JP7044964B2 - Vehicle control system - Google Patents

Description

The present invention relates to a vehicle control system.

In recent years, technologies related to autonomous driving have been developed that allow vehicles such as automobiles to maintain or change the lane in which they are driving, avoid obstacles, and stop or drive depending on the situation while grasping the surrounding conditions. Has been done. Various technologies related to such automatic driving have been proposed. For example, the seat on which the driver sits during automatic driving is oriented in the direction opposite to the vehicle traveling direction (rearward), and the seat on the rear side of the vehicle is used. It is also known that a seat can be arranged so that the occupant and the driver are seated face-to-face (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-039468

In a general vehicle seat, side supports (so-called) that mainly hold the occupant's thigh at the left and right ends of the seat cushion in order to hold the occupant's body against the inertial force in the left-right direction while traveling. The bank of the sheet) is provided. Similarly, the seat back is also provided with a side support for holding the upper body of the occupant.
By the way, in the case of a vehicle capable of automatic driving, there is a demand to take a relaxing posture and a posture that makes it easy to work during automatic driving. However, when the seat is provided with the side support as described above, there is a problem that it is difficult to take a relaxed posture or a working posture.

The present invention has been made in view of the above circumstances, and the vehicle can be changed into a form suitable for manual driving and a form suitable for automatic driving, and can improve safety and comfort when riding. The purpose is to provide a control system.

In order to solve the above problems, the invention according to claim 1 is
A driving control unit that switches between automatic and manual driving of the vehicle,
Sheets that can be changed to multiple forms and
A seat control unit that controls the operation of the seat when changing the form is provided.
The plurality of forms in the sheet include a form suitable for manual operation and a form unsuitable for manual operation .
The seat control unit
The operating speed of the seat when changing from the form during automatic operation to the form during manual operation, and
It is possible to control to change the operating speed of the seat when changing from the form during manual operation to the form during automatic operation.
It is characterized in that the required time is extended by controlling the speed in the operation of the seat when changing from the form during automatic operation to the form during manual operation .

The invention according to claim 2 is the vehicle control system according to claim 1.
The form unsuitable for manual driving is characterized in that the form of the seat is changed by the seat control unit when the vehicle is switched from manual operation to automatic operation by the operation control unit.

The invention according to claim 3 is the vehicle control system according to claim 1 or 2.
There are multiple patterns in the form unsuitable for manual operation.
The seat is characterized in that its operation is controlled by the seat control unit so as to be in the form of a pattern selected by the occupant among the plurality of patterns.

The invention according to claim 4 is the vehicle control system according to claim 3.
The seat has a seat cushion that holds the buttocks of an occupant, a seat back whose lower end is supported by the seat cushion, and a first angle change that can be controlled by the seat control unit to change the angle of the seat cushion. It has a unit and a second angle changing unit that can be controlled by the seat control unit to change the angle of the seat back.
The seat cushion and the seat back are characterized in that the angles can be changed by the first angle changing portion and the second angle changing portion until they become flat.

The invention according to claim 5 is the vehicle control system according to claim 4.
Each of the seat cushion and the seat back is provided so as to bulge diagonally at the left and right ends to hold a occupant, and a third angle that can be controlled by the seat control unit to change the angle of the side support. Has a change part,
The side support is characterized in that the angle can be changed by the third angle changing portion until it becomes a flat state.

The invention according to claim 6 is the vehicle control system according to claim 4 or 5.
The seat has a headrest provided at the upper end of the seat back to support the head of the occupant, and a fourth angle changing unit that is controllable by the seat control unit to change the angle of the headrest. And
The headrest is characterized in that the angle can be changed by the fourth angle changing portion until it becomes flat with respect to the front surface of the seat back.

The invention according to claim 7 is the vehicle control system according to any one of claims 4 to 6.
The seat has a footrest provided at the front end of the seat cushion to support the foot of the occupant, and a fifth angle changing portion that is controllable by the seat control unit to change the angle of the footrest. And
The footrest is characterized in that the angle can be changed by the fifth angle changing portion until it becomes flat with respect to the seat surface of the seat cushion.

The invention according to claim 8 is the vehicle control system according to claim 7.
The first to fifth angle changing units are characterized in that they can be simultaneously controlled by the seat control unit.

The invention according to claim 9 is the vehicle control system according to any one of claims 1 to 8.
It is characterized by having an auxiliary function unit that assists the work of an occupant seated on the seat when the seat is not suitable for the manual operation.

The invention according to claim 10 is the vehicle control system according to any one of claims 1 to 9.
The seat, which has been changed to a form suitable for manual operation, is characterized in that it can be adjusted by manual operation by an occupant.

According to the first aspect of the present invention, the plurality of forms of the seat include a form suitable for manual driving and a form unsuitable for manual driving. Therefore, the vehicle is suitable for manual driving. The safety of the occupant who drives the vehicle can be improved, and the occupant can spend time in an arbitrary posture in a form unsuitable for manual driving, and the comfort can be improved.
Further, according to the first aspect of the present invention, it is possible to prevent a situation in which the change in the shape of the seat is not in time for the timing at which the manual operation should be started when switching from the manual operation to the automatic operation. .. Further, the operation speed when changing the form of the seat can be changed not only when switching from the manual operation to the automatic operation but also in other situations. In addition, the movement of the seat when changing the form can be delayed to match the timing of switching from automatic driving to manual driving, so that the occupant can approach manual driving with a margin of mind.

According to the second aspect of the present invention, the form of the seat that is not suitable for manual driving is suitable for automatic driving because it is the form of the seat that is changed by the seat control unit, and provides comfort during automatic driving. Can be improved.

According to the third aspect of the present invention, the seat can be changed into various patterns according to the selection of the occupant, so that the comfort during automatic driving can be improved.

According to the invention of claim 4, the angle of the seat cushion and the seat back can be changed by the first angle changing portion and the second angle changing portion until the seat is flat. It can be used in this way, and comfort during automatic driving can be improved.

