JP7045183B2 - Driving support device - Google Patents

Description

The present invention has, as at least, a first driving support mode in which automatic driving is performed on condition that the driver grips the steering wheel, and a second driving support mode in which automatic driving is performed on condition that the driver does not grip the steering wheel. Regarding the driving support device to have.

In recent vehicles, various driving support technologies for reducing the burden on the driver and enabling comfortable and safe driving have been proposed, and some of them have already been put into practical use.

This type of driving support is equipped with an Adaptive Cruise Control (ACC) function and a Lane Keeping (Lane Keeping) function, so that the vehicle can be moved along the driving lane while maintaining the distance from the preceding vehicle. It can be driven automatically.

The driving mode of this driving support is a driving support mode (hereinafter referred to as "first driving support mode") in which the driver takes over the operation when the driving mode setting calculation means of the vehicle determines that it is difficult to continue the automatic driving. ) And a driving support mode (hereinafter referred to as "second driving support mode") that does not need to be handed over to the driver.

In the first driving support mode, the driver must be on standby in a situation where the driver can grasp the steering wheel (hereinafter, this state may be referred to as "steering") and always take over the driving. Is the driving support that is the main driver. On the other hand, in the second driving support mode, when it is determined that it is difficult to continue the automatic driving, the driving mode is changed to the automatic evacuation mode without the driver taking over the operation, and the own vehicle is safely evacuated such as on the shoulder. It is a driving support in which the control system is the main driver, which controls the evacuation to automatically stop at the place.

However, even if the driving mode setting calculation means determines that it is difficult to continue the second driving support mode while driving in the second driving support mode, the first operation is performed without immediately shifting to the automatic evacuation mode. 1 The driver can obtain higher convenience by continuing the automatic driving by shifting to the driving support mode.

For example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2013-129328), when the control unit (ECU) detects an obstacle (peripheral vehicle) in front of the own vehicle, the target trajectory for avoiding the obstacle (peripheral vehicle) Multiple (target travel paths) are generated, and based on at least one of the turn signal, steering torque, and steering angle, the avoidance direction of the own vehicle with respect to the surrounding vehicle that becomes an obstacle is detected as a driver's instruction, and this is detected. Select the target trajectory (target course) that reflects the instructions. Then, a technique for executing locus (traveling) control for avoiding obstacles (peripheral vehicles) based on this target locus is disclosed.

Japanese Unexamined Patent Publication No. 2013-129328

In the technology disclosed in the above-mentioned document, when the driver is driving his / her own vehicle, he / she always looks ahead and operates a turn signal when he / she recognizes an obstacle (peripheral vehicle) to be overtaken. It is necessary to give clear instructions to change the course by such means. On the other hand, when the control unit (ECU) detects an obstacle (peripheral vehicle) ahead, it is necessary to generate a plurality of avoidance routes (target loci) when overtaking the obstacle. Then, the control unit (ECU) selects an avoidance route (target locus) along the course change instructed by the driver.

Therefore, if the driver's attention to the front is distracted and the instruction to change the course is delayed, the control unit (ECU) immediately performs emergency avoidance control, which results in panicking the driver. Further, the control unit (ECU) is a technique for controlling in the first driving support mode described above, and does not disclose any avoidance control when performing automatic driving in the second driving support mode.

In view of the above circumstances, the present invention does not panic the driver even when an obstacle is detected in front of the vehicle or the preceding vehicle takes an evasive action during automatic driving in the second driving support mode. It is an object of the present invention to provide a driving support device capable of causing the driver to determine whether to pass (go straight) or avoid (follow the preceding vehicle) the own vehicle.

