JP6848533B2 - Vehicle driving control system - Google Patents

Description

The present disclosure relates to a technique for controlling the running of a vehicle.

In recent years, with the increase in the number of elderly people, the introduction of a transportation system such as a bus that operates unmanned from the main bus stop or train station in the city to the surrounding residential area is being considered. When introducing an unmanned transportation system, the manned transportation system is required to realize unmanned operation control according to the passenger's riding situation performed by the driver.

The elevator control system described in Patent Document 1 is an unmanned transportation system that controls operation according to the passenger's riding condition. In the elevator control system, the characteristics of passengers such as the number of passengers, age, and gender are discriminated by a camera provided in the car. Then, the elevator control system selects the optimum control from a plurality of controls prepared in advance according to the discriminated characteristics of the passenger, and executes the selected control.

Japanese Unexamined Patent Publication No. 2013-159451

The elevator moves only vertically and not horizontally. Therefore, in the above-mentioned elevator control system, there is no control or the like in consideration of the movement in the horizontal direction so that the elderly person does not fall. On the other hand, since the vehicle moves in the horizontal direction, the elderly may stagger or fall if the acceleration / deceleration in the horizontal direction is not taken into consideration. Therefore, even if the elevator control system is applied to the vehicle travel control system, optimum travel control cannot be performed according to the passenger's riding condition.

The present disclosure has been made in view of the above circumstances, and provides a vehicle travel control system that performs optimal travel control according to a passenger's riding condition.

The present disclosure is a vehicle travel control system including sensors (10A, 10B), recognition units (22, S20), measurement units (23, S60), and target generation units (25, S80, S90). Is. The sensor detects passengers in the passenger compartment of the vehicle (100). The recognition unit recognizes the posture of the passenger from the detection result by the sensor. The measuring unit measures the movement of the posture recognized by the recognition unit when the vehicle moves. The target generation unit sets the position where the center of gravity of the passenger is projected onto the floor surface as the projection position, and the projection position falls within a predetermined range set in advance based on the movement of the posture detected by the measurement unit, and the position of the center of gravity. The travel control target of the vehicle is generated so as to satisfy at least one of the two conditions that the movement amount of the vehicle is less than the preset movement threshold value.

According to the present disclosure, a passenger is detected by a sensor, and the detected posture of the passenger is recognized. Then, the movement of the posture when the vehicle moves is measured. At this time, a relatively large posture movement is measured for a person with weak muscle strength such as an elderly person, and a relatively small posture movement is measured for a person with strong muscle strength. That is, the movement of the posture is a parameter that correlates with the state of the passenger. Further, if the projection position of the center of gravity of the passenger deviates from the predetermined range, the passenger is more likely to feel uncomfortable with the shaking. Furthermore, if the amount of movement of the center of gravity of the passenger is large, the risk of falling increases. Therefore, based on the measured movement of the posture, the traveling control target of the vehicle is generated so as to satisfy at least one of the projection position being within the predetermined range and the amount of movement of the center of gravity being less than the movement threshold value. Therefore, optimum traveling control can be performed according to the passenger's riding condition.

In addition, the reference numerals in parentheses described in this column and the scope of claims indicate the correspondence with the specific means described in the embodiment described later as one embodiment, and the technical scope of the present invention is defined. It is not limited.

It is a figure which shows the structure of a vehicle. It is a figure which shows the mounting position and the scanning range of a laser radar when the vehicle interior is seen from the top. It is a figure which shows the mounting position and the operation range of the laser radar when the vehicle interior is seen from the side. It is a block diagram which shows the structure of the travel control system. It is a flowchart which shows the processing procedure which generates the driving control target. It is a figure which shows the physical model in the x direction of an independent standing position. It is a figure which shows the physical model of the independent standing position in the y direction. It is a figure which shows the physical model of the standing position which holds the support part in the x direction. It is a figure explaining the condition at the time of generating a travel control target. It is a figure which shows the landing.

