JP6867770B2 - Vehicle travel control device - Google Patents

Description

The present invention relates to a traveling control device for a vehicle that ensures sufficient safety and stops when the driver evacuates and travels in an abnormal state or the like.

In recent years, in vehicles, even when an abnormality occurs in the driver, a technology for ensuring safety by evacuating the vehicle using automatic driving technology (technology such as automatic steering and automatic braking) has been proposed and put into practical use. Has been done. For example, in Japanese Patent Application Laid-Open No. 2016-85563 (hereinafter, Patent Document 1), when it is determined that the driver is in an abnormal state, an in-vehicle warning is issued, and a predetermined first time has elapsed since the in-vehicle warning was started. If there is no response from the driver even after that, an external warning is issued, and if there is no response from the driver even after a predetermined second time has passed since the external alarm was started, a danger avoidance process is performed. The technology of the control device is disclosed.

Japanese Unexamined Patent Publication No. 2016-85563

However, even with the control device disclosed in Patent Document 1 described above, depending on the place where the vehicle is evacuated and stopped, the vehicle is under its own weight, especially when a driver abnormality is detected and the vehicle is stopped on a downhill. Alternatively, there is a risk that the vehicle will move due to some kind of impact and cause a further accident such as a vehicle falling onto a cliff.

The present invention has been made in view of the above circumstances, and when an abnormality occurs in the driver, the driver can be retracted to an appropriate position, and after retracting, safety can be improved without causing a further accident. It is an object of the present invention to provide a travel control device for a vehicle.

One aspect of the vehicle travel control device of the present invention is a travel environment information acquisition means for acquiring travel environment information related to the environment in which the own vehicle is traveling, a travel information detection means for detecting the travel information of the own vehicle, and a driver. Based on the abnormal state detecting means for detecting the abnormal state and the driving environment information and the driving information, when the own vehicle detects the abnormal state of the driver on a slope by the abnormal state detecting means, the own vehicle is in front of the traveling path. The front evacuation use area setting means for setting the area where the vehicle is retracted and stopped as the front evacuation use area, and the target capable of suppressing the movement of the own vehicle after the stop is detected as the evacuation use target from the front evacuation use area. The evacuation use target detecting means and the target course for traveling the own vehicle with the evacuation use target as a target are set, and the traveling is controlled so that the own vehicle stops in the vicinity of the evacuation use target by traveling along the target course. The evacuation use target detecting means includes a control means, and when the evacuation use target detecting means detects an avoidance target to avoid the entry of the own vehicle into the traveling path based on the traveling environment information and the traveling information, the evacuation use target area The point closest to the own vehicle on the road side opposite to the avoidance target is set as the evacuation use target.

According to the vehicle travel control device according to the present invention, when an abnormality occurs in the driver, it is possible to evacuate to an appropriate position, and after evacuating, it is possible to improve safety without causing a further accident. Become.

It is an overall block diagram of the travel control device of a vehicle by one Embodiment of this invention. It is a flowchart of the evacuation control program by one Embodiment of this invention. It is explanatory drawing of the distance to the forward evacuation use area set according to a vehicle speed by one Embodiment of this invention. In the explanatory view of the evacuation use target detected by one embodiment of the present invention, FIG. 4A shows an example of the evacuation use target detected in the forward evacuation use area, and FIG. 4B shows an example. Is an explanatory diagram when the evacuation use target is a convex portion with respect to the road surface, and FIG. 4C is an explanatory diagram when the evacuation use target is a concave portion with respect to the road surface. It is explanatory drawing of the evacuation use target set when the avoidance target is detected by one Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 1 indicates a vehicle travel control device, and the travel control device 1 includes a travel control unit 10, a peripheral environment recognition device 11, a driver state detection device 12, a travel parameter detection device 13, and an own vehicle. Position information detection device 14, vehicle-to-vehicle communication device 15, road traffic information communication device 16, switch group 17, each input device, engine control device 21, brake control device 22, steering control device 23, display device 24, speaker buzzer. Each of the 25 output devices is connected.