One aspect of the present invention is at least one of a driving environment recognizing means for recognizing the driving environment in front of the own vehicle, a traveling route connecting the current position and the destination of the own vehicle, and a driving environment recognized by the driving environment recognizing means. Based on the above, a target traveling path setting means for setting the target traveling path of the own vehicle, and a first driving support mode for automatically driving the own vehicle on condition that the driver holds the handle at least as the driving mode of the own vehicle. It has a second driving support mode in which automatic driving is performed without the condition that the driver holds the handle, and the driving mode setting calculation means for setting each mode according to the driving conditions, and the driver. In a driving support device provided with a notification means for notifying a situation in which a driving mode changes, the driving mode setting calculation means means that the driver passes through the own vehicle without following the preceding vehicle or avoiding obstacles. The driving mode setting calculation means has an instruction means for instructing the vehicle, and the driving mode setting calculation means is said to have the driving mode setting calculation means while the own vehicle is traveling in the second driving support mode along the target traveling path set by the target traveling path setting means. When the driving environment recognizing means recognizes the avoidance behavior of the preceding vehicle or recognizes an indistinguishable obstacle in front, after notifying the request to grip the handle via the notifying means, the instructing means is used. When a passing instruction is detected via the vehicle, the second driving support mode is continued .
One aspect of the present invention includes a driving environment recognition means that recognizes the driving environment in front of the own vehicle, and a first driving support mode in which the driving mode of the own vehicle is such that automatic driving is performed on condition that the driver grips the handle at least. The driver has a second driving support mode for performing automatic driving without the condition of gripping the handle of the driver, and the driving mode setting calculation means for setting each mode according to the driving conditions, and the driver. In a driving support device provided with a notification means for notifying a situation in which the driving mode changes, the driving mode setting calculation is performed for the driver to pass the own vehicle without following the preceding vehicle or avoiding obstacles. The driving mode setting calculation means has an instruction means for instructing the means, and the driving environment recognition means recognizes the avoidance action of the preceding vehicle or moves forward while driving in the second driving support mode. When the obstacle that cannot be discriminated is recognized, the driver is notified of the request to grip the handle via the notification means, and the driver is requested to grip the handle. A device for continuing the second driving support mode when a passing instruction is detected via the instruction means after the notification.
One aspect of the present invention includes a driving environment recognition means for recognizing the driving environment in front of the own vehicle, and a first driving support mode in which the driving mode of the own vehicle is such that automatic driving is performed on condition that the driver grips the handle at least. The driver has a second driving support mode for performing automatic driving without the condition of gripping the handle of the driver, and the driving mode setting calculation means for setting each mode according to the driving conditions, and the driver. In a driving support device including a notification means for notifying a situation in which the driving mode changes, the driving operation detecting means for detecting the driving operation of the driver is provided, and the driving mode setting calculation means is the second driving support. When the driving environment recognition means recognizes the avoidance behavior of the preceding vehicle or recognizes an indistinguishable obstacle ahead while driving in the mode, the request for gripping the handle via the notification means is requested. When the driving operation detecting means detects the driving operation of the driver after notifying the driver and notifying the driver of the request to grip the handle, the driving mode is set to the first. 1 Transition to the driving support mode.
One aspect of the present invention includes a driving environment recognition means that recognizes the driving environment in front of the own vehicle, and a first driving support mode in which the driving mode of the own vehicle is such that automatic driving is performed on condition that the driver grips the handle at least. The driver has a second driving support mode for performing automatic driving without the condition of gripping the handle of the driver, and the driving mode setting calculation means for setting each mode according to the driving conditions, and the driver. In a driving support device including a notification means for notifying a situation in which the operation mode changes, the operation mode setting calculation means further has an automatic evacuation mode for retreating the own vehicle to the evacuation zone as the operation mode. When the driving environment recognizing means recognizes the avoidance behavior of the preceding vehicle or recognizes an indistinguishable obstacle in front of the driving mode setting calculation means while driving in the second driving support mode, the driving mode setting calculation means uses the notification means. After notifying the driver of the request to grip the handle and notifying the driver of the request to grip the handle, the driver does not detect a response to the notification. In this case, the operation mode is changed to the automatic evacuation mode.

According to the present invention, when the driving environment recognizing means recognizes the avoidance behavior of the preceding vehicle or recognizes an indistinguishable obstacle in front while driving in the second driving support mode, it is required to grip the steering wheel. Is notified to the driver, so even if an obstacle is detected ahead or the preceding vehicle takes evasive action during automatic driving in the second driving support mode, the driver is notified. Without panicking, it is possible to make the driver decide whether to pass (go straight) or avoid (follow the preceding vehicle) the own vehicle by visually recognizing the front of the driver.