Hereinafter, modes for carrying out the invention will be described with reference to the drawings.
<1. Configuration>
The vehicle travel control system according to the present embodiment is assumed to be applied to an automatic traveling vehicle. First, the vehicle 100 to which the vehicle travel control system according to the present embodiment is applied will be described with reference to FIG. The vehicle 100 is an electric vehicle that travels with the driving force of the motor 90. The vehicle 100 includes a laser radar 61, a millimeter wave radar 62, an ultrasonic sensor 63, and a communication antenna 64 on the outside of the vehicle 100. The laser radar 61 and the millimeter wave radar 62 include an outer front surface and a left side surface of the vehicle 100, a front surface and a right side surface, a left side surface and a rear surface angle, and a rear surface and a right side surface (not shown). It is mounted on the top of each of the four corners. Three ultrasonic sensors 63 are mounted on the front surface and the left side surface of the vehicle 100, and on the lower surface of the rear surface and the right side surface (not shown). The laser radar 61, the millimeter wave radar 62, and the ultrasonic sensor 63 detect obstacles including other vehicles and pedestrians around the vehicle 100, landmarks, and the like. The communication antenna 64 includes an antenna for wirelessly communicating with the control center and an antenna for receiving GPS signals from GPS satellites.

Passengers can get on and off the vehicle 100 through the opening / closing door 52 provided on the left side surface. The vehicle 100 includes a drive battery 80, a pole 70, a seat 40, laser radars 10A and 10B, and an ECU 20 in the vehicle interior. The drive battery 80 is a power source that supplies electric power to the motor 90. The pole 70 is a rod held by a standing passenger to support his / her body. The seat 40 is installed in the front and rear of the vehicle interior. The drive battery 80 is installed under the front seat 40, and the ECU 20 is installed under the rear seat 40. In this embodiment, the pole 70 corresponds to the support portion.

The laser radars 10A and 10B are sensors that scan the vehicle interior to detect passengers. The laser radars 10A and 10B are attached to two of the four sides of the vehicle interior, one by one. Specifically, the laser radar 10A is attached to the upper part of the front surface of the vehicle interior. On the other hand, the laser radar 10B is attached to the upper part of the rear surface facing the front surface of the vehicle interior. That is, the laser radars 10A and 10B are attached to the side surfaces of the vehicle interior in a state of facing each other.

2 and 3 show the scanning range of the laser radar 10A with a chain line and the scanning range of the laser radar 10B with a solid line. As shown in FIGS. 2 and 3, since the laser radar 10A and the laser radar 10B face each other, both the shape of the front side and the shape of the rear surface of the passenger can be detected. As a result, not only the cross-sectional shape of the passenger but also the thickness of the body can be recognized. Hereinafter, the laser radars 10A and 10B are collectively referred to as the laser radar 10. As the sensor for detecting passengers, two compound eye cameras may be used instead of the laser radars 10A and 10B. Even when two compound-eye cameras are used, they may be mounted on the side surfaces of the vehicle interior while facing each other.

The ECU 20 is mainly composed of a well-known microcomputer equipped with a CPU, ROM, RAM, semiconductor memory, I / O, etc., and controls the traveling of the vehicle 100 according to the passenger's riding condition. As shown in FIG. 4, in the ECU 20, the CPU executes a program stored in a non-transitional substantive recording medium, so that the recognition unit 22, the measurement unit 23, the model creation unit 24, the target generation unit 25, and the fall determination are determined. Each function of the unit 26, the position estimation unit 27, the route setting unit 28, the action planning unit 29, the vehicle control unit 30, and the control amount calculation unit 31 is realized.

The recognition unit 22 recognizes the posture of a passenger in the vehicle interior from the detection result of the laser radar 10. The measuring unit 23 measures the movement of the passenger's posture recognized by the recognition unit 22 when the vehicle 100 moves. The model creation unit 24 generates and identifies a passenger physical model from the movement of the passenger posture recognized by the recognition unit 22 and the passenger posture measured by the measurement unit 23, and creates a passenger physical model. ..

The target generation unit 25 predicts a change in the posture of the passenger according to the movement of the vehicle from the physical model created by the model creation unit 24. Then, the target generation unit 25 uses the predicted change in posture to generate a travel control target for the vehicle 100 so that the passenger's center of gravity position Gc satisfies a predetermined condition. The travel control target is a range of acceleration / deceleration values and a range of yaw rate of the vehicle 100. The details of the processes executed by the functions of the recognition unit 22, the measurement unit 23, the model creation unit 24, and the target generation unit 25 will be described later.

