JP6597516B2 - Automated driving system diagnostic device - Google Patents

Description

  The present invention relates to an automatic driving system diagnostic apparatus. In the present specification, among the devices mounted on or mounted on the vehicle, for example, devices related to traveling of the vehicle, such as steering wheels, throttle valves, and wheel cylinders, and devices that are operated as a result of the driving operation. Is called operation equipment. Further, the automatic driving in the present invention may be an automatic driving corresponding to any of levels 1 to 4 described later. An operation amount calculated for the operation of the operation system device or the operation of the operation unit operated to operate the operation system device in order to execute the automatic operation is referred to as an automatic operation amount. .

  2. Description of the Related Art Conventionally, a technique for performing diagnosis related to whether or not automatic driving can be performed is known. For example, Patent Document 1 discloses various in-vehicle sensors such as a camera on the basis of whether or not information such as a sign stored in map data matches information such as a sign read through the camera. Discloses a technique for diagnosing whether or not the vehicle is in a state where automatic driving can be performed.

JP-A-2015-162175

  However, in the technique described in Patent Document 1, the state of the sensors can be diagnosed, but the state where the control of the automatic operation that is executed based on a predetermined algorithm using information from the sensors can be executed. In the past, there was a problem that the diagnosis could not be made. That is, in automatic driving, information from the sensors is acquired, and based on the information, an operation unit such as a steering wheel or an accelerator pedal, or an operation system device such as a steering wheel or a throttle valve operated by the operation unit is obtained. The operation amounts are calculated based on a predetermined algorithm. Conventionally, it has not been considered to diagnose whether or not such an operation amount is appropriate.

  The present invention has been made in view of these problems, and an object of the present invention is to provide a technique for diagnosing calculation processing of an automatic driving operation amount with respect to the operation of a vehicle operation unit or operation system equipment.

  The automatic driving system diagnosis apparatus of the present invention is provided in a vehicle including an operation unit (11, 12, 13), an operation detection unit (10), and an automatic driving operation amount calculation unit (27), and is a comparison unit. (S7, S7A, S7B) and a diagnosis unit (S5, S8, S9).

  The operation unit is operated by the driver (D) in order to perform the driving operation by operating the operation system device related to the traveling of the vehicle (1). The operation detection unit (10) is configured to detect an operation amount or an operation force applied from the driver to the operation unit. The automatic driving operation amount calculation unit (27) is configured to calculate an automatic driving operation amount with respect to the operation of the operation unit or the operation of the operation system device based on a predetermined algorithm. The comparison unit is configured to compare the operation amount or the operation force detected by the operation detection unit with the automatic driving operation amount calculated by the automatic driving operation amount calculation unit. The diagnosis unit is configured to diagnose the suitability of the operation of the automatic driving operation amount calculation unit based on the comparison result by the comparison unit.

  According to such a configuration, the automatic driving operation amount calculation unit calculates the automatic driving operation amount for the operation of the operation unit or the operation system device based on the predetermined algorithm. The automatic driving operation amount calculated in this way usually has a certain correspondence with the operation amount or the operating force applied from the driver to the operation unit. For example, when the operation amount or the operation force to be applied to the operation unit is calculated as the automatic operation amount, the automatic operation amount is compared to the operation amount or operation force applied from the driver to the operation unit. It doesn't make much difference. Therefore, the diagnosis unit diagnoses the suitability of the operation of the automatic driving operation amount calculation unit based on the comparison result between the operation amount or the operation force performed by the comparison unit and the automatic driving operation amount. Therefore, it is possible to satisfactorily diagnose whether or not the automatic driving operation amount calculation process is executed by the automatic driving operation amount calculation unit.

  In addition, the code | symbol in the parenthesis described in this column and a claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is shown. It is not limited.

It is a block diagram which shows the structure of the vehicle in 1st Embodiment. It is a flowchart of the diagnostic process which the automatic driving | operation diagnostic part of the vehicle performs. It is explanatory drawing which illustrates the data compared by the diagnostic process. It is a block diagram which shows the structure of the vehicle in 2nd Embodiment. It is a flowchart of the diagnostic process which the automatic driving | operation diagnostic part of the vehicle performs. It is a flowchart of abnormal operation exclusion routine in the diagnostic processing. It is a block diagram which shows the structure of the vehicle etc. in 3rd Embodiment. It is a flowchart of the diagnostic process which the automatic driving | operation diagnostic part of the vehicle performs.

Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.
[1. First Embodiment]
[1-1. Constitution]
As shown in FIG. 1, the vehicle 1 in the first embodiment includes an operation system 10, an automatic driving system 20, and an automatic driving diagnosis unit 30, of which a positioning sensor 22, an automatic driving as an automatic driving system diagnostic device are included. A map DB 24 and an automatic driving diagnosis unit 30 are provided.

  The operation system 10 includes a steering wheel (hereinafter simply referred to as steering) 11, an accelerator pedal (hereinafter simply referred to as accelerator) 12, and a brake pedal (hereinafter simply referred to as brake) 13. The steering 11 is an operation unit for changing the traveling direction of the vehicle 1 by moving the steering wheel. The accelerator 12 is an operation unit for accelerating the vehicle 1 by opening a throttle valve or increasing energization of the traveling motor. The brake 13 is an operation unit for moving the wheel cylinder to decelerate the vehicle 1.

  Although not shown, the operation system 10 includes a detection unit that detects the operation amounts of the steering 11, the accelerator 12, and the brake 13, and an actuator that operates each of them even when the driver D is not touching. Is provided. In addition, as these actuators, actuators prepared in advance for other control, such as actuators for power steering devices, for example, may also be used.

  The automatic driving system 20 includes a vehicle surrounding environment monitoring sensor 21, a positioning sensor 22, a vehicle sensor 23, and an automatic driving map DB 24. DB is an abbreviation for database, and the same applies to the following description.