According to the invention of claim 5, the angle of the side support in the seat cushion and the seat back can be changed by the third angle changing portion until it becomes flat, so that the occupant feels a sense of liberation. It is possible to improve the comfort during automatic driving. Furthermore, since the side support enables a sitting style that is not held, it becomes easier to perform work other than driving.

According to the invention of claim 6, the angle of the headrest can be changed by the fourth angle changing portion until it becomes flat with respect to the front surface of the seat back, so that the angle of the occupant's neck can be changed. It can be adjusted and contributes to improved comfort during autonomous driving.

According to the invention of claim 7, since the angle of the footrest can be changed by the fifth angle changing portion until it becomes flat with respect to the seating surface of the seat cushion, the footrest sits with its legs extended. It is possible to improve the comfort during automatic driving.

According to the eighth aspect of the present invention, since the first to fifth angle changing units can be controlled at the same time by the seat control unit, the seat can be changed to various patterns or a form suitable for manual operation. You can also make it look like a bed at once. Therefore, it can contribute to the improvement of comfort during automatic driving.

According to the invention of claim 9, when the seat is in a form unsuitable for manual operation, it has an auxiliary function unit that assists the work of the occupant seated on the seat. , Can contribute to the improvement of comfort during automatic driving.

According to the invention of claim 10, since the seat changed to the form suitable for manual driving can be adjusted by the manual operation of the occupant, the vehicle is operated in the optimum posture suitable for manual driving. It is possible to improve the safety.

It is a block diagram which shows the schematic structure of a vehicle control system. It is a flowchart when switching from automatic operation to manual operation. It is a figure explaining the example of changing the form of a sheet. It is a figure explaining the example of changing the form of a sheet. It is a figure explaining the outline of the occupant protection system. It is a figure explaining the outline of the occupant protection system. It is a figure explaining the outline of the occupant protection system.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, although the embodiments described below are provided with various technically preferable limitations for carrying out the present invention, the technical scope of the present invention is not limited to the following embodiments and illustrated examples. do not have.

FIG. 1 shows a schematic configuration of a vehicle control system.
The vehicle control system of the present embodiment changes the form into a driving control unit 1 that switches between automatic driving and manual driving of the vehicle V, and a seat 10 that can be changed to different forms during automatic driving and manual driving. A seat control unit 2 that controls the operation of the seat 10 at the time, a seat form change unit 20 that changes the form of the seat 10 based on the control of the seat control unit 2, a driver state detection unit 30, and a protective means 40. , Each of which is connected to the in-vehicle network. The vehicle V is provided with a plurality of seats 10.

[About the operation control unit]
The operation control unit 1 is composed of a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. Further, various devices such as a braking light, an auxiliary device (for example, a direction indicator light, a headlight, a wiper device, etc.), and an actuator are connected to the operation control unit 1.
The operation control unit 1 controls the automatic operation by expanding the program stored in advance in the ROM into the RAM and executing the program in the CPU to control the operation of various devices and the like. The operation control unit 1 may be composed of a plurality of electronic control units.

Specifically, the driving control unit 1 controls switching between automatic driving in which the surrounding situation of the vehicle V and the situation of the vehicle V are determined to control the vehicle V and manual driving by the occupant. During automatic driving, the driving control unit 1 determines the own vehicle and its surrounding conditions based on the information obtained from the peripheral condition detection unit 3 such as various sensors and peripheral shooting cameras in order to make the vehicle V run independently. do. Then, according to the determination result, an automatic driving control process for controlling the actuator that drives the accelerator amount, the brake amount, the steering angle, and the like is performed. In the automatic driving control process, a traveling plan along a preset target route is generated based on the surrounding conditions of the vehicle V and map information, and the driving is controlled so that the vehicle V travels independently according to the generated traveling plan.

For example, the driving control unit 1 can automatically start the automatic driving control process according to the behavior of the vehicle V and the surrounding conditions during the manual driving of the occupant to support the driving of the vehicle V by the occupant. In this case, the operation control unit 1 outputs information indicating the start of the automatic operation control process. Further, in the case of switching from the manual operation of the occupant to the automatic operation by the automatic operation control process according to the instruction of the occupant, the operation control unit 1 starts the information indicating that the sovereignty of the operation is transferred, that is, the start of the automatic operation control process. The predetermined information, which is the information to be shown, is output.

Further, the driving control unit 1 automatically ends (cancels) the automatic driving control process according to the behavior of the vehicle V and the surrounding conditions during the execution of the automatic driving control process, and manually drives the vehicle V by the occupant. Prompting processing can be performed. In this case, the operation control unit 1 outputs information indicating the end of the automatic operation control process in order to encourage the occupant to manually drive the vehicle V. Further, in the case of switching from the automatic operation by the automatic operation control process to the manual operation of the occupant according to the instruction of the occupant, the operation control unit 1 outputs information indicating that the sovereignty of the operation is transferred, that is, the end of the automatic operation control process. The predetermined information, which is the information to be shown, is output.

The driving control unit 1 can be provided with a communication device for exchanging information such as surrounding conditions between the vehicle V and the outside of the vehicle V. An example of a communication device is a communication device that receives road conditions by road-to-vehicle communication such as a wireless communication device by DSRC (Dedicated Short Range Communications) narrow range communication.
In addition, the information indicating the road condition received by the road-to-vehicle communication, which is the surrounding condition, includes the curvature of the traveling lane, the shape and condition of the lane and the road such as the road surface cant, the positional relationship of the vehicle V with respect to the lane, and the traveling. Information indicating the positional relationship of other vehicles and the traffic volume in the vicinity can be mentioned. Further, the operation control unit 1 can include a navigation system as an example of a device for obtaining a peripheral situation.