The fall determination unit 26 determines the fall risk, which is the risk of the passengers falling when the vehicle 100 travels based on the travel control target adjusted by the target generation unit 25. For example, when the passenger is held by the pole 70 or is seated on the seat 40, the center of gravity position Gc does not move significantly toward the outside of the curve even if the vehicle 100 travels on a curve. Therefore, the fall determination unit 26 determines that the risk of falling is relatively low when the passenger is held by the support unit or is seated.

Further, when the passenger's center of gravity position Gc is biased to the left, even if the vehicle 100 curves to the left, the passenger's center of gravity position Gc is greatly biased to the right and the passenger's posture is not significantly tilted. Therefore, the fall determination unit 26 determines that the fall risk is relatively low when the passenger travels in a curve in the direction in which the center of gravity position Gc of the passenger is biased. On the other hand, when the passenger's center of gravity position Gc is biased to the left and the vehicle 100 curves to the right, the passenger's center of gravity position Gc is greatly biased to the left and the passenger's posture is greatly tilted. Therefore, the fall determination unit 26 determines the degree of fall risk to be relatively large when the passenger travels in a curve in the direction opposite to the side where the center of gravity position Gc of the passenger is biased.

The fall determination unit 26 determines each passenger's fall risk, and sets the highest fall risk as the passenger's fall risk. Further, when the number of passengers is equal to or higher than the preset number threshold value Nth and the density of passengers is high, it is difficult for the fall determination unit 26 to determine the fall risk of each passenger. Determine the fall risk of the closest passenger.

The position estimation unit 27 estimates the position of the vehicle 100 on the map by using the landmarks detected by the laser radar 61, the millimeter wave radar 62, and the ultrasonic sensor 63, and the GPS signal received by the communication antenna 64. The route setting unit 28 sets a traveling route from the position on the map estimated by the position estimation unit 27 to the destination. The action planning unit 29 refers to the traffic rules on the public road on the travel route set by the route setting unit 28, and makes a travel plan according to the traffic rules.

The vehicle control unit 30 adjusts when the vehicle 100 travels according to the travel plan established by the action planning unit 29 and the fall risk determined by the fall determination unit 26 exceeds the danger threshold Dth. The travel control target generated by the target generation unit 25 is changed so as to reduce the speed. Further, when the vehicle 100 travels according to the travel plan and the fall risk exceeds the danger threshold Dth, the vehicle control unit 30 may say "Please sit down for safety" or "For safety." An announcement such as "Please grab" may be output from the speaker 15.

Further, when the vehicle 100 travels according to the travel plan set by the action planning unit 29, the vehicle control unit 30 determines that the fall risk determined by the fall determination unit 26 is less than the safety threshold value Sth. Changes the travel control target generated by the target generation unit 25 so as to increase the acceleration / deceleration. The safety threshold Sth is a value smaller than the danger threshold Dth. In the present embodiment, the vehicle control unit 30 corresponds to the change unit and the output unit.

The control amount calculation unit 31 calculates various control amounts of the vehicle 100 so that the vehicle 100 travels according to the travel control target amount and the travel plan, and outputs the calculated various control amounts to the various ECUs 300. Specifically, the control amount calculation unit 31 calculates the drive amount, the braking amount, and the steering angle of the vehicle 100 and outputs them to the motor ECU, the brake ECU, the steering ECU, and the like. In the present embodiment, the vehicle travel control system includes the ECU 20 and the laser radars 10A and 10B.

<2. Processing>
Next, the processing procedure for generating the travel control target will be described with reference to the flowchart of FIG. This processing procedure is executed by the laser radar 10, the recognition unit 22, the measurement unit 23, the model creation unit 24, and the target generation unit 25 at a predetermined cycle.

First, in step S10, the laser radar 10 detects the cross-sectional shape of the passenger from the head to the toes. Here, the cross-sectional shape of each passenger is detected.
Subsequently, in step S20, the cross-sectional area is calculated from the cross-sectional shape of the passenger detected in step S10, and the calculated cross-sectional area is multiplied by the density of the human body in consideration of clothing to calculate the mass M of the passenger and the passenger's mass M. The position of the center of gravity of the body Gc (Lx, Ly, H) is calculated. The density of the human body is the average density of the human body considering clothing. Lx is the offset between the passenger's center of gravity and the foot in the x direction, Ly is the passenger's center of gravity and the foot and the offset in the y direction, and H is the height of the passenger's center of gravity.