  The vehicle surrounding environment monitoring sensor 21 is configured as hardware that detects surrounding objects, such as a camera, a radar, and a sonar. The vehicle surrounding environment monitoring sensor 21 sends information such as coordinates indicating the position of the object to a sensor analysis unit 25 described later.

  The positioning sensor 22 is a well-known sensor that detects the current location of the vehicle 1 using techniques such as satellite information obtained from artificial satellites and map matching. The positioning sensor 22 sends the current location of the vehicle 1 to the sensor analysis unit 25.

  The vehicle sensor 23 is a well-known sensor that detects values related to the traveling of the vehicle 1 such as the traveling speed, acceleration, and yaw rate of the vehicle 1. The vehicle sensor 23 sends a value related to travel of the vehicle 1 to the sensor analysis unit 25.

  The automatic driving map DB 24 is a well-known database that stores map data in which latitude and longitude are associated. The automatic driving map DB 24 outputs map data in response to a request from the sensor analysis unit 25. The map data stored in the automatic driving map DB 24 is data including the road shape in each road section, and the map data is suitable for control confirmation of the automatic driving system 20 (that is, diagnosis of appropriateness of control). A flag indicating that is added to the data of the road section. The stored map data is suitable for checking whether or not the vehicle surrounding environment monitoring sensor 21, the positioning sensor 22, and the vehicle sensor 23 (hereinafter collectively referred to as each sensor) are operating normally. A flag indicating that fact is given to the road section data. In addition, the correct value of the detection result of each sensor in the road section is stored in association with the data of the road section suitable for checking whether each sensor is operating normally. The road section is a section obtained by appropriately dividing the target road.

  Moreover, the automatic driving system 20 includes a sensor analysis unit 25 and an automatic driving control unit 27 as a function configuration realized by a CPU (not shown) executing a program. The automatic operation system 20 is mainly configured by a known microcomputer having a CPU and a memory (hereinafter simply referred to as a memory) such as a ROM, a RAM, and a flash memory (not shown). Various functions of the automatic driving system 20 are realized by the CPU executing a program stored in a non-transitional physical recording medium. In this example, the memory corresponds to a non-transitional tangible recording medium storing a program. Further, by executing this program, a method corresponding to the program is executed.

  The number of microcomputers constituting the automatic driving system 20 may be one or plural. Further, the method for realizing these elements constituting the automatic driving system 20 is not limited to software, and some or all of the elements are realized by using hardware combining logic circuits, analog circuits, and the like. Also good.

  The sensor analysis unit 25 recognizes the position of another vehicle, the position of an obstacle, the position of a boundary such as a white line, or the running state of the vehicle 1 based on the data obtained from each sensor, and automatically drives these various types of information. The data is sent to the control unit 27. The automatic operation control unit 27 executes automatic operation control using various information obtained from the sensor analysis unit 25.

  The technology related to automatic driving is classified into level 1 (safe driving support system), level 2 and 3 (semi-automatic driving system), and level 4 (fully automatic driving system) according to the level of automation. This content is described in, for example, “Strategic Innovation Creation Program Automated Driving System” announced in May 2015 by the Cabinet Office. The automatic driving control executed by the automatic driving control unit 27 may be automatic driving control corresponding to any of levels 1 to 4, and automatic driving control according to the selection of the driver D may be executed. .

  For example, the automatic driving control unit 27 operates the steering 11 to control only the traveling direction of the vehicle 1 and also executes automatic driving control in which the traveling speed of the vehicle 1 is made to respond to the operation of the driver D with respect to the accelerator 12 and the brake 13. Is possible. Further, the automatic driving control unit 27 can also execute control in which the accelerator 12 and the brake 13 are operated to control only the traveling speed of the vehicle 1 and the traveling direction is in accordance with the operation of the driver D with respect to the steering 11. In the following description, it is assumed that the automatic driving control unit 27 executes level 4 automatic driving control for operating all of the steering 11, the accelerator 12, and the brake 13. In that case, the automatic driving map DB 24 may store map data related to a road section in which automatic driving control can be executed by laws and regulations.

  The automatic operation control unit 27 calculates the traveling speed and the traveling direction of the vehicle 1 based on a predetermined algorithm based on various information sent from the sensor analysis unit 25. Such an algorithm is very well known, and any known algorithm may be applied. The automatic operation control unit 27 performs an operation amount to be applied to each of the steering 11, the accelerator 12, and the brake 13 in order to execute the automatic operation control for achieving the calculated traveling speed and traveling direction (hereinafter, referred to as “automatic operation control”). , Automatic driving operation amount). When executing the automatic driving control, the automatic driving control unit 27 causes the steering 11, the accelerator 12, and the brake via the actuator so that the operation amounts of the steering wheel 11, the accelerator 12, and the brake 13 coincide with the automatic driving operation amount. Each of 13 is operated. Further, the automatic driving control unit 27 does not execute the automatic driving control, and the steering driving, the accelerator 12, and the brake 13 are operated in response to the operation of the driver D. Similarly, an automatic driving operation amount is calculated.

  The automatic driving control unit 27 sends the calculated automatic driving operation amount to the automatic driving diagnosis unit 30 at the time of executing the automatic driving control and at the time of manual driving. In addition, the respective operation amounts of the steering wheel 11, the accelerator 12, and the brake 13 detected by each detection unit in the operation system 10 during manual driving are sent to the automatic driving diagnosis unit 30 as manual driving operation amounts. The automatic driving operation amount and the manual driving operation amount are sent to the automatic driving diagnosis unit 30 as numerical values in the same unit. Moreover, the data obtained from each sensor can be directly sent to the automatic driving diagnosis unit 30 as necessary without passing through the sensor analysis unit 25 and the automatic driving control unit 27.