Schematic configuration of the driving support system Flowchart showing operation mode setting routine (1) Flowchart showing operation mode setting routine (Part 2) Flowchart showing operation mode setting routine (Part 3) Explanatory diagram showing the state of the own vehicle following the avoidance behavior of the preceding vehicle Explanatory drawing showing the state of the own vehicle passing the preceding vehicle Explanatory drawing showing a state in which the driver selects whether to pass or avoid the own vehicle against an obstacle.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The driving support device 1 shown in FIG. 1 is mounted on the own vehicle M. The driving support device 1 can freely communicate bidirectionally with the driving mode setting calculation unit 11 as a driving mode setting calculation means for setting the driving mode of the own vehicle M according to the driving conditions and the driving mode setting calculation unit 11. It has an automatic operation control unit 12 connected to. The automatic operation control unit 12 executes the operation mode set by the operation mode setting calculation unit 11.

The operation mode setting calculation unit 11 and the automatic operation control unit 12 are mainly composed of a well-known microcomputer having a CPU, ROM, RAM, non-volatile memory, etc., and various programs executed by the CPU are stored in the ROM. Various fixed data etc. are stored.

The operation modes set by the operation mode setting calculation unit 11 are four modes: a manual operation mode, a first operation support mode, a second operation support mode, and an automatic evacuation mode. Here, the first driving support mode and the second driving support mode have in common that the own vehicle M is automatically driven (automatically driven) along the target traveling path, but the first driving support mode is the driver. The second driving support mode is an operation mode that does not presuppose the driver's steering.

Further, when the driver sets the destination in the navigation system 22 described later, a traveling route connecting the current position of the own vehicle M and the destination is created on the road map, and the target traveling route along the traveling route ( If there are three lanes, the center of the left and right lanes of the left lane, the center lane, or the right lane) is set in front of the own vehicle M. Then, when the driving mode is set to the first driving support mode or the second driving support mode, the own vehicle M is automatically driven along the target traveling path. On the other hand, when the destination is not set in the navigation system 22, the target travel path is set in front of the center of the lane in which the current own vehicle M is traveling.

Further, the automatic evacuation mode is changed when it is determined that it is difficult to continue the automatic driving in the automatic driving by the second driving support mode, and the own vehicle M is guided to a safe evacuation place such as a road shoulder and stopped. .. Even if it is difficult to continue the automatic driving in the second driving support mode, the first driving support mode or the first driving support mode in which the driver can take over the driving operation without transitioning to the automatic evacuation mode under predetermined conditions, or It may shift to the manual operation mode.

Further, a camera unit 21 as a driving environment recognition means and a navigation system 22 are connected to the input side of the operation mode setting calculation unit 11 as units for acquiring parameters required for setting the operation mode. The camera unit 21 is fixed to the upper center of the front part of the vehicle interior of the own vehicle M, and is an in-vehicle camera including a main camera 21a and a sub camera 21b arranged at symmetrical positions with the center in the vehicle width direction interposed therebetween. It includes a (stereo camera), an image processing unit (IPU) 21c, and a front environment information recognition unit 21d. The camera unit 21 performs predetermined image processing on the traveling environment image information in front of the own vehicle M captured by both cameras 21a and 21b by the IPU 21c, and transmits the image processing to the front environment information recognition unit 21d.

Based on the received driving environment image information, the forward environment information recognition unit 21d obtains the width (vehicle width) between the lane markings that divide the left and right of the lane in which the own vehicle M travels, and calculates the center (center of the lane). , The center of this lane is set as the target travel path of the own vehicle M. Further, the front environment information recognition unit 21d is based on the received driving environment image information, the preceding vehicle P traveling in front of the own vehicle M (see FIGS. 5 to 7), obstacles falling on the road, and the like. Is recognized using a technique such as pattern matching. In the present embodiment, the obstacle means a three-dimensional object existing on the target traveling road other than the preceding vehicle recognized by the camera unit 21.

On the other hand, the navigation system 22 is composed of a well-known microcomputer equipped with a CPU, RAM, ROM and the like, and peripheral devices thereof, and the ROM stores in advance fixed data such as a program executed by the CPU and a base map. ing. Further, the navigation system 22 has a high-precision road map database composed of a large-capacity storage medium such as an HDD, and high-precision road map information (dynamic map) is stored in this high-precision road map database. .. This highly accurate road map information (hereinafter, simply referred to as "road map information") includes lane data (lane width data, lane center position coordinate data, lane travel direction angle data, etc.) required for automatic driving. It has speed limits, etc.), and this lane data is stored in each lane on the road map at intervals of several meters.