The peripheral situation detection unit 3 has a plurality of types of sensors, a peripheral photographing camera, and the like, and detects the peripheral situation of the vehicle V in order to perform automatic driving by the driving control unit 1. The peripheral situation detection unit 3 detects, for example, image pickup information of a peripheral photographing camera, obstacle information of a radar, obstacle information of a rider (LIDER: Laser Imaging Detection and Ranging), and the like as the peripheral situation of the vehicle V. The surrounding situation includes, for example, the position of the white line of the traveling lane with respect to the vehicle V, the position of the center of the lane, the road width, the road shape, the situation of obstacles around the vehicle V, and the like. The road shape includes, for example, the curvature of the traveling lane, the change in the slope of the road surface effective for estimating the line-of-sight of the sensor, and the swell. The conditions of obstacles around the vehicle V include, for example, information for distinguishing between a fixed obstacle and a moving obstacle, the position of the obstacle with respect to the vehicle V, the moving direction of the obstacle with respect to the vehicle V, and the obstacle with respect to the vehicle V. There is a relative speed of.

[About the seat control unit and seat]
The seat control unit 2 is for changing the position, orientation, and posture (that is, form) of the seat 10 provided on the vehicle V with respect to the vehicle V, and is a CPU (Central Processing Unit) and a ROM (Read Only). It is composed of a microcomputer including Memory) and RAM (Random Access Memory). In addition to the operation control unit 1 and the seat control unit 2, the vehicle control system of the present embodiment includes various storage means for storing various information and programs, input means for transmitting the intention of the occupant to the system, and various types. It shall have various means necessary for changing the form of the seat 10, such as an output means for transmitting information to the occupants.
Further, the seat control unit 2 is connected to the operation control unit 1 and can control the form of the seat 10 in conjunction with the control related to the operation of the vehicle V by the operation control unit 1. However, the present invention is not limited to this, and the operation control unit 1 and the seat control unit 2 may be one integrated control unit.

As shown in FIG. 3A, the seat 10 is provided at the seat cushion 11 that holds the buttocks of the occupant, the seat back 12 whose lower end is supported by the seat cushion 11, and the upper end of the seat back 12. A headrest 13 that supports the occupant's head and a footrest 14 that is provided at the front end of the seat cushion 11 and supports the occupant's foot are provided.
Although not shown, the seat cushion 11 and the seat back 12 have a frame that forms the frame of the seat cushion 11 and the seat back 12. Further, each of the seat cushion 11 and the seat back 12 has side supports 11a and 12a which are provided so as to bulge diagonally at the left and right ends to hold the occupant.
In the seat cushion 11, the above-mentioned frame is supported on the floor surface of the vehicle body by a support mechanism (not shown).
As shown in FIG. 3, the headrest 13 has a pillar 13a attached to the frame of the seat back 12.
Although not shown, the footrest 14 has a frame that serves as a framework for the footrest 14.

The seat form changing unit 20 includes a support mechanism, an actuator, and the like for changing the form of the seat 10 with respect to the vehicle V, and the seat form changing unit 20 can change the seat arrangement of the seat 10. In this embodiment, two rows of seats 10 are arranged in each of the vehicle width direction and the vehicle front-rear direction, and the form of each seat 10 can be changed by the seat control unit 2 and the seat form changing unit 20.
Each of the plurality of seats 10 can be changed into a plurality of forms, and can be changed into a plurality of forms based on the seat control unit 2 and the seat form changing unit 20.

The plurality of forms in the sheet 10 include a form suitable for manual operation and a form unsuitable for manual operation.
In the present embodiment, at the timing when the operation control unit 1 switches from the automatic operation to the manual operation, the seat control unit 2 changes the seat form changing unit 20 so as to change the seat arrangement for manual operation (a form suitable for manual operation). Control. On the other hand, at the timing when the operation control unit 1 switches from the manual operation to the automatic operation, the seat control unit 2 controls the seat form change unit 20 so as to change the seat arrangement for automatic operation (a form unsuitable for manual operation). That is, the mode unsuitable for manual driving is that when the vehicle V is switched from manual driving to automatic driving by the driving control unit 1, the seat form changing unit 20 operates and changes based on the control of the seat control unit 2. It is the form of the sheet 10.
The seat 10 which has been changed to a form suitable for manual operation can be adjusted by manual operation by the occupant. That is, the occupant himself can make fine adjustments according to the physical characteristics of the occupant.

There are a plurality of patterns in the form of the seat 10 which is not suitable for manual operation, and the operation of the seat 10 is controlled by the seat control unit 2 so as to be the form of the pattern selected by the occupant among the plurality of patterns. That is, although not shown, for example, a plurality of forms (plural patterns) of the seat 10 during automatic driving may be displayed on the display for the navigation system described above so that the occupant can select the vehicle. A button that can select a plurality of forms may be installed in the interior of the V. In other words, the vehicle control system stores a plurality of options (plurality of patterns) in advance, and also incorporates a selection means (input means) for selecting the form of the seat 10, and the occupant has a plurality of passengers. The form of the sheet 10 of any pattern can be selected from the options (plurality of patterns).
Then, the seat control unit 2 operates the seat form changing unit 20 so as to change the form of the seat 10 according to the selection made by the occupant using the selection means.
In order to enable the above-mentioned form change, the sheet 10 includes a first angle changing unit 21, a second angle changing unit 22, a third angle changing unit 23, and a fourth angle changing unit 24. It has a fifth angle changing unit 25, a seat rotating unit 26, a seat sliding unit 27, and a seat posture detecting unit 28 (see FIG. 1).

The first angle changing unit 21 is controlled by the seat control unit 2 to change the angle of the seat cushion 11, and is incorporated in the support mechanism described above. That is, the support mechanism that supports the seat cushion 11 is configured so that the angle of the seat cushion 11 can be changed.
The angle of the seat cushion 11 can be changed from an angle suitable for manual operation to a flat state by the first angle changing unit 21. That is, the seat cushion 11 can be changed from a state in which the front end portion is located above the rear end portion as shown in FIG. 3A to a flat state as shown in FIG. 3B.

The second angle changing unit 22 is controlled by the seat control unit 2 to change the angle of the seat back 12, and the above-mentioned frame of the seat back 12 and the seat back 12 are attached to the seat cushion 11. It includes a rotating shaft 22a that can be rotated, and an actuator (not shown) that drives the rotating shaft 22a to rotate.
The angle of the seat back 12 can be changed from an angle suitable for manual operation to a flat state by the second angle changing unit 22. That is, the seat back 12 can be changed from the tilted state as shown in FIG. 3 (a) to the flat state as shown in FIG. 3 (b).

