JP2021152800A - Driving support device and driving support method - Google Patents

Abstract

To provide a driving support device that supports a change of driving modes depending on a change in a driving situation.SOLUTION: A driving support device 1 that supports a change of driving modes for a vehicle from automatic driving to manual driving includes: a state monitoring block 120 that monitors, as an alternative driver state, a state of a driver in automatic driving who operates the vehicle in manual driving; an information presentation block 140 that controls the presentation of information according to the alternative driver state that is suitable for continuation of automatic driving when the alternative driver state is determined to be deteriorated within a permissible range for allowing for the change of driving modes as a result of monitoring the alternative driver state; and a driving limitation block 160 that puts a limit on automatic driving when the alternative driver state is determined to be abnormal and the change of driving modes is prohibited as a result of monitoring the alternative driver state.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a driving assistance technology that supports a change of driving from automatic driving to manual driving in a vehicle.

The disclosed technology of Patent Document 1 immediately stops the vehicle when the driver's condition is not suitable for manual driving when an unplanned driving change that suddenly stops the automatic driving is required. Further, according to the disclosed technology of Patent Document 1, if the driver's condition is suitable for manual operation even if an unplanned operation change is required, the driver's operation operation is performed during the period of the operation change requested by the driver. Is awaited.

JP-A-2018-180594

However, even if the temporary state of the driver is not suitable for manual driving, a driving scene in which the vehicle does not have to be stopped can be assumed by waiting for the recovery of the state while continuing the automatic driving. Further, even if the temporary state of the driver is suitable for manual driving, a driving scene in which the state changes during the period of the driving change and becomes unsuitable for manual driving can be assumed.

An object of the present disclosure is to provide a driving support device that supports a driving change according to a change in a driving scene. Another object of the present disclosure is to provide a driving support method for supporting a driving change according to a change in a driving scene.

Hereinafter, the technical means of the present disclosure for solving the problems will be described. The scope of claims and the reference numerals in parentheses described in this column indicate the correspondence with the specific means described in the embodiment described in detail later, and limit the technical scope of the present disclosure. It's not something to do.

The first aspect of the present disclosure is
It is a driving support device (1) that supports the change of driving from automatic driving to manual driving in the vehicle (2).
A condition monitoring unit (120) that monitors the state of the driver who operates the vehicle in manual driving in automatic driving as a substitute driver state (Sc), and
As a result of monitoring the alternate driver status, when it is determined that the alternate driver status has deteriorated within the permissible range (Ap) that allows driving alternation, information is presented according to the alternate driver status that matches the continuation of automatic driving. , The information presentation unit (140) to control,
As a result of monitoring the status of the alternate driver, a degenerate unit (160) that degenerates the automatic operation when an abnormality is determined in the status of the alternate driver that prohibits the shift of driving.
To be equipped.

The second aspect of the present disclosure is
It is a driving support device (1) that is executed by the processor (12) and supports the change of driving from automatic driving to manual driving in the vehicle (2).
Condition monitoring steps (S101, S104, S105, S201, S301, S401) that monitor the state of the driver who operates the vehicle in manual driving in automatic driving as the alternate driver state (Sc), and
As a result of monitoring the alternate driver status, when it is determined that the alternate driver status has deteriorated within the permissible range (Ap) that allows driving alternation, information is presented according to the alternate driver status that matches the continuation of automatic driving. , The information presentation process to be controlled (S103, S204, S302, S303, S404, S405) and
With the operation degeneration steps (S102, S202, S203, S402, S403, S2101, S2102) that degenerate the automatic operation when an abnormality determination of the alternate driver status prohibiting the alternate driver is made as a monitoring result of the alternate driver status. ,
including.

According to these first and second aspects, in the driving scene where the deterioration judgment of the substitute driver state is made as a monitoring result within the permissible range for permitting the operation change from the automatic operation to the manual operation, the automatic operation can be continued. Information presentation is controlled according to the matching alternate driver state. Therefore, unless an abnormality determination of the alternate driver status, which prohibits the shift of driving, is made as a monitoring result, the automatic operation can be continued while monitoring the change of the alternate driver status by presenting the information. On the other hand, in a driving scene in which an abnormality determination of the alternate driver state is made, it is possible to prohibit the driving shift to manual driving and reduce the automatic driving. Based on the above, it is possible to support driving changes according to changes in the driving scene.

It is a block diagram which shows the whole structure of the driving support device by 1st Embodiment. It is a block diagram which shows the detailed structure of the driving support apparatus by 1st Embodiment. It is a time chart which shows the function of the driving support device by 1st Embodiment. It is a flowchart which shows the flow before request among the flow of the driving support method by 1st Embodiment. It is a flowchart which shows the flow after the first request among the flow of the driving support method by 1st Embodiment. It is a flowchart which shows the flow after the 2nd request among the flow of the driving support method by 1st Embodiment. It is a flowchart which shows the flow after the third request among the flow of the driving support method by 1st Embodiment. It is a time chart which shows the function of the driving support device by 2nd Embodiment. It is a flowchart which shows the flow before request among the flow of the driving support method by 2nd Embodiment.

Hereinafter, a plurality of embodiments will be described with reference to the drawings. By assigning the same reference numerals to the corresponding components in each embodiment, duplicate description may be omitted. When only a part of the configuration is described in each embodiment, the configurations of the other embodiments described above can be applied to the other parts of the configuration. Further, not only the combination of the configurations specified in the description of each embodiment but also the configurations of a plurality of embodiments can be partially combined even if the combination is not specified.

(First Embodiment)
The driving support device 1 of the first embodiment shown in FIG. 1 controls the driving of the vehicle 2 to support the driving change between the automatic driving and the manual driving of the vehicle 2. For this purpose, the driving support device 1 is mounted on the vehicle 2 together with the sensor system 3, the information presentation system 4, and the map unit 5.

The sensor system 3 shown in FIG. 2 acquires various information that can be used for driving control by the driving support device 1. The sensor system 3 includes an outside world sensor 30 and an inside world sensor 32.

The outside world sensor 30 generates information on the outside world, which is the surrounding environment of the vehicle 2. The outside world sensor 30 may generate outside world information by detecting an object existing in the outside world of the vehicle 2. The object detection type external sensor 30 is, for example, at least one of a camera, a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), a radar, a sonar, and the like. The outside world sensor 30 may generate outside world information by receiving a signal from a GNSS (Global Navigation Satellite System) artificial satellite or an ITS (Intelligent Transport Systems) roadside unit existing in the outside world of the vehicle 2. The signal receiving type external sensor 30 is at least one of, for example, a GNSS receiver and a telematics receiver.

The inner world sensor 32 generates information on the inner world, which is the internal environment of the vehicle 2. The inner world sensor 32 may generate inner world information by detecting a specific kinetic physical quantity in the inner world of the vehicle 2. The physical quantity detection type internal sensor 32 is at least one of, for example, a traveling speed sensor, an acceleration sensor, a gyro sensor, a vehicle interior temperature sensor, and the like. The inner world sensor 32 may generate the inner world information by detecting a specific state regarding the occupant in the inner world of the vehicle 2. The occupant state detection type internal sensor 32 is at least one of, for example, a driver status monitor, a biological sensor, a seating sensor, an actuator sensor, an in-vehicle device sensor, and the like.

