JP7410805B2 - Vehicle control device - Google Patents

Description

Embodiments of the present invention relate to a vehicle control device.

2. Description of the Related Art Conventionally, devices have been known that perform automatic driving to control a vehicle without requiring a driver's driving operation. When the driving mode of the vehicle shifts from automatic driving to manual driving, the driver is required to perform the driving operation himself, so a notification regarding handover to transfer the driving operation authority to the driver is performed. For example, Patent Document 1 describes that when transitioning from automatic driving to manual driving, notification regarding the mode transition is provided at a timing that corresponds to the state of the occupant of the vehicle.

JP2017-200786A

In the system described in Patent Document 1, notifications regarding mode transition are provided at timings that correspond to the occupant's condition, but since reactions to the notifications differ depending on the driver's characteristics, even if the handover request is notified in the same manner, driving There may be differences in the reactions of individuals. For example, if a handover request is notified in a manner that is highly irritating to the driver even though the urgency is low, the driver may find the notification bothersome. On the other hand, if the handover request is notified in a manner that is too weak for the driver, the driver may not respond sufficiently to the notification and may not be able to perform a smooth handover.

Therefore, it is required to provide notification regarding handover in an appropriate manner according to the characteristics of the driver.

One aspect of the vehicle control device includes a notification unit capable of notifying the driver of a handover request for switching the driving mode of the vehicle from automatic driving to manual driving in multiple types of notification modes, and a centralized parameter indicating the driver's concentration level on driving. a centralized parameter acquisition unit that acquires a reaction parameter indicating a driver's reactivity to a handover request, a notification mode of a handover request notified to a driver in the past, and a response parameter acquisition unit that acquires a reaction parameter indicating a driver's reactivity to a handover request; a reaction history information generation unit that generates reaction history information in which a concentrated parameter at the time of notification and a driver's reaction parameter in response to the handover request are associated; A required reaction parameter determination unit that determines required reaction parameters and reaction history information are used to acquire notification modes corresponding to the driver's concentration parameters and required response parameters, and the notification unit notifies the driver of the acquired notification modes. a notification mode determining unit that determines a notification mode of a handover request to be notified to the user.

The driver's reactivity to the handover request varies depending on the driver's characteristics, concentration level, and notification mode of the handover request. The vehicle control device of the above aspect determines a required reaction parameter indicating the reactivity required of the driver, and uses reaction history information to determine a notification mode corresponding to the driver's concentration parameter and the required reaction parameter. By notifying the handover request in the notification manner determined in this way, it is possible to urge the driver to respond to the handover request with the requested reactivity. Therefore, notification regarding handover can be performed in an appropriate manner according to the characteristics of the driver.

In one embodiment, the reaction parameter acquisition unit may determine the reaction parameter based on the driver's reaction time to the handover request. Thereby, it is possible to notify the handover request in a notification manner that allows the driver to react in a desired reaction time.

In one embodiment, the reaction parameter acquisition unit may determine the reaction parameter based on the accuracy of the driver's driving operation in response to the handover request. Thereby, it is possible to notify the handover request in a notification manner that allows the driver to operate with desired accuracy.

In one embodiment, the concentrated parameter acquisition unit may acquire the concentrated parameters based on the driver's biological information or line of sight information. By using the driver's biological information or line of sight information, the driver's concentration level on driving can be acquired with high accuracy.

According to one aspect and various embodiments of the present invention, notification regarding handover can be performed in an appropriate manner according to the characteristics of the driver.

FIG. 1 is a block diagram showing a functional configuration of a vehicle including a vehicle control device according to an embodiment. It is a figure showing an example of reaction history information. FIG. 3 is a diagram for explaining a method of determining a notification mode. 3 is a flowchart showing the flow of processing of the vehicle control device.

Hereinafter, various embodiments will be described in detail with reference to the drawings. In each drawing, the same or equivalent parts are given the same reference numerals, and duplicate explanations of the same or equivalent parts will be omitted.