  The automatic driving diagnosis unit 30 is mainly configured by a known microcomputer having a CPU (not shown) and a memory (hereinafter simply referred to as a memory) such as a ROM, a RAM, and a flash memory (not shown). Various functions of the automatic driving diagnosis unit 30 are realized by the CPU executing a program stored in a non-transitional physical recording medium. In this example, the memory corresponds to a non-transitional tangible recording medium storing a program. Further, by executing this program, a method corresponding to the program is executed.

  The number of microcomputers constituting the automatic driving diagnosis unit 30 may be one or plural. In addition, the method of realizing these elements constituting the automatic driving diagnosis unit 30 is not limited to software, and some or all of the elements are realized using hardware combining logic circuits, analog circuits, and the like. May be.

[1-2. processing]
Next, diagnostic processing executed by the automatic driving diagnosis unit 30 based on the program will be described with reference to the flowchart of FIG. Note that this processing is performed during manual operation, that is, the automatic operation control unit 27 does not execute automatic operation control, and the automatic operation control unit 27 operates all of the steering 11, the accelerator 12, and the brake 13 via actuators. It is executed when not letting.

  As shown in FIG. 2, in this process, first, in S1, whether or not the road section where the vehicle 1 is currently traveling is a road section suitable for checking whether or not each sensor is operating normally. Is judged. That is, whether or not the currently traveling section is a road section suitable for the confirmation is determined based on whether or not a flag indicating that fact is given to the data of the automatic driving map DB 24. The section that is currently running is acquired by a known method by comparing the current location of the vehicle 1 detected by the positioning sensor 22 with map data stored in the automatic driving map DB 24.

  When it is determined that the currently traveling section is not a road section suitable for the confirmation (that is, No), the process of S1 is repeatedly executed. On the other hand, when it is determined in S1 that the currently traveling section is a road section suitable for the confirmation (that is, Yes), the process proceeds to S2.

  In S2, the processing result of each sensor, that is, the detection result of the vehicle surrounding environment monitoring sensor 21, the positioning sensor 22, and the vehicle sensor 23 is compared with the correct value of the detection result of each sensor stored in the automatic driving map DB 24. . For example, it is determined whether or not a sign or the like is recognized at a predetermined position with accurate contents.

  In subsequent S3, it is determined whether or not the recognition error of each sensor is within an allowable range based on the comparison result in S2. If it is determined in S3 that the recognition error of each sensor is outside the allowable range (that is, No), the process proceeds to S5, the system is determined to be abnormal, and the automatic operation is invalidated. Is temporarily terminated. The diagnosis result is sent to the automatic operation control unit 27 as shown in FIG. Then, the automatic operation control unit 27 executes a process according to the system abnormality, such as refusing even if the automatic operation control is instructed.

  On the other hand, when it is determined in S3 that the recognition error of each sensor is within the allowable range (that is, Yes), the process proceeds to S6. In S <b> 6, it is determined whether or not the road section in which the vehicle 1 is currently traveling is a road section suitable for control confirmation of the automatic driving system 20. That is, whether or not the currently traveling section detected via the positioning sensor 22 is a road section suitable for the control confirmation, and whether or not a flag indicating that is added to the data of the automatic driving map DB 24. Judgment based on. When it is determined in S6 that the currently traveling road segment is not a road segment suitable for the control confirmation (that is, No), the process of S6 is repeatedly executed.

  On the other hand, when it is determined in S6 that the currently traveling road section is a road section suitable for the control confirmation (that is, Yes), the process proceeds to S7. In S7, the automatic driving operation amount sent at that time is compared with the manual driving operation amount. Specifically, in S7, a difference (hereinafter also referred to as an error) between the automatic driving operation amount and the manual driving operation amount is calculated.

  Here, the processing of S6 and S7 will be described with a specific example. The data stored in the automatic driving map DB 24 as being capable of executing automatic driving control is divided into sections A, B, and C shown in FIG. 3, and the road shape is as shown in the uppermost part of FIG. Suppose that it is a shape. Then, during traveling on the road, the steering amount (that is, the operation amount of the steering wheel 11), the accelerator (that is, the operation amount of the accelerator 12), and the brake (that is, the operation amount of the brake 13) are, for example, 2 in FIG. It changes as shown in the third, third, and fourth stages. In FIG. 3, the solid line represents the change in the automatic driving operation amount, and the broken line represents the change in the manual driving operation amount.

As shown in FIG. 3, the manual operation amount is more likely to increase or decrease compared to the automatic operation amount, but if the automatic operation amount is calculated appropriately, the automatic operation amount and the manual operation amount The difference from the amount of operation is not so large. However, among the road sections shown in FIG. 3, the straight line segment, such as Section B, the section A, the curve section, such as C, that is towards the road section curvature is greater than the threshold, the automatic driving operation It is estimated that the time change of the amount and the amount of manual operation increases. In such a road section, it is estimated that the difference between the automatic driving operation amount and the manual driving operation amount is likely to occur. In addition, the said threshold value may be set suitably according to the shape of the various road sections stored in automatic driving map DB24.

  Therefore, in the automatic driving map DB 24, road sections that are likely to have a difference between the automatic driving operation amount and the manual driving operation amount, such as the sections A and C shown in FIG. A flag is assigned as a road section. That is, in the automatic driving map DB 24, a flag indicating that the road section estimated that the change in the amount of the automatic driving operation is larger than a preset threshold value is a road section suitable for the control confirmation of the automatic driving system 20 is flagged. Has been granted. In S6, it is determined whether or not the currently traveling road section is such a road section. In S7, the automatic driving operation amount and the manual driving operation amount are compared in such a road section.