The driver status monitor is a state of the driver who operates the vehicle 2 in manual driving (hereinafter, simply referred to as a driver) among the occupants, for example, among the state of the eyeball, the direction of the face, the facial expression, the posture of the body, and the like. Detect at least one type. The biosensor detects at least one of the driver's vital signs, for example, pulse (ie, heartbeat), electrocardiogram, respiration, body temperature, fingerprint, and the like. The seating sensor detects the seated state of the driver in the driver's seat. The actuator sensor detects at least one of the operating position of the pedal, the steering angle of the steering handle, the on / off state of the start switch, the shift position of the shift lever, and the like as the driver's instruction state regarding the traveling actuator of the vehicle 2. .. The in-vehicle device sensor is at least one type as an operation state of the driver or another occupant related to the in-vehicle device including the information presentation system 4, for example, a switch on / off state, a touch panel input state, a non-contact recognizable gesture state, and the like. Is detected.

The information presentation system 4 presents various information to the occupants including the driver. The information presentation system 4 includes a visual presentation unit 40, an auditory presentation unit 42, and a skin sensation presentation unit 44.

The visual presentation unit 40 transmits information to be presented by stimulating the driver's vision. The visual presentation unit 40 is at least one of, for example, a HUD (Head-up Display), an MFD (Multi Function Display), a combination meter, a navigation unit, a light emitting unit, and the like. The auditory presentation unit 42 transmits information to be presented by stimulating the driver's hearing. The auditory presentation unit 42 is at least one of, for example, a speaker, a buzzer, a vibration unit, and the like. The skin sensation presentation unit 44 transmits information to be presented by stimulating the driver's skin sensation. The skin sensation stimulated by the skin sensation presentation unit 44 includes at least one of, for example, a tactile sensation, a temperature sensation, and a wind sensation. The skin sensation presentation unit 44 is, for example, at least one of a vibration unit of the steering handle, a vibration unit of the driver's seat, a reaction force unit of the steering handle, a reaction force unit of the pedal, an air conditioning unit, and the like.

The map unit 5 non-temporarily stores the map information that can be used for driving control by the driving support device 1. The map unit 5 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium. The map unit 5 may be a database of locators that estimate the state quantity of the vehicle 2 including its own position. The map unit 5 may be a database of navigation units for navigating the travel route of the vehicle 2. The map unit 5 may be configured by combining a plurality of types of these databases and the like.

The map unit 5 acquires and stores the latest map information, for example, by communicating with an external center. The map information is converted into two-dimensional or three-dimensional data as information representing the traveling environment of the vehicle 2. The map information may include road information representing at least one type of, for example, the position, shape, and road surface condition of the road itself. The map information may include marking information representing at least one type of, for example, the position and shape of a sign and a lane marking attached to a road. The map information may include structure information representing at least one type of, for example, the position and shape of a building facing a road and a traffic light.

The driving support device 1 shown in FIG. 1 is connected to the sensor system 3, the information presentation system 4, and the map unit 5 via at least one of a LAN (Local Area Network), a wire harness, an internal bus, and the like. NS. The driving support device 1 includes at least one dedicated computer. The dedicated computer that constitutes the driving support device 1 may be an integrated ECU (Electronic Control Unit) that integrates the driving control of the vehicle 2. The dedicated computer constituting the driving support device 1 may be an actuator ECU that individually controls the traveling actuator of the vehicle 2. The dedicated computer constituting the driving support device 1 may be a locator ECU that estimates the state quantity of the vehicle 2 including its own position. The dedicated computer constituting the driving support device 1 may be a navigation ECU for navigating the traveling route of the vehicle 2. The dedicated computer constituting the driving support device 1 may be an HCU (HMI (Human Machine Interface) Control Unit) that controls the information presentation of the information presentation system 4.

The driving support device 1 includes at least one memory 10 and one processor 12. The memory 10 is a non-transitional substantive storage medium of at least one type, for example, a semiconductor memory, a magnetic medium, an optical medium, or the like, which non-temporarily stores a program, data, or the like that can be read by a computer. The processor 12 includes, for example, at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer) -CPU, and the like as a core.

The processor 12 executes a plurality of instructions included in the driving support program stored in the memory 10. As a result, the driving support device 1 constructs a plurality of functional blocks for controlling the driving support of the vehicle 2 including the driving shift between the automatic driving and the manual driving. At this time, in the driving support device 1, a plurality of functional blocks are constructed by causing the processor 12 to execute a plurality of instructions by the driving support program stored in the memory 10 in order to control the driving support of the vehicle 2. As shown in FIG. 2, the plurality of functional blocks constructed by the driving support device 1 include a driving management block 100, a condition monitoring block 120, an information presentation block 140, and a driving degradation block 160.

The operation management block 100 manages the operation of the vehicle 2 in whole or in part. Therefore, the operation management block 100 has a route planning block 101 and a mode control block 102 as sub-blocks.

The route planning block 101 plans a travel route to be traveled in the future from the current travel point of the vehicle 2. The route planning block 101 is based on at least one of map information stored in the map unit 5, detection information by the outside world sensor 30, input information from the driver or another occupant to the inside world sensor 32, and the like. Execute the plan. The route planning block 101 commands at least two types of units 40, 42, and 44 of the information presentation system 4 to present information about the planned travel route.

The route planning block 101 further determines the recommended behavior recommended to the driver on the planned travel route. The route planning block 101 executes the determination of the recommended action based on the exercise mode (detailed later) selected by the mode control block 102. At this time, the determination of the recommended action is based on at least one of, for example, the map information stored in the map unit 5, the detection information by the outside world sensor 30, the detection information by the inside world sensor 32, and the like.

The mode control block 102 selects the driving mode of the vehicle 2. The mode control block 102 is, for example, at least one of the detection information by the outside world sensor 30, the detection information by the inside world sensor 32, the traveling route planned by the route planning block 101, the map information stored in the map unit 5, and the like. The operation mode is selected based on. As shown in FIG. 3, the operation modes are roughly classified into a manual operation mode Mm and an automatic operation mode Ma. The manual driving mode Mm is a driving mode at the time of manual driving in which the running of the vehicle 2 is controlled according to the operation of the driver. On the other hand, the automatic driving mode Ma is a driving mode at the time of automatic driving in which the running of the vehicle 2 is controlled by autonomous navigation that does not require the operation of the driver. In this automatic operation mode Ma, an autonomous normal mode Man, an operation shift mode Mac, and a degenerate fail safe mode Mad are set as submodes.

The autonomous normal mode Man is a normal automatic driving mode Ma in which the vehicle 2 is autonomously driven according to the traveling route planned by the route planning block 101. In the autonomous normal mode Man, among a plurality of levels of automatic driving according to the degree of driving support, a plurality of levels 1, 2, and 3 that allow a driving change with a manual driving are set. Level 1 is defined as a driving assistance level, for example, the system performs a subtask of motion control in the vertical or horizontal direction in a limited area. Level 2 is defined as a partially automated driving level, for example, the system performs subtasks of motion control in both the vertical and horizontal directions in a limited area. Level 3 is defined as a conditional automated driving level, such as the system performing all dynamic driving tasks in a limited area. In the present embodiment, the manual operation is also defined as a level 0 automatic operation.