FIG. 1 is a block diagram showing the functional configuration of a vehicle including a vehicle control device according to an embodiment. The vehicle control device 30 shown in FIG. 1 is installed in a vehicle 1 capable of executing automatic driving, and notifies a driver of a handover request when a handover event occurs.

Automatic driving is a driving mode in which steering control, accelerator control, brake control, etc. of the vehicle 1 are performed without depending on the driver's driving operations. The handover request indicates a request to switch the driving mode of the vehicle 1 from automatic driving to manual driving. A handover event is an event that causes a handover to occur. For example, if automatic driving is performed only on expressways, approaching an exit of the expressway can be cited as a handover event. Another example of a handover event is when the driving environment falls outside the operational design area due to a sudden event such as a failure of equipment onboard vehicle 1, a traffic obstacle on the automated driving route, or weather conditions. Can be mentioned.

As shown in FIG. 1, the vehicle 1 includes a sensor group 10, an output device 20, and a vehicle control device 30. The sensor group 10 is a device that acquires information regarding the driver or driving information of the vehicle 1. The sensor group 10 includes, for example, a camera 11, a steering sensor 12, a brake sensor 13, and an accelerator sensor 14.

The camera 11 is provided inside the vehicle 1 and captures an image of the driver of the vehicle 1. Steering sensor 12 detects the steering angle or steering angular velocity of the steering wheel of vehicle 1 . The brake sensor 13 detects the amount of operation of the brake pedal of the vehicle 1. The accelerator sensor 14 detects the amount of operation of the accelerator pedal of the vehicle 1. The camera 11 , steering sensor 12 , brake sensor 13 , and accelerator sensor 14 output detection results to the vehicle control device 30 .

Note that the sensor group 10 may further include other sensors such as a sensor that monitors the surroundings of the vehicle and a sensor that acquires driving information of the vehicle. Examples of sensors that monitor the surroundings of a vehicle include a stereo camera and a radar. Examples of sensors for acquiring vehicle travel information include speed sensors, acceleration sensors, and the like.

The output device 20 is a device that notifies the driver of the vehicle 1 of a handover request. In the example shown in FIG. 1, the output device 20 includes a speaker 21, a display device 22, and a vibration device 23.

The speaker 21 notifies the driver of the handover request with sound. The display device 22 notifies the driver of the handover request using an image. The vibration device 23 vibrates the seat of the vehicle 1 to notify the driver of the handover request. Note that the speaker 21, display device 22, and vibration device 23 may notify the driver of information different from the handover request. Furthermore, the output device 20 may include a notification device different from the speaker 21, the display device 22, and the vibration device 23.

The vehicle control device 30 is an electronic control unit that includes a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], a CAN [Controller Area Network] communication circuit, etc., and controls the operation of the entire vehicle 1. Control. The vehicle control device 30 realizes various functions by, for example, loading a program stored in a ROM into a RAM, and executing the program loaded into the RAM by a CPU.

As shown in FIG. 1, the vehicle control device 30 is communicably connected to the sensor group 10 and the output device 20, and uses the output device 20 to notify the driver of the handover request in multiple notification modes. As shown in FIG. 1, the vehicle control device 30 has a functional configuration including an automatic driving control section 31, a notification section 32, a centralized parameter acquisition section 33, a reaction parameter acquisition section 34, a reaction history information generation section 35, and a requested reaction parameter. It includes a determining section 36, a notification mode determining section 37, and a storage section 38. Note that the vehicle control device 30 may be configured by a plurality of electronic control units, or may be configured by a single electronic control unit.

The automatic driving control unit 31 performs automatic driving control of the vehicle 1 based on travel information of the vehicle 1 collected by the sensor group 10, for example. The automatic driving control unit 31 performs, for example, steering control, accelerator control, brake control, etc. of the vehicle 1 to cause the vehicle 1 to travel automatically from the start point to the end point of the automatic driving route without any operation by the driver.