The third angle changing unit 23 is controlled by the seat control unit 2 to change the angles of the side supports 11a and 12a in the seat cushion 11 and the seat back 12, and the cushion materials constituting the side supports 11a and 12a are left and right. Equipped with a movable mechanism that opens to. That is, the movable mechanism is built in the seat cushion 11 and the seat back 12.
The angles of the side supports 11a and 12a can be changed from an angle suitable for manual operation to a flat state by the third angle changing unit 23. That is, the seat cushion 11 and the seat back 12 are shown in FIGS. 4 (a) and 4 (b) from the state in which the side supports 11a and 12a are slanted as shown by the solid lines in FIGS. 4 (a) and 4 (b). The side supports 11a and 12a can be flat as shown by the two-dot chain line.

The fourth angle changing unit 24 is controlled by the seat control unit 2 to change the angle of the headrest 13, and the pillar 13a of the headrest 13 and the headrest 13 can be rotated with respect to the seat back 12. The rotation shaft 24a is provided with an actuator (not shown) that drives the rotation shaft 24a to rotate.
The angle of the headrest 13 can be changed by the third angle changing portion 24 until the seat back 12 is in a flat state. That is, the headrest 13 can be in a flat state as shown in FIG. 3 (b) from an angle suitable for supporting the head of the occupant as shown in FIG. 3 (a).

The fifth angle changing unit 25 is controlled by the seat control unit 2 to change the angle of the footrest 14, and the above-mentioned frame of the footrest 14 and the footrest 14 can be rotated with respect to the seat cushion 11. The rotary shaft 25a is provided, and an actuator (not shown) that drives the rotary shaft 25a to rotate is provided.
The angle of the footrest 14 can be changed from an angle suitable for manual operation to a flat state by the fifth angle changing unit 25. That is, the footrest 14 can be changed from the state of being stored in the front end portion of the seat cushion 11 as shown in FIG. 3 (a) to the flat state as shown in FIG. 3 (b).

The seat rotation unit 26 is controlled by the seat control unit 2 to rotate the seat cushion 11 (and thus the entire seat 10), and is incorporated in the above-mentioned support mechanism. That is, the support mechanism that supports the seat cushion 11 is configured so that the angle of the seat cushion 11 can be changed.
The seat cushion 11 can be rotated from a position suitable for manual operation to a position facing completely rearward by the seat rotating portion 26.

The seat slide unit 27 is controlled by the seat control unit 2 and slides the seat cushion 11 (and the entire seat 10) in the front-rear direction and the left-right direction, and is incorporated in the above-mentioned support mechanism. .. That is, the support mechanism that supports the seat cushion 11 is configured so that the positions of the seat cushion 11 in the front-rear direction and the left-right direction can be changed.
The seat cushion 11 can be slid from a position suitable for manual operation to a position unsuitable for manual operation by the seat slide portion 27.

The first to fifth angle changing units 21 to 25, the seat rotating unit 26, and the seat slide unit 27 can be controlled separately by the seat control unit 2, and the first to fifth angle changing units 21 to 21 to 25, the seat rotation unit 26, and the seat slide unit 27 can be simultaneously controlled by the seat control unit 2.

The seat posture detecting unit 28 includes a plurality of sensors (not shown) for detecting the position of each part of the seat 10, and the seat control unit 2 has the posture and posture of the seat 10 based on the detection signals by the plurality of sensors. It can be derived by calculating the position and orientation. That is, after the form of the seat 10 is changed, the seat posture detecting unit 28 can grasp what kind of state the seat 10 is in.

As shown in FIG. 3A, the driving control unit 1 can move the steering wheel H for driving and operating the vehicle V up and down. The vehicle V includes a handle moving portion 4 which is a movable mechanism for moving the handle H up and down (see FIG. 1). By moving the steering wheel H up and down, not only the position of the steering wheel H can be adjusted, but also the space inside the vehicle can be expanded during automatic driving.

[When switching from manual operation to automatic operation]
The operation control unit 1 controls based on a forced switching mode for forcibly switching between automatic operation and manual operation, and a voluntary switching mode for switching between automatic operation and manual operation according to the driver's selection. That is, the switching from manual operation to automatic operation may be forced or voluntary.
When the switching is forcibly performed, for example, there may be a case where an abnormality occurs in the health condition of the occupant, or a case where the timing for switching from the manual operation to the automatic operation is reserved in advance.

When the vehicle V is voluntarily switched from manual driving to automatic driving, the occupant selects an arbitrary form of the seat 10 by the above-mentioned selection means. The seat control unit 2 controls the operation of the seat form changing unit 20 so as to change the form of the seat 10 according to the selection of the occupant.
Each part of the first to fifth angle changing parts 21 to 25 and the seat rotating part 26 in the seat form changing part 20 operates as appropriate so that the form is selected by the occupant.

The options (patterns) that can be selected by the occupant are not particularly limited, and it is assumed that various patterns are preset, including a form in which the seat 10 is flat as shown in FIG. 3 (b).
Other options include, for example, a sleep pattern suitable for sleeping, a viewing pattern suitable for watching videos displayed on a display, a desk work pattern suitable for work or writing, and the like. Can be mentioned.

In the above sleep pattern, the seat back 12 is tilted slightly upward from the flat state as shown in FIG. 3 (b).
Further, in the appreciation pattern, the entire seat 10 is turned toward the display side, and the angles of the seat cushion 11 and the seat back 12 are changed.

Further, in the desk work pattern, the side supports 11a and 12a are opened, and the angle is changed to a preferable angle for sitting desk work. Further, although not shown, the table is arranged in front of the occupant in order to make it easier to sit on the seat 10 and work.
The table is provided as an auxiliary function unit for assisting the work of the occupant seated on the seat 10, and is incorporated in the interior near the seat 10 in the present embodiment. Further, the table can be moved by the table moving unit 5, which is a movable mechanism for moving the table.
In the present embodiment, the table is incorporated in the interior near the seat 10, but the table is not limited to this, and is incorporated in a storage portion (not shown) formed in the seat 10 itself. You may.