  In the automatic driving map DB 24, the flag is given to a road section in which the change in the amount of the automatic driving operation is estimated to be larger than the threshold due to a factor other than the curvature, such as a road section having a slope greater than or equal to a predetermined value. Also good. In addition, the flag may be given to a road section in which a probability that a stop or deceleration is required is higher than a threshold value. In addition, the flag may be given to a road section registered as having a high necessity for control confirmation of the automatic driving system 20, such as an entrance to a road where automatic driving such as an expressway is permitted, and the like. For other reasons, it may be given to other road sections.

  Returning to FIG. 2, in S <b> 8 following S <b> 7, based on the comparison result in S <b> 7, it is determined whether an error (that is, a difference) between the automatic driving operation amount and the manual driving operation amount is within an allowable range. The permissible range may be set individually for each of the operation amount of the steering wheel 11, the operation amount of the accelerator 12, and the operation amount of the brake 13, or may be set to a certain percentage or the like. . The allowable range may be set to a different value for each road section, or a uniform value may be set to all sections.

  Further, whether or not the vehicle is within the allowable range may be determined as No if any one of the operation amount of the steering wheel 11, the operation amount of the accelerator 12, and the operation amount of the brake 13 is out of the allowable range. If any one of them is within the allowable range, Yes may be determined. Furthermore, in S8, even if a determination is made with emphasis on parameters that are likely to reflect abnormalities in the automatic driving system 20 by weighting the operation amount of the steering wheel 11, the operation amount of the accelerator 12, and the operation amount of the brake 13, respectively. Good.

  If it is determined in S8 that the error is outside the allowable range (that is, No), the process proceeds to S5 described above, the system is determined to be abnormal, automatic operation is invalidated, and the process is performed. Exit once. Also in this case, the diagnosis result is sent to the automatic operation control unit 27, and the automatic operation control unit 27 executes processing according to the system abnormality such as rejection even if the automatic operation control is instructed. In addition, as a case where it is determined that the system is abnormal as described above, there is a case where it is determined that the system is abnormal due to a change in the mechanical configuration of the vehicle 1 with time, for example, tire wear.

  On the other hand, if it is determined in S8 that the error is within the allowable range (that is, Yes), the process proceeds to S9, the system is determined to be normal, automatic operation is enabled, and the process is performed. Exit once. The diagnosis result is sent to the automatic operation control unit 27 as shown in FIG. Then, the automatic operation control unit 27 executes the automatic operation control as usual.

[1-3. effect]
According to the first embodiment described in detail above, the following effects can be obtained.
(1A) In the present embodiment, by utilizing the fact that the difference between the amount of automatic driving operation and the amount of manual driving operation is usually not so large, by comparing the two, the presence or absence of abnormality in the automatic driving system 20 is diagnosed. Yes. For this reason, it is possible to satisfactorily diagnose whether or not the automatic driving operation amount in the automatic driving system 20 is calculated.

  (1B) In the present embodiment, the automatic driving map DB 24 stores road sections in which automatic driving control can be executed, that is, road sections in which the amount of automatic driving operation can be calculated, in association with road shapes. is doing. Then, the comparison is made in the road section where the difference between the automatic driving operation amount and the manual driving operation amount is likely to occur. Therefore, it is possible to efficiently diagnose the suitability of the process for calculating the automatic driving operation amount in the automatic driving system 20.

[2. Second Embodiment]
[2-1. Difference from the first embodiment]
Since the basic configuration of the second embodiment is the same as that of the first embodiment, the description of the common configuration will be omitted, and the description will focus on the differences. Note that the same reference numerals as those in the first embodiment indicate the same configuration, and the preceding description is referred to.

  In the first embodiment described above, the automatic driving operation amount and the manual driving operation amount at that time are directly compared by the automatic driving diagnosis unit 30. In contrast, the second embodiment is different from the first embodiment in that the automatic driving operation amount and the manual driving operation amount are once recorded in the driving operation record DB 40 and then compared.

  As shown in FIG. 4, the vehicle 1 according to the second embodiment further includes a driving operation record DB 40 as an automatic driving system diagnostic device. The driving operation record DB 40 includes an automatic driving operation recording unit 41 and a manual driving operation recording unit 42. The automatic driving operation amount calculated by the automatic driving control unit 27 is recorded in the automatic driving operation recording unit 41 in accordance with an instruction from the automatic driving diagnosis unit 30. Further, the manual driving operation amount detected in the operation system 10 is recorded in the manual driving operation recording unit 42 in accordance with an instruction from the automatic driving diagnosis unit 30. The automatic driving diagnosis unit 30 executes the following diagnosis process using each operation amount recorded in the driving operation record DB 40.

[2-2. processing]
Next, diagnostic processing executed by the automatic driving diagnosis unit 30 in the second embodiment instead of the diagnostic processing in the first embodiment shown in FIG. 2 will be described with reference to the flowchart of FIG. The diagnostic process shown in FIG. 5 is different from that shown in FIG. 2 except that S170 and S180 are added between S6 and S7 in FIG. 2 and S7 is slightly changed accordingly. It is. Therefore, differences will be described below.

  As shown in FIG. 5, when it is determined in S6 that the road section is suitable for control confirmation of the automatic driving system 20 (that is, Yes), the process proceeds to S170. In S170, the automatic driving operation amount calculated by the automatic driving control unit 27 is recorded in the automatic driving operation recording unit 41, and the manual driving operation amount detected by the operation system 10 is recorded in the manual driving operation recording unit 42. The In the subsequent S180, it is determined whether or not the automatic driving operation amount and the manual driving operation amount have been recorded over a sufficient period (that is, a predetermined period set in advance) by the processing in S170. When it is determined in S180 that the recording has not been completed for a sufficient period (that is, No), the process proceeds to S170 described above.

