JP7032880B2 - Intention estimation device and driving control device - Google Patents

Description

The present invention relates to an intention estimation device and a traveling control device that estimate the driver's intention for automatic driving.

In recent years, in vehicles, various systems using automatic driving technology have been developed and proposed so that the driver can drive more comfortably and safely. In such an automatic driving system, when the driver performs a predetermined driving operation (steering operation, accelerator pedal operation or brake pedal operation) during the execution of the automatic driving control, the driver's intention is prioritized and the automatic driving is performed. It has an override function that pauses control and switches to manual operation by the driver.

In addition, some automatic driving systems have a function of determining the state and intention of the driver. For example, Japanese Patent Application Laid-Open No. 2017-19436 discloses an automatic driving system for determining whether or not a driver can start manual driving. Further, Japanese Patent Application Laid-Open No. 2016-132351 discloses an automatic driving device for determining an intention of a driver to cancel automatic driving and an intention of emergency avoidance.

Japanese Unexamined Patent Publication No. 2017-19436 Japanese Unexamined Patent Publication No. 2016-13231

By the way, in the advanced automatic driving system, it is possible to execute automatic driving under predetermined conditions without the involvement of the driver. The driver's intention for such automatic driving is not only the intention to execute the override, but also the intention to completely leave the driving operation to the vehicle side and the intention to prepare for the override at any time. There is. With the techniques disclosed in JP-A-2017-19436 and JP-A-2016-132351, it is possible to presume the intention to execute the override, but it is difficult to presume other intentions.

Therefore, an object of the present invention is to provide an intention estimation device and a travel control device capable of estimating various intentions of a driver for automatic driving.

The intention estimation device of one aspect of the present invention estimates the driver's intention for automatic driving of the vehicle, and the touch sensor for detecting the presence or absence of contact with the steering wheel of the driver and the driver. The intention to estimate the driver's intention by using the pressure sensor that detects the pressure applied to the steering wheel and the detection result of the touch sensor and the detection result of the pressure sensor during the automatic driving control of the vehicle. The intention estimation unit includes an estimation unit, and the intention estimation unit includes a contact state in which the driver is in contact with the steering wheel and a non-contact state in which the driver is not in contact with the steering wheel, based on the detection result of the touch sensor. The contact state is estimated, and based on the detection result of the pressure sensor, the gripped state in which the driver is gripping the steering wheel and the non-grasped state in which the driver is not gripping the steering wheel are determined. Estimate, and further, as the driver's intention, let's cancel the first intention to continue the automatic driving control, the second intention to prepare for the cancellation of the automatic driving control, and the automatic driving control. The first intention is presumed when it is in the non-contact state and the non-grasping state, and the second intention is the contact state and the non-grasping state . It is estimated in the case of the state, and the third intention is estimated in the case of the gripping state .

The travel control device of one aspect of the present invention detects an intention estimation device that estimates the driver's intention for automatic driving of the vehicle, a control unit that controls the vehicle, and an operation input by the driver as input values. The intention estimation device includes an operation input detecting means, a touch sensor for detecting the presence or absence of contact of the driver with the steering wheel, and a pressure sensor for detecting the pressure applied to the steering wheel by the driver. The vehicle is provided with an intention estimation unit that estimates the driver's intention using the detection result of the touch sensor and the detection result of the pressure sensor during the automatic driving control of the vehicle. As the intention of the person, the first intention to continue the automatic operation control, the second intention to prepare for the cancellation of the automatic operation control, and the third intention to release the automatic operation control. Any one is estimated, the control unit sets the first value as an input threshold when the first intention is estimated by the intention estimation unit, and the second intention is determined by the intention estimation unit. When it is estimated, the second value is set as the input threshold, and when the third intention is estimated by the intention estimation unit, the third value is set as the input threshold, and the input value is set. When the input threshold value is equal to or higher than the input threshold value, the automatic operation control is canceled, and the third value is smaller than the first and second values.