Subsequently, in step S30, it is determined whether the passenger is standing or sitting from the detected cross-sectional shape of the passenger and the calculated center of gravity position Gc (H, L). When the passenger is standing, it is determined whether the passenger is standing independently without gripping the pole 70 or holding the pole 70 to support the body. If it is determined in step S30 that the passenger is standing, the process proceeds to step S40. On the other hand, if it is determined in step S30 that the passenger is sitting, the process proceeds to step S50.

In step S40, a standing physical model is generated separately for the case where the passenger is standing independently and the case where the passenger is holding the pole 70. First, a physical model when passengers are standing independently will be described with reference to FIGS. 6 and 7. Here, the traveling direction of the vehicle 100 is the x direction, and the direction orthogonal to the traveling direction is the y direction. FIG. 6 shows a physical model in the x direction, and FIG. 7 shows a physical model in the y direction.

As shown in FIG. 6, when the vehicle 100 moves in the straight direction, the equation of motion around the contact point with the floor in the x direction is expressed as equations (1) and (2). αvx [m / s ² ] is the acceleration of the vehicle 100 in the x direction, αmx [m / s ² ] is the acceleration of the center of gravity in the x direction of the center of gravity position Gc, and Rx is the distance from the center of gravity position Gc on the xz plane to the feet. θx is the position of the center of gravity Gc on the xz plane and the angle of the feet, and Tmx [Nm] is the overturning resistance torque on the xz plane.

Then, from the equations (1) and (2), the physical model shown in the equation (3) is generated. This physical model shows that the position of the center of gravity Gc moves according to the movement of the vehicle 100 in the x direction. Of the variables included in the equation (3), M, H, and Lx are calculated in step S20.

Further, when the vehicle 100 turns and moves in the lateral direction, the equation of motion around the contact point with the floor in the y direction is expressed in the same manner as in equations (1) and (2), and the physical model is expressed in equation (4). Will be done. This physical model shows that the position of the center of gravity Gc moves according to the movement of the vehicle 100 in the y direction. αvy [m / s ² ] is the acceleration of the vehicle 100 in the y direction, αmy [m / s ² ] is the acceleration of the center of gravity position Gc in the y direction, Ry is the distance from the center of gravity position Gc on the yz plane to the feet, θy. Is the position of the center of gravity Gc on the yx plane and the angle of the feet, and Tmy [Nm] is the overturning resistance torque on the yz plane.

Next, a physical model when the passenger is holding the pole 70 will be described with reference to FIG. FIG. 8 shows a physical model in the x direction. When the passenger is treated as a rigid body, when the passenger stands independently, the degree of freedom of the passenger is only 1 for rotation, but when the passenger is holding the pole 70, the degree of freedom of the passenger is 0. Become. Therefore, the physical model in the x direction when the passenger is holding the pole 70 is a model in which the center of gravity position Gc does not move in response to the movement of the vehicle 100 in the x direction. Similarly, the physical model in the y direction when the passenger is holding the pole 70 is also a model in which the center of gravity position Gc does not move in response to the movement of the vehicle 100 in the y direction. When the passenger is holding the pole 70, the laser radar 10 continuously detects the passenger, and when the passenger releases the pole 70, the physical model when the passenger stands independently. To generate.

Further, in step S50, a physical model of the passenger's sitting position is generated. Even when the passenger is sitting, the degree of freedom of the passenger is 0 as in the case where the passenger is holding the pole 70. Therefore, the physical model in the x-direction and the y-direction when the passenger is sitting is also a model in which the center of gravity position Gc does not move according to the movement of the vehicle 100 in the x-direction and the y-direction.

Subsequently, in step S60, the response of the passenger when the vehicle 100 moves is measured. That is, the movement of the passenger's posture according to the movement of the vehicle 100 is measured. Specifically, when the vehicle 100 starts at acceleration / deceleration αvx and αvy, the movement of the center of gravity position Gc of the passenger is measured. Then, the center of gravity accelerations αmx and αmy are calculated from the movement of the measured center of gravity position Gc.

