JP6414005B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that is mounted on a vehicle and controls the vehicle to run independently.

  In patent document 1, in an autonomous driving vehicle capable of autonomous driving in accordance with a preset traveling plan, a vehicle sickness state of a vehicle occupant is detected, and automatic driving control is executed in accordance with the vehicle sickness state of the occupant. It has been proposed. Thereby, the vehicle sickness of the vehicle passenger can be reduced.

JP 2012-059274 A

  However, in patent document 1, since automatic driving control according to a car sickness state is performed after detecting a passenger's car sickness, there is room for improvement in order not to cause car sickness.

  The present invention has been made in view of the above facts, and an object thereof is to suppress the occurrence of passenger sickness.

In order to achieve the above object, the invention described in claim 1 is to position a plurality of detection units for detecting vehicle peripheral information and a vehicle state, a storage unit for storing map information, and vehicle position information. A positioning unit, a vehicle position on a map recognized based on the position information and the map information, a preset target route, and an external situation of the vehicle recognized based on detection results of the plurality of detection units. And generating a travel plan that describes the behavior of the vehicle along the target route, the vehicle position on the map, the vehicle travel state recognized based on the detection results of the plurality of detection units, and the vehicle When driving is controlled so that the vehicle travels independently according to the generated travel plan while monitoring each external situation, and the vehicle swing in a predetermined cycle range is predicted from the generated travel plan, Above The travel plan to regenerate the period range as the swing of the vehicle is shifted, the vehicle according to the travel plan and regenerated and a driving control unit that controls the operation so as to free standing travel.

According to the first aspect of the present invention, the plurality of detection units detect each of the vehicle periphery information and the vehicle state, and the storage unit stores the map information. Further, the positioning unit measures the position information of the vehicle.

In the driving control unit, the vehicle position on the map recognized based on the position information and the map information, the preset target route, and the external situation of the vehicle recognized based on the detection results of the plurality of detection units based on, generates a travel plan mark the behavior of the vehicle along the target route, each running state, and the external situation of the vehicle of the vehicle recognized based position of the vehicle on the map, on the detection results of the plurality of detector The operation is controlled so that the vehicle travels independently according to the generated travel plan. In addition, when the swing of the vehicle within a predetermined cycle range is predicted from the generated travel plan, the travel plan is regenerated so that the swing of the vehicle deviates from the cycle range, and the vehicle is Operation is controlled to run independently. Thereby, since driving | running is controlled so that the rocking | fluctuation of the vehicle of the predetermined period range which is easy to cause car sickness does not generate | occur | produce, generation | occurrence | production of car sickness can be suppressed. The period range may be a predetermined period range including the natural period of the human semicircular canal.

  As described above, according to the present invention, there is an effect that it is possible to suppress the occurrence of passenger sickness.

It is a block diagram which shows the structure of the control apparatus for vehicles which concerns on this embodiment. It is a figure which shows the relationship between the vertical acceleration and the influence of the period which approximated based on the experimental result of O'Hanlon, and the emesis rate. (A) is a figure for demonstrating the example which shifts a period when the front-back direction acceleration is the natural period (6 second) of a semicircular canal, and (B) shifts a period when the left-right direction acceleration is a natural period of a semicircular canal. It is a figure for demonstrating an example. It is a flowchart which shows an example of the control which suppresses generation | occurrence | production of the car sickness performed by automatic driving control ECU of the control apparatus for vehicles which concerns on this embodiment.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of a vehicle control device according to the present embodiment.

  The vehicle control device 10 includes a communication control unit 12, an external sensor 14, a GPS (Global Positioning System) receiving unit 16, an internal sensor 18, a map database 20, and a navigation system 22. The communication control unit 12, the external sensor 14, the GPS receiving unit 16, the internal sensor 18, the map database 20, and the navigation system 22 are connected to an in-vehicle network 24 such as a CAN (Controller Area Network). The in-vehicle network 24 is further connected to an automatic operation control ECU (Electronic Control Unit) 26 as an operation control unit and an HMI (Human Machine Interface) 28. The communication control unit 12, the external sensor 14, the GPS receiving unit 16, and the internal sensor 18 correspond to a detection unit, and the map database 20 corresponds to a storage unit.

  The communication control unit 12 exchanges vehicle periphery information and the like between the vehicle and the outside of the vehicle. For example, it communicates with infrastructure (for example, an optical beacon) provided on the road side, and receives peripheral information such as traffic information. The communication control unit 12 communicates with an external server such as a cloud via a network such as a mobile phone communication network. The communication control unit 12 can transmit information such as acquired peripheral information to a device connected to the in-vehicle network 24.