The travel control device of another aspect of the present invention includes an intention estimation device that estimates the driver's intention for automatic driving of the vehicle, a control unit that controls the vehicle, and an external environment recognition that recognizes the external environment of the vehicle. The device includes an alarm device that issues a warning to the driver, and the intention estimation device is applied to the steering wheel by a touch sensor that detects the presence or absence of contact with the steering wheel of the driver and the driver. It is provided with a pressure sensor for detecting the pressure of the vehicle and an intention estimation unit for estimating the intention of the driver by using the detection result of the touch sensor and the detection result of the pressure sensor during the automatic driving control of the vehicle. The intention estimation unit estimates one of the first intention, the second intention, and the third intention as the driver's intention, and the first intention causes the automatic driving control to continue. The second intention is to prepare for the cancellation of the automatic driving control while leaving the driving operation to the vehicle side, and the third intention is to prepare for the cancellation of the automatic driving control. The warning device issues a warning to the driver based on the recognition result of the external environment recognition device and the estimation result of the intention estimation unit.

According to the present invention, it is possible to provide an intention estimation device and a travel control device capable of estimating various intentions of a driver for automatic driving.

It is explanatory drawing which shows the structure of the traveling control apparatus which concerns on embodiment of this invention. It is explanatory drawing which shows typically the steering wheel, the touch sensor and the pressure sensor in embodiment of this invention. It is a flowchart which shows the intention estimation process and the threshold value change process in embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the configuration of the travel control device according to the embodiment of the present invention will be described with reference to FIG. FIG. 1 is an explanatory diagram showing a configuration of a traveling control device.

As shown in FIG. 1, the travel control device 1 includes an intention estimation device 10 according to the present embodiment, a control unit 21, an external environment recognition device 22, and an alarm device 23. The intention estimation device 10, the control unit 21, the external environment recognition device 22, the alarm device 23, and a plurality of devices described later are connected to each other via a communication bus 100 forming an in-vehicle network.

The intention estimation device 10 is a device that estimates the driver's intention for automatic driving of the vehicle. As shown in FIG. 1, the intention estimation device 10 includes an intention estimation unit 11, a touch sensor 12, and a pressure sensor 13. As shown in FIG. 2, the touch sensor 12 and the pressure sensor 13 are provided inside the rim 31 of the steering wheel 30. The touch sensor 12 is a sensor that detects the presence or absence of contact with the steering wheel 30 by the driver. The pressure sensor 13 is a sensor that detects the pressure applied to the steering wheel 30 by the driver, and is configured to change the output according to the pressure.

The intention estimation unit 11 estimates the driver's intention by using the detection result of the touch sensor 12 and the detection result of the pressure sensor 13 during the automatic driving control of the vehicle. The intention estimation unit 11 will be described in detail later.

The control unit 21 is a control unit that performs main control of the vehicle including automatic driving control. The control performed by the control unit 21 includes engine control for controlling the operating state of the engine of the vehicle, brake control for controlling the four-wheel brake device, steering control for controlling the electric power steering motor provided in the steering system of the vehicle, and the like. There is.

The external environment recognition device 22 has a function of recognizing the external environment of the vehicle, specifically, a function of distinguishing between a highway and a general road, a shape of a travel path in front of the vehicle, and on the travel path and around the travel path. It has a function of recognizing the existence, position, movement, etc. of an object existing in. The external environment of the vehicle is recognized by a sensor connected to the external environment recognition device 22. As the sensor, for example, a camera device such as a stereo camera, a monocular camera, or a color camera is used. When a camera device is used, the external environment recognition device 22 recognizes the external environment by performing image processing or the like on the image captured by the camera device. As the sensor, a radar device such as a millimeter wave radar or a laser radar may be used in addition to the camera device.

Although not shown, the travel control device 1 further includes a vehicle position information detection device that identifies the vehicle position on map data, a vehicle-to-vehicle communication device that communicates with other vehicles to transmit and receive information, and road traffic information. Equipped with a road traffic information communication device to receive. Based on the input information from these devices and the recognition result of the external environment recognition device 22, the control unit 21 has collision prevention control with obstacles, constant speed driving control, follow-up driving control, lane keep control, and lane departure. Driving support control such as prevention control and overtaking control, and automatic driving control in which these controls are coordinated are executed.

