JP5233711B2 - Running state recording device - Google Patents

Description

  The present invention relates to a traveling state recording apparatus that records a traveling state of a vehicle.

  Conventionally, vehicles equipped with driving support devices such as automatic driving devices are known. The driving assistance device has a function of assisting a driver's steering operation so that the vehicle travels on a road along a lane, for example. Conventionally, there is also known an apparatus for recording vehicle travel data so that it is useful for investigating the cause when a vehicle equipped with a driving support device encounters an accident. For example, Patent Document 1 discloses vehicle control by classifying data into three levels: a signal path from the driver to the actuator, a signal path from the actuator to the drive transmission system, and actual vehicle driving data. A travel data recording device is disclosed that can easily determine the cause of an accident such as whether or not there was a problem.

Special table 2004-509799 gazette

In the travel data recording apparatus described above, it is possible to easily determine where the cause of an accident occurs in the vehicle.
However, since driving information cannot be reproduced unless a record of what kind of calculation is performed in the driving support device, the conventional driving data recording device actually performs driving support and automatic driving. In this case, all of the data necessary for the control (from the data required for environment recognition to the data required for calculating the control amount) must be recorded, which causes a problem that the volume of data to be recorded increases.

  Accordingly, the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a traveling state recording apparatus capable of efficiently recording data relating to traveling of a vehicle.

  In order to solve the above-described problems, the present invention performs arithmetic processing based on environmental data including sensor information output from a driving state detection unit that detects a driving state, and outputs driving support information for performing driving support. Based on the calculation means, the environmental data and the intermediate information created during the calculation of the calculation means, the selection means for selecting the intermediate information into the recording intermediate information to be recorded and the non-recording intermediate information not to be recorded, and the selection means The present invention is characterized by a traveling state recording apparatus having recording means for recording selected recording intermediate information.

  In this travel state recording device, the intermediate information can be selected by the selecting means and recorded in the recording means based on the environmental data and the intermediate information.

  Further, in this traveling state recording device, it is preferable to select the intermediate information as intermediate recording information when the difference between the environmental data and the intermediate information is greater than a predetermined value.

  In this way, it is possible to select and record the intermediate information that is not appropriate because the difference from the environmental data is larger than the predetermined value as the intermediate information.

  Furthermore, it is preferable that the travel state recording apparatus further includes a calculation parameter output unit that outputs a calculation parameter for the calculation unit to perform calculation processing to the recording unit.

  By having the calculation parameter output means, the calculation parameter can be recorded together with the recording intermediate information.

  In the case of the travel state recording device, the calculation parameter output means preferably outputs the calculation parameter to the recording means when the calculation parameter is updated.

  In this way, the calculation parameter can be recorded in the recording means only when the calculation parameter is updated.

  ADVANTAGE OF THE INVENTION According to this invention, the driving | running | working state recording apparatus which can record the data regarding driving | running | working of a vehicle efficiently is obtained.

It is a block diagram which shows the structure of the driving | running | working state recording apparatus which concerns on the 1st Embodiment of this invention. Similarly, it is a flowchart which shows the operation | movement procedure of the way information recording control process in a driving | running | working state recording device. It is the figure which showed typically the driving | running | working condition where two vehicles are drive | working. It is a block diagram which shows the structure of the driving | running | working state recording apparatus which concerns on the 2nd Embodiment of this invention. Similarly, it is a flowchart which shows the operation | movement procedure of the way information recording control process in a driving | running | working state recording device. It is a block diagram which shows the structure of the driving | running | working state recording apparatus which concerns on the 3rd Embodiment of this invention. Similarly, it is a flowchart which shows the operation | movement procedure of the way information recording control process in a driving | running | working state recording device.

  Embodiments of the present invention will be described below. In addition, the same code | symbol is used for the same element and the overlapping description is abbreviate | omitted.

(First embodiment)
FIG. 1 is a block diagram showing a configuration of a running state recording apparatus 1 according to the first embodiment of the present invention. The traveling state recording device 1 includes an automatic driving module 2, an environmental data output unit 3, a recording unit 4, and a driving unit 5, and is mounted on a vehicle (not shown).

  The automatic operation module 2 is configured by an ECU. The ECU includes a CPU, a ROM, a RAM, an input / output port, and the like, and operates while reading / writing data from / to the RAM according to a control program stored in the ROM. The automatic operation module 2 includes a calculation unit 10, a calculation parameter unit 11, and a calculation state evaluation unit 12.