The automatic driving control unit 31 also functions as a handover event detection unit that detects a handover event. For example, when the automatic driving control unit 31 detects that the driving environment of the vehicle 1 is outside the range of the operation design area based on the information collected by the sensor group 10, the automatic driving control unit 31 switches from automatic driving to manual driving. Output a handover request. For example, if automatic driving is restricted to only on expressways, the automatic driving control unit 31 outputs a handover request when approaching the exit of the expressway. Further, the automatic driving control unit 31 may output a handover request when the driving environment falls outside the operation design area due to an unexpected event such as a failure of equipment mounted on the vehicle 1.

The notification unit 32 notifies the driver of the handover request output by the automatic driving control unit 31 by controlling the output device 20. For example, the notification unit 32 can individually control the speaker 21, the display device 22, and the vibration device 23 of the output device 20 to generate a plurality of notifications including one or a combination of sound, image, and sheet vibration. Depending on the mode, the handover request is notified to the driver and the driver is prompted to prepare for manual driving.

When notifying the handover request by sound, the notification unit 32 can control the volume, pitch, rhythm, etc. of the sound output by the speaker 21, for example. When notifying the handover request using an image, the notification unit 32 can control, for example, the display content, color temperature, blinking speed, etc. of the image output by the display device 22. When notifying the handover request by vibration of the seat of the vehicle 1, the notification unit 32 can control, for example, the frequency, magnitude, rhythm, etc. of the vibration of the seat by the vibration device 23. That is, the notification unit 32 can notify the driver in multiple types of notification modes by controlling the output device 20. Note that even if the handover request notification includes a notification urging the driver to perform driving operations to prepare for manual driving, such as holding or operating the steering wheel, operating the brake pedal, or operating the accelerator pedal, good.

The concentration parameter acquisition unit 33 acquires a concentration parameter indicating the driver's degree of concentration on driving. The concentration parameter is an index representing the driver's degree of concentration on driving, and is set larger as the degree of concentration on driving is higher. The concentrated parameter acquisition unit 33 acquires concentrated parameters based on, for example, the driver's biological information or line of sight information. Examples of the driver's biological information include the average number and variance of the driver's blink frequency, changes in the shape of the driver's mouth, and the driver's body temperature. The driver's blink frequency, changes in the shape of the mouth, and driver's line of sight information are detected based on an image of the driver captured by the camera 11, for example.

The reaction parameter acquisition unit 34 acquires a reaction parameter indicating the driver's reactivity to the handover request. The reaction parameter is an index representing the driver's reactivity to the handover request, and is set larger as the reactivity is higher. The driver's reactivity includes, for example, the reaction time taken from the time of notification regarding the handover request to the time of the driver's operation of the steering wheel, accelerator pedal, or brake pedal. For example, the reaction parameter acquisition unit 34 sets the reaction parameter larger as the driver's reaction time to the handover request becomes shorter.

Furthermore, when requesting the driver to perform a specific driving operation when notifying the handover request, the reaction parameter acquisition unit 34 may determine the reaction parameter based on the accuracy of the driver's operation in response to the handover request. For example, the reaction parameter acquisition unit 34 sets the reaction parameter to be larger as the accuracy of the driver's driving operation relative to the driving operation requested by the handover request is higher.

The reaction history information generation unit 35 generates a notification mode of a handover request notified to the driver by the notification unit 32 in the past, and the driver's concentrated parameter acquired by the concentrated parameter acquisition unit 33 at the time of notification of the handover request. , and the driver's reaction parameter in response to the handover request acquired by the reaction parameter acquisition unit 34. FIG. 2 shows an example of reaction history information generated by the reaction history information generation unit 35.

Notification modes A, B, and C in the reaction history information shown in FIG. 2 are different types of notification modes. For example, notification modes A, B, and C are notifications using sounds with different rhythms. Further, "high" and "low" in the reaction history information shown in FIG. 2 indicate concentration parameters indicating the driver's concentration level. "High" indicates that the driver's degree of concentration on driving is high, and "Low" indicates that the driver's degree of concentration on driving is low. Further, in the example shown in FIG. 2, the driver's reaction time to the notification regarding the handover request is used as the reaction parameter.

