation modes) including a manual operation mode, a first operation support mode, and a second operation support mode, and selectively executes these to drive the host vehicle. Take control.

  Here, the traveling control of the own vehicle includes at least acceleration / deceleration and steering control of the own vehicle. In addition, the running control of the host vehicle may include executing a reaction to the recognition result of the external environment of the host vehicle.

  The manual operation mode is an operation mode in which the driver uses the operation unit 201 to control one or both of acceleration / deceleration and steering of the host vehicle. That is, in the manual operation mode, when the driver performs all of the traveling control of the own vehicle, and when the driver performs a part of the traveling control of the own vehicle and the traveling control device 100 performs the remaining traveling control. And including. The former case corresponds to the level 0 of the definition by the so-called SAE among the definitions of the automatic driving level of the automobile, and the latter case corresponds to the level 1 (SAE J3016_201609). Hereinafter, the automatic operation levels defined by SAE are referred to as SAE level 0, SAE level 1, and the like.

  In the manual operation mode, the driver is required to recognize the external environment of the host vehicle and determine the reaction to the recognition result of the external environment.

  The first driving support mode corresponds to SAE level 2. That is, in the first driving support mode, the travel control device 100 controls both acceleration / deceleration and steering of the host vehicle, but the driver recognizes the external environment of the host vehicle and reacts to the recognition result of the external environment. This is an operation mode in which determination and execution are required.

  Specifically, in the present embodiment, the travel control device 100 requests the driver to hold the steering wheel 201s when executing the first driving support mode. In other words, in the present embodiment, the traveling control device 100 can execute the first driving support mode when the steering sensor 50s detects the holding of the steering wheel 201s by the driver. Therefore, the first driving support mode is automatic traveling control on the premise that the driver holds the steering wheel 201s.

  The second driving support mode corresponds to SAE level 3 or 4. That is, in the second driving support mode, the travel control device 100 controls both acceleration / deceleration and steering of the host vehicle, and the travel control device 100 recognizes the external environment of the host vehicle and the recognition result of the external environment. This is an operation mode in which a reaction is also determined.

  That is, the second driving support mode is automatic traveling control that does not require the driver to hold the steering wheel 201s.

  The driving control device 100, for example, the driver selectively executes the manual driving mode, the first driving support mode, and the second driving support mode in accordance with an instruction input by using the operation unit 201.

  In the present embodiment, as an example, it is assumed that the second driving support mode corresponds to SAE level 3. Therefore, when it is difficult to continue the automatic driving when the driving control device 100 executes the second driving support mode, the driving control operation in the second driving support mode by the driving control device 100 is in a degenerate driving state. Part or all of the driving control by the driver is required to be taken over.

  When the second driving support mode is executed, it is difficult to continue the automatic driving when, for example, the vehicle leaves the road where infrastructure such as road-to-vehicle communication equipment corresponding to the automatic driving is provided, This may occur when road recognition by the environment recognition device 20 becomes impossible.

  When it is difficult to continue the automatic driving during the execution of the second driving support mode, the travel control device 100 ends the execution of the second driving support mode and enters the manual driving mode or the first driving support mode. Execute. At the time of transition to the operation mode, the traveling control device 100 controls the alarm control device 60 to notify the driver of the end of the second driving support mode and the request for taking over traveling control.

  In addition, when the driver's intervention operation to the travel control using the operation unit 201 is detected during the execution of the second driving support mode, the travel control device 100 ends the execution of the second driving support mode. The manual operation mode or the first driving support mode is executed. The intervention operation by the driver to the traveling control of the own vehicle during the automatic driving is referred to as an override or the like.

  FIG. 2 is a flowchart of an automatic driving end process executed by the traveling control device 100 when an intervention operation by the driver is detected when the second driving support mode is executed.

  Specifically, the traveling control device 100 detects the driver's intervention operation by any one of the accelerator pedal sensor 50a, the brake pedal sensor 50b, and the steering sensor 50s included in the operation detection device 50 when the second driving support mode is executed. In this case, the automatic operation end process shown in FIG. 2 shown in FIG. 2 is executed.

  In the automatic driving end process, first, in step S10, the traveling control device 100 determines whether or not the driver's intervention operation detected by the operation detection device 50 is for steering control. Since the intervention operation by the driver is for steering control or acceleration / deceleration control of the host vehicle, in other words, in step S10, the travel control device 100 determines that the intervention operation by the driver detected by the operation detection device 50 is the steering operation. It is determined whether the control or acceleration / deceleration control is applied.

  If it is determined in step S10 that the driver's intervention operation is steering control, the traveling control device 100 proceeds to step S20. That is, if the intervention operation is detected by the steering sensor 50s, the traveling control device 100 proceeds to step S20. In step S20, the traveling control device 100 executes a steering automatic control degeneration process.