  The arithmetic unit 10 performs arithmetic processing for realizing automatic driving based on the environmental data 3d output from the environmental data output unit 3 and the arithmetic parameter 11d output from the arithmetic parameter unit 11, and the result of the arithmetic processing is obtained. Based on this, the driving support information 10 d is output to the drive unit 5. The travel support information 10 d is data for performing travel support by driving the drive unit 5. In addition, the calculation unit 10 outputs intermediate information 10e created during the calculation to the calculation state evaluation unit 12.

  The intermediate information 10e is information that is output after the environmental data 3d is input until the travel support information such as the target braking amount is calculated.

  For example, when route control (travel locus control) of automatic driving is performed, environment data 3e is input, a peripheral object recognition result is output based on the environment data 3e, and a travel route is determined based on the peripheral object recognition result. The vehicle control amount is output based on the travel route. In this case, the peripheral object recognition result and the travel route information correspond to intermediate information.

  In addition, when braking control is performed in the event of a vehicle emergency, environmental data 3e is input, an obstacle recognition result is output based on the environmental data 3e, and a collision prediction result is output based on the obstacle recognition result. A vehicle control amount (driving support information) is output based on the collision prediction result. In this case, the information on the obstacle recognition result and the collision prediction result corresponds to the intermediate information.

  The intermediate information 10e may be information output when no vehicle control intervention is performed. For example, when braking control is performed in the event of a vehicle emergency, environment data 3e is input, an obstacle recognition result is output based on the environment data 3e, and a collision prediction result is output based on the obstacle recognition result. When information is provided or a warning is given to the driver of the vehicle by voice or display based on the collision prediction result, the obstacle recognition result and the collision prediction result information correspond to intermediate information.

  The calculation parameter unit 11 stores calculation parameters, calculation formulas, models, and the like used for calculation processing performed by the calculation unit 10. Further, the calculation parameter unit 11 stores a seed for generating a random number, and these stored data can be changed. Then, the calculation parameter unit 11 outputs the calculation parameter 11 d to the calculation unit 10.

  The calculation state evaluation unit 12 receives the intermediate information 10e and the environment data 3d from the calculation unit 10, and determines whether the calculation process by the calculation unit 10 is appropriate based on them. The calculation state evaluation unit 12 has a function as a selection unit for selecting intermediate information 10e to be recorded in the recording unit 4 to leave the intermediate information 10e according to the determination result and non-recorded intermediate information not to be recorded. The recorded intermediate information 12d is output to the recording unit 4.

  For example, the calculation state evaluation unit 12 selects the intermediate information 10e as the recording intermediate information when the difference between the environmental data 3d and the intermediate information 10e is larger than a predetermined value as a selection unit.

  The environmental data output unit 3 includes a sensor (traveling state detecting means) that detects the traveling state of the vehicle, and sensor information detected by the sensor (for example, image data captured by an in-vehicle camera, radar, speedometer, Environmental data 3d including own vehicle information such as various measurement data obtained from the battery) is output to the automatic driving module 2. The environment data output unit 3 also includes peripheral environment information such as map information, traffic information, weather information, and navigation information stored in a memory (not shown), a mode switching signal between manual operation mode and automatic operation mode, GPS It is also possible to output the environmental data 3d including communication data obtained by communication with the satellite, data calculated independently of the automatic operation module 2, and the like.

  The recording unit 4 is a recording unit that records the in-record information 12d output from the calculation state evaluation unit 12, and may be configured by an HDD, a memory, or the like, for example. The recording unit 4 can record the in-record information 12d along with the time data.

  The drive unit 5 performs an operation necessary for driving support by automatic driving according to the driving support information 10d.

  Next, the operation content of the traveling state recording apparatus 1 having the above configuration will be described in detail with reference to FIG. FIG. 2 is a flowchart showing an operation procedure of the midway information recording control process in the traveling state recording apparatus 1. The intermediate information recording control process is executed by the automatic operation module 2.

  When the automatic operation module 2 starts the midway information recording control process, the calculation unit 10 inputs environmental data 3d (sensor information) from the environmental data output unit 3 in S1. In subsequent S <b> 2, the calculation unit 10 inputs the calculation parameter 11 d from the calculation parameter unit 11. Then, in S3, the calculation unit 10 performs calculation processing according to the environmental data 3d and the calculation parameter 11d, and outputs the generated travel support information 10d to the drive unit 5, while the intermediate information 10e and the environmental data 3d are output to the calculation state evaluation unit. 12 is output.