  In this way, when the processes of S170 and S180 are repeatedly executed and the automatic driving operation amount and the manual driving operation amount are recorded in the automatic driving operation recording unit 41 and the manual driving operation recording unit 42 for a sufficient period, in S180. The determination is Yes, and the process proceeds to S7A. In S7A, the automatic driving operation amount recorded in the automatic driving operation recording unit 41 is compared with the manual driving operation amount recorded in the manual driving operation recording unit 42. This comparison may be a comparison between the average value of the automatic driving operation amount recorded in the automatic driving operation recording unit 41 and the average value of the manual driving operation amount recorded in the manual driving operation recording unit 42. The comparison of the maximum value, the minimum value, the intermediate value, the mode value, etc. of both may be used. Also in this processing, the comparison is specifically calculation of a difference. Subsequently, the process proceeds to S8 as in the first embodiment, and it is determined whether or not the error between the two is within an allowable range.

[2-3. effect]
According to the second embodiment described in detail above, the following effects can be obtained in addition to the effects (1A) and (1B) of the first embodiment described above.

  (2A) In the present embodiment, since the automatic driving operation amount and the manual driving operation amount acquired at a plurality of times are once recorded in the driving operation record DB 40 and compared, the value of the noise generated instantaneously is calculated. It is possible to suppress reflection in the diagnosis. However, even if the automatic driving operation amount at that time and the manual driving operation amount are compared as in the first embodiment, by setting the allowable range wide, the system abnormality is caused by instantaneous noise. It can suppress that it is judged.

[2-4. Modification of Second Embodiment]
In the diagnostic processing in the second embodiment, an abnormal operation exclusion routine as shown in FIG. 6 may be executed in parallel at S170. As shown in FIG. 6, in this process, it is first determined in S171 whether or not the vehicle 1 is traveling in the reference speed range. If it is determined in S171 that the vehicle is not traveling in the reference speed range (that is, No), the process proceeds to S172. In S172, it is determined that the operation is an abnormal manual operation, and the manual operation amount at that time is discarded without being recorded in the manual operation operation recording unit 42, and the process proceeds to S173. Here, the reference speed range is set to, for example, a speed range permitted by traffic regulations or a speed range obtained by adding a predetermined speed to the speed range. For this reason, when it is determined No in S171, it can be considered that the driver D is operating at an abnormally high speed, so that the manual driving operation amount related to the driving operation is stored in the manual driving operation recording unit 42. It is not recorded.

  In S173, it is determined whether or not recording of the manual operation amount is to be continued (for example, manual operation is continuing). When it is determined in S173 that the recording of the manual driving operation amount is to be continued (that is, Yes), the process proceeds to S171 described above, and the recording of the manual driving operation amount is not to be continued (that is, No) and S173, the process is temporarily terminated.

  On the other hand, when it is determined in S171 that the vehicle 1 is traveling in the reference speed range (that is, Yes), the process proceeds to S174, and whether or not the vehicle 1 is traveling in the reference acceleration / deceleration G. Is judged. Note that G is an abbreviation for acceleration, and the same applies to the following description. When it is determined in S174 that the vehicle is not traveling within the reference acceleration / deceleration G (that is, No), the process proceeds to S172 described above. In S172, it is determined that the operation is an abnormal manual operation, and the amount of manual operation at that time is discarded without being recorded in the manual operation operation recording unit 42. Here, the reference acceleration / deceleration G is set to a standard acceleration / deceleration G range, for example. For this reason, when it is determined No in S174, it can be regarded as an abnormal driving state such as sudden acceleration or sudden braking, and thus the manual driving operation amount related to the driving operation is recorded in the manual driving operation recording unit 42. It is not done.

  On the other hand, when it is determined in S174 that the vehicle 1 is traveling within the reference acceleration / deceleration G (that is, Yes), the process proceeds to S175, and whether the vehicle 1 is traveling within the reference lateral G or not. Is judged. When it is determined in S175 that the vehicle is not traveling within the reference lateral G (that is, No), the process proceeds to S172 described above. In S172, it is determined that the operation is an abnormal manual operation, and the manual operation amount at that time is discarded without being recorded in the manual operation operation recording unit 42. Here, the reference lateral G is set to a standard lateral G range, for example. For this reason, when it is determined No in S175, it can be regarded as an abnormal driving state such as a sudden handle, so that the manual driving operation amount related to the driving operation is not recorded in the manual driving operation recording unit 42. To do.

  On the other hand, when it is determined in S175 that the vehicle 1 is traveling within the reference lateral G (that is, Yes), the process proceeds to S176. In S176, it is determined that the operation is a normal manual operation, the amount of manual operation at that time is recorded in the manual operation operation recording unit 42, and the process proceeds to S173 described above.

  If such an abnormal operation exclusion routine is executed in S170 in the second embodiment, the manual operation amount recorded in the manual operation operation recording unit 42 is excluded from the manual operation amount related to the abnormal manual operation. It will be a thing. For this reason, the accuracy of the diagnosis made by comparing the automatic driving operation amount and the manual driving operation amount can be further improved.

  The reference speed range, the reference acceleration / deceleration G, and the reference lateral G used in this abnormal driving elimination routine may be fixed values, and are stored in the automatic driving map DB 24 in association with the data of each road section. Alternatively, it may be set as needed according to the recognition result of a sign or the like via each sensor. Such an abnormal operation exclusion routine may be executed in S7 in the first embodiment. In that case, the sort of the process of recording / not recording in the manual driving operation recording unit 42 as described above is the sort of the process of determining whether or not to make a comparison in S7.

[3. Third Embodiment]
[3-1. Difference from Second Embodiment]
Since the basic configuration of the third embodiment is the same as that of the second embodiment, the description of the common configuration will be omitted, and the description will focus on the differences. In addition, the same code | symbol as 2nd Embodiment shows the same structure, Comprising: Prior description is referred.