The driving change mode Mac is a driving change mode that waits for the driver to complete the change to manual driving or to the level down of automatic driving (detailed later) while continuing the autonomous driving of the autonomous normal mode Man. It is an automatic operation mode Ma. The degenerate fail-safe mode Mad is an automatic operation mode Ma for fail-safe, which cancels the operation mode in the abnormal occurrence situation and degenerates the autonomous driving among the autonomous normal mode Man and the operation shift mode Mac.

The mode control block 102 supports operation change by switching the operation mode. Specifically, when the mode control block 102 switches the operation mode from the autonomous normal mode Man to the manual operation mode Mm through the operation change mode Mac in the automatic operation mode Ma, the mode control block 102 executes the first change request process. .. In the first shift request process, the mode control block 102 generates the shift request Rc of FIG. 3 in order to request the driver to switch the operation from the automatic operation to the manual operation. Further, in the first shift request process, the mode control block 102 executes information presentation for notifying the driver of the generated shift request Rc at the shift request timing Tr accompanied by switching from the autonomous normal mode Man to the operation shift mode Mac. At this time, the mode control block 102 commands at least two types of units 40, 42, and 44 of the information presentation system 4 to present information.

The mode control block 102 executes the second shift request process when the operation mode is switched from the high-level autonomous normal mode Man to the low-level autonomous normal mode Man in the automatic operation mode Ma. In the second shift request process, the mode control block 102 generates a shift request Rc at the timing Tr of FIG. 3 in order to request the driver to perform a drive shift between the automatic operations for lowering from the high level to the low level. Further, in the second shift request process, the mode control block 102 executes information presentation for notifying the driver of the generated shift request Rc at the shift request timing Tr accompanied by switching from the high level to the low level. At this time, the mode control block 102 commands information presentation to at least two types of units 40, 42, and 44 of the information presentation system 4, which are the same as or different from the information presentation in the first shift request processing.

In either of the first and second shift request processing, the mode control block 102 sets the shift period Δc waiting for the completion of the operation shift as the maximum period for continuing the operation shift mode Mac as shown in FIG. The shift period Δc is set to the same time or a different time depending on the case of the shift request Rc from the automatic operation to the manual operation and the case of the shift request Rc from the high-level automatic operation to the low-level automatic operation. The shift period Δc may be variably set according to, for example, the automatic operation level in the shift request timing Tr.

The mode control block 102 executes a switching process to the degenerate fail safe mode Mad when receiving an MRM (Minimum Risk Maneuver) request from the degenerate block 160 in each of the autonomous normal mode Man and the operation shift mode Mac. At this time, the mode control block 102 switches the traveling control for the vehicle 2 during automatic driving to a degenerate control for decelerating and traveling to a specific timing or a specific point after the MRM request timing Tm as shown in FIG. May be good. The mode control block 102 may switch the traveling control for the vehicle 2 during automatic driving to a degenerate control for immediately stopping the vehicle 2 from the MRM request timing Tm (not shown).

The state monitoring block 120 shown in FIG. 2 monitors the state of the driver who operates the vehicle 2 in the manual driving in the automatic driving as the alternate driver state. Therefore, the condition monitoring block 120 has a pre-request determination block 121, a post-request determination block 122, an erroneous operation determination block 123, and a completion determination block 124 as sub-blocks.

As shown in FIG. 3, the pre-request determination block 121 monitors the alternate driver state Sc in the autonomous normal mode Man selected by the mode control block 102 in the automatic operation mode Ma. At this time, the pre-request determination block 121 also monitors the replacement request Rc according to the command of the mode control block 102. Therefore, as shown in FIG. 3, the pre-request determination block 121 determines the replacement driver state Sc before the replacement request Rc.

As described above, the operation change according to the change request Rc includes the change from the high level automatic operation to the low level automatic operation in addition to the change from the automatic operation to the manual operation. Therefore, the pre-request determination block 121 sets the determination condition based on the automatic operation level of continuation up to the change request Rc during the autonomous normal mode Man before the change request Rc that triggers the operation change. At this time, the setting of the determination condition is based on at least one of the detection information by the outside world sensor 30 and the detection information by the inside world sensor 32, for example.

Specifically, the pre-request determination block 121 sets the type of determination condition according to the automatic operation level to be continued. Here, the determination conditions according to the automatic driving of levels 1 and 2 are a plurality of types of the alternate driver state Sc, such as posture, awakening (in other words, dozing), eye aside, and consciousness aside. On the other hand, the determination conditions according to the level 3 automatic driving are a plurality of types, such as posture and awakening, which are less than those of the levels 1 and 2 in the alternate driver state Sc.

The pre-request determination block 121 further sets the estimation parameters, estimation method, and determination range of the determination conditions according to the automatic operation level to be continued. The estimation parameters include parameters necessary for estimating the alternate driver state Sc, which is a judgment condition, such as inter-vehicle distance, eyeball state including saccade, facial expression, pulse (that is, heartbeat), electrocardiogram, respiration, and body temperature. Is. The estimation method includes, for example, a preprocessing method for the estimation parameter, an analysis method for the estimation parameter, an analysis frequency band for the estimation parameter, and the like, as a method necessary for estimating the alternate driver state Sc that is a determination condition. The determination range is a condition range for allocating the determination result for each estimated determination condition.

As shown in FIG. 3, one of the judgment ranges is that the pre-request judgment block 121 makes a proper judgment for each judgment condition to allow the driving change in the driving scene where the change driver state Sc of the judgment condition is appropriate for manual driving. Is the proper range As. Another of the judgment ranges is that the pre-request judgment block 121 makes a reduction judgment that allows a driving change in a driving scene in which the change driver state Sc of the judgment condition drops to outside the appropriate range As for each judgment condition. The permissible range Ap. Yet another of the judgment range is that the pre-request judgment block 121 requests an abnormality judgment that prohibits the driving change in the driving scene in which the change driver state Sc of the judgment condition is out of the appropriate range As and outside the permissible range Ap. It is an abnormal range Aa to be given every time.

The pre-request determination block 121 determines the corresponding ranges As, Ap, and Aa for each of the alternate driver states Sc of the determination conditions set in this way. As a result, when the alternate driver state Sc of the determination condition is all within the appropriate range As, the pre-request determination block 121 makes a normal determination. On the other hand, when at least one of the alternate driver states Sc of the determination condition is within the allowable range Ap and the rest is within the appropriate range As, the pre-request determination block 121 makes a reduction determination. Further, when at least one of the alternate driver states Sc of the determination condition is within the abnormality range Aa, the pre-request determination block 121 makes an abnormality determination.

As shown in FIG. 3, the post-request determination block 122 monitors the shift driver state Sc after the shift request Rc in the operation shift mode Mac selected by the mode control block 102 in the automatic operation mode Ma. Therefore, the post-request determination block 122 determines the alternate driver state Sc during the alternation period Δc started in response to the alternation request Rc.

As described above, the operation change requested by the change request Rc includes the change from the high-level automatic operation to the low-level automatic operation in addition to the change from the automatic operation to the manual operation. Therefore, in the operation change mode Mac during the change period Δc according to the change request Rc, the post-request determination block 122 sets the determination condition based on the automatic operation level of the operation change destination including the manual operation of level 0. .. At this time, the setting of the determination condition is based on at least one of the detection information by the outside world sensor 30 and the detection information by the inside world sensor 32, for example.