The surrounding environment recognition device 11 includes a camera device (stereo camera, monocular camera, color camera, etc.) equipped with a solid-state image sensor or the like provided in the vehicle interior for photographing the external environment of the vehicle and acquiring image information, and the periphery of the vehicle. It is composed of a radar device (laser radar, millimeter-wave radar, etc.) that receives reflected waves from a stereoscopic object existing in the camera, a sonar, etc. (not shown above).

The surrounding environment recognition device 11 performs, for example, a well-known grouping process on the distance information based on the image information captured by the camera device, and sets the grouped distance information in advance in a three-dimensional road shape. By comparing with data, three-dimensional object data, etc., lane marking data, pedestrians, and vehicles (preceding vehicle, oncoming vehicle, parallel running vehicle, parked vehicle) are extracted. Further, the surrounding environment recognition device 11 makes the convex portion of the three-dimensional object data such as the guardrail, the side wall, and the curbstone data existing along the road with respect to the road surface, and the concave portion with respect to the road surface such as a depression of the own vehicle after stopping. The movement is detected as a freely restrainable target, and an avoidance target such as a cliff that should avoid the entry of the own vehicle is extracted with the relative position (distance, angle) from the own vehicle together with the speed of the target. As described above, the surrounding environment recognition device 11 is provided as a traveling environment information acquisition means.

The driver state detection device 12 reduces the arousal level of the driver by detecting the above-mentioned field camera, infrared lamp, or the like, or a steering wheel operation (steering angle) as disclosed in Japanese Patent Application Laid-Open No. 2012-234398. Is detected.

Further, the driver state detection device 12 detects the driver's heart rate, pulse waveform, blood pressure, sweating state, body temperature, etc. by a biological sensor as disclosed in Japanese Patent Application Laid-Open No. 2002-104013, and these detected values. And, for example, it is determined whether or not the driver's physical condition is in an abnormal state by comparing with the average value of the driver's personal time history data and determining whether or not the driver is within a certain range. Then, the driver state detection device 12 detects that the driver is in an abnormal state when it is determined that the driver's arousal level is low and the driver's physical condition is abnormal. As described above, in the present embodiment, the driver state detecting device 12 is provided as an abnormal state detecting means.

The traveling parameter detection device 13 includes traveling information of the own vehicle, specifically, vehicle speed, steering torque, steering angle, yaw rate, lateral acceleration, accelerator opening, throttle opening, road surface gradient, and road friction of the traveling road surface. Detects coefficient estimates, etc. As described above, the traveling parameter detecting device 13 is provided as a traveling information detecting means.

The own vehicle position information detection device 14 is, for example, a known navigation system, for example, receives a radio wave transmitted from a GPS [Global Positioning System] satellite, and determines the current position based on the radio wave information. On map data that has been detected and stored in advance on a flash memory, CD (Compact Disc), DVD (Digital Versatile Disc), Blu-ray (registered trademark) disc, HDD (Hard disk drive), etc. Identify the position of your vehicle.

The map data stored in advance includes road data and facility data. The road data includes link position information, type information, node position information, type information, and information on the connection relationship between the node and the link, that is, road branching, merging point information, maximum vehicle speed information at the branch road, and the like. Includes. The facility data has multiple records for each facility, and each record contains the name information, location information, and facility type (department store, store, restaurant, parking lot, park, vehicle failure) of the target facility. It has data showing information (by repair base). Then, when the position of the own vehicle on the map position is displayed and the destination is input by the operator, the route from the departure place to the destination is predeterminedly calculated and displayed on the display device 24 such as a display or a monitor. In addition, the speaker buzzer 25 provides voice guidance and guidance. As described above, the own vehicle position information detection device 14 is provided as a traveling environment information acquisition means.