  In the second embodiment described above, the manual driving operation amount detected by the operation system 10 in the vehicle 1 is compared with the automatic driving operation amount. On the other hand, in the third embodiment, the amount of manual driving operation detected by the operating system 10 in the other vehicle 2, vehicle 3,... It is different from the second embodiment in that it is compared with the amount.

  As shown in FIG. 7, the vehicle 1 according to the third embodiment further includes a wireless communication device 50 as an automatic driving system diagnostic device. The wireless communication device 50 is connected to the manual operation operation recording unit 42 of the operation operation record DB 40 so that data can be transmitted and received. The other vehicle 2, vehicle 3,..., Vehicle N shown in FIG. 7 have the same configuration as that of the vehicle 1 shown in FIG.

  The wireless communication device 50 of each vehicle 1, 2, 3,..., N can transmit and receive data via the wireless communication base station 90 and wirelessly. The radio communication base station 90 includes a manual driving operation DB 91.

[3-2. processing]
Next, diagnostic processing executed by the automatic driving diagnosis unit 30 in the second embodiment instead of the diagnostic processing in the second embodiment shown in FIG. 5 will be described with reference to the flowchart of FIG. The diagnostic processing shown in FIG. 8 is different in that S210 to S230 are added between S180 and S7A in FIG. 5 and S7A is changed slightly according to S7B. It is. Therefore, differences will be described below.

  As shown in FIG. 8, when the automatic driving operation amount and the manual driving operation amount are recorded in the automatic driving operation recording unit 41 and the manual driving operation recording unit 42 for a sufficient period and it is determined Yes in S180, the process is performed in S210. Migrate to In S210, the manual driving operation DB 91 is recorded corresponding to the same road section as the road section on which the vehicle 1 traveled during the sufficient period (that is, the period in which the manual driving operation amount is recorded in the manual driving operation recording unit 42). The amount of manual driving operation of other vehicles being downloaded is downloaded. In subsequent S220, the manual driving operation amount recorded in the manual driving operation recording unit 42 at that time is uploaded to the manual driving operation DB 91 in association with the road section on which the vehicle 1 has traveled during the sufficient period.

  That is, when each vehicle 1, 2, 3,..., N executes the process of S220, the manual driving operation DB 91 records in the manual driving operation recording unit 42 in each vehicle 1, 2, 3,. The amount of manual driving operation performed is recorded in association with the recorded road section. Therefore, in S210, the manual driving operation of each vehicle 1, 2, 3,..., N recorded in the manual driving operation DB 91 in association with the same road section as the road section on which the vehicle 1 traveled during the sufficient period. The quantity is downloaded.

  In subsequent S230, the manual driving operation amount downloaded in S210 and the manual driving operation amount recorded in the manual driving operation recording unit 42 of the vehicle 1 (that is, the host vehicle) at that time are averaged. In subsequent S7B, the average value of the automatic driving operation amount recorded in the automatic driving operation recording unit 41 is compared with the manual driving operation amount in each vehicle 1, 2, 3,..., N averaged in S230. The Then, the process proceeds to S8 as in the first embodiment, and it is determined whether or not the error between the two is within an allowable range. In S230, the maximum value, the minimum value, the intermediate value, the mode value, and the like of each downloaded manual driving operation amount may be acquired. In that case, in S7B, the acquired value and the automatic driving operation are obtained. The maximum value, minimum value, intermediate value, mode value, etc. of the automatic driving operation amount recorded in the recording unit 41 are compared. Also in this processing, the comparison is specifically calculation of a difference.

[3-3. effect]
According to the third embodiment described in detail above, in addition to the effects (1A) and (1B) of the first embodiment and the effect (2A) of the second embodiment, the following effects can be obtained.

  (3A) In the present embodiment, the amount of manual driving operation by a plurality of drivers D that respectively drive a plurality of vehicles 1, 2, 3,..., N and the automatic driving control unit 27 in the vehicle 1 as the own vehicle are calculated. The amount of automatic driving operation performed is compared. For this reason, the amount of manual driving operation that reflects the personality and skill of the driver D is averaged among the plurality of drivers D to obtain a general correct answer value, and the accuracy of the diagnosis can be further improved. it can. Note that the abnormal operation elimination routine shown in FIG. 6 may also be executed in S170 of the present embodiment, and in this case, the accuracy of the diagnosis can be further improved.

[4. Correspondence with Claimed Elements]
In each of the embodiments described above, the steering 11, the accelerator 12, and the brake 13 correspond to the operation unit, the detection unit in the operation system 10 corresponds to the operation detection unit, and the automatic driving control unit 27 serves as the automatic driving operation amount calculation unit. Correspond. The positioning sensor 22 corresponds to the position detection unit, and the automatic driving map DB 24 corresponds to the road storage unit. Further, the automatic driving diagnosis unit 30 corresponds to the comparison unit, the diagnosis unit, and the abnormality determination unit, and among the processes in the automatic driving diagnosis unit 30, S7, S7A, or S7B is the comparison unit, and S5, S8, and S9 are S171 to S176 correspond to the diagnosis unit and the abnormality determination unit, respectively. In the second and third embodiments, the automatic driving operation recording unit 41 corresponds to the automatic driving operation amount storage unit, the manual driving operation recording unit 42 corresponds to the detection storage unit, and the wireless communication device in the third embodiment. 50 corresponds to the operation acquisition unit.

[5. Other Embodiments]
As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to the above-mentioned embodiment, It can implement in various deformation | transformation.

  (5A) In each of the above embodiments, the automatic driving operation amount and the manual driving operation amount are compared by calculating the difference, but the present invention is not limited to this. For example, the automatic driving operation amount and the manual driving operation amount may be compared by calculating a ratio value. In that case, the suitability of the process of calculating the automatic driving operation amount in the automatic driving system 20 can be diagnosed based on whether the value of the ratio is within an allowable range including 1.