Specifically, the post-request determination block 122 sets the type of determination condition according to the automatic operation level of the operation change destination. Here, the judgment conditions according to the automatic driving of levels 0, 1 and 2 are a plurality of types of the alternate driver state Sc, such as posture, awakening (in other words, dozing), eye aside, and consciousness aside. be.

The post-request determination block 122 further sets the estimation parameters, the estimation method, and the determination range of the determination conditions according to the automatic operation level of the operation change destination. The post-request determination block 122 further determines the corresponding ranges As, Ap, and Aa (see FIG. 3) for each alternate driver state Sc of the set determination condition. The setting of these estimation parameters, the estimation method, and the determination range, and the determination of the corresponding ranges As, Ap, and Aa are the same as in the case of the pre-request determination block 121.

As shown in FIG. 3, the erroneous operation determination block 123 monitors the alternate driver state Sc under different determination conditions from the post-request determination block 122 in the operation alternation mode Mac selected by the mode control block 102 in the automatic operation mode Ma. do. Specifically, the erroneous operation determination block 123 determines the correctness of the driver's operation related to the operation change as the change driver state Sc during the change period Δc according to the change request Rc.

Therefore, the erroneous operation determination block 123 compares the execution action of the driver as the alternate driver state Sc required during the alternation period Δc with the recommended action in the operation alternation mode Mac determined by the route planning block 101. At this time, the comparison between the execution action and the recommended action is based on at least one of the detection information by the outside world sensor 30 and the detection information by the inside world sensor 32, for example. The recognition of the execution motion to be compared may be based on at least one of, for example, a torque change, an angular velocity change, and an angular acceleration change in the initial state with respect to the operating amount of the steering wheel. The recognition of the execution motion may be based on at least one of, for example, a torque change, an angular velocity change, an angular acceleration change, and the like with respect to the operation amount of the accelerator pedal.

As shown in FIG. 3, the erroneous operation determination block 123 makes a normal operation determination of the driver when it is confirmed that the execution action and the recommended action match as a result of the comparison. On the other hand, when a discrepancy between the execution action and the recommended action is confirmed, the erroneous operation determination block 123 makes an erroneous operation determination of the driver. At this time, the erroneous operation determination block 123 may make an erroneous operation determination by confirming a change in the surrounding situation or a decrease in safety due to the execution action, instead of confirming the mismatch between the execution action and the recommended action. The erroneous operation determination block 123 may make an erroneous operation determination by confirming that the stability of the executed action itself is lowered or the surrounding situation is not recognized, instead of confirming the mismatch between the executed action and the recommended action. In the case of erroneous operation determination by any confirmation, the determination result may be input to the determination block 122 after the request and utilized for monitoring the alternate driver state Sc.

As shown in FIG. 3, in the automatic operation mode Ma, in the operation change mode Mac selected by the mode control block 102, the completion determination block 124 changes the determination condition different from that of the post-request determination block 122 and the erroneous operation determination block 123. Monitor the driver status Sc. Specifically, the completion determination block 124 determines whether or not the operation change by the driver is completed as the change driver state Sc during the change period Δc according to the change request Rc.

Therefore, the completion determination block 124 compares the execution action including the driver's operation as the alternate driver state Sc required for the completion of the operation alternation with the recommended action in the operation alternation mode Mac determined by the route planning block 101. .. At this time, the comparison between the execution action and the recommended action is based on at least one of the detection information by the outside world sensor 30 and the detection information by the inside world sensor 32, for example.

As shown in FIG. 3, as a result of the comparison, the completion determination block 124 makes an incomplete determination of the operation change until a match between the execution action and the recommended action is confirmed. On the other hand, when it is confirmed that the execution action and the recommended action match, the completion determination block 124 makes a completion determination of the operation change. At this time, the completion determination block 124 may determine the completion of the operation change by confirming the change in the surrounding situation or ensuring the safety level due to the execution action, instead of confirming the coincidence between the execution action and the recommended action. The completion determination block 124 may determine the completion of the operation change by confirming the stability of the execution action itself instead of confirming the match between the execution action and the recommended action.

The information presentation block 140 shown in FIG. 2 controls information presentation according to the monitoring result of the alternate driver state Sc by the state monitoring block 120. Therefore, the information presentation block 140 has a pre-request presentation block 141, a post-request presentation block 142, a recommended presentation block 143, an erroneous operation presentation block 144, and a manual start presentation block 145 as sub-blocks.

As shown in FIG. 3, the request pre-presentation block 141 controls information presentation in the autonomous normal mode Man selected by the mode control block 102 in the automatic operation mode Ma. Specifically, when the pre-request determination block 121 determines that the substitute driver state Sc is lowered within the permissible range Ap, the pre-request presentation block 141 responds to the alternate driver state Sc that conforms to the continuation of automatic operation. And control the presentation of information. At this time, at least one alternate driver state Sc, which is a determination condition for which a reduction determination is made by the pre-request determination block 121, is selected as the target state for information presentation.

Therefore, the pre-request presentation block 141 determines the conforming state suitable for continuing the automatic operation at the lowering determination timing Tf by the pre-request determination block 121 with respect to the alternate driver state Sc of the reduction determination. At this time, for example, when the control confidence level or the control accuracy of the mode control block 102 for the automatic operation at the decrease determination timing Tf decreases outside the set range, the driver recovers within the appropriate range As or toward the appropriate range As side. The alternate driver state Sc and the like that have been changed become the conforming state. On the other hand, for example, when the control confidence level or the control accuracy of the mode control block 102 for the automatic operation at the decrease determination timing Tf increases within the set range, the appropriate range if the replacement request Rc can be noticed. Alternate driver states Sc and the like outside of As are also allowed as conforming states.

The pre-request presentation block 141 commands at least two types of units 40, 42, and 44 of the information presentation system 4 to present information for prompting the driver to conform to the determined alternate driver state Sc. As a result, the information presentation according to the conforming state of the alternate driver state Sc is realized by a combination of at least two of the visual stimulus, the auditory stimulus, and the cutaneous sensory stimulus.

Although not shown, the pre-request presentation block 141 may execute information presentation control to warn the driver of the abnormality when the pre-request determination block 121 determines that the alternate driver status Sc is abnormal. good. At this time, the pre-request presentation block 141 commands at least two types of units 40, 42, and 44 of the information presentation system 4 to give an abnormality alarm as information presentation.

As shown in FIG. 3, the post-request presentation block 142 controls information presentation in the operation shift mode Mac selected by the mode control block 102 in the automatic operation mode Ma. Specifically, the post-request presentation block 142 is replaced according to the continuous automatic operation when the post-request determination block 122 determines that the replacement driver state Sc is lowered within the allowable range Ap. Information presentation control is executed according to the driver state Sc. At this time, at least one alternate driver state Sc, which is a determination condition for which a decrease determination is made by the post-request determination block 122, is selected as the target state for information presentation.

Therefore, regarding the shift driver state Sc of the drop determination, the post-request presentation block 142 determines the conformity state suitable for continuing the automatic operation at the drop determination timing Tf by the post-request determination block 122 to complete the operation shift. .. At this time, the alternate driver state Sc recovered within the appropriate range As or toward the appropriate range As side becomes the conforming state. The post-request presentation block 142 further commands the driver to present information for prompting the driver to conform to the determined alternate driver state Sc, as in the case of the pre-request presentation block 141.