The vehicle-to-vehicle communication device 15 is composed of a narrow-range wireless communication device having a communication area of about 100 [m] such as a wireless LAN, and directly communicates with another vehicle without going through a server or the like to transmit and receive information. It is possible to do it. Then, vehicle information, traveling information, traffic environment information, etc. are exchanged by mutual communication with other vehicles. The vehicle information includes unique information indicating the vehicle type (in this embodiment, the type of passenger car, truck, motorcycle, etc.). In addition, the traveling information includes vehicle speed, position information, lighting information of the brake lamp, blinking information of the direction indicator transmitted when turning left or right, and blinking information of the hazard lamp blinking at the time of emergency stop. Further, the traffic environment information includes information that changes depending on the situation such as road congestion information and construction information. As described above, the vehicle-to-vehicle communication device 15 is provided as a traveling environment information acquisition means.

The vehicle information and communication system 16 is a so-called vehicle information and communication system (VICS), which is used for FM multiplex broadcasting and transmitters on the road to cause traffic jams, accidents, construction, required time, and parking. It is a device that receives the road traffic information of the yard in real time and displays the received traffic information on the above-mentioned pre-stored map data. As described above, the road traffic information communication device 16 is provided as a traveling environment information acquisition means.

The switch group 17 is a group of switches related to driver's driving support control. For example, a switch that controls traveling at a constant speed set in advance, or a vehicle-to-vehicle distance and an inter-vehicle time from a preceding vehicle are set in advance. A switch for maintaining a constant value and performing follow-up control, a switch for lane keep control that maintains the driving lane in the set lane for driving control, a switch for lane departure prevention control that controls deviation from the driving lane, and a preceding switch. Overtaking control execution permission switch that executes overtaking control of the vehicle (vehicle to be overtaken), switch for executing automatic driving control that performs all of these controls in coordination, vehicle speed, inter-vehicle distance, inter-vehicle distance required for each of these controls It is composed of a switch for setting the time, a speed limit, etc., a switch for releasing each of these controls, and the like. Further, the switch group 17 has an emergency switch that allows the driver itself or the passenger to execute the evacuation control when the driver is in an abnormal state. As described above, the switch group 17 has a function as an abnormal state detecting means.

The engine control device 21 is a fuel for a vehicle engine (not shown) based on, for example, intake air amount, throttle opening degree, engine water temperature, intake air temperature, oxygen concentration, crank angle, accelerator opening degree, and other vehicle information. It is a known control unit that performs main controls such as injection control, ignition timing control, and electronically controlled throttle valve control.

The brake control device 22 controls the four-wheel brake device (not shown) independently of the driver's brake operation, based on, for example, a brake switch, four-wheel wheel speed, steering angle, yaw rate, and other vehicle information. It is a known control unit that performs yaw moment control (yaw brake control) that adds yaw moment to the vehicle, such as a known antilock brake system and side slip prevention control. Then, when the braking force of each wheel is input from the traveling control unit 10, the brake control device 22 calculates the brake fluid pressure of each wheel based on the braking force, and the brake driving unit (not shown). ) Is activated.

The steering control device 23 is known to control the assist torque by an electric power steering motor (not shown) provided in the steering system of the vehicle based on, for example, vehicle speed, steering torque, steering angle, yaw rate, and other vehicle information. It is a control device. Further, the steering control device 23 is capable of lane keep control for maintaining the above-mentioned traveling lane in the set lane for traveling control, lane departure prevention control for performing deviation prevention control from the traveling lane, and evacuation control described later. , The steering angle (target steering angle at the time of evacuation) required for these lane keep control, lane departure prevention control, and evacuation control, or the steering torque is calculated by the traveling control unit 10 and input to and input to the steering control device 23. The electric power steering motor is driven and controlled according to the amount of control.