The external environment recognition device 22 may distinguish between a highway and a general road by using the information of the own vehicle position information detection device.

A switch group (not shown) for various settings and operations is connected to the control unit 21. The switch group is a switch for executing and canceling constant speed driving control, following driving control, lane keeping control, lane deviation prevention control and overtaking control, and for executing and canceling automatic driving control in which these controls are coordinated. It is composed of a switch, a switch for setting a vehicle speed, an inter-vehicle distance, an inter-vehicle time, a speed limit, and the like.

The alarm device 23 is a device that gives a warning / notification to the driver, and is composed of, for example, a visual output means such as a monitor, a display, and an alarm lamp, and an auditory output means such as a speaker and a buzzer. ing. For example, when an abnormality occurs in various devices of the vehicle, or when the driver's involvement is required during the execution of the driving support control and the automatic driving control, the control unit 21 uses at least one of the above output means. It is used to instruct the alarm device 23 to issue a warning to the driver.

The travel control device 1 further includes an operation input detecting means for detecting an operation input by the driver as an input value. In the present embodiment, as an example, a case where the operation input detecting means is a steering torque sensor 14 will be described. The steering torque sensor 14 is connected to the control unit 21 and detects the steering torque input to the steering wheel 30 by the driver as an input value. When the input value, that is, the steering torque is equal to or higher than a predetermined input threshold value, the control unit 21 cancels the driving support control or the automatic driving control and shifts to the manual driving.

As another example of the operation input detecting means, in addition to the steering torque sensor 14, there are a sensor for detecting the amount of depression of the accelerator pedal, a sensor for detecting the amount of depression of the brake pedal, and the like. Even when the input value detected by these sensors is equal to or higher than a predetermined input threshold value, the control unit 21 cancels the driving support control or the automatic driving control and shifts to the manual driving.

Next, the intention estimation unit 11 will be described in detail. In the present embodiment, the intention estimation unit 11 estimates the following first intention, second intention, and third intention as the intention of the driver. The first intention is to continue the automatic driving control. In other words, the first intention is to completely entrust the driving operation to the vehicle side, specifically, the control unit 21.

The second intention is to prepare for the cancellation of automatic driving control. Specifically, the second intention is to leave the driving operation to the vehicle side and prepare to execute the override at any time according to the situation of the external environment and the like.

The third intention is the intention to cancel the automatic driving control, that is, the intention to execute the override.

In the present embodiment, when the first intention is estimated by the intention estimation unit 11, the control unit 21 sets the first value as an input threshold value. Further, when the second intention is estimated by the intention estimation unit 11, the control unit 21 sets the second value as the input threshold value. Further, when the third intention is estimated by the intention estimation unit 11, the control unit 21 sets the third value as the input threshold value. In particular, in the present embodiment, the first to third values are all torque values.

The third value is smaller than the first and second values. Therefore, when the third value is set as the input threshold value, the driving support control or the driving support control is performed by a smaller input value (steering torque) than when the first or second value is set as the input threshold value. Automatic operation control is canceled.

The second value may be equal to or less than the first value. That is, the relationship of first value ≧ second value> third value may be established between the first to third values. Further, as the input threshold value, a value other than the first to third values may be used. For example, the initial input threshold value may be used as the input threshold value used before the driver's intention estimation by the intention estimation device 10. In this case, the first and second values may be larger than the initial input threshold, and the third value may be smaller than the initial input threshold.

Next, the intention estimation process and the threshold value setting process will be described with reference to FIG. FIG. 3 is a flowchart showing the intention estimation process and the threshold value setting process. The intention estimation process is a process of estimating the driver's intention for automatic driving, and is executed by the intention estimation unit 11. The threshold value setting process is a process for setting an input threshold value and is executed by the control unit 21. The intention estimation process and the threshold value setting process are repeatedly executed every set time during the automatic operation control.