The auxiliary function unit such as the above-mentioned table may have a function for assisting the work of the occupant. In addition, for example, a drink holder is provided as an auxiliary function unit, and the drink holder is moved to a position easily accessible to the occupant in the viewing pattern.

After the seat 10 is changed to the form selected by the occupant, it is assumed that the angle of each part such as the seat cushion 11 and the seat back 12 and the orientation of the seat 10 can be finely adjusted.

[When switching from automatic operation to manual operation]
As described above, the operation control unit 1 controls based on a forced switching mode for forcibly switching between automatic operation and manual operation and a voluntary switching mode for switching between automatic operation and manual operation according to the driver's choice. Is going.
When the vehicle V is voluntarily switched from automatic driving to manual driving, the occupant is free to do so. That is, when the occupant determines that manual operation is necessary, the occupant switches from manual operation to automatic operation.

When it is forcibly performed, for example, when the vehicle V is moved from a highway to a general road, or when a road having a complicated shape is approached. However, when the automatic operation is forcibly switched to the manual operation, for example, if the driver is not seated on the seat 10 or the driver's health condition is abnormal, the driver is forcibly switched to the manual operation. It is not desirable to be.
Therefore, when the seat 10 is in the form of automatic driving, the driving control unit 1 can control the vehicle V so as not to switch from the automatic driving to the manual driving.

The vehicle control system of the present embodiment includes a driver state detection unit 30 for detecting the state of the driver. Then, the driving control unit 1 can control the vehicle V so as not to switch from the automatic driving to the manual driving according to the detection result of the driver's state by the driver state detecting unit 30.

More specifically, as shown in FIG. 1, the driver state detecting unit 30 has a sitting state detecting unit 31 that detects whether or not the driver is seated on the seat 10.
The seating state detection unit 31 is a sensor incorporated in at least the driver's seat 10 to detect the seating of an occupant, and for example, a pressure sensor is adopted.
The operation control unit 1 can switch from the automatic operation of the vehicle V to the manual operation when the seating state detection unit 31 can confirm the seating of the occupant, and when it cannot be confirmed, the operation control unit 1 can switch the vehicle V to the manual operation. Continue automatic operation without switching from automatic operation to manual operation.
In the present embodiment, the pressure sensor is adopted as the seating state detecting unit 31, but the present invention is not limited to this, and the seating state of the occupant may be confirmed by shooting with a camera.

Further, as shown in FIG. 1, the driver state detection unit 30 has a health state detection unit 32 that detects the health state of the driver.
As the health condition detection unit 32, a sensor incorporated in at least the driver's seat 10 and detecting the health condition of the occupant is adopted. As such a sensor, for example, a biological sensor such as a blood pressure sensor or a pulse sensor can be adopted.
The operation control unit 1 can switch from the automatic operation of the vehicle V to the manual operation when the health condition detection unit 32 confirms that the occupant's health condition is not a problem, and if there is a problem, the operation control unit 1 can switch to the manual operation. , Continue automatic driving without switching from automatic driving to manual driving of vehicle V.

In the present embodiment, the biological sensor is adopted as the health condition detection unit 32, but the present invention is not limited to this, and the health condition of the occupant may be confirmed by taking a picture with a camera. For example, check the pupil or check that the hand is not placed on the handle H.
In addition, if a sensor and a camera are used together, it is possible to determine whether or not the occupant is simply asleep. That is, if there is no problem with the health condition but the eyes are not open, it is judged to be dozing.

Further, a microphone that collects the driver's voice may be adopted, and a biosensor and a microphone may be used in combination so that the presence or absence of the driver's consciousness can be confirmed. That is, the driver is urged to speak, and if the driver's voice is not detected, it is determined that the driver is unconscious.
Further, an alcohol sensor may be adopted. If alcohol is detected in the driver's breath by the alcohol sensor, the switch from automatic driving to manual driving is not performed. In some cases, the vehicle V may be parked in a parkable place, and control may be performed so that the vehicle cannot be started until alcohol is no longer detected from the exhaled breath. In this case, the driver may be changed to a occupant whose alcohol is not detected so that the driver can make a call.

FIG. 2 is a flowchart when switching from automatic operation to manual operation.
As shown in such a flowchart, when switching from automatic driving to manual driving, first, the seating state detecting unit 31 detects the seating state of the occupant on the driver's seat 10 (step S1).

If the seating of the occupant cannot be confirmed in step S2, the operation control unit 1 notifies the occupant in the vehicle in step S3 and prompts the occupant to sit on the seat 10.
When the seating of the occupant can be confirmed in step S2, the operation control unit 1 detects the health condition of the occupant by the health condition detection unit 32 (step S4).

When it is confirmed in step S5 that there is no problem with the occupant's health condition, the seat control unit 2 activates the protective means described later to protect the occupant (step S6).
Subsequently, the driving control unit 1 switches the vehicle V from automatic driving to manual driving (step S7). At this point, the driving operation of the vehicle V is performed by the occupant seated in the driver's seat 10. After that, the manual operation is continued (step S8).

When a problem is confirmed in the health condition of the occupant in step S5, the operation control unit 1 continues the automatic operation (step S9).
When the automatic driving is continued, for safety, the surrounding condition detection unit 3 detects a place where the vehicle V can be parked and stopped (step S10). Then, if a place where parking and stopping is not found, automatic driving is continued. On the other hand, when a place where the vehicle can be parked is found, the vehicle V is stopped or parked at the place (step S11).
When switching from automatic operation to manual operation, the above flow is used.

The vehicle V includes a plurality of seats 10 as described above. Then, when the vehicle V is switched from the automatic driving to the manual driving by the driving control unit 1, the seat control unit 2 has the seat 10 for the driver as well as the other seats 10 from the automatic driving mode to the manual driving mode. The operation can be controlled to change to.
If all the seats 10 in the vehicle are operated at the same time, it may not be preferable due to the space in the vehicle. Therefore, the seat control unit 2 gives priority to the operation of the seat 10 for the driver among the plurality of seats 10. To control.