Subsequently, in step S70, the physical model represented by the equations (3) and (4) is identified using the passenger response measured in step S60. At this time, if the number of passengers in the vehicle 100 is less than the number threshold value Nth, or if it is not in the so-called “squeezed” state, the passenger with the largest movement of the posture measured in step S60, that is, the movement amount of the center of gravity position Gc is the largest. Observe passengers. Further, when the number of passengers in the vehicle 100 is equal to or greater than the number threshold value Nth, or in the so-called "squeezed" state, the passenger closest to the laser radar 10 and easily detected is targeted for observation. The number of passengers can be estimated from the number of passengers entering and exiting the opening / closing door 52, the accelerating force with respect to the torque of the vehicle 100, and the like. The acceleration force with respect to the torque of the vehicle 100 decreases as the number of passengers increases.

Then, the physical model to be observed is identified. Specifically, the mass M, the center of gravity position Gc (Lx, Ly, H), the acceleration αvx, αvy in step S60, and the center of gravity acceleration αmx, αmy calculated in step S60 are substituted into the equations (3) and (4). Then, the fall resistance torques Tmx and Tmy are calculated. As a result, among the variables included in the physical models of the equations (3) and (4), M, H, Lx, Ly, Tmx, and Tmy are determined. Therefore, the physical models of the equations (3) and (4) are equations expressing the correlation between the accelerations αvx and αvy of the vehicle 100 and the center of gravity accelerations αmx and αmx of the center of gravity position Gc of the observation target, respectively. Then, when the center of gravity accelerations αmx and αmy are double-integrated with respect to time, the movement amount ΔGx in the x direction and the movement amount ΔGy in the y direction of the center of gravity position Gc are obtained. Therefore, the physical models of the equations (3) and (4) are equations expressing the amount of movement ΔGx, ΔGy of the center of gravity position Gc with respect to the acceleration αvx, αvy.

When the observation target holds the pole 70 and the observation target is sitting, the physical models in the x and y directions move in the movement amounts ΔGx and ΔGy regardless of the acceleration αvx and αvy of the vehicle 100. = 0.

Subsequently, in step S80, the change in the position of the center of gravity Gc of the observation target according to the movement of the vehicle 100 is predicted from the physical model identified in step S70. Then, the maximum values of the accelerations αvx and αvy of the vehicle 100 are calculated so that the predicted change in the center of gravity position Gc satisfies a predetermined condition, and the maximum yaw rate and the maximum acceleration / deceleration value of the vehicle 100 are calculated.

Here, the predetermined conditions are at least one of the fact that the observation target is unlikely to feel uncomfortable with the shaking of the body and that the observation target has a low risk of falling. As shown in FIG. 9, when the projection position (Lx, Ly), which is the position where the center of gravity position Gc of the observation target is projected on the floor surface 55, falls within a predetermined range set in advance, the observation target shakes the body. You are less likely to feel uncomfortable. The predetermined range includes the contact surface Pf of the floor surface 55 in which the left and right soles of the observation target are in contact with each other, and is a landing Rf which is a rectangular surface circumscribing the contours of the left and right soles. For example, as shown in FIG. 10, the landing Rf is a square surface having two sides, the length Ftx of the sole of the foot to be observed and the width Fty with the left and right feet open. In this case, if | Lx | <Ftx and | Ly | <Fty, the risk of falling is low.

^{Further, when the movement amount ΔGc = (ΔGx 2} + ΔGy ² ) ^1/2 of the center of gravity position Gc of the observation target is less than the preset movement threshold value ΔGth, the risk of the observation target falling is reduced. Therefore, at least one of the two conditions (A) that the projection position (Lx, Ly) is within the landing Rf and (B) that the movement amount ΔGc is less than the movement threshold value ΔGth is satisfied. In addition, the maximum yaw rate and the maximum acceleration / deceleration value of the vehicle 100 are calculated. However, if no passengers are detected by the laser radar 10 in step S10, the maximum acceleration / deceleration value is generated to a value larger than the maximum acceleration / deceleration value when there are passengers.

Subsequently, in step S90, the maximum yaw rate and the maximum acceleration / deceleration value calculated in step S80 are reflected in the travel control target to generate the travel control target. That is, the yaw rate target is set to the maximum yaw rate or less, and the acceleration / deceleration value target is set to the maximum acceleration / deceleration value or less. This is the end of this process.