  (5B) In each of the above embodiments, the operation amounts for the steering 11, the accelerator 12, and the brake 13 are detected as the manual driving operation amounts in the operation system 10, but the present invention is not limited to this. For example, the operation force with respect to them may be detected as a manual operator operation force. In this case, if the automatic driving operation force corresponding to the automatic driving operation amount is calculated by the automatic driving control unit 27, the difference between the automatic driving operation force and the manual driving operation force is calculated and compared. The same control as in each embodiment can be executed. Further, in that case, the comparison is made by calculating the value of the ratio between the automatic driving operation amount and the manual driving operation force, and based on whether the ratio value is within an allowable range including a predetermined value other than 1. It is possible to diagnose the suitability of the process for calculating the amount of automatic driving operation in the automatic driving system 20.

  (5C) Moreover, in the said embodiment, although the said comparison and diagnosis were made | formed with respect to the automatic driving operation amount and manual driving operation amount which concern on the steering wheel 11, the accelerator 12, and the brake 13, it is not limited to this. For example, the comparison and diagnosis may be performed with respect to any one or two operation units of the steering 11, the accelerator 12, and the brake 13, and the comparison and diagnosis may be performed with respect to the other operation units.

  (5D) In each of the embodiments described above, the automatic operation control unit 27 operates the operation units of the steering 11, the accelerator 12, and the brake 13, but is not limited thereto. The automatic operation control unit 27 directly operates operation system devices such as a wheel cylinder and a linkless throttle valve in a gasoline vehicle without operating the operation units such as the steering wheel, the accelerator pedal, and the brake pedal. Etc. may be controlled.

  In this case, the automatic driving control unit 27 calculates an automatic driving operation amount (for example, an operating amount) for the operation of the operation system device. In that case, the comparison between the manual driving operation amount or the manual driving operation force and the automatic driving operation amount is performed by calculating a ratio value or determining whether or not there is a certain other correspondence. May be. Further, in such a case, if the manual driving operation amount or the manual driving operation force is compared with the operation amount or the operating force of the operation unit corresponding to the automatic driving operation amount, the difference is the same as in each of the embodiments. A process of comparing by calculating can be applied. Further, when the operation amount of the operation system device corresponding to the manual driving operation amount or the manual driving operation force is compared with the automatic driving operation amount, the comparison is performed by calculating the difference as in each of the embodiments. Can be applied.

  (5E) Further, the automatic driving operation amount calculated by the automatic driving operation amount calculating unit may be output only by display or sound, for example. That is, according to the present invention, an operation such as “turn the steering wheel 90 ° to the right” is displayed or voiced to the driver D without operating the operation unit such as the steering wheel 11 or the operation system device such as the wheel cylinder. It can also be applied to devices that only give. Such a device can also be configured by a smartphone with a camera, a drive recorder, or the like. Also in this case, for example, an automatic driving operation amount such as the above-described automatic driving operation amount is calculated, so that the same processing as in each of the above embodiments can be executed.

In (5F) the above embodiments, although the diagnosis is made in the road section that is suitable for the control check automatic operation system 20, such as the curvature of not large road section, but is not limited thereto. For example, the diagnosis may be performed constantly during manual operation.

  (5G) A plurality of functions of one constituent element in the embodiment may be realized by a plurality of constituent elements, or one function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  (5H) In addition to the above-described automatic driving system diagnostic device, a system including the automatic driving system diagnostic device as a component, a program for causing a computer to function as the automatic driving system diagnostic device, a semiconductor memory in which the program is recorded, etc. The present invention can also be realized in various forms such as a non-transition actual recording medium and a diagnostic method.

[6. Supplement]
As is clear from the exemplary embodiment described above, the automatic driving system diagnosis apparatus of the present invention may further include the following configuration.

  (6A) The operation detection unit is configured to detect the operation amount, and the automatic driving operation amount calculation unit calculates an automatic driving operation amount to be added to the operation unit as the automatic driving operation amount. The comparison unit may be configured to acquire a difference between the operation amount detected by the operation detection unit and the operation amount calculated by the automatic driving operation amount calculation unit. Furthermore, the diagnosis unit may diagnose that the operation of the automatic driving operation amount calculation unit is appropriate when the difference acquired by the comparison unit is within a preset allowable range. In that case, it is possible to diagnose whether or not the operation of the automatic driving operation amount calculation unit is appropriate by a simple process of calculating a numerical difference.

  (6B) Further, a position detection unit (22) that detects a position where the vehicle is traveling, and a road section in which the automatic driving operation amount calculation unit can calculate the automatic driving operation amount are defined as a road shape of the road section. And a road storage unit (24) stored in association with each other. Furthermore, when the position detected by the position detection unit is a road segment stored in the road storage unit, the change of the automatic driving operation amount is estimated to be larger than a threshold value, the comparison A unit may perform the comparison, and the diagnosis unit may perform the diagnosis. In that case, when there is an abnormality, the difference between the compared values is likely to occur, and the diagnosis can be executed efficiently.

(6C) Further, in the case of (6B), wherein the road section changes the automatic driving operation amount is estimated to be greater than the threshold value, is required not road segment or stop or deceleration greater than the curvature threshold A road section where the probability is higher than a threshold value may be included. The size has road section curvature, wherein also the operation amount or operating force is a manipulated variable or operating force be an operation amount or operating force according to the steering according acceleration and deceleration, the difference of the compared values is readily released The diagnosis can be executed efficiently. Even in a road section in which the probability that a stop or deceleration is required is higher than a threshold value, the compared values are likely to differ, and the diagnosis can be executed efficiently.