The navigation system 22 receives a positioning signal from a positioning satellite such as a GNSS (Global Navigation Satellite System) satellite, acquires the position coordinates of the own vehicle M, maps-matches the position coordinates on the road map information, and roads. Estimate the position of your vehicle on the map. Further, in an environment where the navigation system 22 cannot receive a valid positioning signal from the positioning satellite, such as when traveling in a tunnel, the navigation system 22 switches to autonomous navigation and has a vehicle speed detected by a vehicle speed sensor or an angular speed detected by a gyro sensor. , The position of the vehicle on the road map is estimated based on the front-back acceleration detected by the front-back acceleration sensor. Then, the vehicle position on the road map information and the road map information around it are acquired. Further, for example, when the driver sets the destination in the road map information, the navigation system 22 calculates and sets the traveling route from the own vehicle position (current location) to the destination based on the road map information.

The camera unit 21 and the navigation system 22 form a completely independent multiplex system that does not depend on each other, and the operation mode setting calculation unit 11 has acquired each of the acquired road shapes (for example, road curvature). ) Matches, the first driving support mode or the second driving support mode is selected. The information acquired by the camera unit 21 and the navigation system 22 is also read when the automatic driving control unit 12 sets a target traveling path for traveling the own vehicle M.

Sensors and switches that detect voluntary operations by the driver are further connected to the input side of the operation mode setting calculation unit 11, and the output side is used as a notification means including a voice speaker and a monitor. The notification device 37 is connected.

Specifically, the above-mentioned sensors and switches pass through the automatic operation switch 31 for selecting ON / OFF of automatic operation and the camera unit 21 when they detect an indistinguishable obstacle (own vehicle M). A pass / avoidance instruction switch 32 as an instruction means for instructing whether to make the vehicle go straight (straight ahead) or to avoid it, a handle touch sensor 33 that detects and turns on the driver's steering, and detects steering torque due to the driver's handle operation. The steering torque sensor 34, the accelerator opening sensor 35 for detecting the depression amount of the accelerator pedal, the brake sensor 36 for detecting the depression amount of the brake pedal, and the like.

The automatic operation switch 31 and the pass / avoidance instruction switch 32 are arranged at positions that are easy for the driver to operate, such as the spokes of the steering wheel. Further, the pass / avoidance instruction switch 32 is a momentary type rocker switch having a pass switch and an avoidance switch. Further, the accelerator opening sensor 35 and the brake sensor 36 correspond to the driving operation detecting means of the present invention.

The driving mode setting calculation unit 11 has the road shape (for example, road curvature) on which the own vehicle M recognized by the camera unit 21 travels and the road shape (for example) on the road map on which the own vehicle M is located detected by the navigation system 22. , Road curvature) with a high degree of similarity, and when the automatic driving switch 31 is turned on, the conditions of each mode are determined according to the preset priority order, and the mode in which the conditions are satisfied is determined. Set as the operation mode.

Specifically, the operation mode set by the operation mode setting calculation unit 11 described above is set according to the operation mode setting routines shown in FIGS. 2 to 4. In this routine, first, the second driving support mode condition determination process is executed in step S1. The second driving support mode determination condition is performed based on the outputs of the steering wheel touch sensor 33, the accelerator opening sensor 35, and the brake sensor 36. That is, the accelerator pedal and the brake pedal in which the driver whose handle touch sensor 33 is OFF does not hold the steering wheel (non-steering) and the outputs of the accelerator opening sensor 35 and the brake sensor 36 are "0 (null)". If both of them are unexplored, it is judged that the condition is satisfied.

Then, the process proceeds to step S2, and according to the determination result in step S1, the process proceeds to step S3 when the condition of the second driving support mode is satisfied, and jumps to step S18 when the condition is not satisfied. When the process proceeds to step S3, the operation mode is set to the second operation support mode and the process proceeds to step S4. When the driving mode is set to the second driving support mode, the automatic driving control unit 12 becomes the driving subject and automatically drives the own vehicle M along the target traveling path.

