JPH03280110A - Controller for autonomously traveling vehicle - Google Patents

Abstract

PURPOSE:To obtain the controller of an autonomously traveling vehicle without any sense of incongruity by providing a means to correct travel control based on a driving operation characteristic. CONSTITUTION:A distance sensor 10 is fitted to the part of a front grille 7 in an automobile 5, for example, and detects a distance between a preceding car and the car 5 itself. Even when the car 5 is manually traveled, the distance sensor 10 and a speed sensor 11 are continuously operated and an inter-car distance signal S1 and a self speed signal S2 to be outputted from these respective sensors are inputted to a parameter value estimating means 16. At the time of autonomous travel, reaction time gamma, sense coefficient (b) and attention coefficient omega as parameters to decide how to keep the distance between cars are matched with the driving operation characteristic of a driver and based on the inter-car distance signal S1 and the self car speed signal S2, an automatic speed control means 12 executes control so as to keep the distance between the preceding car and the car itself constant. Thus, at the time of autonomous travel, the driver can obtain a driving feeling matched with the habit or the taste of the driver itself.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device that controls the running of a vehicle that is equipped with an external world recognition means that recognizes the external environment and that runs autonomously based on the recognition result. In particular, the present invention relates to a control device for an autonomous vehicle that allows autonomous driving to suit the driver's manual driving habits and preferences.

(Prior Art) Conventionally, as shown in Japanese Unexamined Patent Publication No. 64-26913, outside world recognition means such as a television camera and a sensor for detecting the distance between the vehicle and the vehicle in front have been mounted on vehicles such as automobiles. , a technology for autonomously driving a vehicle based on the recognition results is well known.

In this type of autonomous vehicle, in addition to the driving control means that controls the driving of the vehicle based on the recognition result of the external world recognition means, the driver also controls the driving of the vehicle as in a normal automobile. Operating means to be operated are also often installed. In that case, means will be provided for switching between a manual running state using the operating means and an autonomous running state using the running control means.

(Problems to be Solved by the Invention) By the way, the driver's driving operation characteristics, such as the distance between the vehicle in front and the start of acceleration (including deceleration) of the vehicle in front, Characteristics such as reaction time, the degree of acceleration of one's own vehicle relative to the acceleration of the vehicle in front, and driving position relative to the edge of the road often differ from driver to driver. To others, these differences in driving operation characteristics are the so-called "habits" or "preferences" of the driver.
recognized as.

Naturally, when a vehicle is driven autonomously as described above, the driving operation characteristics described above also exist, but if these characteristics are far from the driver's habits and preferences, the driver may feel uncomfortable when driving autonomously. I come to remember. Driving operation characteristics in autonomous driving are appropriately set in consideration of various conditions including safety, but on the other hand, if the characteristics cause the driver to feel discomfort as described above, it may cause problems in driving. This is not good for safe driving as it may lead to mental instability in the driver.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a control device for an autonomous vehicle that can solve the above problems.

(Means for Solving the Problems) A control device for an autonomous vehicle according to the present invention includes the aforementioned external world recognition means, a travel control means, an operation means for manual travel, an autonomous travel state and a manual travel state. In a control device for an autonomous vehicle, the controller comprises: a means for determining driving operation characteristics by a driver during manual driving; and a means for correcting driving control by the driving control means based on the driving operation characteristics. This is characterized by the following.

(Function) If the driving control by the driving control means is corrected as described above, the driving operation characteristics during autonomous driving will become closer to the driver's habits and preferences.

It should be noted that the driver's situation may change from time to time, and even the same driver's habits and preferences may change.
It is preferable to obtain the driver's driving characteristics frequently. Basically, it is sufficient to use one of the latest driving operation characteristics thus determined. However, since there are variations in the driving operation characteristics of drivers, it is preferable to determine each driving operation characteristic based on the results obtained several times in the past.

(Example) Hereinafter, the present invention will be described in detail based on an example shown in the drawings.

FIG. 1 shows the basic configuration of a control device for an autonomous vehicle according to an embodiment of the present invention. The device of this embodiment is applied, for example, to autonomous driving of a car. In FIG. 1, the flow of signals during autonomous running is shown by solid lines, and the flow of signals and operations during manual running are shown by broken lines.

First, I will explain autonomous driving. A distance sensor IO serving as an external world recognition means is attached to, for example, the front grille 7 of the automobile 5, as shown in FIG. 2, and detects the inter-vehicle distance between the preceding vehicle and the own troops.

As such a distance sensor 10, for example, one may be used that emits ultrasonic waves forward and determines the inter-vehicle distance based on the time it takes for the ultrasonic waves to be reflected by the vehicle ahead and returned. The automobile 5 is also provided with a vehicle speed sensor 11 consisting of a general speedometer or a Doppler speedometer.

Eight inter-vehicle distance signals emitted by the distance sensor 10 are input to an automatic vehicle speed control means 12 as a travel control means. The vehicle speed signal S2 generated by the vehicle speed sensor 11 is also input to the vehicle speed automatic control means 12.

The automatic vehicle speed control means 12 performs control based on the inter-vehicle distance signal S1 and the own speed signal S2 to maintain a constant inter-vehicle distance from the vehicle ahead. This control changes the own vehicle acceleration aF (t) at time t to λ ar (t) = −(VL (tr) −
This is done by setting λ-b-vL(t)/d(t-T) --(2). However, VL (−τ)
Forward vehicle speed VL(t) at time t-τ
:Front vehicle speed VF at time t (-τ): Own vehicle speed d(t-τ) at time t-τ :Time t-τ
Inter-vehicle distance M: Vehicle weight λ: Control key τ: Reaction time sensitivity coefficient ω: Caution coefficient.