First, the intention estimation process will be described. In FIG. 3, steps S101 to S106 correspond to the intention estimation process. First, in step S101, the intention estimation unit 11 estimates whether or not the driver is in contact with the steering wheel 30 based on the state of the touch sensor 12. In the present embodiment, when the state in which the touch sensor 12 detects the contact with the steering wheel 30 continues for a certain period of time, the intention estimation unit 11 is in the contact state in which the driver is in contact with the steering wheel 30. I presume that there is. On the other hand, when the state in which the touch sensor 12 does not detect contact with the steering wheel 30 continues for a certain period of time, the intention estimation unit 11 estimates that the driver is not in contact with the steering wheel 30 in a non-contact state. .. The above-mentioned fixed time, that is, the time for determining the contact state and the non-contact state is, for example, about several seconds.

When it is presumed that the vehicle is in a non-contact state, the steering wheel 30 is not actually touched, the steering wheel 30 is gripped in a place where the touch sensor 12 does not exist, or a glove or the like is attached to the hand. Therefore, the contact with the steering wheel 30 may not be detected, or the touch sensor 12 may be out of order.

If it is estimated in step S101 that the vehicle is in a non-contact state, the intention estimation unit 11 then determines in step S102 whether or not the driver is gripping the steering wheel 30 based on the state of the pressure sensor 13. Estimate. In the present embodiment, when the pressure sensor 13 detects a pressure equal to or higher than a predetermined threshold value for a certain period of time, the intention estimation unit 11 is in a gripped state in which the driver is gripping the steering wheel 30. I presume that there is. On the other hand, if the state in which the pressure below the predetermined threshold is detected by the pressure sensor 13 continues for a certain period of time, or the state in which the pressure is not detected by the pressure sensor 13 continues for a certain period of time, the intention estimation unit 11 operates. It is presumed that the person is not gripping the steering wheel 30 and is in a non-grasping state. The above-mentioned fixed time, that is, the time for determining the gripped state and the non-grasped state is, for example, about several seconds.

If it is estimated in step S101 that the vehicle is in contact, the intention estimation unit 11 then determines in step S103 whether or not the driver is gripping the steering wheel 30 based on the state of the pressure sensor 13. To estimate. The content of step S103 is the same as the content of step S102.

When it is estimated that the driver is in the non-grasping state, that is, in the non-contact state and the non-grasping state in step S102, it is estimated that the driver is not touching the steering wheel 30. The wheel. In such a state, it is presumed that the driver's intention is to completely leave the driving operation to the vehicle side. Therefore, in this case, the intention estimation unit 11 estimates that the driver's intention is the first intention (step S104).

It should be noted that here, it is premised on an automatic driving system capable of executing automatic driving without the involvement of the driver under predetermined conditions. In such an automatic driving system, it is possible to continue automatic driving even when the driver does not touch the steering wheel 30.

When it is estimated that the steering wheel 30 is in the gripping state in step S102, and when it is estimated that the steering wheel 30 is in the gripping state in step S103, it is estimated that the driver is gripping the steering wheel 30 with a certain force. .. In such a state, the driver's intention is presumed to be the intention to execute the override. Therefore, in this case, the intention estimation unit 11 estimates that the driver's intention is the third intention (step S105).

In the case where it is estimated to be in the non-grasping state in step S103, that is, in the contacting state and the non-grasping state, the driver is in a state of lightly touching the steering wheel 30 or the driver is in a state of lightly touching the steering wheel 30. It is presumed that the steering wheel 30 is pinched and held. In such a state, it is presumed that the driver's intention is to leave the driving operation to the vehicle side and prepare to execute the override at any time according to the situation of the external environment and the like. Therefore, in this case, the intention estimation unit 11 estimates that the driver's intention is the second intention (step S106).

When any one of the first to third intentions is estimated in steps S104 to 106, the intention estimation process ends.

Next, the threshold value setting process will be described. The threshold setting process is executed after the intention estimation process. In FIG. 3, steps S107 to S109 correspond to the threshold setting process. When the driver's intention is presumed to be the first intention (step S104), the control unit 21 sets the first value as the input threshold value (step S107). When the driver's intention is estimated to be the third intention (step S105), the control unit 21 sets the third value as the input threshold value (step S108). Further, when the driver's intention is estimated to be the second intention (step S106), the control unit 21 sets the second value as the input threshold value (step S109).

When the input threshold value is set in steps S107 to S109, the threshold value setting process ends.