  (6D) In addition, the detection storage unit (42) configured to store the operation amount or the operation force detected by the operation detection unit at a plurality of points in time, respectively, and the automatic driving operation amount calculation unit include the plurality of operation amounts. An automatic driving operation amount storage unit (41) configured to store the automatic driving operation amount calculated at the time may be further provided. Furthermore, the comparison unit (S7A, S7B) is configured to perform the operation amount or operation force stored in the detection storage unit and the automatic driving operation amount stored in the automatic driving operation amount storage unit. It may be configured to make a comparison. In that case, since the operation amount or operation force detected at a plurality of time points is compared with the automatic driving operation amount calculated at the plurality of time points, the value of the noise generated instantaneously is reflected in the diagnosis. Can be suppressed.

  (6E) Further, the abnormality determination unit configured to determine whether or not the operation amount or the operation force detected by the operation detection unit is an operation amount or an operation force corresponding to an abnormal driving operation (S171 to S171). S176) may further be provided. Further, the comparison unit may be configured to perform the diagnosis by excluding the operation amount or the operation force determined to correspond to an abnormal driving operation by the abnormality determination unit from the comparison target. In that case, since the comparison is made by removing the operation amount or operation force corresponding to the abnormal driving operation, the accuracy of the diagnosis can be further improved.

  (6F) Moreover, it is comprised so that the driver | operator of the said vehicle may acquire the operation amount or operating force which the driver | operator of the said vehicle applied to the operation part of the said vehicle with the other vehicle which drive | worked the same road section as the road section where the said vehicle traveled. The operation acquisition unit (50) may be further provided. Furthermore, the comparison unit (S7B) may be configured so that the operation amount or the operation force acquired by the operation acquisition unit is also a comparison target with respect to the automatic driving operation amount. In that case, the operation amount or operation force reflecting the individuality and skill of the driver is acquired from other vehicles and reflected in the comparison and diagnosis, so the diagnosis is generalized and the accuracy of the diagnosis is further increased. Can be improved.

1, 2, 3, N ... Vehicle 10 ... Operation system 11 ... Steering 12 ... Accelerator 13 ... Brake 20 ... Automatic driving system 21 ... Vehicle surrounding environment monitoring sensor 22 ... Positioning sensor 23 ... Vehicle sensor 24 ... Automatic driving map DB
25 ... Sensor analysis unit 27 ... Automatic operation control unit 30 ... Automatic operation diagnosis unit 40 ... Driving operation record DB
DESCRIPTION OF SYMBOLS 41 ... Automatic driving operation recording part 42 ... Manual driving operation recording part 50 ... Wireless communication apparatus 90 ... Wireless communication base station 91 ... Manual driving operation DB D ... Driver

Claims (5)

An operation unit (11, 12, 13) operated by a driver (D) in order to perform a driving operation by operating an operation system device related to traveling of the vehicle (1);
An operation detection unit (10) configured to detect an operation amount or an operation force applied from the driver to the operation unit;
An automatic driving operation amount calculation unit (27) configured to calculate an automatic driving operation amount based on a predetermined algorithm for the operation of the operation unit or the operation of the operation system device;
A position detector (22) for detecting a position where the vehicle is traveling;
A road storage unit (24) in which the automatic driving operation amount calculation unit stores a road section in which the automatic driving operation amount can be calculated in association with a road shape of the road section;
Provided in a vehicle equipped with
A comparison unit (S7, S7A, S7B) configured to compare the operation amount or operation force detected by the operation detection unit with the automatic driving operation amount calculated by the automatic driving operation amount calculation unit;
A diagnosis unit (S5, S8, S9) configured to diagnose the suitability of the operation of the automatic driving operation amount calculation unit based on the comparison result by the comparison unit;
Equipped with a,
When the position detected by the position detection unit is a road segment that is estimated to have a change in the automatic driving operation amount greater than a threshold among the road segments stored in the road storage unit, the comparison unit An automatic driving system diagnosis apparatus configured to perform the comparison and the diagnosis unit performs the diagnosis. The automatic driving system diagnostic device according to claim 1,
The operation detection unit is configured to detect the operation amount,
The automatic driving operation amount calculation unit is configured to calculate an automatic driving operation amount to be added to the operation unit as the automatic driving operation amount,
The comparison unit is configured to obtain a difference between the operation amount detected by the operation detection unit and the operation amount calculated by the automatic driving operation amount calculation unit,
The said diagnostic part is an automatic driving system diagnostic apparatus which diagnoses that operation | movement of the said automatic driving operation amount calculation part is appropriate, when the difference acquired by the said comparison part is in the preset tolerance | permissible_range. The automatic driving system diagnosis device according to claim 1 or 2 ,
A detection storage unit (42) configured to store the operation amount or the operation force detected by the operation detection unit at a plurality of times, respectively;
An automatic driving operation amount storage unit (41) configured to store the automatic driving operation amount calculated at the plurality of times by the automatic driving operation amount calculation unit;
Further comprising
The comparison unit (S7A, S7B) performs the comparison with respect to the operation amount or operation force stored in the detection storage unit and the automatic driving operation amount stored in the automatic driving operation amount storage unit. An automated driving system diagnostic device configured to perform. The automatic driving system diagnostic device according to any one of claims 1 to 3 ,
An abnormality determination unit (S171 to S176) configured to determine whether or not the operation amount or operation force detected by the operation detection unit is an operation amount or operation force corresponding to an abnormal driving operation,
In addition,
The comparison unit is configured to perform the comparison by excluding the operation amount or the operation force determined to correspond to an abnormal driving operation by the abnormality determination unit from the comparison target. . The automatic driving system diagnosis device according to any one of claims 1 to 4 ,
An operation acquisition unit configured to acquire an operation amount or an operation force applied to an operation unit of the vehicle by another vehicle that has traveled on the same road section as the road section on which the vehicle has traveled ( 50)
In addition,
The said comparison part (S7B) is an automatic driving system diagnostic apparatus comprised so that the operation amount or operation force acquired by the said operation acquisition part may also be made into the comparison object with respect to the said automatic driving operation amount.

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