The display device 24 is, for example, a device that visually warns and notifies drivers and passengers of monitors, displays, alarm lamps, etc. in a vehicle. In addition, outside the vehicle, it is a device that visually warns and notifies surrounding vehicles such as hazard lamps and passersby. Then, for example, when an abnormal state of the driver is detected (detection by the driver state detection device 12 or ON of the emergency switch of the switch group 17) and the evacuation control is executed, the display device 24 is displayed in the vehicle. The alarm lamp visually notifies the driver and passengers that the evacuation control will be started when an abnormal state of the driver is detected. Further, outside the vehicle, the display device 24 uses a hazard lamp to notify neighboring vehicles, passersby, and the like that the evacuation travel is started after the evacuation travel is started. Even if the vehicle is evacuated and stopped, the notification (alarm) to the inside and outside of the vehicle by the display device 24 is continued until it is turned off by the driver, the passenger, or the like.

The speaker buzzer 25 is a device that gives an auditory warning or notification such as a voice recorded in advance to a driver or a passenger in a vehicle. Similarly, it is a device that gives an auditory warning or notification such as a voice recorded in advance to a surrounding vehicle or a passerby even outside the vehicle. Then, for example, when the driver's abnormal state is detected (detected by the driver state detecting device 12 or the emergency switch of the switch group 17 is turned on) and the evacuation control is executed, the speaker buzzer 25 sets the driver's abnormal state. Is notified to the inside of the vehicle (driver / passenger) / outside the vehicle (peripheral vehicles / passersby) by issuing a voice warning such as "emergency evacuation" to execute the evacuation control from the time when is detected. To do. Even if the vehicle is evacuated and stopped, the notification (alarm) to the inside and outside of the vehicle by the speaker buzzer 25 is continued until it is turned off by the driver, passengers, or the like.

Then, the driving control unit 10 is based on the input signals from the above-mentioned devices 11 to 17 to prevent collision with obstacles and the like, constant speed driving control, following driving control, lane keep control, and lane departure prevention control. , Other overtaking control, etc. are coordinated to execute automatic driving control, etc. When an abnormal state of the driver is detected (detection by the driver state detection device 12 or ON of the emergency switch of the switch group 17) during automatic driving control or non-automatic driving control of this vehicle, FIG. The process shifts to the save control described in the flowchart. In this evacuation control, when an abnormal state of the driver is detected while traveling downhill, the area where the own vehicle evacuates and stops in front of the driving path is set as the front evacuation use area, and the vehicle stops from the front evacuation use area. A target that can freely suppress the movement of the own vehicle later is detected as an evacuation use target, a target course for running the own vehicle is set as a target for the evacuation use target, and the vehicle is run along the target course to be in the vicinity of the evacuation use target. Control the running so that the own vehicle stops. As described above, the travel control unit 10 is configured to have functions as a forward evacuation use area setting means, an evacuation use target detection means, and a control means.

Next, the evacuation control program executed by the traveling control unit 10 will be described with reference to the flowchart of FIG.

First, in step 101 (hereinafter, abbreviated as “S”) 101, the driver state detection device 12 detects the driver as an abnormal state as described above.

Then, the process proceeds to S102, and it is determined whether or not an abnormal state of the driver is detected. If the driver is determined to be abnormal, the process proceeds to S103, and if the driver is determined to be normal, the program is exited as it is.

When the driver is determined to be abnormal and proceeds to S103, the travel control unit 10 sets a forward evacuation use area in which the own vehicle retracts and stops in front of the travel path.

As shown in FIG. 4A, for example, this forward evacuation use area has a width of Sw from the end of the road on both sides of the front of the travel path (in front of the distance SL) and a length Sc (Sw and Sc are both in advance). It is set in the area (left front evacuation use area Rl, right front evacuation use area Rr) of the area (value set by experiment, calculation, etc.). The distance SL to the forward evacuation use areas Rl and Rr is a distance at which it can be estimated that the vehicle can stop when a braking force set in advance by experiments, calculations, etc. is applied when the driver is in an abnormal state. For example, as shown in FIG. 3, it is set according to the vehicle speed V.