  During the execution period of the automatic steering control degeneration process, the traveling control device 100 executes the control equivalent to the manual operation mode or the first operation support mode for the steering control of the host vehicle, and performs the acceleration / deceleration control of the host vehicle. Performs the same control as in the second driving support mode.

  That is, during the period when the traveling control device 100 is executing the automatic steering control degeneration process, the steering control of the host vehicle is in a state corresponding to one of SAE levels 0 to 2, and the acceleration / deceleration control of the host vehicle is A state corresponding to SAE level 3 is maintained.

  Therefore, during the execution period of the steering automatic control degeneration process of step S20, the own vehicle steering control according to the intervention operation by the driver is performed, and the acceleration control of the own vehicle is automatically controlled by the travel control device 100. Will continue.

  In step S30, the traveling control apparatus 100 determines whether or not an intervention operation for acceleration / deceleration control by the driver is further added during the execution period of the automatic steering control degeneration process.

  If it is determined in step S30 that an intervention operation for acceleration / deceleration control is further added, the traveling control apparatus 100 proceeds to step S110. In step S110, the traveling control device 100 controls the alarm control device 60 to notify the driver of the switching of the driving mode from the second driving support mode to the manual driving mode or the first driving support mode using the notification device. .

  In step S120, the travel control device 100 starts executing the first driving support mode that is equivalent to the manual driving mode or the first driving support mode. With the execution of step S120, the automatic driving end process ends.

  Further, as shown in the loop of branching to NO in step S30 and the branching branch to NO in step S40, the traveling control is performed when no intervention operation for acceleration / deceleration control is added during the execution period of the steering automatic control degeneration process. The apparatus 100 waits until the operation detection apparatus 50 detects the end of the intervention operation for the steering control.

  As shown in the branch to YES in step S40, when the operation detecting device 50 detects the end of the intervention operation for the steering control during the execution period of the steering automatic control degeneration process, the traveling control device 100 performs the step The process proceeds to S110.

  In step S110, the traveling control device 100 controls the alarm control device 60 to notify the driver of the switching of the driving mode from the second driving support mode to the manual driving mode or the first driving support mode using the notification device. .

  In step S120, the travel control device 100 starts executing the first driving support mode that is equivalent to the manual driving mode or the first driving support mode. With the execution of step S120, the automatic driving end process ends.

  On the other hand, when it is determined in step S10 that the intervention operation by the driver is acceleration / deceleration control, the traveling control device 100 proceeds to step S50. That is, if the intervention operation is detected by the accelerator pedal sensor 50a or the brake pedal sensor 50b, the traveling control device 100 proceeds to step S50. In step S50, the traveling control apparatus 100 executes acceleration / deceleration automatic control degeneration processing.

  During the execution period of the acceleration / deceleration automatic control degeneration process, the traveling control device 100 executes the control equivalent to the manual operation mode or the first operation support mode for the acceleration / deceleration control of the own vehicle, and controls the steering of the own vehicle. The same control as in the second driving support mode is executed.

  That is, during the period in which the travel control device 100 is executing the acceleration / deceleration automatic control degeneration process, the acceleration / deceleration control of the host vehicle is in a state corresponding to one of SAE levels 0 to 2, and the steering control of the host vehicle is performed. The state corresponding to SAE level 3 is maintained.

  Accordingly, during the execution period of the acceleration / deceleration automatic control degeneration process in step S50, the acceleration / deceleration control of the host vehicle is performed according to the intervention operation by the driver, and the steering control of the host vehicle is automatically controlled by the travel control device 100. Will continue.

  In step S60, the traveling control apparatus 100 determines whether an intervention operation for the steering control by the driver is further added during the execution period of the acceleration / deceleration automatic control degeneration process.

  If it is determined in step S60 that an intervention operation for steering control is further added, the traveling control apparatus 100 proceeds to step S110. In step S110, the traveling control device 100 controls the alarm control device 60 to notify the driver of the switching of the driving mode from the second driving support mode to the manual driving mode or the first driving support mode using the notification device. .

  In step S120, the travel control device 100 starts executing the first driving support mode that is equivalent to the manual driving mode or the first driving support mode. With the execution of step S120, the automatic driving end process ends.

  Further, as shown in the loop of branching to NO in step S60 and the branching branch to NO in step S70, the traveling control is performed when an intervention operation for the steering control is not added during the execution period of the acceleration / deceleration automatic control degeneration process. The apparatus 100 waits until the operation detection apparatus 50 detects the end of the intervention operation for acceleration / deceleration control.

  As shown in the branch to YES of step S70, when the operation detecting device 50 detects the end of the intervention operation for the acceleration / deceleration control during the execution period of the acceleration / deceleration automatic control degeneration process, the traveling control device 100 The process proceeds to step S110.

  In step S110, the traveling control device 100 controls the alarm control device 60 to notify the driver of the switching of the driving mode from the second driving support mode to the manual driving mode or the first driving support mode using the notification device. .