As shown in FIG. 2, the driver's reaction time to the notification regarding the handover request changes depending on the manner of notification of the handover request and the driver's concentration level. Furthermore, the reaction time to the notification also changes depending on the characteristics of the driver. The reaction history information generation unit 35 stores the generated reaction history information in the storage unit 38.

When a handover event is detected by the automatic driving control unit 31, the required reaction parameter determination unit 36 determines a required reaction parameter indicating reactivity to an operation requested of the driver based on the type of the handover event. For example, the required reaction parameter determining unit 36 determines a reaction time required of the driver (hereinafter referred to as "required reaction time") as the required reaction parameter depending on the urgency of the handover request. For example, when a failure occurs in the equipment mounted on the vehicle 1, it is necessary to switch the driving mode of the vehicle 1 to manual operation in a short time, so the required reaction parameter determination unit 36 sets the required reaction time to be short (for example, , 0.8 seconds). Furthermore, when switching to manual driving due to approaching the exit of the expressway, the required reaction parameter determining unit 36 sets the required reaction time to a relatively long time since there is no need for urgency in switching to manual driving. (For example, 3.0 seconds).

The notification mode determining unit 37 uses the reaction history information to obtain a notification mode corresponding to the driver's concentration parameter and requested reaction parameter, and uses the obtained notification mode to notify the driver of a handover request. Determine as an aspect.

For example, in FIG. 3, the reaction history information shown in FIG. 2 is displayed on two-dimensional coordinates with the driver's concentration level (concentration parameter) on the horizontal axis and the driver's reaction time (reaction parameter) on the vertical axis. These are plotted for each time. The notification mode determining unit 37 analyzes the reaction history information using an analysis method such as multivariate analysis, and sets the range of reaction parameters in notification modes A, B, and C by grouping the plotted data. . Specifically, range R1 shown in FIG. 3 indicates the range of reaction time of the driver when the driver is notified of the handover request in notification mode A. Range R2 shown in FIG. 3 indicates the range of reaction time of the driver when the driver is notified of the handover request in notification mode B. Range R3 shown in FIG. 3 indicates the range of reaction time of the driver when the driver is notified of the handover request in notification mode C.

Here, the required reaction time determined by the required reaction parameter determination unit 36 is 1.0 seconds, and the driver's current concentration level is “medium” which is lower than “high” and higher than “low”. Suppose there is. In this case, since the point P corresponding to the request reaction time and concentration level is located within the range R1, the notification mode determining unit 37 sets the notification mode A corresponding to the range R1 as the notification mode of the handover request. decide. Then, the notification unit 32 controls the output device 20 to notify the driver of the handover request in the notification mode A determined by the notification mode determination unit 37. Thereby, the driver can be encouraged to respond to the handover request within the required reaction time.

Next, an example of the process flow of the vehicle control device 30 will be described with reference to FIG. 4.

First, the reaction history information generation unit 35 generates a notification mode of a handover request that was notified to the driver in the past, a driver's concentration parameter at the time of notification of the handover request, and a driver's reaction parameter to the handover request. generates reaction history information associated with (step ST1).

Next, it is determined whether a handover event has been detected by the automatic driving control unit 31 (step ST2). If no handover event is detected, the series of processing ends. On the other hand, if a handover event is detected, the request reaction parameter determination unit 36 determines a request reaction parameter according to the type of handover event, for example (step ST3). For example, if the reaction parameter is a reaction time to a driver's handover request, the required reaction time is determined.

Next, the concentrated parameter acquisition unit 33 acquires the driver's current concentrated parameters based on the driver's biological information or line of sight information (step ST4). Next, the notification mode determining unit 37 uses the reaction history information to determine a notification mode corresponding to the driver's current concentration parameters and requested reaction parameters (step ST5). Next, the notification section 32 notifies the driver of the handover request in the notification mode determined by the notification mode determining section 37 (step ST6).

