JPWO2020059076A1 - Driving support device and driving support method - Google Patents

Abstract

An object of the present invention is to provide a driving support device and a driving support method capable of smoothly switching from automatic driving to manual driving. The driving support device according to the present invention has an illuminance change estimation unit that estimates a sudden illuminance change that the driver's vision cannot follow instantaneously, and an illuminance change estimation unit that estimates the illuminance change. An impact mitigation estimation unit that estimates the mitigation of the impact on the vision of the driver who drives the vehicle, and a driving switching unit that switches the vehicle driving from automatic driving to manual driving when the impact mitigation estimation unit estimates the mitigation of the impact. To be equipped.

Description

The present invention relates to a driving support device and a driving support method that assist a driver in driving by automatically switching between manual driving and automatic driving.

For example, when a vehicle is traveling in a tunnel and approaches the exit of the tunnel, a sudden change in illuminance may occur. At this time, the driver of the vehicle may be deprived of his / her field of vision due to a sudden change in illuminance, and the vehicle may come into contact with the vehicle in front due to poor visibility. Alternatively, if the driver slows down the vehicle due to poor visibility, it may induce congestion in the following vehicle.

Conventionally, there has been disclosed a technique of automatically switching from manual driving to automatic driving when it becomes difficult for the driver to see the surroundings, and switching from automatic driving to manual driving when the surrounding environment improves (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-188127

The driver may temporarily have poor visibility when a sudden change in illuminance occurs, but after a while, the driver becomes accustomed to the changed illuminance and the poor visibility is alleviated.

In Patent Document 1, for example, automatic driving is not switched to manual driving while the vehicle is traveling toward the west sun. Therefore, in Patent Document 1, automatic driving is continued even after the poor visibility of the driver is alleviated. In this case, the driver may be confused about the operation because he / she does not know when to return to the manual operation because the automatic operation is continued even though the driver can perform the manual operation. As described above, conventionally, it cannot be said that the switching from the automatic operation to the manual operation is smoothly performed.

The present invention has been made to solve such a problem, and an object of the present invention is to provide a driving support device and a driving support method capable of smoothly switching from automatic driving to manual driving. ..

In order to solve the above problems, the driving support device according to the present invention includes an illuminance change estimation unit that estimates a sudden illuminance change that the driver's vision cannot follow instantly, and an illuminance change estimation unit. When the impact mitigation estimation unit estimates the mitigation of the impact of the illuminance change estimated by the change estimation unit on the driver's vision, and the impact mitigation estimation unit estimates the mitigation of the impact, the vehicle is automatically driven. It is equipped with an operation switching unit that switches from to manual operation.

Further, the driving support method according to the present invention estimates a sudden change in illuminance that is a change in illuminance around the vehicle and cannot be instantly followed by the driver's vision, and the estimated illuminance change is the visual vision of the driver driving the vehicle. When the mitigation of the influence on the vehicle is estimated and the mitigation of the influence is estimated, the driving of the vehicle is switched from the automatic driving to the manual driving.

According to the present invention, the driving support device includes an illuminance change estimation unit that estimates a sudden illuminance change that the driver's vision cannot follow instantaneously due to a illuminance change around the vehicle, and an illuminance estimated by the illuminance change estimation unit. When the impact mitigation estimation unit estimates the mitigation of the impact of the change on the driver's vision and the impact mitigation estimation unit estimates the mitigation of the impact, the operation is switched from automatic driving to manual driving. Since it is provided with a unit, it is possible to smoothly switch from automatic operation to manual operation.

In addition, the driving support method estimates a sudden change in illuminance that cannot be instantly followed by the driver's vision, which is a change in illuminance around the vehicle, and the effect of the estimated illuminance change on the driver's vision. When the mitigation of the above is estimated and the mitigation of the influence is estimated, the driving of the vehicle is switched from the automatic driving to the manual driving, so that the switching from the automatic driving to the manual driving can be smoothly performed.

Objectives, features, aspects, and advantages of the present invention will be made more apparent with the following detailed description and accompanying drawings.

It is a block diagram which shows an example of the structure of the operation support device by Embodiment 1 of this invention. It is a block diagram which shows an example of the structure of the operation support device by Embodiment 1 of this invention. It is a block diagram which shows an example of the hardware composition of the driving support apparatus according to Embodiment 1 of this invention. It is a flowchart which shows an example of the operation of the driving support device by Embodiment 1 of this invention. It is a block diagram which shows an example of the structure of the operation support device by Embodiment 2 of this invention. It is a flowchart which shows an example of the operation of the driving support device by Embodiment 2 of this invention. It is a flowchart which shows an example of the operation of the driving support device by Embodiment 3 of this invention. It is a block diagram which shows an example of the structure of the operation support device according to Embodiment 4 of this invention. It is a flowchart which shows an example of the operation of the driving support apparatus according to Embodiment 4 of this invention. It is a block diagram which shows an example of the structure of the operation support apparatus according to Embodiment 5 of this invention. It is a flowchart which shows an example of the operation of the driving support apparatus according to Embodiment 5 of this invention. It is a block diagram which shows an example of the structure of the driving support system by embodiment of this invention.