In the present embodiment, the process of step S20 corresponds to the process executed by the function of the recognition unit 22, and the processes of steps S30 to S50 and S70 correspond to the process executed by the function of the model creation unit 24. Further, the process of step S60 corresponds to the process executed by the function of the measuring unit 23, and the processes of steps S80 and S90 correspond to the process executed by the function of the target generation unit 25.

<3. Effect>
According to the present embodiment described above, the following effects can be obtained.
(1) Based on the measured movement of the center of gravity position Gc, a travel control target of the vehicle is generated so as to satisfy at least one of the two conditions (A) and (B). As a result, optimum traveling control can be performed according to the passenger's riding condition.

(2) By making the landing Rf a square surface circumscribing the contours of the left and right soles of the passenger and keeping the projection position Pf within the landing Rf, the fluctuation of the passenger's posture is suppressed within a range that does not feel unpleasant. can do.

(3) From the posture of the passenger and the movement of the position of the center of gravity Gc, a physical model of the passenger is created to predict how much the position of the center of gravity Gc will move with respect to the movement of the vehicle 100. Then, from the created physical model, it is expected that the position of the center of gravity Gc will change according to the movement of the vehicle 100. Further, the travel control target is generated so as to satisfy at least one of the two conditions (A) and (B) by using the predicted change in the center of gravity position Gc. Therefore, since it is possible to predict in advance the fluctuation of the passenger's posture when the vehicle travels, it is possible to perform comfortable traveling control while suppressing the fluctuation of the passenger's posture.

(4) When the passenger is holding the pole 70, it can be considered that the passenger's body is fixed and the center of gravity position Gc does not move even if the vehicle 100 moves. Therefore, by creating the physical model of the passenger holding the pole 70 separately from the physical model of the passenger standing independently, it is possible to accurately predict the fluctuation of the posture of the passenger.

(5) When the number of passengers in the passenger compartment is less than the number threshold Nth, the passenger with the largest movement of the center of gravity position Gc is targeted for observation, so that even the passenger with the smallest resistance to the movement of the vehicle 100 shakes his / her posture. The traveling control of the vehicle 100 can be performed so that As a result, the traveling control of the vehicle 100 can be performed so that the posture fluctuation of all the passengers of the vehicle 100 is reduced.

(6) When the number of passengers in the passenger compartment is equal to or greater than the number threshold value Nth, it is difficult to find the passenger with the largest movement of the center of gravity position Gc because the passengers are in close contact with each other. However, since the passengers are in close contact with each other, even if there is a passenger who has a small drag against the movement of the vehicle 100, the other passengers support the passenger and the posture is less likely to shake. Therefore, in this case, by targeting the passenger who is closest to the laser radar 10 and is easy to observe, the traveling control of the vehicle 100 can be sufficiently comfortable.

(7) When the passenger's fall risk is higher than the danger threshold Dth, the maximum acceleration / deceleration value of the generated driving control target is reduced. As a result, it is possible to realize the traveling of the vehicle 100 so that the passenger does not fall.

(8) When the passenger's fall risk is lower than the safety threshold Sth, the maximum acceleration / deceleration value of the generated driving control target is increased. As a result, smooth running of the vehicle 100 can be realized.

(9) When no passengers are detected in the passenger compartment, the maximum acceleration / deceleration value is generated to a larger value than when passengers are detected in the passenger compartment. As a result, smooth operation of the vehicle 100 can be realized.

(10) When the passenger's fall risk is equal to or higher than the risk threshold Dth, the passenger can voluntarily suppress the fall by outputting an announcement prompting the passenger to sit on the seat 40 or hold the pole 70. it can.

(11) By using the laser radar 10 or the compound eye camera, the cross-sectional shape of the passenger can be measured.
(12) By attaching a plurality of laser radars 10 or compound eye cameras to different side surfaces in the vehicle interior, it is easy to measure the cross-sectional shape of a passenger.

(13) By attaching a plurality of laser radars 10 or compound eye cameras to two opposing side surfaces in the vehicle interior, the cross-sectional shape of a passenger can be measured with high accuracy. As a result, the physical model of the passenger can be created with high accuracy.