As described above, the vehicle control device 30 according to one embodiment is configured to use the notification mode of the handover request notified to the driver in the past, the driver's concentration parameter at the time of the handover request, and the notification mode of the handover request notified to the driver in the past. Generate reaction history information associated with driver reaction parameters. Then, using the reaction history information, a notification mode corresponding to the driver's current concentration parameter and requested reaction parameter is determined. Then, the handover request is notified to the driver from the output device 20 in the determined notification manner. By notifying the driver of the handover request in the notification manner determined in this way, the driver can be prompted to take the required reaction to the handover request, and as a result, the driving mode can be smoothly changed to manual. It becomes possible to shift to driving.

Although vehicle control devices according to various embodiments have been described above, the present invention is not limited to the embodiments described above, and various modifications can be made without changing the gist of the invention.

For example, in the embodiments described above, the reaction time to a handover request is used as a reaction parameter, but the reaction parameter is not limited to the reaction time to a handover request. For example, the response parameter may be the accuracy of the operation requested in the handover request. For example, when the driver is requested to operate the steering wheel at a steering angle of 20 deg/s and a maximum steering amount of 40 deg at the time of a handover request, the reaction parameter acquisition unit 34 calculates the steering angle actually performed by the driver. The closer the steering angle is to 20 deg/s and the closer the maximum steering amount is to 40 degrees, the larger the reaction parameter may be set.

When the accuracy of the requested operation is the reaction parameter, the requested reaction parameter determination unit 36 determines the accuracy of the operation requested of the driver based on the type of handover event detected by the automatic driving control unit 31. determine the desired reaction parameter. For example, when manual driving is required to avoid obstacles while driving, the required reaction parameter is set high because highly accurate steering operation is required. Then, the notification mode determining section 37 determines a notification mode that allows the driver to perform an operation with the accuracy determined as the required reaction parameter, and the notification section 32 uses the notification mode determined by the notification mode determining section 37. Notify the driver of the handover request. Thereby, the driver can be prompted to perform the driving operation with the accuracy required in response to the handover request, and as a result, it is possible to smoothly shift the driving mode to manual driving.

DESCRIPTION OF SYMBOLS 1...Vehicle, 10...Sensor group, 20...Output device, 30...Vehicle control device, 32...Notification section, 33...Intensive parameter acquisition section, 34...Reaction parameter acquisition section, 35...Reaction history information generation section, 36...Request Reaction parameter determining unit, 37... Notification mode determining unit.

Claims (4)

a notification unit capable of notifying the driver of a handover request for switching the driving mode of the vehicle from automatic driving to manual driving in multiple types of notification modes;
a concentrated parameter acquisition unit that acquires a concentrated parameter indicating a degree of concentration of the driver on driving;
a reaction parameter acquisition unit that acquires a reaction parameter indicating the reactivity of the driver to the handover request;
Reaction history information in which the notification mode of the handover request notified to the driver in the past, the concentration parameter at the time of notification of the handover request, and the reaction parameter of the driver in response to the handover request are associated. a reaction history information generation unit that generates
a request reaction parameter determination unit that determines a request reaction parameter indicating the reactivity required of the driver in response to the handover request;
Using the reaction history information, a notification mode corresponding to the concentration parameter and the requested reaction parameter of the driver is acquired, and the notification section notifies the driver of the acquired notification mode for the handover. a notification mode determining unit that determines the notification mode of the request;
A vehicle control device comprising: The vehicle control device according to claim 1, wherein the reaction parameter acquisition unit determines the reaction parameter based on a reaction time of the driver to the handover request. The vehicle control device according to claim 1, wherein the reaction parameter acquisition unit determines the reaction parameter based on the accuracy of the driver's driving operation in response to the handover request. The vehicle control device according to any one of claims 1 to 3, wherein the concentrated parameter acquisition unit acquires the concentrated parameters based on biological information or line-of-sight information of the driver.

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