Embodiments of the present invention will be described below with reference to the drawings.

<Embodiment 1>
<Structure>
FIG. 1 is a block diagram showing an example of the configuration of the driving support device 1 according to the first embodiment of the present invention. Note that FIG. 1 shows the minimum necessary configuration for configuring the driving support device according to the first embodiment.

As shown in FIG. 1, the driving support device 1 includes an illuminance change estimation unit 2, an influence mitigation estimation unit 3, and an operation switching unit 4. The illuminance change estimation unit 2 estimates an illuminance change around the vehicle that is so rapid that the driver's vision cannot instantly follow it. The influence mitigation estimation unit 3 estimates the mitigation of the influence of the illuminance change estimated by the illuminance change estimation unit 2 on the visual sense of the driver who drives the vehicle. When the influence mitigation estimation unit 3 estimates the mitigation of the influence, the operation switching unit 4 switches the operation of the vehicle from the automatic driving to the manual driving.

Next, another configuration of the driving support device including the driving support device 1 shown in FIG. 1 will be described.

FIG. 2 is a block diagram showing an example of the configuration of the driving support device 5 according to another configuration.

As shown in FIG. 2, the driving support device 5 includes an illuminance change estimation unit 2, an influence mitigation estimation unit 3, an operation switching unit 4, and a state change acquisition unit 6. The state change acquisition unit 6 is connected to the DMS (Driver Monitoring System) 9. The operation switching unit 4 is connected to the automatic operation control device 10. It is assumed that the driving support device 5, the DMS 9, and the automatic driving control device 10 are mounted on the vehicle.

The DMS 9 detects a change of state in at least one of the driver's face and eyes. For example, the DMS 9 captures the entire driver's face at predetermined time intervals, and detects a change in the state of at least one of the face and the eye by performing image processing on the entire captured face. Changes in the state of the driver's face include changes in the facial expressions of the driver and changes in the orientation of the driver's face. In addition, changes in the state of the driver's eyes include changes in the size of the driver's pupils and changes in the opening and closing of the driver's eyelids.

The state change acquisition unit 6 acquires the state change of at least one of the driver's face and eyes from the DMS 9. Specifically, from the DMS 9, the state change acquisition unit 6 changes the facial expression of the driver, changes the orientation of the driver's face, changes the size of the driver's pupil, and opens and closes the driver's eyelids. Get at least one of the changes in.

The illuminance change estimation unit 2 is an illuminance change around the vehicle based on the state change of at least one of the driver's face and eyes acquired by the state change acquisition unit 6, and the driver's vision cannot be instantly followed. Estimate a sudden change in illuminance. Here, the abrupt illuminance change includes a sudden change in the illuminance around the vehicle from dark to light and a sudden change in the illuminance around the vehicle from light to dark.

Specifically, the illuminance change estimation unit 2 estimates that there was a sudden change in illuminance around the vehicle when the state of at least one of the driver's face and eyes changed momentarily. That is, when the illuminance change estimation unit 2 estimates that the illuminance around the vehicle suddenly changes from bright to dark or from dark to bright, it is estimated that the driver's visibility is poor.

The illuminance change estimation unit 2 estimates that there was a sudden change in illuminance around the vehicle when the size of the driver's pupil became smaller than a predetermined size. That is, when the illuminance change estimation unit 2 estimates that the illuminance around the vehicle has suddenly changed from dark to bright, it is estimated that the driver's visibility has deteriorated. Further, the illuminance change estimation unit 2 estimates that when the size of the driver's pupil becomes larger than a predetermined size, there is a sudden change in illuminance around the vehicle. That is, when the illuminance change estimation unit 2 estimates that the illuminance around the vehicle has suddenly changed from bright to dark, it is estimated that the driver's visibility has deteriorated.

The illuminance change estimation unit 2 is based on at least one of a change in the opening and closing of the driver's eyelids, a change in the facial expression of the driver, and a change in the orientation of the driver's face, and the sudden illuminance around the vehicle. The change may be estimated. For example, the illuminance change estimation unit 2 measures the illuminance around the vehicle when the driver's eyelids open suddenly narrows, when the driver makes a dazzling expression, or when the driver turns away from his face. It is presumed that there was a sudden change from dark to bright, and that the driver's visibility was poor. Alternatively, the illuminance change estimation unit 2 suddenly changes the illuminance around the vehicle from dark to bright when the driver's eyelids open suddenly widen or when the driver makes a squinting expression. It is presumed that the driver's visibility was poor.