Proceeding to step S4, the vehicle is on the target traveling road based on the driving environment image information in front recognized by the camera unit 21, and is ahead of the vehicle-to-vehicle distance (following vehicle-to-vehicle distance) set by ACC (Adaptive Cruise Control) control. It is examined whether or not the preceding vehicle P (see FIGS. 5 and 6) to be followed exists at a position that can be visually recognized by. When the preceding vehicle P is within the following inter-vehicle distance, the own vehicle M is automatically decelerated by ACC control to maintain the following inter-vehicle distance.

Then, if the preceding vehicle P exists, the process proceeds to step S5, and if the preceding vehicle P is not detected, the vehicle branches to step S7. When the process proceeds to step S5, it is checked whether or not the preceding vehicle P is performing the avoidance action. The avoidance action of the preceding vehicle P is performed, for example, by comparing the amount of change in the lateral position at a predetermined time or a predetermined mileage in the lateral direction from the center of the lane set as the target traveling path of the own vehicle M with the avoidance determination threshold value. .. This avoidance determination threshold value is a value for determining whether the behavior of the preceding vehicle P is an avoidance behavior or a mere wobbling, and is set in advance by obtaining it from a simulation or the like.

Then, when the lateral position change amount exceeds the avoidance determination threshold value, it is determined as an avoidance action, and the process proceeds to step S6. If the amount of change in the lateral position does not exceed the avoidance determination threshold value, it is determined that the vehicle is merely staggering or traveling straight, and the process returns to step S1.

For example, as shown in FIG. 5, even if the preceding vehicle P detects an obstacle 41a and takes an avoidance action, the camera unit 21 cannot recognize the obstacle 41a because it is blocked by the preceding vehicle P. There is. Further, as shown in FIG. 6, when the preceding vehicle P changes course in the direction of the branch road, it may be difficult to determine whether it is an avoidance action or a course change in the initial behavior shown by the broken line.

Therefore, in the present embodiment, when the avoidance behavior (including the behavior at the initial stage of changing the course) of the preceding vehicle P is detected, first, in step S6, the notification device 37 is activated to both the voice and the monitor display, or On the other hand, the driver is notified of the steering holding request (request for gripping the steering wheel) and the selection request for passing (straight ahead) or following the own vehicle M to the driver, and step S9. Proceed to. The driver can gaze ahead by grasping (steering) the steering wheel in response to the steering holding request from the notification device 37. As a result, the driver can accurately determine whether to make the vehicle go straight (pass) or avoid it without panicking.

If it is determined in step S4 that the preceding vehicle P to be followed is not detected on the target traveling road, the vehicle branches to step S7 and the camera unit 21 checks whether or not there is an obstacle in front of the vehicle. For example, when the camera unit 21 recognizes the obstacle 41b shown by the alternate long and short dash line in FIG. 7, the camera unit 21 can recognize the shape of the obstacle 41b, but it is difficult to accurately recognize the material.

For example, if the obstacle 41b is a small item, such as a rubber piece, a soft material such as a sponge piece, or a plastic bag that is only inflated by the wind, it is not necessary to avoid it. On the contrary, it is necessary to avoid hard three-dimensional objects such as pebbles, bolts, concrete pieces, etc. even if they are small items. Therefore, even though the driver recognizes that the obstacle in front is a soft accessory and does not need to be avoided, if the own vehicle M takes an evasive action, the driver feels uncomfortable. Become.

In step S7, when the camera unit 21 recognizes that an obstacle has not been detected or is an obstacle that must be avoided, or an obstacle that can be passed through (for example, a bump formed on a road). Returns to step S1 and continues the automatic operation. Therefore, when it is recognized as an obstacle that must be avoided, the automatic driving control unit generates a target traveling path for avoiding the obstacle.

On the other hand, if it is not possible to accurately determine whether or not the obstacle recognized by the camera unit 21 should be avoided, the process proceeds to step S8. In step S8, the notification device 37 is activated to request the driver to maintain the steering and to allow the own vehicle M to pass (go straight) to the obstacle by both voice and monitor display. The driver is notified of the selection request for avoidance, and the process proceeds to step S9. The driver grasps (steers) the steering wheel in response to the steering holding request from the notification device 37, so that the driver looks ahead. As a result, the driver can accurately determine whether to make the vehicle go straight (pass) or avoid it without panicking.