Although not shown, the post-request presentation block 142 executes information presentation control to warn the driver of the abnormality when the post-request determination block 122 determines the abnormality of the alternate driver state Sc. At this time, the post-request presentation block 142 commands at least two types of units 40, 42, and 44 of the information presentation system 4 to give an abnormality alarm as information presentation.

As shown in FIG. 3, the recommended presentation block 143 controls the presentation of information different from the post-request presentation block 142 as the information presentation in the operation shift mode Mac selected by the mode control block 102 in the automatic operation mode Ma. do. Specifically, the recommended presentation block 143 executes the recommended presentation process when the normal operation determination of the driver is made by the erroneous operation determination block 123.

In the recommended presentation process, the recommended presentation block 143 presents information for prompting the driver to perform the recommended action in the operation change mode Mac determined by the route planning block 101 among the units 40, 42, and 44 of the information presentation system 4. Command at least two types. At this time, the presentation of information on the recommended action is based on at least one of the recommended action by the erroneous operation determination block 123, the comparison result of the shift driver state Sc, the remaining time of the shift period Δc set by the mode control block 102, and the like. In presenting information on such recommended behaviors, the graphical display by the presentation unit 40 may be prioritized so that the driver can grasp the information for a short time. In the presentation of information on the recommended behavior, the content to be presented may be narrowed down according to the replacement driver state Sc immediately before the replacement request Rc so that the driver can grasp the information for a short time.

In the recommended presentation process, the recommended presentation block 143 also commands the presentation of information for notifying the driver of the surrounding conditions and the traveling route of the vehicle 2. At this time, the presentation of information on the surrounding situation and the traveling route was planned by the detection information by the outside world sensor 30 or the risk based on it, the detection information by the inside world sensor 32, the map information stored in the map unit 5, and the route planning block 101. Based on at least one type of travel route, etc. Of the units 40, 42, and 44 of the information presentation system 4, the command targets for presenting information regarding the surrounding conditions and the traveling route are at least two types that are the same as or different from the presentation of information regarding the recommended behavior.

As shown in FIG. 3, the erroneous operation presentation block 144 is different from the post-request presentation block 142 and the recommended presentation block 143 as information presentation in the operation shift mode Mac selected by the mode control block 102 in the automatic operation mode Ma. Control the presentation of information. Specifically, the erroneous operation presentation block 144 executes the erroneous operation presentation process when the driver's erroneous operation determination is made by the erroneous operation determination block 123.

In the erroneous operation presentation process, the erroneous operation presentation block 144 commands at least two types of units 40, 42, and 44 of the information presentation system 4 to present information for warning of the erroneous operation determined by the erroneous operation determination block 123. .. At this time, the information presentation for the erroneous operation may be realized by the auditory stimulus by issuing an alarm notifying the driver of the erroneous operation. Information presentation for erroneous operation may be realized by skin sensory stimulation by changing the amount of support for the steering wheel or pedal by shared control or rejecting input. Information presentation for erroneous operation may be realized by skin sensory stimulation by increasing the reaction force of the steering wheel or pedal. Here, in the erroneous operation presentation process, the erroneous operation presentation block 144 also commands the presentation of information on the recommended action determined by the route planning block 101 and the presentation of information on the surrounding situation of the vehicle 2 and the traveling route. As a result, the presentation of information on erroneous operation is realized under the presentation of information on recommended actions and the presentation of information on surrounding conditions and traveling routes. In other words, the presentation of information on the recommended behavior and the presentation of information on the surrounding conditions and the traveling route are always executed regardless of the presence or absence of erroneous operation in the driving shift mode Mac.

As shown in FIG. 3, the manual start presentation block 145 controls information presentation at the switching timing Tc from the operation shift mode Mac to the manual operation mode Mm by the mode control block 102 in the automatic operation mode Ma. Specifically, the manual start presentation block 145 commands the mode control block 102 to start the manual operation mode Mm when the completion determination of the operation change by the completion determination block 124 is made during the change period Δc. , Execute the manual start presentation process.

In the manual start presentation process, the manual start presentation block 145 presents information for notifying the driver of the command factor of the change request Rc by the mode control block 102, at least two of the units 40, 42, 44 of the information presentation system 4. Command the type. Further, in the manual start processing, the manual start presentation block 145 also commands the presentation of information for notifying the driver of the restart condition of the automatic operation by the mode control block 102. At this time, the restart condition is at least one of, for example, the mode control block 102 or the driver's advance planning of the operation change, the recovery of the weather, the cleaning of the outside world sensor 30, and the like.

The operation degeneracy block 160 shown in FIG. 2 commands the mode control block 102 to perform degeneration control of the vehicle 2 according to the monitoring result of the alternate driver state Sc by the state monitoring block 120. Therefore, the operation degenerate block 160 has a pre-request degenerate block 161, a post-request degenerate block 162, and an incomplete degenerate block 163 as sub-blocks.

As shown in FIG. 3, the pre-request degeneracy block 161 degenerates the automatic operation in the autonomous normal mode Man selected by the mode control block 102 in the automatic operation mode Ma. Specifically, the pre-request degeneracy block 161 commands the mode control block 102 to request an MRM without a replacement request Rc when the pre-request determination block 121 determines that the alternate driver state Sc is abnormal.

The post-request degenerate block 162 degenerates the automatic operation in the operation change mode Mac selected by the mode control block 102 among the automatic operation modes Ma. Specifically, the post-request degeneracy block 162 commands the mode control block 102 to issue an MRM request regardless of the replacement request Rc when the post-request determination block 122 determines that the alternate driver state Sc is abnormal.

The incomplete degenerate block 163 degenerates the automatic operation according to a condition different from that of the post-request degenerate block 162 in the operation shift mode Mac selected by the mode control block 102 in the automatic operation mode Ma. Specifically, the incomplete degeneracy block 163 is a mode control block that makes an MRM request regardless of the change request Rc when the completion determination block 124 determines that the operation change is incomplete at the elapsed timing Tp after the change period Δc has elapsed. Command 102.

From the explanation so far, the state monitoring block 120 corresponds to the “state monitoring unit”. Further, the information presentation block 140 corresponds to the "information presentation unit". Furthermore, the operation degenerate block 160 corresponds to the "operation degenerate portion".

A plurality of flows of a driving support method in which the driving support device 1 supports a driving change between automatic driving and manual driving by the joint use of the functional blocks 100, 120, 140, and 160 described above will be described below with reference to FIGS. 4 to 7. .. The "S" attached to the step number in each flow means a plurality of steps executed by a plurality of instructions included in the driving support program.

The pre-request flow shown in FIG. 4 realizes driving support according to the suitability of the driver for the driving change before the change request Rc in the autonomous normal mode Man among the automatic driving modes Ma. Therefore, the pre-request flow is repeatedly executed while the autonomous normal mode Man is selected by the mode control block 102. In S101 of the pre-request flow, the pre-request determination block 121 monitors the replacement driver state Sc before the replacement request Rc. As a result, when an abnormality determination is made as a monitoring result of the alternate driver state Sc, the pre-request flow shifts to S102. In S102, the pre-request degeneracy block 161 degenerates the automatic operation by instructing the mode control block 102 to request an MRM without a replacement request Rc. After this S102, the current execution of the pre-request flow ends.