As described above, in the present embodiment, it is possible to distinguish between the first intention and the second intention, which are the intentions to leave the driving operation to the vehicle side, and at least the steering wheel 30. It is possible to distinguish between the second intention and the third intention estimated in the state of being in contact with the wheel. As described above, according to the present embodiment, various intentions of the driver for automatic driving can be estimated by using the detection result of the touch sensor 12 and the detection result of the pressure sensor 13.

The intention estimation unit 11 may estimate an intention other than the first to third intentions as the driver's intention. Such intentions include, for example, an intention to slowly release the automatic driving control and an intention to hurry to release the automatic driving control. This can be realized, for example, by providing a plurality of threshold values of the pressure sensor 13.

Further, in the present embodiment, as described above, when the input value is equal to or higher than the input threshold value, the automatic operation control is canceled. In the present embodiment, when the first intention or the second intention which is the intention to leave the driving operation to the vehicle side is estimated, the first value or the second value is selected as the input threshold value. When the third intention to cancel the automatic operation is estimated, a third value smaller than the first and second values is selected as the input threshold value. In this embodiment, the input value is the steering torque. Therefore, according to the present embodiment, since the automatic driving control can be canceled by a smaller steering torque, the override can be executed without applying an excessive force. As a result, according to the present embodiment, it is possible to shift to manual operation without discomfort.

When the input threshold value is relatively large, that is, when the steering torque required for overriding is relatively large, the catching that occurs when the steering wheel 30 is turned is transmitted to the driver as a sense of discomfort. In this case, when executing the override, the driver may apply more force to the steering wheel 30 than necessary, and the steering amount of the steering wheel 30 may increase. As a result, the behavior of the vehicle is greatly disturbed, and as a result, there is a risk of falling into a dangerous situation leading to an accident. On the other hand, according to the present embodiment, as described above, the override can be executed without applying more force than necessary, so that it is possible to prevent the above problem from occurring, and as a result, it is possible to prevent the above problem from occurring. , It is possible to improve the safety when shifting to manual operation.

Further, in the present embodiment, when the intention is to leave the driving operation to the vehicle side, the input threshold value, that is, the steering torque required for the override becomes relatively large. In this case, even if a disturbance such as an unintended contact between the driver's arm or foot is input to the steering wheel 30, the automatic driving control is not released. Thereby, according to the present embodiment, it is possible to prevent the automatic driving control from being released due to the disturbance, and as a result, the duration of the automatic driving can be lengthened.

Also, in general, disturbances such as unintended contact occur instantaneously. In the present embodiment, the contact state and the non-contact state estimated by the detection result of the touch sensor 12 and the gripping state and the non-grasping state estimated by the detection result of the pressure sensor 13 are all in the same state for a certain period of time. Estimated if continued. Also by this, according to the present embodiment, it is possible to prevent the automatic operation control from being released due to the disturbance.

Further, in the present embodiment, it is possible to distinguish between the first intention and the second intention, which is the intention to leave the driving operation to the vehicle side. In the present embodiment, when the first intention is estimated, the first value is selected as the input threshold value, and when the second intention is estimated, the second value is selected as the input threshold value. Will be done. Thereby, according to the present embodiment, it is possible to change the control content even when the intention to leave the driving operation to the vehicle side is presumed. Further, in the present embodiment, the second value may be equal to or less than the first value. That is, the relationship of first value ≧ second value> third value may be established between the first to third values. As a result, when the second intention is estimated, the steering torque is larger than when the third intention is estimated, but the steering torque is less than or equal to the steering torque when the first intention is estimated. , Automatic operation control can be canceled. Thereby, according to the present embodiment, it is possible to further reduce the discomfort transmitted to the driver.

Up to this point, an automatic driving system capable of executing automatic driving without the involvement of a driver under predetermined conditions has been described as an example. If the predetermined conditions are not satisfied, the driver's involvement is required even during automatic driving control. Examples of cases where the predetermined conditions are not satisfied include cases where the vehicle descends from a highway to a general road, cases where the recognition accuracy of the external environment recognition device 22 deteriorates due to bad weather, and the like.