Further, if the occupant is in a relaxed state during automatic driving and the seat 10 is also in a form suitable for the occupant's relaxed state, the seat 10 is suitable for manual driving by the timing when manual driving should be started. It may not be possible to return it to its position.
Therefore, even when the seat 10 is in the form of automatic driving and the seat 10 cannot be returned to a position suitable for manual driving by the timing when the manual driving should be started, the operation control unit 1 still controls the vehicle. It is possible to control so that the automatic operation of the V is not switched to the manual operation.

Further, in order to prevent the seat 10 from being unable to return to a position suitable for manual operation by the timing when manual operation should be started, the seat control unit 2 is used when changing from the form during manual operation to the form during automatic operation. The amount of movement in the operation of the sheet 10 is controlled.
That is, when switching from manual operation to automatic operation, for example, if the seat 10 faces directly behind and is in a flat state, it takes time to return to a position suitable for manual operation, and manual operation is started. It is possible that the timing should not be met. Therefore, originally, when changing from the form during manual operation to the form during automatic operation, if the movement amount of the seat 10 is limited, it is possible to prevent the situation where the manual operation should be started in time. Become.

Further, the seat control unit 2 controls the operating speed when changing the form of the seat 10. That is, under the control of the seat control unit 2, the operating speed of the seat 10 when changing from the form during automatic operation to the form during manual operation, and the seat when changing from the form during manual operation to the form during automatic operation. The operating speed of 10 can be increased or decreased.
By doing so, it is possible to prevent a situation in which the change in the form of the seat 10 is not in time for the timing at which the manual operation should be started when switching from the manual operation to the automatic operation. Further, the operating speed when changing the form of the seat 10 can be changed not only when switching from the manual operation to the automatic operation but also in other situations.

Further, the seat control unit 2 controls the speed in the operation of the seat 10 when changing from the form during automatic operation to the form during manual operation to extend the required time. That is, under the control of the seat control unit 2, the operation of the seat 10 is delayed, and the time until the occupant in the relaxed state faces the manual operation is secured.
By doing so, the operation of the seat 10 when changing the form can be delayed to match the timing of switching from automatic driving to manual driving, and the occupant can face manual driving with a margin of mind. ..

Further, as described above, the operation control unit 1 is based on a forced switching mode for forcibly switching between automatic operation and manual operation, and a voluntary switching mode for switching between automatic operation and manual operation according to the driver's choice. The seat control unit 2 controls the speed in the operation of the seat 10 separately in the forced switching mode and the voluntary switching mode.
By doing so, it is possible to prevent a situation in which the change in the form of the seat 10 is not in time for the timing at which the manual operation should be started when switching from the manual operation to the automatic operation. Further, the seat 10 can be operated at a speed suitable for each mode.

As described above, the seat 10 can be changed from the automatic driving mode to the manual driving mode, and the vehicle V can be switched from the automatic driving mode to the manual driving mode.
Since the timing of switching from automatic driving to manual driving is, so to speak, the timing at which the sovereignty of driving the vehicle V is transferred from the computer to humans, it is desired to ensure the safety of the occupants. Needless to say, it is necessary to ensure the safety of occupants during automatic driving as well as the timing of switching from automatic driving to manual driving. In the following, the occupant protection system for ensuring the safety of occupants will be described.

[About the occupant protection system]
As shown in FIGS. 1, 5 to 7, the seat 10 includes a protective means for protecting the occupant in a situation requiring protection of the occupant seated on the seat 10, and a protective means for controlling the operation of the protective means. It has a control unit.
Since the protective means control unit controls the operation of the protective means incorporated in the sheet 10, the sheet control unit 2 described above also serves as the protective means control unit.

As shown in FIGS. 5 and 6, the protective means includes surrounding means 23, 41, 42, 43 that surround and protect the occupant seated on the seat 10.
The siege means 23, 41, 42, 43 have a plurality of patterns in which the degree of protection varies depending on the situation in which the protection of the occupant is required. In the present embodiment, the protective means includes a first siege means 23, a second siege means 41, a third siege means 42, and a fourth siege means 43.

The first enclosing means 23 is the above-mentioned third angle changing portion 23 for changing the angle of the side support 12a in the seat back 12, and as shown in FIG. 5A, the side support 12a is changed in angle inward. It is configured to surround the occupant's body.
That is, the first enclosing means 23 includes a movable mechanism for operating the cushion material constituting the side support 12a, and the operation of the movable mechanism is controlled by the seat control unit 2.
According to such a first siege means 23, since the occupant's body can be surrounded by the side support 12a in the seat back 12, the occupant can be held and the occupant can be protected.
In the present embodiment, the side support 12a on the seat back 12 surrounds the occupant's body, but the side support 11a on the seat cushion 11 may surround the occupant's buttocks accordingly.

The second enclosing means 41 changes the angle of the left and right side end portions 13b of the headrest 13, and as shown in FIG. 5B, changes the angle of both side end portions 13b inward to change the angle of the occupant. It is configured to surround the head.
That is, the second enclosing means 41 includes a movable mechanism for operating the cushion material constituting both side end portions 13b of the headrest 13, and the operation of the movable mechanism is controlled by the seat control unit 2.
According to such a second siege means 41, the occupant's head can be surrounded by the both side end portions 13b of the headrest 13, so that the occupant can be protected.
In the present embodiment, the second enclosing means 41 is configured to surround the head of the occupant by changing the angle of both end portions 13b of the headrest 13 inward, but the configuration is limited to this. is not it. For example, side support members may be provided at both end portions of the headrest 13 so as to project forward (or bulge) within a range that does not block the field of view, and this may be used as the second enclosing means 41.