When the pre-request determination block 121 of S101 determines the decrease within the permissible range Ap as the monitoring result of the alternate driver state Sc, the pre-request flow shifts to S103. In S103, the pre-request presentation block 141 controls information presentation according to the alternate driver state Sc that matches the continuation of automatic driving. After this S103, the pre-request flow shifts to S104. Further, even when an appropriate determination is made as a monitoring result of the alternate driver state Sc by the pre-request determination block 121 of S101, the pre-request flow shifts to S104.

In S104, the pre-request determination block 121 determines whether or not the replacement request Rc to be monitored is commanded by the mode control block 102. As a result, if no determination is made for the replacement request Rc, the current execution of the pre-request flow ends. On the other hand, when it is determined that the replacement request Rc is present, the pre-request flow shifts to S105. In S105, the pre-request determination block 121 turns on the replacement request flag Fc, which represents the monitoring result of the replacement request Rc, in the memory 10. After this S105, the current execution of the pre-request flow ends.

The flow after the first request shown in FIG. 5 realizes driving support according to the suitability of the driver for the driving change after the change request Rc in the operation change mode Mac in the automatic operation mode Ma. Therefore, the flow after the first request is repeatedly executed while the operation change mode Mac is selected by the mode control block 102, that is, while the change request flag Fc is turned on in the memory 10. In S201 of the first request post-flow, the post-request determination block 122 monitors the change driver state Sc during the change period Δc according to the change request Rc. As a result, when an abnormality determination is made as a monitoring result of the alternate driver state Sc, the flow after the first request shifts to S202. In S202, the post-request degenerate block 162 degenerates the automatic operation by instructing the mode control block 102 to issue an MRM request regardless of the replacement request Rc. After this S202, the post-request degeneracy block 162 goes through S203 to turn off the replacement request flag Fc, and the current execution of the first post-request flow ends.

When the post-request determination block 122 of S201 determines a decrease within the permissible range Ap as a monitoring result of the alternate driver state Sc, the flow after the first request shifts to S204. In S204, the post-request presentation block 142 controls the presentation of information according to the alternate driver state Sc that conforms to the completion of the driving shift by continuing the automatic operation. After this S204, the current execution of the flow after the first request ends. Further, even when the appropriate determination as the monitoring result of the alternate driver state Sc is made by the post-request determination block 122 of S201, the current execution of the first post-request flow ends.

The second post-request flow shown in FIG. 6 realizes driving support related to the driver operation after the replacement request Rc in the operation shift mode Mac in the automatic operation mode Ma. Therefore, the second post-request flow is repeatedly executed while the operation shift mode Mac is selected by the mode control block 102, that is, while the shift request flag Fc is turned on in the memory 10. That is, the flow after the second request is executed in parallel with the flow after the first request. In S301 of the flow after the second request, the erroneous operation determination block 123 monitors the replacement driver state Sc during the replacement period Δc according to the replacement request Rc. As a result, when an erroneous operation determination regarding the operation change is made as a monitoring result of the change driver state Sc, the process proceeds to S302. In S302, the erroneous operation presentation block 144 presents information to warn against the erroneous operation determined by the route planning block 101, presents information on the recommended action determined by the route planning block 101, and presents information on the surrounding situation and the traveling route of the vehicle 2. At the same time, control. After this S302, the current execution of the second request post-flow flow ends.

When the normal operation determination regarding the operation change is made as the monitoring result of the alternate driver state Sc by the erroneous operation determination block 123 of S301, the flow after the second request shifts to S303. In S303, the recommended presentation block 143 controls the presentation of information on the recommended behavior determined by the route planning block 101 together with the presentation of information on the surrounding conditions of the vehicle 2 and the traveling route. After this S303, the current execution of the second request post-flow flow ends.

The third post-request flow shown in FIG. 7 realizes driving support according to the progress of the driving change after the change request Rc in the operation change mode Mac in the automatic operation mode Ma. Therefore, the third post-request flow is repeatedly executed while the operation shift mode Mac is selected by the mode control block 102, that is, while the shift request flag Fc is turned on in the memory 10. That is, the flow after the third request is executed in parallel with the flow after the first request and the flow after the second request. In S401 of the flow after the third request, the completion determination block 124 monitors the replacement driver state Sc during the replacement period Δc according to the replacement request Rc. As a result, when the incomplete determination of the operation change is made as the monitoring result of the change driver state Sc at the elapsed timing Tp where the change period Δc has elapsed, the flow after the third request shifts to S402. In S402, the incomplete degenerate block 163 degenerates the automatic operation by instructing the mode control block 102 to make an MRM request regardless of the replacement request Rc. After this S402, the incomplete degeneracy block 163 goes through S403 that turns off the replacement request flag Fc, and the current execution of the third post-request flow ends.

When the completion determination block 124 of S401 determines the completion of the operation change as the monitoring result of the change driver state Sc during the change period Δc prior to the elapsed timing Tp, the flow after the third request goes to S404. Transition. In S404, the manual start presentation block 145 instructs the mode control block 102 to start the manual operation mode Mm, and presents information on the command factor of the change request Rc together with information on the conditions for restarting the automatic operation. ,Control. After this S404, the manual start presentation block 145 goes through S405 that turns off the replacement request flag Fc, and the current execution of the third post-request flow ends. On the other hand, while the completion determination block 124 of S401 determines that the operation change has not been completed during the change period Δc prior to the elapsed timing Tp as the monitoring result of the change driver state Sc, the change request flag Fc This execution of the flow after the third request ends without turning off.

From the above description, S101, S104, S105, S201, S301, and S401 correspond to the "condition monitoring process". Further, S103, S204, S302, S303, S404, and S405 correspond to the "information presentation process". Furthermore, S102, S202, S203, S402, and S403 correspond to the "operation reduction process".

(Action effect)
The effects of the first embodiment described above will be described below.

According to the first embodiment, in a driving scene in which a reduction judgment of the replacement driver state Sc is made as a monitoring result within the permissible range Ap that allows the switching from automatic driving to manual driving, it is suitable for the continuation of automatic driving. Information presentation according to the alternate driver state Sc is controlled. Therefore, unless an abnormality determination of the alternate driver state Sc, which prohibits the change of operation, is made as a monitoring result, the automatic operation can be continued while monitoring the change of the alternate driver state Sc by presenting the information. On the other hand, in the driving scene in which the abnormality determination of the alternate driver state Sc is made, it is possible to prohibit the driving shift to the manual driving and reduce the automatic driving. Based on the above, it is possible to support driving changes according to changes in the driving scene.

According to the first embodiment, before the replacement request Rc to the driver, in the driving scene in which the reduction judgment of the replacement driver state Sc within the permissible range Ap is made, the replacement driver state Sc corresponding to the continuation of the automatic driving is supported. Information presentation is controlled. According to this, unless the abnormality determination of the substitute driver state Sc is made before the change request Rc, the automatic operation can be continued until the change request Rc while monitoring the change of the change driver state Sc by the information presentation. Therefore, it is possible to support the driving change according to the driving scene in which the vehicle 2 does not have to be stopped.

According to the first embodiment, in the driving scene in which the abnormality determination of the replacement driver state Sc is made before the replacement request Rc to the driver, the automatic operation can be degraded without the replacement request Rc. Therefore, it is possible to provide driving support according to the driving scene in which the driving change should be avoided.