  In S4, the calculation state evaluation unit 12 determines whether the intermediate information 10e is appropriate, and selects the intermediate information 10e according to the determination result. In this case, the computation state evaluation unit 12 ends the midway information recording control process without executing S5 when it is determined that the midway information 10e is appropriate, but proceeds to S5 when it is determined that it is not appropriate. When the operation proceeds to S5, the calculation state evaluation unit 12 outputs the intermediate information 10e to the recording unit 4 as recording intermediate information 12d for recording and leaving the intermediate information 10e, and then ends the intermediate information recording control process. In this way, the recording intermediate information 12d is recorded in the recording unit 4.

  In S4, when selecting the midway information 10e, the calculation state evaluation unit 12 determines that the midway information 10e is not appropriate when the data such as the distance, speed, and acceleration included in the environment data 3d exceeds a predetermined threshold. Can be selected. In addition, the calculation state evaluation unit 12 can determine that the intermediate information 10e is not appropriate when the difference between the environmental data 3d and the intermediate information 10e exceeds a predetermined threshold. In addition, the calculation state evaluation unit 12 may select a timing when the target that has been recognized so far cannot be recognized as a trigger.

  The selection of the intermediate information 10e may be performed based on the traveling state of the host vehicle and a predetermined threshold value. For example, when the actual vehicle behavior (speed, acceleration) in an environment where the vehicle is running is greater than or equal to a predetermined threshold, or the relative distance from the surrounding objects, the relative speed, etc. deviate from within a predetermined range for safety. In the case where there is, it may be determined that the midway information 10e is not appropriate.

  In addition, the selection of the intermediate information 10e may be performed based on the time change of the same intermediate information 10e. For example, when the peripheral object recognition result indicates a discontinuous time change such that the state change amount of the same object is a predetermined value or more, it may be determined that such a peripheral object recognition result is not appropriate as the intermediate information 10e.

  Furthermore, the selection of the intermediate information 10e may be performed based on a comparison between the intermediate information 10e. For example, when the behavior prediction result for the same object and the recognition result of the actual behavior are greatly different, it may be determined that such a behavior prediction result and the recognition result are not appropriate as the intermediate information 10e.

  As described above, the traveling state recording device 1 records the intermediate information 10e as the recording intermediate information 12d in the recording unit 4 when the intermediate information 10e is not appropriate, but does not record if the intermediate information 10e is appropriate. Execute. Therefore, in order to efficiently record only the intermediate information 10e that needs to be stored, the data volume of the recorded intermediate information 10e can be reduced.

  In this case, the traveling state recording device 1 determines whether or not there is a problem with the calculation unit 10 when the vehicle encounters an accident based on the recorded halfway information 10e. It can also be proved.

  Here, as shown in FIG. 3, consider a traveling situation when the vehicles 50 and 51 travel opposite each other and a pedestrian h is on the traveling lane 60 of the vehicle 50. Then, a travel pattern p1 that encounters an accident that contacts the pedestrian h while the vehicle 50 is traveling in manual driving and a travel pattern p2 that encounters an accident that contacts the pedestrian h while traveling in automatic driving are considered. . As for the driving pattern p2, when the calculation unit 10 misrecognizes (for example, overlooks the pedestrian h) (driving pattern p2a), the calculation unit 10 erroneously predicts the human behavior (for example, the pedestrian h is the driving lane). Although the pedestrian h is predicted to walk straight on the road 60, the actual pedestrian h moves across the lane 60) (travel pattern p2b).

  In the prior art, it is possible to select whether the travel pattern is p1 or the travel pattern p2 (p2a or p2b). However, in the conventional technique, it is not possible to select the traveling pattern p2a or p2b from the calculation result of the automatic driving device. As a result, the investigation of the cause of the accident was extremely difficult.

  In order to investigate the cause of an accident in such a case, all the intermediate information must be saved and all the history concerning recognition and prediction must be recorded. However, this increases the data volume required for recording the intermediate information and the volume required for data communication.

  Therefore, the traveling state recording apparatus 1 records and stores the intermediate information 10e in the recording unit 4 as the intermediate recording information 12d only when the intermediate information 10e is not appropriate. Therefore, for example, only the data related to recognition is recorded for the driving pattern p2a, the data related to prediction is not recorded, and the data related to recognition is not stored for the driving pattern p2b, and only data related to prediction is recorded. it can. Thus, the intermediate information 10e that needs to be stored can be efficiently recorded, and the data volume required to store the intermediate information 10e can be reduced.