As shown in FIGS. 1 and 6, the third enclosing means 42 is provided on the side support 12a of the seat back 12, and controls the airbag 42a that surrounds the occupant's body to the front side and the seat control unit 2 during operation. The airbag actuating portion 42b, which actuates the airbag 42a according to the above, is provided.
The third siege means 42 is stronger than the first siege means 23 using the side support 12a in terms of the degree of protection, and operates when the vehicle V collides or is expected to collide.
The airbag 42a is curved so as to cover from the side support 12a on the seat back 12 to the front surface on the occupant's body.
According to such a third siege means 42, the occupant's body can be surrounded in a wide range by the airbag 42a that operates when the vehicle V collides or is expected to collide, so that the occupant can be more reliably surrounded. Can be protected.

The fourth enclosing means 43 is provided at the side end portion 13b of the headrest 13, and when activated, the airbag 43a that surrounds the head of the occupant and the airbag that operates the airbag under the control of the seat control unit 2. The actuating portion 43b and the like are provided.
The fourth siege means 43 is stronger than the second siege means 41 using the headrest 13 in terms of the degree of protection, and operates when the vehicle V collides or is expected to collide.
The airbag 43a is formed so as to project forward from both side ends of the headrest 13.
According to such a fourth siege means 43, the occupant's head can be surrounded in a wide range by the airbag 43a that operates when the vehicle V collides or is expected to collide, so that the occupant can be more reliably surrounded. Can be protected.

FIG. 7 shows an example of other protective means, and the protective means in FIG. 7 includes a seat rotating means for rotating the seat 10 in the direction of an impact load applied to the vehicle V from the outside. The seat rotating means is composed of the above-mentioned seat rotating portion 26.
Not limited to the seat 10 in the present embodiment, a seat for a vehicle provided with a seat cushion and a seat back can be seated in a state where it can be firmly stepped on against a collision load from the front. Therefore, by rotating the seat 10 by the seat rotating portion 26, which is a seat rotating means, and adjusting the direction of the impact load applied to the vehicle V from the outside, the occupant seated on the seat 10 is in a state of being able to step on the impact load. Can strongly oppose.
In consideration of passenger protection, it is desirable that the seat 10 be rotated so as to completely match the direction of the impact load, but if there is no time to spare, the seat 10 should be rotated as much as possible. do.

In the present embodiment, only the seat rotating portion 26 is mentioned as the seat rotating means, but when it is necessary to slide the seat 10 in consideration of the space in the vehicle and the positional relationship with other seats 10, the above The seat slide portion 27 of the above may be used.

The operation of the protective means shown in FIGS. 5 to 7 is controlled by the seat control unit 2 which is the protective means control unit. There are various situations that require occupant protection, as described below.

The seat control unit 2 which is a protection means control unit controls the operation of at least one of the above-mentioned various protection means when the vehicle V is switched from the automatic operation to the manual operation by the operation control unit 1.
When switching from automatic driving to manual driving, as described above, it is the timing when the sovereignty of driving the vehicle V is transferred from the computer to the human, so that the situation requires the protection of the occupants.
As the protective means when switching from the automatic operation to the manual operation, the protective means (first siege means 23, second siege means 41) as shown in FIG. 5 is used so as not to hinder the manual operation of the occupant. preferable.

The seat control unit 2, which is a protection means control unit, controls the operation of at least one of the above-mentioned various protection means when the operation control unit 1 detects an abnormality in the system related to automatic operation.
When an abnormality in the system related to autonomous driving is detected, how the vehicle V travels differs depending on what the detected abnormality is, so appropriate protective measures are taken according to the detected abnormality. Is selected.
For example, if the abnormality of the system related to the automatic operation switches from the automatic operation to the manual operation, the protective means (first siege means 23, second siege means 41) as shown in FIG. 5 is selected. Further, if the abnormality of the system related to the automatic driving is such that the operation of the vehicle V becomes inoperable, the protective means (third siege means 42, fourth siege means 43) as shown in FIG. 6 is selected. To. That is, since the siege means has a plurality of patterns in which the degree of protection differs depending on the situation requiring the protection of the occupant, the siege means according to the situation is selected.

The seat control unit 2, which is a protection means control unit, is at least one of the above-mentioned various protection means according to the detection result of the driver's condition by the health condition detection unit 32 of the driver condition detection unit 30. Controls the behavior of.
The health state detection unit 32 detects the health state of the driver as described above, and a suitable protective means is selected according to the health state of the driver. In particular, it is desirable to select a protective measure or use several protective measures together depending on the presence or absence of the driver's consciousness.

The seat control unit 2, which is a protection means control unit, controls the operation of at least one of the above-mentioned various protection means when the vehicle V during automatic driving collides with an obstacle S or the like.
When the vehicle V collides with an obstacle S or the like, an impact load is applied to the vehicle V from the outside, so that it is necessary to protect the occupants.
As the protective means when such a vehicle V collides with an obstacle S or the like, the protective means shown in FIG. 6 (third siege means 42, fourth siege means 43) or the protective means shown in FIG. 7 (seat rotation). Part 26) is selected. Alternatively, both may be selected.

The seat control unit 2, which is a protection means control unit, controls the operation of at least one of the above-mentioned various protection means when the vehicle V during automatic driving acts to avoid the obstacle S or the like. ..
When the vehicle V takes an action to avoid the obstacle S or the like, for example, the vehicle V makes a sharp curve or suddenly brakes, so that the situation requires the protection of the occupant.
As the protective means when such a vehicle V acts to avoid the obstacle S or the like, the protective means (first siege means 23, second siege means 41) as shown in FIG. 5 is selected and suddenly. It is preferable that the protective means (third siege means 42) as shown in FIG. 6 is selected to counter the centrifugal force at the time of a curve and suppress the forward movement of the occupant.

As described above, the occupant protection system (vehicle control system) includes a peripheral condition detecting unit 3 that detects the peripheral condition of the vehicle V, and the peripheral condition detecting unit 3 detects the presence or absence of an obstacle S or the like. be able to. Therefore, the various protective measures described above are selected based on the information obtained from the peripheral situation detection unit 3.

The vehicle V incorporates a occupant protection system configured as described above, and can protect occupants in situations where protection of occupants seated on the seat 10 is required.