The control unit 21 commands the alarm device 23 to issue a warning to the driver when the driver's involvement is required as described above. This warning is given based on the recognition result of the external environment recognition device 22 and the estimation result of the intention estimation unit 11. For example, when the external environment recognition device 22 recognizes the exit of the expressway, or when the recognition accuracy of the external environment recognition device 22 deteriorates, and when the intention estimation unit 11 estimates the first intention, the alarm device 23 Warns the driver to be ready to perform the override at any time. This can improve safety.

The present invention is not limited to the above-described embodiment, and various changes, modifications, and the like can be made without changing the gist of the present invention.

1 ... Driving control device, 10 ... Intention estimation device, 11 ... Intention estimation unit, 12 ... Touch sensor, 13 ... Pressure sensor, 14 ... Steering torque sensor, 21 ... Control unit, 22 ... External environment recognition device, 23 ... Alarm device , 30 ... Steering wheel, 31 ... Rim, 100 ... Communication bus.

Claims (5)

It is an intention estimation device that estimates the driver's intention for automatic driving of the vehicle.
A touch sensor that detects the presence or absence of contact with the driver's steering wheel, and
A pressure sensor that detects the pressure applied to the steering wheel by the driver, and
During the automatic driving control of the vehicle, the vehicle is provided with an intention estimation unit that estimates the driver's intention by using the detection result of the touch sensor and the detection result of the pressure sensor.
Based on the detection result of the touch sensor, the intention estimation unit estimates a contact state in which the driver is in contact with the steering wheel and a non-contact state in which the driver is not in contact with the steering wheel. At the same time, based on the detection result of the pressure sensor, it is estimated that the driver is holding the steering wheel and the driver is not holding the steering wheel. As the driver's intention, the first intention to continue the automatic driving control, the second intention to prepare for the cancellation of the automatic driving control, and the third intention to cancel the automatic driving control. Estimate one of
The first intention is presumed when it is in the non-contact state and the non-grasping state.
The second intention is presumed in the case of the contact state and the non-grasping state.
The intention estimation device, characterized in that the third intention is estimated in the case of the gripping state. The contact state is estimated when the state in which the touch sensor detects contact with the steering wheel continues for a certain period of time.
The non-contact state is estimated when the state in which contact with the steering wheel is not detected by the touch sensor continues for a certain period of time.
The gripping state is estimated when a state in which a pressure equal to or higher than a predetermined threshold value is detected by the pressure sensor continues for a certain period of time.
The non-grasping state is estimated when the state in which the pressure below the predetermined threshold is detected by the pressure sensor continues for a certain period of time, or when the state in which the pressure is not detected by the pressure sensor continues for a certain period of time. The intention estimation device according to claim 1 . An intention estimation device that estimates the driver's intention for automatic driving of the vehicle, and
A control unit that controls the vehicle and
It is provided with an operation input detecting means for detecting the operation input by the driver as an input value.
The intention estimation device is
A touch sensor that detects the presence or absence of contact with the driver's steering wheel, and
A pressure sensor that detects the pressure applied to the steering wheel by the driver, and
During the automatic driving control of the vehicle, the vehicle is provided with an intention estimation unit that estimates the driver's intention by using the detection result of the touch sensor and the detection result of the pressure sensor.
The intention estimation unit cancels the driver's first intention to continue the automatic driving control, a second intention to prepare for the cancellation of the automatic driving control, and the automatic driving control. Estimate one of the third intentions to try,
The control unit sets the first value as an input threshold value when the first intention is estimated by the intention estimation unit, and when the second intention is estimated by the intention estimation unit, the control unit sets the first value as an input threshold value. The second value is set as the input threshold value, and when the third intention is estimated by the intention estimation unit, the third value is set as the input threshold value, and the input value is equal to or higher than the input threshold value. Sometimes the automatic operation control is canceled and
The traveling control device, characterized in that the third value is smaller than the first and second values. The travel control device according to claim 3 , wherein the second value is equal to or less than the first value. The travel control device according to claim 3 , wherein the operation input detecting means is a steering torque sensor that detects a steering torque input to the steering wheel by the driver as the input value.

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