In step S9, the signal from the pass / avoidance instruction switch 32 operated by the driver is read. Then, if the signal input is detected, or if the signal input is not detected even after the set time (for example, 0.5 to 2 [sec]) has elapsed, the process proceeds to step S10. In steps S10 and S11, the type of the signal from the pass / avoidance instruction switch 32 is determined.

Then, when it is determined in step S10 that the passage switch is ON, the driver recognizes that the obstacle can pass through, so the process returns to step S1 and the automatic operation is continued. As a result, unnecessary avoidance behavior of the own vehicle M is suppressed, and automatic driving in the second driving support mode according to the driver's instruction can be continued.

On the other hand, when it is determined in step S11 that the avoidance switch is ON, the driver has instructed to avoid the obstacle, and therefore jumps to step S16. As a result, as shown in FIG. 7, when it is determined that the passing switch is ON, the automatic driving control unit 12 sets the target traveling path to the traveling route Lia that passes the obstacle 41b, and sets the own vehicle M to the traveling route Lia. Drive along this target course.

If there is no input from any signal even after the set time has elapsed, the process proceeds to step S12, and it is checked in steps S12 to S15 whether or not the driver's avoidance operation is detected. That is, in the automatic driving in the second driving support mode, the driver often takes his / her hand off the steering wheel and sits in a relaxed posture. Therefore, even if the driver recognizes the notification given in step S6 or step S8 described above, it is conceivable that the passage / avoidance instruction switch 32 cannot be operated within a predetermined time in response to the notification.

In this case, it is conceivable that the driver grips (steers) the steering wheel and also performs an avoidance operation by his / her own driving operation by braking operation or steering wheel operation.

Therefore, first, in step S12, the brake depression amount STbk detected by the brake sensor 36 is read, and in step S13, it is compared with the preset avoidance determination threshold value BK1. The avoidance determination threshold value BK1 is a value for determining whether or not the driver has depressed the brake pedal, and is set in advance by obtaining it from an experiment or the like.

Then, when STbk> BK1, the driver determines that the avoidance action (deceleration) by the brake has been performed, and jumps to step S16. Further, in the case of STbk ≦ BK1, it is determined that the brake pedal has not been stepped on or the brake pedal has not been stepped on, and the driver has not performed the avoidance action by the brake operation, and the process proceeds to step S15.

In step S15, the steering torque Tst (absolute value) detected by the steering torque sensor 34 and the avoidance determination threshold value ST1 (absolute value) are compared. The avoidance determination threshold value ST1 is a value for determining whether or not the driver has operated the steering wheel, and is set in advance by obtaining it from an experiment or the like. Then, when Tst> ST1, the driver determines that the avoidance action has been performed by operating the steering wheel, and branches to step S16. On the other hand, when Tst ≦ ST1, it is determined that the steering wheel is not steered (the steering wheel is not gripped) or the steering wheel is not actively operated to the extent that the steering wheel is being held, and the process proceeds to step S18.

When it is determined that the driver has performed the brake operation or the steering wheel operation for the avoidance action and the process proceeds to step S16, the notification device 37 is activated and the operation mode is set by both voice and monitor display or one of them. Notifying that the mode is to be changed to the first driving support mode, the process proceeds to step S17. In step S17, a traveling route Lib (see FIG. 7) that avoids the obstacle 41b is set, and after a predetermined delay time elapses, the vehicle jumps to step S23.

Further, when it is determined that neither the brake operation nor the steering wheel operation is performed by the driver and the process proceeds to step S18, the notification device 37 is activated to notify that the operation mode is changed to the automatic evacuation mode. After the predetermined delay time has elapsed, the process proceeds to step S19, the operation mode is set to the automatic evacuation mode, and the routine is exited. When the driving mode is set to the automatic evacuation mode by the driving mode setting calculation unit 11, the automatic driving control unit 12 can safely stop the own vehicle M such as a road shoulder based on the road map information and the own vehicle position. Guide to the position and stop.

As a result, even if the driver is seated in a relaxed state and cannot immediately respond to the notification of the steering maintenance request from the notification device 37, the own vehicle M can be safely kept. It can be stopped.