According to the first embodiment, in the driving scene in which the reduction judgment of the replacement driver state Sc within the permissible range Ap is made during the replacement period Δc according to the replacement request Rc to the driver, the automatic operation is continued. Information presentation according to the shift driver state Sc that conforms to the completion of the drive shift is controlled. According to this, unless the abnormality determination of the substitute driver state Sc is made during the change period Δc, the automatic operation can be continued until the operation change is completed while monitoring the change of the change driver state Sc by the information presentation. Therefore, it is possible to support the driving change according to the driving scene in which the vehicle 2 does not have to be stopped.

According to the first embodiment, in the driving scene in which the abnormality determination of the replacement driver state Sc is made during the replacement period Δc according to the replacement request Rc to the driver, the automatic operation may be degraded regardless of the replacement request Rc. can. Therefore, even if the driving change is once requested, it is possible to provide driving support according to the driving scene to be avoided.

According to the first embodiment, as a result of monitoring the replacement driver state Sc at the elapsed timing Tp of the replacement period Δc according to the replacement request Rc to the driver, the operation change is not completed even if there is no abnormality determination during the period Δc. In the driving scene where the judgment is made, the automatic driving can be degraded. Therefore, it is possible to provide driving support according to a driving scene in which the driving change cannot be completed regardless of the change request Rc.

According to the first embodiment, in the driving scene in which an erroneous operation determination for the operation change is made as a monitoring result of the change driver state Sc during the change period Δc corresponding to the change request Rc to the driver, the erroneous operation made by the determination is made. Information presentation about is controlled. According to this, as long as the abnormality determination of the substitute driver state Sc is not made during the change period Δc, the automatic operation can be continued until the operation change is completed while exerting the erroneous operation suppression effect by presenting the information. Therefore, it is possible to support the driving change according to the driving scene in which the vehicle 2 does not have to be stopped.

According to the first embodiment, the driving change to be supported includes not only the change from automatic driving to manual driving but also high-level automatic driving to low-level automatic driving. According to this, it is possible to bring about the above-mentioned effects even for the vehicle 2 whose level of automatic driving can be changed.

(Second Embodiment)
As shown in FIG. 8, the second embodiment is a modification of the first embodiment. The pre-request degeneration block 2161 of the operation degenerate block 160 according to the second embodiment is set at the abnormality determination timing Ta when the abnormality determination of the pre-request determination block 121 of the condition monitoring block 120 is made before the replacement request Rc. While continuing the automatic operation, the degeneracy from the automatic operation is temporarily suspended. At this time, the degeneracy hold is continued until the shift request timing Tr in which the shift request Rc is generated by the mode control block 102. Therefore, the pre-request degeneracy block 2161 commands the mode control block 102 to make an MRM request at the same timing Tr as well as a prohibition request prohibiting the change request Rc by the change request timing Tr. That is, the pre-request degeneracy block 2161 realizes the MRM request without the replacement request Rc by the prohibition request and the MRM request command.

Among the flows of the driving support method according to the second embodiment, in S2101, which replaces S102 of the first embodiment in the pre-request flow shown in FIG. 9, the pre-request degeneracy block 2161 is set up to the change request timing Tr by the mode control block 102. Continue automatic operation and suspend degeneracy. Further, in S2012, the pre-request degeneracy block 2161 commands the mode control block 102 with the prohibition request of the replacement request Rc at the replacement request timing Tr, thereby degenerating the automatic operation without the replacement request Rc. In this way, S2101 and S2102 correspond to the "operation degeneracy process".

(Action effect)
The effects of the second embodiment described above will be described below.

According to the second embodiment, in the driving scene in which the abnormality determination of the substitute driver state Sc is made before the change request Rc required for the change of operation, the degeneration of the automatic operation is suspended until the change request timing Tr. , The automatic operation can be reduced without the replacement request Rc. According to this, even in a driving scene in which a driving change should be avoided, it is possible to provide driving support for continuing automatic driving without stopping the vehicle 2 as much as possible.

(Other embodiments)
Although the plurality of embodiments have been described above, the present disclosure is not construed as being limited to those embodiments, and is applied to various embodiments and combinations within the scope of the gist of the present disclosure. Can be done.

The dedicated computer constituting the driving support device 1 of the modified examples according to the first and second embodiments may be at least one external center computer capable of communicating with the vehicle 2. In the modified example, the dedicated computer constituting the driving support device 1 may include at least one of a digital circuit and an analog circuit as a processor. The digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device) and the like. It is one type. Such a digital circuit may include a memory for storing a program.

In the pre-request flow of the modification according to the first embodiment, at least one of S102 by the pre-request degeneracy block 161 and S103 by the pre-request presentation block 141 may be omitted. Here, in the modified example in which both S102 by the pre-request degeneracy block 161 and S103 by the pre-request presentation block 141 are omitted, S101 by the pre-request determination block 121 may also be omitted.

In the pre-request flow of the modified example according to the second embodiment, at least one of the set of S2201 and S2202 by the pre-request degeneracy block 2161 and S103 by the pre-request presentation block 141 may be omitted. Here, in the modification in which both the set of S2201 and S2202 by the pre-request degeneracy block 2161 and S103 by the pre-request presentation block 141 are omitted, S101 by the pre-request determination block 121 may also be omitted.

In the first post-request flow of the modified examples according to the first and second embodiments, at least one of S202 by the post-request degenerate block 162 and S204 by the post-request presentation block 142 may be omitted. Here, in the modified example in which both S202 by the post-request degeneracy block 162 and S204 by the post-request presentation block 142 are omitted, S201 by the post-request determination block 122 may also be omitted.

In the second post-request flow of the modified examples relating to the first and second embodiments, at least one of S302 by the erroneous operation presentation block 144 and S303 by the recommended presentation block 143 may be omitted. Here, in the modified example in which both S302 by the erroneous operation presentation block 144 and S303 by the recommended presentation block 143 are omitted, S301 by the erroneous operation determination block 123 may also be omitted.

In the third post-request flow of the modified examples according to the first and second embodiments, at least one of S402 by the incomplete degenerate block 163 and S404 by the manual start presentation block 145 may be omitted. Here, in the modified example in which both S402 by the incomplete degenerate block 163 and S404 by the manual start presentation block 145 are omitted, S401 by the completion determination block 124 may also be omitted.

In the second post-request flow of the modified examples relating to the first and second embodiments, in S302 by the erroneous operation presentation block 144, the control process of presenting information regarding the recommended action and the control process of presenting information regarding the surrounding situation and the traveling route of the vehicle 2 are performed. At least one of the above may be omitted. In the flow after the second request of the modified example relating to the first and second embodiments, in S302 by the erroneous operation presentation block 144, for example, when the driver's intention is confirmed, the automatic control of the recommended action is the mode control block 102. May be instructed to.

In the second post-request flow of the modified examples relating to the first and second embodiments, the control process of presenting information regarding the surrounding condition and the traveling route of the vehicle 2 may be omitted in S303 by the recommended presentation block 143. In the second post-request flow of the modified examples relating to the first and second embodiments, in S303 by the recommended presentation block 143, for example, when the driver's intention is confirmed, the automatic control of the recommended action is the mode control block 102. May be instructed to.

In the third request post-flow of the modified example relating to the first and second embodiments, the control process of information presentation regarding the restart condition of the automatic operation may be omitted in S404 by the manual start presentation block 145. In the flow after the third request of the modified example relating to the first and second embodiments, in S404 by the manual start presentation block 145, when the restart condition of the automatic operation follows the advance plan of the operation change, the information presentation regarding the restart condition is presented. It may be omitted.