Next, the process proceeds to S104, and the movement of the own vehicle after stopping is freely suppressed from the forward evacuation use areas Rl and Rr set in S103 (data such as guardrails, side walls, curbs, etc. existing along the road). The object closest to the own vehicle is detected as the evacuation use target from the convex portion of the three-dimensional object data with respect to the road surface (see FIG. 4 (b)) and the concave portion with respect to the road surface such as a depression (see FIG. 4 (c)). .. In addition, based on the camera image of the surrounding environment recognition device 11 and the map data of the own vehicle position information detection device 14, avoidance targets such as cliffs closest to the own vehicle should be avoided from the front of the traveling path. To detect.

Next, the process proceeds to S105, and it is determined whether or not the vehicle is traveling downhill based on the camera image of the surrounding environment recognition device 11, the gradient sensor of the driving parameter detection device 13, the map data of the own vehicle position information detection device 14, and the like. If it is determined that the vehicle is traveling downhill as a result of the determination in S105, the process proceeds to S106, and as a result of the detection in S104, it is determined whether or not the evacuation use target is detected.

Then, when the evacuation use target is detected, the process proceeds to S107, and the evacuation use target is set at the target point Pt (see FIG. 4A). If the evacuation use target is not detected as a result of the detection in 104, the process proceeds to S108, and it is determined whether or not the avoidance target such as a cliff is detected in S104.

If the avoidance target is detected as a result of the determination in S108, the process proceeds to S109, and the point closest to the own vehicle on the road side opposite to the avoidance target in the forward evacuation use area is the target point of the evacuation use target. Set to Pt (see FIG. 5).

If, as a result of the determination in S108, it is determined that the avoidance target has not been detected, the process proceeds to S110, and the point closest to the own vehicle in the forward evacuation use area is set as the target point Pt for the evacuation use target. ..

After setting the target point Pt in any of S107, S109, and S110, the process proceeds to S111, and the target course up to the target point Pt (for example, the course shown by Can in FIGS. 4A and 5) is set. This target course may be set by a straight line or a quadratic curve, as is well known, for example. The course shown by Cn in FIGS. 4A and 5 shows a course in which the driver has no abnormality and normally runs.

Furthermore, on this target course Can, the target is a point in front of the set distance Lt (distance according to the vehicle specifications, etc. set in advance by experiments, calculations, etc., for example, 0.5 m, etc.) to the target point Pt. It is set as the stop position Ps (see, for example, FIGS. 4A and 5).

Then, the process proceeds to S112, and automatic operation control (automatic steering control, automatic brake control) is performed until the vehicle stops at the target stop position Ps along the target course Can set in S111. In this automatic driving control, the steering position is maintained as it is in the stopped state. In addition, the braking force is maintained as it is. As for the brake, the parking brake is operated. Further, when the automatic operation control for evacuation is executed, as described above, the display device 24 starts the evacuation control when an abnormal state of the driver is detected by the display or the alarm lamp in the vehicle. This is visually notified to the driver and passengers. In addition, outside the vehicle, a hazard lamp notifies neighboring vehicles, passersby, and the like that the evacuation travel is started after the evacuation travel is started. Even if the vehicle is evacuated and stopped, the notification (alarm) to the inside and outside of the vehicle by the display device 24 is continued until it is turned off by the driver, the passenger, or the like. Further, the speaker buzzer 25 executes the evacuation control from the time when the driver's abnormal state is detected, for example, for the inside of the vehicle (driver / passenger) / outside the vehicle (peripheral vehicle / passerby), for example, "emergency". A voice alarm such as "Evacuate" is issued to notify the user. Even if the vehicle is evacuated and stopped, the notification (alarm) to the inside and outside of the vehicle by the speaker buzzer 25 is continued until it is turned off by the driver, passengers, or the like.