According to the present embodiment as described above, the plurality of forms of the seat 10 include a form suitable for manual operation and a form unsuitable for manual operation. Can improve the safety of the occupant driving the vehicle V, and in a form unsuitable for manual driving, the occupant can spend in an arbitrary posture and can improve the comfort.

Further, the form of the seat 10 that is not suitable for manual driving is suitable for automatic driving because it is the form of the seat 10 that is changed by the seat control unit 2, and comfort during automatic driving can be improved.

Further, since the seat 10 can be changed into various patterns according to the selection of the occupant, the comfort during automatic driving can be improved.

Further, since the seat cushion 11 and the seat back 12 can be changed in angle by the first angle changing portion 21 and the second angle changing portion 22 until they are in a flat state, the seat 10 is used like a bed. This makes it possible to improve comfort during automatic driving.

Further, since the angles of the side supports 11a and 12a in the seat cushion 11 and the seat back 12 can be changed by the third angle changing portion 23 until they become flat, the occupant can feel a sense of liberation. It can improve comfort during automatic driving. Further, since the side supports 11a and 12a enable a sitting style that is not held, work other than driving becomes easy.

Further, since the angle of the headrest 13 can be changed by the fourth angle changing portion 24 until it becomes flat with respect to the front surface of the seat back 12, the angle of the occupant's neck can be adjusted and the occupant's neck can be adjusted during automatic operation. Can contribute to the improvement of comfort in.

Further, since the angle of the footrest 14 can be changed by the fifth angle changing portion 25 until it becomes flat with respect to the seating surface of the seat cushion 11, the legs can be extended and seated, and the footrest 14 can be automatically operated. You can improve the comfort inside.

Further, since the first to fifth angle changing units 21 to 25 can be controlled at the same time by the seat control unit 2, the seat 10 can be changed to various patterns, and the bed can be changed from a form suitable for manual operation at once. It can also be in such a state. Therefore, it can contribute to the improvement of comfort during automatic driving.

Further, since the seat 10 has an auxiliary function unit that assists the work of the occupant seated on the seat 10 when the seat 10 is not suitable for manual driving, it can be used for work performed by the occupant and the like for comfort during automatic driving. Can contribute to the improvement of.

Further, since the seat 10 changed to a form suitable for manual driving can be adjusted by the manual operation of the occupant, the vehicle V can be driven in the optimum posture suitable for manual driving, which is safe. It is possible to improve the sex.

1 Operation control unit 2 Seat control unit (protective means control unit)
3 Peripheral situation detection unit 10 Seat 11 Seat cushion 11a Side support 12 Seat back 12a Side support 13 Headrest 13a Side end 14 Footrest 20 Seat form change part 21 First angle change part 22 Second angle change part 22a Rotating shaft 23 Third angle change Part 24 4th angle changing part 24a Rotating shaft 25 5th angle changing part 25a Rotating shaft 26 Seat rotating part 27 Seat slide part 28 Seat posture detection part 30 Driver state detection part 31 Seating state detection part 32 Health state detection part 40 Protection Means 41 Second siege means 42 Third siege means 42a Airbag 42b Airbag actuating part 43 Fourth siege means 43a Airbag 43b Airbag actuating part

Claims (10)

A driving control unit that switches between automatic and manual driving of the vehicle,
Sheets that can be changed to multiple forms and
A seat control unit that controls the operation of the seat when changing the form is provided.
The plurality of forms in the sheet include a form suitable for manual operation and a form unsuitable for manual operation .
The seat control unit
The operating speed of the seat when changing from the form during automatic operation to the form during manual operation, and
It is possible to control to change the operating speed of the seat when changing from the form during manual operation to the form during automatic operation.
A vehicle control system characterized in that the required time is extended by controlling the speed in the operation of the seat when changing from the form during automatic driving to the form during manual driving . The form unsuitable for manual driving is characterized in that the form of the seat is changed by the seat control unit when the vehicle is switched from manual operation to automatic operation by the operation control unit. The vehicle control system according to 1. There are multiple patterns in the form unsuitable for manual operation.
The vehicle control system according to claim 2, wherein the seat is controlled in operation by the seat control unit so as to be in the form of a pattern selected by the occupant among the plurality of patterns. The seat has a seat cushion that holds the buttocks of an occupant, a seat back whose lower end is supported by the seat cushion, and a first angle change that can be controlled by the seat control unit to change the angle of the seat cushion. It has a unit and a second angle changing unit that can be controlled by the seat control unit to change the angle of the seat back.
The vehicle control according to claim 3, wherein the seat cushion and the seat back can be changed in angle by the first angle changing portion and the second angle changing portion until they are in a flat state. system. Each of the seat cushion and the seat back is provided so as to bulge diagonally at the left and right ends to hold a occupant, and a third angle that can be controlled by the seat control unit to change the angle of the side support. Has a change part,
The vehicle control system according to claim 4, wherein the side support can be changed in angle until it becomes flat by the third angle changing portion. The seat has a headrest provided at the upper end of the seat back to support the head of the occupant, and a fourth angle changing unit that is controllable by the seat control unit to change the angle of the headrest. And
The vehicle control system according to claim 4 or 5, wherein the headrest can be changed in angle by the fourth angle changing portion until it becomes flat with respect to the front surface of the seat back. .. The seat has a footrest provided at the front end of the seat cushion to support the foot of the occupant, and a fifth angle changing portion that is controllable by the seat control unit to change the angle of the footrest. And
Any one of claims 4 to 6, wherein the footrest can be changed in angle by the fifth angle changing portion until it becomes flat with respect to the seat surface of the seat cushion. The vehicle control system described in. The vehicle control system according to claim 7, wherein the first to fifth angle changing units can be simultaneously controlled by the seat control unit. The vehicle according to any one of claims 1 to 8, wherein the seat has an auxiliary function unit that assists the work of an occupant seated on the seat when the seat is in a form unsuitable for manual operation. Control system. The vehicle control system according to any one of claims 1 to 9, wherein the seat changed to a form suitable for manual operation can be adjusted by manual operation of an occupant.

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