(Other embodiments)
Although the embodiment for carrying out the present invention has been described above, the present invention is not limited to the above-described embodiment and can be implemented in various modifications.

(A) In the above embodiment, a physical model of the observation target is created based on the movement of the measured posture of the observation target, and a traveling control target is created using the created physical model, but the present invention is limited to this. It's not a thing. Based on the measured movement of the posture of the observation target, feedback control of the travel control target may be performed so as to satisfy at least one of the above two conditions (A) and (B). As the feedback control is executed, it is possible to perform comfortable driving control that suppresses the fluctuation of the passenger's posture. When the feedback control of the travel control target is also executed, the generated travel control target may be changed according to the fall risk of the passenger.

(B) As the movement of the passenger's posture, the movement of a portion other than the center of gravity position Gc may be measured. In particular, when feedback control of a travel control target is performed, it is preferable to measure the movement of the open end of the passenger's body as the movement of the passenger's posture. The open end is the part of the body that sways significantly, such as the tip of the passenger's head or shoulders. Feedback control can be performed with high accuracy by measuring the movement of the open end, which is a relatively strong part of the body.

(C) A laser radar or a compound eye camera may be attached to three or more of the four sides of the vehicle interior. Moreover, you may use a laser radar and a compound eye camera together. Alternatively, the laser radar and the monocular camera may be used together, or the compound eye camera and the monocular camera may be used together.

(D) The vehicle 100 is not limited to an electric vehicle, but may be an engine vehicle or a hybrid vehicle.
(E) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. In addition, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment. It should be noted that all aspects included in the technical idea specified only by the wording described in the claims are embodiments of the present invention.

(F) In addition to the vehicle travel control system described above, a program for operating a computer as a vehicle travel control system, a non-transitional actual recording medium such as a semiconductor memory in which this program is recorded, and a vehicle travel control method. The present invention can also be realized in various forms such as. The present disclosure is also applicable to a manually driven vehicle that is not autonomously driven, and can also be used as a driving support system that gives an alarm or caution to the driver regarding the risk of falling.

10A, 10B ... laser radar, 20 ... ECU, 100 ... vehicle.

Claims (16)