Then, in the vehicle stopped at the target stop position Ps, when the evacuation target is a convex portion of the three-dimensional object data such as a curb with respect to the road surface, as shown in FIG. 4 (b), the vehicle has its own weight even after the vehicle has stopped. Or, even if it moves due to some kind of impact, the convex portion functions as a wheel chock and does not cause a further accident of the vehicle. Also, when the evacuation target is a road guardrail or other three-dimensional object, these three-dimensional objects also act as restrictions on the movement of the vehicle, so even after the vehicle is stopped, the vehicle is under its own weight or whatever. Even if it moves due to the impact, the movement of the vehicle is suppressed to a small size, and further accidents of the vehicle do not occur. Further, when the object to be used for evacuation is a recess with respect to the road surface such as a depression, as shown in FIG. 4C, the recess is chocked even if the vehicle moves by its own weight or due to some impact after the vehicle is stopped. It functions as a vehicle and does not cause further accidents in the vehicle.

As described above, according to the embodiment of the present invention, when an abnormal state of the driver is detected during downhill driving, an area in which the own vehicle evacuates and stops in front of the traveling path is set as a front evacuation utilization area. , A target that can freely suppress the movement of the own vehicle after stopping is detected as an evacuation use target from the front evacuation use area, a target course for running the own vehicle is set as a target for the evacuation use target, and the target course is set. The vehicle is controlled so that the vehicle stops near the evacuation target. Therefore, when an abnormality occurs in the driver, it is possible to evacuate to an appropriate position, and after evacuating, it is possible to improve safety without causing a further accident.

In the present embodiment, the case where the driver becomes abnormal in the state of automatic driving has been described as an example, but the driver is a vehicle having a function of automatic steering and automatic brake control even if it is not in the state of automatic driving. Needless to say, this embodiment can be applied when the vehicle becomes abnormal.

Further, in the present embodiment, the case where the own vehicle is traveling downhill is described as an example, but it goes without saying that the present invention can be applied even when the own vehicle is traveling uphill. In the case of traveling uphill, the left rear evacuation area and the right rear evacuation area as shown in FIG. 4A are set and evacuated behind the own vehicle as in the case of traveling downhill. Control. In this case, in particular, the steering angle required to travel along the target course is the steering angle in reverse.

1 Travel control device 10 Travel control unit ( forward evacuation use area setting means, evacuation use target detection means, control means)
11 Surrounding environment recognition device (driving environment information acquisition means)
12 Driver status detection device (abnormal status detection means)
13 Driving parameter detection device (driving information detecting means)
14 Vehicle position information detection device (driving environment information acquisition means)
15 Vehicle-to-vehicle communication device (driving environment information acquisition means)
16 Road traffic information communication device (driving environment information acquisition means)
17 Switch group (abnormal state detection means)
21 Engine control device 22 Brake control device 23 Steering control device 24 Display device 25 Speaker buzzer

Claims (2)

Driving environment information acquisition means for acquiring driving environment information related to the environment in which the own vehicle travels,
Driving information detection means that detects the driving information of the own vehicle,
Abnormal state detection means for detecting the abnormal state of the driver, and
When the driver's abnormal state is detected by the abnormal state detecting means on a slope based on the driving environment information and the driving information, the area where the own vehicle evacuates and stops in front of the traveling path is used for evacuation. Forward evacuation use area setting means to set as an area,
An evacuation use target detecting means for detecting an object capable of suppressing the movement of the own vehicle after stopping from the front evacuation use area as an evacuation use target.
A control means for setting a target course for running the own vehicle with the evacuation use target as a target, running along the target course, and controlling the running so that the own vehicle stops in the vicinity of the evacuation use target.
Equipped with a,
When the evacuation use target detecting means detects an avoidance target to avoid the entry of the own vehicle into the traveling path based on the traveling environment information and the traveling information, the evacuation use target detecting means and the avoidance target in the front evacuation use area Is a vehicle travel control device characterized in that the point closest to the own vehicle on the opposite road side is set as the evacuation use target. The retracted utilization object is traveling control device for a vehicle according to claim 1 Symbol mounting, characterized in that either the convex portion against the concave portion and the road surface with respect to the road surface.

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