  The external sensor 14 detects an external situation that is surrounding information of the vehicle. The external sensor 14 includes at least one of a camera, a radar (Radar), and a rider (LIDER: Laser Imaging Detection and Ranging). The camera is provided, for example, on the indoor side above the windshield of the vehicle, and acquires imaging information by photographing the external situation of the vehicle. The camera can transmit the acquired shooting information to a device connected to the in-vehicle network 24. The camera may be a monocular camera or a stereo camera. In the case of a stereo camera, it has two imaging units arranged to reproduce binocular parallax. The imaging information of the stereo camera includes information in the depth direction. The radar transmits radio waves (for example, millimeter waves) around the vehicle, receives the radio waves reflected by the obstacles, detects the obstacles, and transmits the detected obstacle information to a device connected to the in-vehicle network 24. It can be sent. The rider transmits light around the vehicle, receives light reflected by the obstacle, measures the distance to the reflection point, and detects the obstacle. The rider can transmit the detected obstacle information to a device connected to the in-vehicle network 24. The cameras, riders, and radars do not necessarily have to be provided in duplicate.

  The GPS receiver 16 receives a signal from three or more GPS satellites to measure the position of the vehicle (for example, the latitude and longitude of the vehicle). The GPS receiver 16 can transmit the position information of the measured vehicle to a device connected to the in-vehicle network 24. Instead of the GPS receiver 16, other means that can specify the latitude and longitude of the vehicle may be used. In addition, it is preferable to have a function of measuring the direction of the vehicle in order to collate the measurement result of the sensor with map information described later.

  The internal sensor 18 detects a vehicle state such as a traveling state by detecting various physical quantities during traveling of the vehicle. The internal sensor 18 includes, for example, at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is provided on, for example, a vehicle wheel or a hub, rotor, drive shaft, or the like that rotates integrally with the wheel, and detects the vehicle speed by detecting the rotation speed of the wheel. The vehicle speed sensor can transmit the detected vehicle speed information (wheel speed information) to a device connected to the in-vehicle network 24. The acceleration sensor detects acceleration generated by acceleration / deceleration of the vehicle, turning, collision, or the like. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects acceleration in the longitudinal direction of the vehicle, a lateral acceleration sensor that detects lateral acceleration in the left-right direction (vehicle width direction) of the vehicle, and an up-down direction that detects acceleration in the vertical direction of the vehicle. An acceleration sensor. The acceleration sensor can transmit vehicle acceleration information to a device connected to the in-vehicle network 24. The yaw rate sensor detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the vehicle. As the yaw rate sensor, for example, a gyro sensor can be used. The yaw rate sensor can transmit the detected yaw rate information to a device connected to the in-vehicle network 24.

  The map database 20 is a database provided with map information. The map database 20 is stored in, for example, an HDD [Hard disk drive] mounted on the vehicle. The map information includes, for example, road position information, road shape information (for example, curves, straight line types, curve curvatures, etc.), and intersection and branch point position information. Further, in order to use position information of shielding structures such as buildings and walls and SLAM (Simultaneous Localization and Mapping) technology, the output signal of the external sensor 14 may be included in the map information. The map database 20 may be stored in a computer of a facility such as an information processing center that can communicate with the vehicle.

  The navigation system 22 provides guidance to the vehicle driver to the destination set by the vehicle driver. The navigation system 22 calculates the route on which the vehicle travels based on the vehicle position information measured by the GPS receiver 16 and the map information in the map database 20. The route may specify a suitable lane in a multi-lane section. For example, the navigation system 22 calculates a target route from the position of the vehicle to the destination, and notifies the occupant of the target route by displaying on a display and outputting sound from a speaker. The navigation system 22 can transmit information on the target route of the vehicle to a device connected to the in-vehicle network 24. The function of the navigation system 22 may be stored in a computer of a facility such as an information processing center that can communicate with the vehicle.

  The automatic operation control ECU 26 includes a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. In addition, an actuator 34, an auxiliary device 36, a brake light 38, and an HMI 28 are connected to the automatic operation control ECU 26.

  The automatic operation control ECU 26 performs an automatic operation by controlling the operations of the actuator 34, the auxiliary device 36, the brake light 38, the HMI 28, and the like by developing a program stored in the ROM in the RAM and executing it by the CPU. . The automatic operation control ECU 26 may be composed of a plurality of electronic control units.