Sensors (10A, 10B) configured to detect passengers in the passenger compartment of the vehicle (100), and
A recognition unit (22, S20) configured to recognize the posture of the passenger from the detection result by the sensor, and
A measuring unit (23, S60) that measures the movement of the posture recognized by the recognition unit when the vehicle moves, and a measuring unit (23, S60).
The position where the center of gravity of the passenger is projected onto the floor surface is defined as the projection position, and the projection position falls within a preset predetermined range based on the movement of the posture detected by the measurement unit, and the center of gravity position. The target generation unit (25, S80) configured to generate the travel control target of the vehicle so as to satisfy at least one of the two conditions that the movement amount of the vehicle is less than the preset movement threshold value. , S90), and
When the number of passengers in the passenger compartment is less than the preset number threshold value, the target generation unit targets the passenger with the largest movement of the posture among the passengers, and the observation target is the observation target. A vehicle travel control system configured to generate the travel control target so as to satisfy at least one of the two conditions. The target generator, the number of the vehicle interior of the passenger, in the case of more than the number threshold, the observation object closest the occupant to the sensor, the observation target is at least one of the two conditions The vehicle travel control system according to claim 1, wherein the travel control target is configured to satisfy the requirements. Sensors (10A, 10B) configured to detect passengers in the passenger compartment of the vehicle (100), and
A recognition unit (22, S20) configured to recognize the posture of the passenger from the detection result by the sensor, and
A measuring unit (23, S60) that measures the movement of the posture recognized by the recognition unit when the vehicle moves, and a measuring unit (23, S60).
The position where the center of gravity of the passenger is projected onto the floor surface is defined as the projection position, and the projection position falls within a preset predetermined range based on the movement of the posture detected by the measurement unit, and the center of gravity position. The target generation unit (25, S80) configured to generate the travel control target of the vehicle so as to satisfy at least one of the two conditions that the movement amount of the vehicle is less than the preset movement threshold value. , and S90), equipped with a,
When the number of passengers in the vehicle interior is equal to or greater than a preset number threshold value, the target generation unit sets the passenger closest to the sensor as an observation target, and the observation target is one of the two conditions. A vehicle travel control system configured to generate said travel control targets to satisfy at least one of the above. Modeling units (24, S30 to S50, S70) configured to create a physical model of the passenger from the posture of the passenger recognized by the recognition unit and the movement of the posture measured by the measuring unit. )
The target generation unit predicts a change in the position of the center of gravity of the passenger according to the movement of the vehicle from the physical model created by the model creation unit, and uses the prediction result to at least one of the two conditions. so as to satisfy one, the travel control target is configured to generate, according to claim 1 a vehicle running control system according to any one of claims 3. Sensors (10A, 10B) configured to detect passengers in the passenger compartment of the vehicle (100), and
A recognition unit (22, S20) configured to recognize the posture of the passenger from the detection result by the sensor, and
A measuring unit (23, S60) that measures the movement of the posture recognized by the recognition unit when the vehicle moves, and a measuring unit (23, S60).
The position where the center of gravity of the passenger is projected onto the floor surface is defined as the projection position, and the projection position falls within a preset predetermined range based on the movement of the posture detected by the measurement unit, and the center of gravity position. The target generation unit (25, S80) configured to generate the travel control target of the vehicle so as to satisfy at least one of the two conditions that the movement amount of the vehicle is less than the preset movement threshold value. , S90) and
Modeling units (24, S30 to S50, S70) configured to create a physical model of the passenger from the posture of the passenger recognized by the recognition unit and the movement of the posture measured by the measuring unit. ) And,
The target generation unit predicts a change in the position of the center of gravity of the passenger in response to the movement of the vehicle from the physical model created by the model creation unit, and uses the prediction result to at least one of the two conditions. A vehicle travel control system that is configured to generate said travel control targets to meet one or the other. When the passenger holds the support portion fixed in the vehicle interior, the model creation unit is configured to create the physical model different from the case where the support portion is not held. , The vehicle travel control system according to claim 4 or 5. The target generation unit is configured to perform feedback control of the travel control target so as to satisfy at least one of the two conditions based on the movement of the posture measured by the measurement unit. the vehicle travel control system according to any one of claims 1 to 3. The vehicle travel control system according to claim 7 , wherein the measuring unit is configured to measure the movement of the open end of the passenger's body as the movement of the posture. Any of claims 1 to 8, wherein the predetermined range includes a contact surface of the floor surface in which the left and right soles of the passenger are in contact with each other, and is a rectangular surface circumscribing the contour of the sole. The vehicle travel control system according to item 1. When the vehicle travels based on the travel control target generated by the target generation unit, the fall determination unit (26) determines the fall risk, which is the risk of the passenger falling.
A change unit (30) configured to change the travel control target so as to reduce the acceleration / deceleration when the fall risk determined by the fall determination unit is higher than a preset risk threshold value. ), The vehicle travel control system according to any one of claims 1 to 9. When the vehicle travels based on the travel control target generated by the target generation unit, the fall determination unit (26) determines the fall risk, which is the risk of the passenger falling.
A change unit (30) configured to change the travel control target so as to increase the acceleration / deceleration when the fall risk determined by the fall determination unit is lower than a preset safety threshold value. ), The vehicle travel control system according to any one of claims 1 to 10. The target generation unit generates the travel control target so that when the sensor does not detect a passenger in the vehicle interior, the acceleration / deceleration increases as compared with the case where a passenger is detected in the vehicle interior. The vehicle traveling control system according to any one of claims 1 to 11 , which is configured in the above. When the vehicle travels based on the travel control target generated by the target generation unit, the fall determination unit (26) determines the fall risk, which is the risk of the passenger falling.
An output unit (30) that outputs an announcement prompting seating or gripping a support unit fixed in the vehicle interior when the fall risk determined by the fall determination unit is higher than a preset risk threshold value. The vehicle travel control system according to any one of claims 1 to 12, further comprising. The vehicle travel control system according to any one of claims 1 to 13 , wherein the sensor includes at least one of a compound eye camera and a laser radar. The sensor is composed of a plurality of sensors.
The vehicle travel control system according to any one of claims 1 to 14 , wherein the plurality of sensors are attached to at least two of the four sides of the vehicle interior. The vehicle travel control system according to claim 15 , wherein the two surfaces are facing surfaces of the four side surfaces in the vehicle interior.

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