(Second Embodiment)
Next, the traveling state recording device 21 according to the second embodiment will be described. FIG. 4 is a block diagram showing the configuration of the traveling state recording device 21 according to the second embodiment of the present invention. The traveling state recording device 21 is different from the traveling state recording device 1 in that it has an automatic operation module 13 and the automatic operation module 13 has an operation parameter output unit 14.

  The computation parameter output unit 14 outputs the in-record information 12d and the computation parameter 11d to the recording unit 4 when the mid-record information 12d is output from the computation state evaluation unit 12. The calculation parameter unit 11 is different in that the calculation parameter 11 d is output to the calculation parameter output unit 14 in addition to outputting the calculation parameter 11 d to the calculation unit 10.

  And the driving | running | working state recording device 21 performs a middle information recording control process along the flowchart shown in FIG. The flowchart shown in FIG. 5 is different from the flowchart shown in FIG. 2 in that S10 and S11 are executed instead of executing S5 following S4.

  In the traveling state recording device 21, when the automatic operation module 2 advances the operation to S4, the calculation state evaluation unit 12 determines whether or not the intermediate information 10e is appropriate, and selects the intermediate information 10e according to the determination result. In this case, the calculation state evaluation unit 12 terminates the intermediate information recording control process without executing S10 and S11 when determining that the intermediate information 10e is appropriate. Proceed. When the operation proceeds to S10, the calculation state evaluation unit 12 outputs the intermediate information 10e to the calculation parameter output unit 14 as the recording intermediate information 12d. In subsequent S11, the calculation parameter output unit 14 outputs the recording intermediate information 12d and the calculation parameter 11d to the recording unit 4, and thereafter, the intermediate information recording control process is ended. In this way, the in-record information 12d and the calculation parameter 11d are recorded in the recording unit 4.

  As described above, the traveling state recording device 21 also records the intermediate information 10e as the recording intermediate information 12d in the recording unit 4 only when the intermediate information 10e is not appropriate, similarly to the traveling state recording device 1, and therefore needs to be saved. Only the information 10e can be efficiently recorded, and the data volume of the recorded intermediate information 10e can be reduced. In the traveling state recording device 1 described above, the calculation parameter 11d used for the calculation was not recorded. Therefore, the reproducibility of all the calculation results was not ensured. However, the traveling state recording device 21 recorded the calculation parameter 11d. As a result, all intermediate results can be reproduced.

(Third embodiment)
Next, the traveling state recording device 31 according to the third embodiment will be described. FIG. 6 is a block diagram showing a configuration of a traveling state recording device 31 according to the third embodiment of the present invention. The traveling state recording device 31 is different from the traveling state recording device 1 in that it includes an automatic operation module 23 and the automatic operation module 23 includes an operation parameter update unit 15.

  The calculation parameter update unit 15 outputs an update confirmation signal 15 d to the calculation parameter unit 11 and newly inputs the calculation parameter 11 d from the calculation parameter unit 11 when the recording state information 12 d is output from the calculation state evaluation unit 12. To do. The calculation parameter updating unit 15 has a function as calculation parameter output means for outputting the updated calculation parameter 11d to the recording unit 4 when the calculation parameter 11d is updated. At this time, the calculation parameter 11d is updated when it is determined that the midway information 10e is not appropriate, and a new calculation is performed based on the midway information 10e, the environment data 3d, and the previous calculation parameter 11d that are determined to be inappropriate. This is done by deriving the parameter 11d.

  And the driving | running | working state recording device 31 performs an intermediate information recording control process along the flowchart shown in FIG. The flowchart shown in FIG. 7 is different from the flowchart shown in FIG. 2 in that S15 to S20 are executed instead of executing S5 following S4.

  In the traveling state recording device 31, when the automatic operation module 2 advances the operation to S4, the calculation state evaluation unit 12 determines whether or not the intermediate information 10e is appropriate, and selects the intermediate information 10e according to the determination result. In this case, when it is determined that the midway information 10e is appropriate, the computation state evaluation unit 12 ends the midway information recording control process without executing steps S15 to S20. Proceed. When the operation proceeds to S15, the calculation state evaluation unit 12 outputs the intermediate information 10e to the calculation parameter update unit 15 as the recording intermediate information 12d.

  In the subsequent S16, the calculation state evaluation unit 12 outputs the environmental data 3d and the calculation parameter 11d to the calculation parameter update unit 15. In S17, the calculation parameter update unit 15 derives a new calculation parameter 11d. The new calculation parameter 11d is derived based on the intermediate information 10e determined to be inappropriate, the environment data 3d, and the previous calculation parameter 11d.