  The actuator 34 is an object to be controlled when automatic driving control of the vehicle is performed, and the automatic driving control ECU 26 controls the operation of the actuator 34 to control the traveling of the vehicle. Specifically, the actuator 34 includes at least a throttle actuator, a brake actuator, and a steering actuator. The throttle actuator controls the amount of air supplied to the engine (throttle opening) in accordance with an instruction from the automatic operation control ECU 26 to control the driving force of the vehicle. When the vehicle is a hybrid vehicle or an electric vehicle, an instruction from the automatic operation control ECU 26 is input to a motor as a power source and the driving force is controlled without including a throttle actuator. The brake actuator controls the brake system in accordance with an instruction from the automatic operation control ECU 26, controls the braking force applied to the wheels of the vehicle, and controls the lighting of the brake lamp 38. As the brake system, for example, a hydraulic brake system can be used. The steering actuator controls driving of an assist motor that controls steering torque in the electric power steering system in accordance with an instruction from the automatic operation control ECU 26. As a result, the steering actuator controls the steering torque of the vehicle. The auxiliary device 36 is usually a device that can be operated by the driver of the vehicle. The auxiliary device 36 is a generic term for devices that are not included in the actuator 34. The auxiliary equipment 36 here includes, for example, a direction indicator lamp, a headlamp, a wiper, and the like.

  Specifically, the automatic driving control ECU 26 includes a vehicle position recognition unit 40, an external situation recognition unit 42, a travel state recognition unit 44, a travel plan generation unit 46, a travel control unit 48, and an auxiliary equipment control unit 50. ing. The automatic operation control ECU 26 generates a travel plan along a preset target route based on the vehicle periphery information and map information by the above-described units, and controls the drive so that the vehicle travels independently according to the generated travel plan. .

  The vehicle position recognition unit 40 recognizes the position of the vehicle on the map (hereinafter referred to as “vehicle position”) based on the vehicle position information received by the GPS reception unit 16 and the map information in the map database 4. The vehicle position recognition unit 40 may acquire and recognize the vehicle position used in the navigation system 22 from the navigation system 22. When the vehicle position can be measured by a sensor installed outside the road or the like, the vehicle position recognition unit 40 may acquire the vehicle position by communication from this sensor.

  The external situation recognition unit 42 is based on the peripheral information acquired by the communication control unit 12 and the detection result of the external sensor 14 (for example, camera imaging information, radar obstacle information, rider obstacle information, etc.). Recognize the external situation. The external situation includes, for example, the position of the white line of the traveling lane relative to the vehicle, the position of the lane center, the road width, the road shape, the situation of obstacles around the vehicle, and the like. The road shape includes, for example, the curvature of the traveling lane, a change in road gradient effective for estimating the line of sight of the external sensor 14, and swell. The situation of obstacles around the vehicle includes, for example, information for distinguishing between a fixed obstacle and a moving obstacle, the position of the obstacle relative to the vehicle, the moving direction of the obstacle relative to the vehicle, the relative speed of the obstacle relative to the vehicle, etc. There is. In addition, it is preferable to compensate the accuracy of the position and direction of the vehicle acquired by the GPS receiver 16 or the like by collating the detection result of the external sensor 14 with the map information.

  The traveling state recognition unit 44 recognizes the traveling state of the vehicle based on the detection result of the internal sensor 18 (for example, vehicle speed information of the vehicle speed sensor, acceleration information of the acceleration sensor, yaw rate information of the yaw rate sensor, etc.). The traveling state of the vehicle includes, for example, vehicle speed, acceleration, and yaw rate.