The value of VL (t-T)-VF (t-τ) is the relative speed of the vehicle ahead with respect to the own vehicle, and is obtained, for example, by differentiating the inter-vehicle distance signal S1. Also VL
The value of (t) is obtained in the same manner as above, VL (t
) -VF (t) value and V indicating the own force speed signal S2
It can be determined from the value of F(t).

The above reaction time τ is based on the acceleration (including deceleration) of the vehicle ahead.
The time from when the vehicle starts to accelerate until the own vehicle starts accelerating, the sensitivity coefficient is the ratio of the own acceleration to the acceleration of the vehicle in front,
The caution coefficient ω is a coefficient representing the sharpness of reaction to a change in inter-vehicle distance. These reaction time τ, sensitivity coefficient S, and attention coefficient ω have unique values for each driver, and these values can be recognized as differences between drivers or as the aforementioned habits and preferences. In the automatic vehicle speed control means 12, the values of these parameters τ, b, and ω are determined as described later, thereby determining the driving operation characteristics during autonomous running.

The automatic vehicle speed control means 12 outputs a signal S3 indicating the own vehicle acceleration ar(t) obtained by the above equations (1) and (2).
input to the controller 13. The controller 3 operates an actuator 14 such as an accelerator pedal based on this signal S3, and controls the acceleration of the automobile 5 at time t to the value of aF(t). As a result, the automobile 5 automatically follows the preceding vehicle while keeping the inter-vehicle distance from the preceding vehicle unchanged.

Next, manual driving will be explained. The above controller 13
A manually operated switching circuit 15 is connected to the switch. The controller 13 receives the driving state instruction signal J output from the switching circuit 15 and is selectively set to either the operating state or the non-operating state as described above.

When manual driving is instructed by the driving state instruction signal J,
Controller 13 is deactivated and actuator 1
It is separated from 4. Thereby, the actuator 14 is operated in response to the driver's manual operation M, and manual travel is performed.

In this way, even when the car 5 is traveling manually, the distance sensor 10 and the vehicle speed sensor 11 continue to operate, and the inter-vehicle distance signal S1 and own vehicle speed signal S2 output from each are as follows.
It is input to the parameter value estimating means 16. This parameter value estimating means 16 is composed of a known computer or the like, and calculates the reaction time τ from the above-mentioned signals S1 and S2 inputted every moment
The sensitivity coefficient and the attention coefficient ω are estimated. Estimation of these parameters τ, b, and ω can be performed using, for example, the above (1), (
This can be done by substituting several measured values other than b1ω into equation 2) and solving the resulting nonlinear equation for τ, b, and ω.

Basically, the parameters τ and b1ω may be determined one by one for each manual operation, for example. but,
It is preferable that these parameters be frequently updated by a so-called learning function so as to be able to respond to variations in drivers' habits and preferences, as well as changes in these over time.

To do this, for example, the following learning algorithm may be used.

Cl−C2=1. 0 Tadashi P(t): Learning parameter value P at time t
(t+1): learning parameter value P at time 11 [tl: parameter value detected at time t C1: forgetting coefficient C2: memory coefficient.

The parameters τ,b finally determined as above
1ω is stored in the memory of the correction means 17. Then, when autonomous driving is performed next time, the correction means 17 transfers the stored values of parameters τ and b1ω to the automatic vehicle speed control means 12, and each parameter τ that has been set in the automatic vehicle speed control means 12 until then. , b, and ω are updated to these values.

In this way, the reaction time τ, the sensitivity coefficient, and the attention coefficient ω during autonomous driving are made to match those of the driver. Therefore, the manner in which the autonomously running automobile 5 follows the vehicle in front is close to the driver's habits and preferences.

In the embodiment described above, the reaction time τ, which is a parameter that determines the distance between vehicles during autonomous driving,
Although the sensitivity coefficient b1 and the caution coefficient ω are configured to match those of the driver, in the present invention, other driving operation characteristics, such as how to take the driving position with respect to the road edge, how to decelerate when turning, and Of course, it is also possible to configure the route to be taken when overtaking, acceleration timing, etc. to match that of the driver.

(Effects of the Invention) As explained in detail above, the control device for an autonomous vehicle according to the present invention determines the driving operation characteristics of the driver during manual driving,
Since the configuration is such that driving control is performed based on these driving operation characteristics during autonomous driving, the driver can obtain a driving feeling that matches his own habits and preferences when driving autonomously with this device. Therefore, according to the present device, mental stability can be given to the driver during autonomous driving, and the effect of improving safety can be obtained.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the basic configuration of a device according to an embodiment of the present invention, and FIG. 2 is a perspective view showing an example of how a distance sensor is attached to an autonomous vehicle. 5... Car 10... Distance sensor 11
...Vehicle speed sensor 12...Vehicle speed automatic control means 1
3... Controller 14... Actuator 1
5...Switching circuit 16...Parameter value estimation means■7...Correction means

Claims (1)

[Scope of Claims] External world recognition means for recognizing the external environment of the vehicle; travel control means for controlling the driving of the vehicle based on the recognition result of the external world recognition means; an operating means to be operated; means for switching between a manual driving state by the operating means and an autonomous driving state by the driving control means; a means for determining driving operation characteristics by a driver during the manual driving; and the driving operation characteristics. A control device for an autonomous vehicle, comprising: means for correcting travel control by the travel control means based on the above.