In the modification in which the step is omitted in the above, the corresponding block may also be omitted in the same manner. Further, in the modification in which some processing is omitted in the above, the function of the corresponding block may also be omitted in the same manner.

In the flow after the second request of the modified example relating to the first and second embodiments, instead of the information presentation control for the erroneous operation of S302 by the erroneous operation presentation block 144, the automatic according to S102, S202, S402 by the degenerate blocks 161, 162, 163. Degenerate control of operation may be performed. In the modified examples relating to the first and second embodiments, the information presentation control for the erroneous operation of S302 by the erroneous operation presenting block 144 may be executed also in the autonomous normal mode Man or the manual operation mode Mm.

In the modified examples relating to the first and second embodiments, at least one of the route planning block 101 and the mode control block 102 may be constructed by a device different from the driving support device 1. Here, the other device may be an automatic driving control device mounted on the vehicle 2 so as to be able to communicate with the driving support device 1, or a remote control device outside the vehicle 2 capable of communicating with the driving support device 1. You may.

1 Driving support device, 2 Vehicles, 12 Processors, 120 Condition monitoring block, 140 Information presentation block, 160 Degeneration block, 161,161 Pre-request degeneration block, Ap tolerance, Rc replacement request, Sc replacement driver status, Tp elapsed timing , Tr degeneracy request timing, Δc degeneracy period

Claims (18)

It is a driving support device (1) that supports the change of driving from automatic driving to manual driving in the vehicle (2).
A condition monitoring unit (120) that monitors the state of the driver who operates the vehicle in the manual operation in the automatic operation as an alternate driver state (Sc).
As a result of monitoring the alternate driver state, when it is determined that the alternate driver state is lowered within the permissible range (Ap) for allowing the alternate driver, the alternate driver state conforms to the continuation of the automatic operation. An information presentation unit (140) that controls the presentation of information according to the response,
As a result of monitoring the alternate driver state, a degenerate unit (160) that degenerates the automatic operation when an abnormality determination of the alternate driver state that prohibits the shift driver is made.
A driving support device equipped with. The information presenting unit conforms to the continuation of the automatic operation when it is determined that the state of the substitute driver is lowered within the permissible range before the change request (Rc) for requesting the driver to change the operation. The driving support device according to claim 1, wherein the information presentation according to the alternate driver state is controlled. A claim that the operation degenerate unit degenerates the automatic operation without the change request when an abnormality determination of the change driver state is made before the change request (Rc) for requesting the driver to change the operation. The driving support device according to 1 or 2. The operation reduction unit automatically performs the change request up to the timing (Tr) of the change request when an abnormality determination of the change driver state is made before the change request (Rc) for requesting the driver to change the operation. The driving support device according to claim 3, wherein the automatic driving is degenerated without the replacement request after the degeneration of the driving is suspended. When the information presenting unit determines that the state of the replacement driver is lowered within the permissible range during the replacement period (Δc) in response to the replacement request (Rc) for requesting the driver to perform the driving replacement. The driving support device according to any one of claims 1 to 4, wherein the information presentation according to the replacement driver state conforming to the completion of the driving shift by continuing the automatic driving is controlled. The operation degenerate unit is concerned with the change request when the abnormality determination of the change driver state is made during the change period (Δc) corresponding to the change request (Rc) for requesting the driver to change the operation. The driving support device according to any one of claims 1 to 5, which is degenerate from the automatic driving. In the operation degenerate unit, at the elapsed timing (Tp) of the change period (Δc) corresponding to the change request (Rc) for requesting the driver to change the operation, the incomplete determination of the operation change is the monitoring of the change driver state. The driving support device according to claim 6, which degenerates the automatic driving regardless of the replacement request when it is made as a result. When the information presenting unit makes an erroneous operation determination regarding the operation change as a monitoring result of the change driver state during the change period (Δc) corresponding to the change request (Rc) for requesting the driver to change the operation. The driver support device according to any one of claims 1 to 7, wherein the information presentation for the erroneous operation made by the determination is controlled. The operation change according to any one of claims 1 to 8, wherein the change of operation includes the change from the high-level automatic operation to the low-level automatic operation in addition to the change from the automatic operation to the manual operation. Driving support device. It is a driving support device (1) that is executed by the processor (12) and supports the change of driving from automatic driving to manual driving in the vehicle (2).
A condition monitoring step (S101, S104, S105, S201, S301, S401) of monitoring the state of the driver operating the vehicle in the manual operation in the automatic operation as an alternate driver state (Sc).
As a result of monitoring the alternate driver state, when it is determined that the alternate driver state is lowered within the permissible range (Ap) for allowing the alternate driver, the alternate driver state conforms to the continuation of the automatic operation. Information presentation steps (S103, S204, S302, S303, S404, S405) that control the corresponding information presentation, and
The operation degeneration step (S102, S202, S203, S402, S403, S2101) that degenerates the automatic operation when an abnormality determination of the alternate driver state that prohibits the operation alternation is made as a monitoring result of the alternate driver state. , S2102) and
Driving support methods including. The information presenting step is suitable for the continuation of the automatic operation when it is determined that the state of the substitute driver is lowered within the permissible range before the change request (Rc) for requesting the driver to change the operation. The driving support method according to claim 10, wherein the information presentation according to the alternate driver state is controlled. The operation degenerate step is a claim that degenerates the automatic operation without the change request when an abnormality determination of the change driver state is made before the change request (Rc) for requesting the driver to change the operation. The driving support method according to 10 or 11. In the operation reduction step (S2101, S2102), when the abnormality determination of the substitute driver state is made before the change request (Rc) for requesting the driver to change the operation, the timing of the change request (S2101, S2102) The driving support method according to claim 12, wherein the degeneracy of the automatic driving is suspended until Tr), and then the automatic driving is degenerated without the replacement request. In the information presenting step, when it is determined that the state of the substitute driver is lowered within the permissible range during the change period (Δc) corresponding to the change request (Rc) for requesting the driver to change the operation. The driving support method according to any one of claims 10 to 13, wherein the information presentation according to the replacement driver state conforming to the completion of the driving shift by continuing the automatic driving is controlled. The operation reduction step is concerned with the change request when the abnormality determination of the change driver state is made during the change period (Δc) corresponding to the change request (Rc) for requesting the driver to change the operation. The driving support method according to any one of claims 10 to 14, wherein the automatic driving is degenerated. In the operation reduction step, at the elapsed timing (Tp) of the change period (Δc) corresponding to the change request (Rc) for requesting the driver to change the operation, the incomplete determination of the operation change is the monitoring of the state of the change driver. The driving support method according to claim 15, wherein the automatic driving is degenerated regardless of the replacement request when the result is made. In the information presenting step, when an erroneous operation determination regarding the operation change is made as a monitoring result of the change driver state during the change period (Δc) corresponding to the change request (Rc) for requesting the driver to change the operation. The driving support method according to any one of claims 10 to 16, wherein the information presentation for the erroneous operation made by the determination is controlled. The operation change according to any one of claims 10 to 17, wherein the change of operation includes the change from the high-level automatic operation to the low-level automatic operation in addition to the change from the automatic operation to the manual operation. Driving support method.

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