On the other hand, when it is determined that the condition of the second driving support mode is not satisfied and the user jumps from step S2 to step S20, the first driving support mode condition determination process is executed. The first driving support mode determination condition is performed based on the outputs of the steering wheel touch sensor 33, the accelerator opening sensor 35, and the brake sensor 36. That is, when the steering wheel touch sensor 33 is in the steering wheel holding state and the output value of the accelerator opening sensor 35 or the brake sensor 36 exceeds the preset override determination threshold value, the condition of the first driving support mode is satisfied. Judged as unsuccessful. Further, when the steering wheel touch sensor 33 is in the steering wheel holding state and the output values of the accelerator opening sensor 35 and the brake sensor 36 are within the override determination threshold value, it is determined that the condition of the first driving support mode is satisfied.

Then, the process proceeds to step S21, and if the condition of the first operation support mode is satisfied according to the determination result in step S20, the process proceeds to step S22, the notification device 37 is driven, and the driver is requested to maintain the steering. , Notifies that the operation mode is changed to the first operation support mode. Then, when the process proceeds from step S17 or step S22 to step S23, the operation mode is set to the first operation support mode and the routine is exited.

Further, when the process proceeds from step S21 to step S24, the notification device 37 is driven to notify the driver that the operation mode is to be changed to the manual operation mode by the override detection, and after a predetermined delay time elapses, the process proceeds to step S25. Transition the operation mode to the manual operation mode and exit the routine. When the operation mode setting calculation unit 11 sets the operation mode to the manual operation mode, the automatic operation control unit 12 cancels the automatic operation and continues the manual operation until the automatic operation switch 31 is turned on again.

As described above, in the present embodiment, when the driving mode setting calculation unit 11 detects the avoidance behavior of the preceding vehicle P, which is the tracking target of the own vehicle M, in the state where the automatic driving is performed in the second driving support mode. , The driver is seated in a relaxed state because the driver is notified in advance whether to pass the own vehicle M as it is or to perform an avoidance action following the preceding vehicle P. It is possible to have the preceding vehicle P instruct the traveling direction of the own vehicle M without panicking.

In addition, even if an indistinguishable obstacle is recognized in front of the own vehicle M, the driver is notified to that effect and the driver is made to decide in advance whether to pass or avoid it, so it is necessary to dare to avoid it. For non-existent plastic bags and soft accessories, the driver can instruct them to pass through as they are, so that automatic driving can be continued without discomfort.

Further, when the driver recognizes the avoidance behavior of the preceding vehicle or an indistinguishable obstacle in front and instructs the avoidance behavior, the driving mode setting calculation unit 11 sets the driving mode to the first driving support mode. By having the driver hold the rudder, it is possible to keep the steering in a state where the driver can easily take over the steering at the time of avoidance. As a result, the automatic operation is not immediately canceled and can be continued in the driver's steering state. Further, it is possible to safely take over the avoidance operation without panicking the driver.

The present invention is not limited to the above-described embodiment. For example, the forward traveling environment recognition means is not limited to the camera unit 21, and is composed of the camera unit 21 or a monocular camera and various radar sensors. May be.

1 ... Driving support device,
11 ... Operation mode setting calculation unit,
12 ... Automatic operation control unit,
21 ... Camera unit,
21a ... Main camera,
21b ... Sub camera,
21c ... Image processing unit,
21d ... Forward environmental information recognition unit,
22 ... Navigation system,
31 ... Automatic operation switch,
32 ... Pass / avoidance instruction switch,
33 ... Handle touch sensor,
34 ... Steering torque sensor,
35 ... Accelerator opening sensor,
36 ... Brake sensor,
37 ... Notification device,
41a, 41b ... Obstacles,
BK1, ST1 ... Avoidance judgment threshold,
Lia, Lib ... Travel route,
M ... own vehicle,
P ... preceding car,
STbk ... Brake depression amount,
Tst ... Steering torque

Claims (5)