  The travel plan generation unit 46, for example, a target route calculated by the navigation system 22, a vehicle position recognized by the vehicle position recognition unit 40, and an external situation of the vehicle recognized by the external situation recognition unit 42 (vehicle position, Based on the direction of the vehicle). As a route to be generated, a trajectory of the vehicle traveling on the target route is generated. The travel plan generation unit 46 generates a route so that the vehicle travels appropriately on the target route in accordance with standards such as safety, legal compliance, and travel efficiency. At this time, it is needless to say that the travel plan generation unit 46 generates the course of the vehicle so as to avoid contact with the obstacle based on the situation of the obstacle around the vehicle. The target route is explicitly set by the driver, for example, as in the case of traveling along the road in Japanese Patent No. 5382218 (WO2011 / 158347) and Japanese Patent Application Laid-Open No. 2011-162132. A travel route that is automatically generated based on the external situation and map information when it is not known is also included. The travel plan generation unit 46 generates a travel plan corresponding to the generated route. That is, the travel plan generation unit 46 generates a travel plan along a preset target route based on at least the external situation that is the peripheral information of the vehicle and the map information of the map database 20. The travel plan generation unit 46 preferably generates a travel plan as a set of two elements, that is, a target position p in a coordinate system in which the course of the vehicle is fixed to the vehicle, and a speed v at each target point. Output as having a plurality of coordination coordinates (p, v). Here, each target position p has at least x-coordinate and y-coordinate positions in a coordinate system fixed to the vehicle, or information equivalent thereto. The travel plan is not particularly limited as long as it describes the behavior of the vehicle. The travel plan may use, for example, the target time t instead of the speed v, or may be the one added with the target time t and the vehicle orientation at that time. In general, for the travel plan, future data that is a few seconds ahead of the current time is sufficient. It is preferable that the number of coordination coordinates is variable and the distance between the coordination coordinates is also variable. Furthermore, a curve connecting the coordination coordinates may be approximated by a spline function or the like, and the parameters of the curve may be set as a travel plan. As the generation of the travel plan, any known method can be used as long as it can describe the behavior of the vehicle. Further, the travel plan may be data indicating changes in the vehicle speed, acceleration / deceleration, steering torque, and the like of the vehicle when the vehicle travels along a route along the target route. The travel plan may include a vehicle speed pattern, an acceleration / deceleration pattern, and a steering pattern. Here, the travel plan generation unit 46 may generate the travel plan so that the travel time (the time required for the vehicle to arrive at the destination) is minimized. Incidentally, the speed pattern is data including a target vehicle speed set in association with time for each target control position with respect to a target control position set at a predetermined interval (for example, 1 m) on the course. The acceleration / deceleration pattern is data including target acceleration / deceleration set in association with time for each target control position with respect to the target control position set at a predetermined interval (for example, 1 m) on the course. The steering pattern is, for example, data including target steering torque set in association with time for each target control position with respect to the target control position set at a predetermined interval (for example, 1 m) on the course.

  The travel control unit 48 automatically controls the travel of the vehicle based on the travel plan generated by the travel plan generation unit 46. The travel control unit 48 outputs a control signal corresponding to the travel plan to the actuator 34. Thereby, the traveling control unit 48 controls the driving of the vehicle so that the vehicle travels independently along the traveling plan. In order to travel independently, the traveling control unit 48 monitors the respective recognition results of the vehicle position recognition unit 40, the external situation recognition unit 42, and the traveling state recognition unit 44 when controlling the traveling of the vehicle. The vehicle travel is controlled according to the plan.

  The auxiliary device control unit 50 controls the auxiliary device 36 by integrating a signal output from the HMI 28 into the travel plan generated by the travel plan generation unit 46.

  The HMI 28 notifies various information such as the state of the vehicle to the occupant and inputs information from the occupant. The HMI 28 includes, for example, a switch for operating a direction indicator lamp, a headlamp, a wiper, a display for displaying various information, an operation unit for performing operation input, a light emitting device for informing various information, A speaker for notifying various information is included.

  By the way, the relationship between motion sickness and the swing cycle has been derived by O'Hanlon's experiment. O'Hanlon conducted an experiment in which a subject was placed in a room that vibrated up and down, and measured the rate of vomiting. At the exposure time of 2 hours, the fluctuation frequency and vertical acceleration were changed in 25 combinations, and the ratio of the vomiting person to all subjects was determined. FIG. 2 shows the relationship between the vertical acceleration, the influence of the period, and the vomiting rate approximated based on the experimental results. As shown in FIG. 2, it can be seen that motion sickness is likely to occur with a swing of a period of about 6 seconds. This is because the natural period of the human semicircular canal is 6 seconds, and in the oscillation of that period, the human senses the oscillation out of phase (at a different timing from the actual), so it feels with visual and somatic sensations and the semicircular canal A shift occurs in the swing, and this shift triggers a sickness.

  Therefore, in this embodiment, the automatic operation control ECU 26 performs control to suppress the occurrence of car sickness using the natural period of the human semicircular canal. Specifically, the swing of the vehicle is predicted from the travel plan generated based on the surrounding information of the vehicle and the state of the vehicle. Then, when swinging that falls within a predetermined period range including the natural period of the human semicircular canal is predicted, the travel plan is re-planned, and the travel plan is changed so that the predetermined period range is shifted. To do.

  For example, as shown in FIG. 3A, when 10 seconds is predicted as the acceleration period in the longitudinal direction of the vehicle, automatic driving is performed according to the travel plan as it is. On the other hand, as shown by the dotted line in FIG. 3 (A), when a longitudinal acceleration with a period of 6 seconds is predicted in accordance with the start timing of the preceding vehicle in a traffic jam, for example, as shown by the arrows in FIG. 3 (A). In addition, the travel plan is re-planned to extend the cycle by slowing down the acceleration and slowing down the speed. Alternatively, as shown in FIG. 3B, when 10 seconds is predicted as the acceleration period in the left-right direction of the vehicle, automatic driving is performed according to the travel plan as it is. On the other hand, as shown by the dotted line in FIG. 3 (B), when a left-right acceleration with a period of 6 seconds is predicted if the vehicle speed is maintained, the speed is reduced and the period is extended as shown by the solid line in FIG. 3 (B). So re-plan your travel plan. Alternatively, as shown by the alternate long and short dash line in FIG. 3B, the travel plan is re-planned so as to accelerate and increase the speed to shorten the cycle.