  In step S120, the travel control device 100 starts executing the first driving support mode that is equivalent to the manual driving mode or the first driving support mode. With the execution of step S120, the automatic driving end process ends.

  As described above, the travel control device 100 determines that the steering operation is performed in the manual operation mode when the intervention operation detected during the execution of the automatic travel control in the second driving support mode is for the steering control of the host vehicle. Or a control equivalent to the first driving support mode is executed, and a steering automatic control degeneration process for maintaining the same control as the second driving support mode is executed for acceleration / deceleration, and then the manual driving mode or the first driving support mode is executed. Transition to 1 driving support mode.

  Further, when the intervention operation detected during the execution of the automatic driving control in the second driving support mode is for the acceleration / deceleration control of the own vehicle, the driving control device 100 is equivalent to the manual driving mode for acceleration / deceleration. Acceleration / deceleration automatic control degeneration processing that executes control equivalent to the first driving support mode and maintains control equivalent to the second driving support mode for steering is performed, and then the manual driving mode or the first driving support is performed. Enter mode.

  In other words, the traveling control device 100 shifts to the manual driving mode or the first driving support mode when detecting an intervention operation by the driver during execution of the automatic driving control in the second driving support mode. At the end of the two driving support mode, one of the steering control and acceleration / deceleration control of the host vehicle in which an intervention operation is performed by the driver is controlled according to the operation by the driver (SAE level 0 to 2). A temporary automatic control degeneration process is executed to maintain automatic control (control corresponding to SAE level 3) by the travel control device 100 for the other side where no intervention operation is performed.

  When the host vehicle including the traveling control system 1 of the present embodiment is automatically traveling in the second driving support mode, for example, when the driver operates the steering wheel 201s, the traveling control device 100 performs the steering automatic control degeneration process. After the execution, the mode shifts to the manual operation mode or the first driving support mode. Further, for example, when the host vehicle including the traveling control system 1 of the present embodiment is automatically traveling in the second driving support mode, when the driver operates the accelerator pedal 201a or the brake pedal 201b, the traveling control device 100 is After the acceleration / deceleration automatic control degeneration process is executed, the process shifts to the manual operation mode or the first operation support mode.

  The driver's intervention operation during the automatic driving in the second driving support mode occurs, for example, when the driver reacts more sensitively than the driving control device 100 to a sudden interruption of another vehicle ahead of the host vehicle. obtain.

  During automatic driving in the second driving support mode that does not require the driver to hold the steering wheel, when the driver performs an intervention operation based on the judgment of the heel, the driver may not be in the correct posture. One of the intervention operation by the wheel 201s and the intervention operation by the pedal (the accelerator pedal 201a or the brake pedal 201b) is performed in advance, and the execution of the other may be delayed.

  Here, in the traveling control system 1 of the present embodiment, the temporary automatic control degeneration process is executed without immediately shifting to the manual driving mode or the first driving support mode. Creates a time until the posture in which the steering wheel 201s and the pedal can be operated is prepared, and a part of the traveling control of the own vehicle is away from the control of the traveling control device 100 and the driver during the time. Can be prevented. As described above, according to the traveling control system 1 of the present embodiment, when the automatic driving that does not assume the holding of the steering wheel is terminated in accordance with the intervention operation by the driver, the driver ensures the driving posture. Can be arranged.

  The present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification. The apparatus is also included in the technical scope of the present invention.

1 Travel control system,
10 state quantity detection device,
20 External environment recognition device,
30 Acceleration / deceleration control device,
40 steering control device,
50 operation detection device,
50a accelerator pedal sensor,
50b Brake pedal sensor,
50s steering sensor,
60 alarm control device,
100 travel control device,
150 information communication network,
201 operation unit,
201a accelerator pedal,
201b Brake pedal,
201s Steering wheel.

Claims (1)

A travel control system mounted on a vehicle for performing automatic travel control including steering and acceleration / deceleration control of the vehicle,
A manual driving mode in which steering and acceleration / deceleration of the vehicle are performed according to an operation of the driver of the vehicle, a first driving support mode in which the automatic travel control is performed on the premise that the steering wheel is held by the driver, and steering by the driver A traveling control device that selectively executes the second driving support mode that performs the automatic traveling control without needing to hold a wheel to perform the traveling control of the vehicle;
An operation detection device for detecting an intervention operation to the automatic travel control by the driver at the time of execution of the automatic travel control in the second driving support mode by the travel control device;
With
The travel control device includes:
A first step of determining whether the intervention operation detected during execution of the automatic driving control in the second driving support mode is for steering control or acceleration / deceleration control of the vehicle;
After the first step, one of the vehicle steering control and acceleration / deceleration control in which the intervention operation is performed is switched to the control according to the operation by the driver, and the other in which the intervention operation is not performed. A second step of executing a temporary automatic control degeneration process for maintaining a control equivalent to the automatic driving control in the second driving support mode;
A third step of starting the manual operation mode or the first driving support mode after the second step;
A running control system characterized by executing

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