A driving environment recognition means that recognizes the driving environment in front of the own vehicle,
A target travel path setting means for setting a target travel path of the own vehicle based on at least one of a travel route connecting the current position and the destination of the own vehicle and the travel environment recognized by the travel environment recognition means.
As the driving mode of the own vehicle, a first driving support mode in which automatic driving is performed on condition that the driver grips the steering wheel at least, and a second driving support mode in which automatic driving is performed without the condition that the driver grips the steering wheel. An operation mode setting calculation means having a mode and setting each mode according to an operation condition, and an operation mode setting calculation means.
In a driving support device provided with a notification means for notifying the driver of a situation in which the operation mode changes.
The driver has an instruction means for instructing the driving mode setting calculation means to pass the own vehicle without following the preceding vehicle or avoiding an obstacle.
In the driving mode setting calculation means, the driving environment recognition means takes an avoidance action of the preceding vehicle while the own vehicle is traveling in the second driving support mode along the target traveling path set by the target traveling path setting means. When an indistinguishable obstacle is recognized in front of the vehicle, a request for gripping the handle is notified via the notification means, and then a passage instruction is detected via the instruction means. Continue the second driving support mode
A driving support device characterized by this. A driving environment recognition means that recognizes the driving environment in front of the own vehicle,
As the driving mode of the own vehicle, a first driving support mode in which automatic driving is performed on condition that the driver grips the steering wheel at least, and a second driving support mode in which automatic driving is performed without the condition that the driver grips the steering wheel. An operation mode setting calculation means having a mode and setting each mode according to an operation condition, and an operation mode setting calculation means.
In a driving support device provided with a notification means for notifying the driver of a situation in which the operation mode changes.
The driver has an instruction means for instructing the driving mode setting calculation means to pass the own vehicle without following the preceding vehicle or avoiding an obstacle.
When the driving environment recognition means recognizes the avoidance behavior of the preceding vehicle or recognizes the obstacle that cannot be discriminated in front of the driving mode setting calculation means while driving in the second driving support mode, the driving mode setting calculation means is described. After notifying the driver of the request to grip the steering wheel via the notification means and notifying the driver of the request to grip the steering wheel, the vehicle passes through the instruction means. A driving support device characterized in that the second driving support mode is continued when an instruction is detected. A driving environment recognition means that recognizes the driving environment in front of the own vehicle,
As the driving mode of the own vehicle, a first driving support mode in which automatic driving is performed on condition that the driver grips the steering wheel at least, and a second driving support mode in which automatic driving is performed without the condition that the driver grips the steering wheel. An operation mode setting calculation means having a mode and setting each mode according to an operation condition, and an operation mode setting calculation means .
In a driving support device provided with a notification means for notifying the driver of a situation in which the operation mode changes.
It has a driving operation detecting means for detecting the driving operation of the driver, and has
The driving mode setting calculation means is the notification means when the driving environment recognition means recognizes the avoidance behavior of the preceding vehicle or recognizes an obstacle that cannot be discriminated ahead while traveling in the second driving support mode. After notifying the driver of the request to grip the steering wheel and notifying the driver of the request to grip the steering wheel, the driving operation detecting means of the driver A driving support device characterized by shifting the driving mode to the first driving support mode when a driving operation is detected. The driving mode setting calculation means is characterized in that, when the driving mode is changed to the first driving support mode, the driving mode setting calculation means generates a target traveling path that follows the preceding vehicle or avoids the obstacle. The driving support device according to 3. A driving environment recognition means that recognizes the driving environment in front of the own vehicle,
As the driving mode of the own vehicle, a first driving support mode in which automatic driving is performed on condition that the driver grips the steering wheel at least, and a second driving support mode in which automatic driving is performed without the condition that the driver grips the steering wheel. An operation mode setting calculation means having a mode and setting each mode according to an operation condition, and an operation mode setting calculation means.
In a driving support device provided with a notification means for notifying the driver of a situation in which the operation mode changes.
The operation mode setting calculation means further has an automatic evacuation mode for evacuating the own vehicle to the evacuation zone as the operation mode.
The driving mode setting calculation means is the notification means when the driving environment recognition means recognizes the avoidance behavior of the preceding vehicle or recognizes an obstacle that cannot be discriminated ahead while traveling in the second driving support mode. After notifying the driver of the request to grip the steering wheel and notifying the driver of the request to grip the steering wheel, the driver detects the response to the notification. If not, the operation support device is characterized by shifting the operation mode to the automatic evacuation mode.

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