  In this way, it is possible to prevent car sickness by generating a travel plan so that the swing period of the vehicle is shifted from the natural period of the semicircular canal.

  Then, the process performed with the control apparatus 10 for vehicles which concerns on this embodiment comprised as mentioned above is demonstrated. FIG. 4 is a flowchart illustrating an example of control for suppressing the occurrence of car sickness performed by the automatic operation control ECU 26 of the vehicle control device 10 according to the present embodiment. Note that the processing in FIG. 3 is started when, for example, an ignition switch (not shown) is turned on.

  In step 100, the vehicle position recognition unit 40 recognizes the vehicle position on the map based on the vehicle position information received by the GPS reception unit 16 and the map information in the map database 4, and proceeds to step 102.

  In step 102, the external situation recognition unit 42 recognizes the external situation of the vehicle based on the peripheral information acquired by the communication control unit 12 and the detection result of the external sensor 14, and proceeds to step 104.

  In step 104, the traveling state recognition unit 44 recognizes the traveling state of the vehicle based on the detection result of the internal sensor 18 and proceeds to step 106.

  In step 106, the travel plan generation unit 46 is based on the target route calculated by the navigation system 22, the vehicle position recognized by the vehicle position recognition unit 40, and the external situation of the vehicle recognized by the external situation recognition unit 42. The travel plan is generated and the process proceeds to step 108.

  In step 108, the automatic operation control ECU 26 determines whether or not the generated travel plan has a repeated acceleration or steering around 6 seconds. That is, it is determined whether or not there is an acceleration or steering in a period range that is a natural period of the semicircular canal. If the determination is affirmative, the process proceeds to step 110. If the determination is negative, the process proceeds to step 112.

  In step 110, the travel plan generation unit 46 generates a travel plan again by shifting the acceleration / deceleration and steering cycle from 6 seconds, which is the natural cycle of the semicircular canal, and proceeds to step 112.

  In step 112, the travel control unit 48 automatically controls the travel of the vehicle based on the travel plan generated by the travel plan generation unit 46 and proceeds to step 114.

  In step 114, the automatic operation control ECU 26 determines whether or not to end the process. This determination is performed by, for example, determining whether or not an ignition switch (not shown) is turned off. If the determination is negative, the process returns to step 100 and the above processing is repeated. If the determination is affirmative, a series of determinations are made. Terminate the process.

  As described above, in the present embodiment, when the vehicle swing within the predetermined period range including the natural period of the semicircular canal is predicted and the vehicle swing within the period range is predicted, the vehicle swing is Since control is performed so as to deviate from the period range, the occurrence of car sickness can be suppressed.

  In addition, although the process performed by automatic operation control ECU26 in said embodiment was demonstrated as a software process performed by running a program, it is good also as a process performed by hardware. Alternatively, the processing may be a combination of both software and hardware. The program stored in the ROM may be stored and distributed in various storage media.

  Furthermore, the present invention is not limited to the above, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 10 Vehicle control apparatus 12 Communication control part (detection part)
14 External sensor (detection unit)
16 GPS receiver (detector)
18 Internal sensor (detection unit)
20 Map database (storage)
26 Automatic operation control ECU (operation control unit)

Claims (2)

A plurality of detection units that respectively detect vehicle periphery information and vehicle state;
A storage unit for storing map information;
A positioning unit for positioning vehicle position information;
Based on the position of the vehicle on the map recognized based on the position information and the map information, the preset target route, and the external situation of the vehicle recognized based on the detection results of the plurality of detection units, Generate a travel plan that describes the behavior of the vehicle along the target route, and each of the vehicle position on the map, the vehicle travel state recognized based on the detection results of the plurality of detection units, and the external situation of the vehicle When driving is controlled so that the vehicle travels independently according to the generated travel plan, and the vehicle swings in a predetermined periodic range is predicted from the generated travel plan, from the periodic range An operation control unit that regenerates the travel plan so that the swing of the vehicle deviates, and controls the operation so that the vehicle travels independently according to the regenerated travel plan;
A vehicle control device comprising:   The vehicle control device according to claim 1, wherein the periodic range is a predetermined periodic range including a natural period of a human semicircular canal.

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