  Then, the operation proceeds to S18, and the calculation parameter update unit 15 outputs the new calculation parameter 11d to the calculation parameter unit 11 and the recording unit 4. In the calculation parameter unit 11, a new calculation parameter 11d is updated. In S20, the mid-recording information 12d is output to the recording unit 4, and then the mid-term information recording control process ends. In this way, the in-record information 12d is recorded in the recording unit 4, and the calculation parameter 11d is recorded in the recording unit 4 only when it has been updated.

  As described above, the traveling state recording device 31 also needs to be stored in the same way as the traveling state recording device 1 because the intermediate information 10e is recorded in the recording unit 4 as the intermediate recording information 12d only when the intermediate information 10e is not appropriate. Only the halfway information 10e is efficiently recorded, and the data volume of the recorded halfway information 10e can be reduced. In the traveling state recording device 1 described above, the calculation parameter 11d used for the calculation is not recorded. Therefore, the reproducibility of all the calculation results is not ensured. The traveling state recording device 31 records the calculation parameter 11d. As a result, all intermediate results can be reproduced. In addition, since the calculation parameter 11d is recorded only when it has been updated, the calculation parameter 11d can also be recorded efficiently and the recording capacity can be further compressed. In addition, it becomes possible for the automatic operation module 23 to learn using the midway information 10e of the calculation unit 10.

(Modification)
The calculation state evaluation unit 12 may directly input the environment data 3 d from the environment data output unit 3 without using the calculation unit 10. Further, the calculation state evaluation unit 12 may transmit the in-record information 12d to a server outside the vehicle via an information communication device (not shown). In this way, the automatic driving module 2 can be improved so that inappropriate actions can be reduced and accidents can be prevented. Further, the calculation state evaluation unit 12 may transmit the intermediate information 10e determined to be appropriate to a server outside the vehicle. In this way, it is possible to share a calculation method for taking safe actions and contribute to the development of a traffic environment with less accidents.

  Furthermore, the calculation state evaluation unit 12 may output data (no output data) indicating that there is no output from the calculation unit 10 to the recording unit 4. Based on the no-output data and the mode switching signal, it can be determined whether or not there is an abnormality in the calculation state evaluation unit 12.

  Then, information for transmitting the calculation state of the calculation unit 10 may be displayed on a display device (not shown), or sound may be output from a speaker. For example, setting parameters (scheduled speed), acceleration, deceleration, and turning information may be displayed on the display device.

  The calculation parameter update unit 15 may connect to the environment data output unit 3 and select a suitable time for updating the calculation parameter 11d. For example, it is assumed that updating is not performed when the voltage is low using voltage information, or updating is not performed while the vehicle is moving using speed information. In addition, a recording unit different from the recording unit 4 may be provided to record information suitable for updating.

  Furthermore, the output of the calculation parameter update unit 15 may be transmitted / received to / from an external database by connecting not only to the recording unit but also to a data communication device (not shown). Thereby, it is also possible to improve the automatic driving module 23 so as to reduce inappropriate behavior and prevent accidents.

  The above description is the description of the embodiment of the present invention, and does not limit the apparatus and method of the present invention, and various modifications can be easily implemented. In addition, an apparatus or method configured by appropriately combining components, functions, features, or method steps in each embodiment is also included in the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Running condition recording device, 2, 13, 23 ... Automatic operation module, 3 ... Environmental data output part, 4 ... Recording part, 5 ... Drive part, 10 ... Calculation part, 11 ... Calculation parameter, 12 ... Calculation state evaluation part 14, calculation parameter output unit, 15 ... calculation parameter update unit.

Claims (3)

Calculation means for performing calculation processing based on environmental data including sensor information output from the driving condition detection means for detecting the driving condition, and outputting driving support information for performing driving support;
Based on the environmental data and intermediate information created during the calculation of the calculation means, the selection means for selecting the intermediate information into recording intermediate information to be recorded and non-recording intermediate information not to be recorded;
And a recording means for recording the recording intermediate information selected by the selecting means.   2. The traveling state recording apparatus according to claim 1, further comprising a calculation parameter output unit that outputs a calculation parameter for the calculation unit to perform the calculation process to the recording unit.   3. The traveling state recording apparatus according to claim 2, wherein the calculation parameter output unit outputs the calculation parameter to the recording unit when the calculation parameter is updated.