The influence mitigation estimation unit 3 drives a sudden change in illuminance around the vehicle estimated by the illuminance change estimation unit 2 based on the state change of at least one of the driver's face and eyes acquired by the state change acquisition unit 6. Estimate the mitigation of the effect on one's vision. Specifically, the impact mitigation estimation unit 3 estimates at least one of the driver's face and eyes acquired by the state change acquisition unit 6 after the illuminance change estimation unit 2 estimates a sudden illuminance change around the vehicle. Based on the state change, the mitigation of the influence of the sudden illuminance change around the vehicle estimated by the illuminance change estimation unit 2 on the driver's vision is estimated. Here, mitigation of the influence of a sudden change in illuminance around the vehicle on the driver's vision means that the poor visibility of the driver caused by the sudden change in illuminance around the vehicle is alleviated, that is, the driver's vision is reduced. It means returning to normal.

For example, in the influence mitigation estimation unit 3, after the size of the driver's pupil becomes smaller than a predetermined size due to a sudden change in illuminance around the vehicle, the size of the driver's pupil becomes a normal size. When returning to, it is estimated that the effect of sudden changes in illuminance around the vehicle on the driver's vision has eased. In addition, the impact mitigation estimation unit 3 suddenly changes around the vehicle based on at least one of a change in the opening and closing of the driver's eyelids, a change in the facial expression of the driver, and a change in the orientation of the driver's face. It may be estimated that the effect of the change in illuminance on the driver's vision is mitigated.

The operation switching unit 4 includes a manual operation switching unit 7 and an automatic operation switching unit 8. When the illuminance change estimation unit 2 estimates a sudden illuminance change around the vehicle, the automatic driving switching unit 8 instructs the automatic driving control device 10 to switch the driving of the vehicle from manual driving to automatic driving. The automatic driving control device 10 controls the automatic driving of the vehicle according to the instruction of the automatic driving switching unit 8.

For example, the automatic operation switching unit 8 may instruct the automatic operation control device 10 to operate at a predetermined automatic operation level. For example, when the automatic driving level is the automatic driving level defined by SAE (Society of Automotive Engineers), the automatic driving switching unit 8 instructs the automatic driving control device 10 to change the automatic driving level from 0 to 3. To do. The automatic operation level described below is assumed to be the automatic operation level defined by SAE.

When the vehicle has the function of the automatic driving level 1, the automatic driving switching unit 8 may change the control parameters related to the automatic driving without raising the automatic driving level. For example, when the vehicle has a lane departure prevention function, the automatic driving switching unit 8 strongly controls the steering operation so as to return the vehicle to the center of the lane when the vehicle is about to cross the white line. Instruct the automatic operation control device 10. Further, for example, when the vehicle has an automatic braking function, the automatic driving switching unit 8 instructs the automatic driving control device 10 to apply the brake earlier than usual. As described above, in the first embodiment, the concept of switching to the automatic driving is adopted even when the degree of control related to the automatic driving is strengthened without changing the automatic driving level, that is, the control closer to the automatic driving is performed. include.

The automatic driving switching unit 8 may change the automatic driving level or the control parameter related to the automatic driving according to the speed of the vehicle, the surrounding environment of the vehicle, or the degree of the brightness change estimated by the illuminance change estimation unit 2.

The manual driving switching unit 7 automatically drives the vehicle so as to switch the driving of the vehicle from automatic driving to manual driving when the influence mitigation estimation unit 3 estimates the mitigation of the influence of a sudden change in illuminance around the vehicle on the driver's vision. Instruct the control device 10. The automatic driving control device 10 controls to release the control of the automatic driving of the vehicle and shift to the manual driving according to the instruction of the manual driving switching unit 7. Specifically, the manual operation switching unit 7 sets the automatic operation level changed by the automatic operation switching unit 8 at the time of automatic operation to the automatic operation level 0 corresponding to the manual operation, or sets the control parameter related to the automatic operation. Instruct the automatic operation control device 10 to return to the original state.

FIG. 3 is a block diagram showing an example of the hardware configuration of the driving support device 5.

Each function of the illuminance change estimation unit 2, the influence mitigation estimation unit 3, the state change acquisition unit 6, the manual operation switching unit 7, and the automatic operation switching unit 8 in the operation support device 5 is realized by a processing circuit. That is, the driving support device 5 estimates a sudden change in illuminance around the vehicle that the driver's vision cannot instantly follow, and the illuminance change estimation unit 2 estimates a sudden change in illuminance around the vehicle. Estimates the mitigation of the influence on the driver's vision, and when the influence mitigation estimation unit 3 estimates the mitigation of the influence on the driver's vision due to a sudden change in illuminance around the vehicle, the vehicle is manually driven from automatic driving. When switching to driving and the illuminance change estimation unit 2 estimates a sudden illuminance change around the vehicle, a processing circuit for switching the driving of the vehicle from manual driving to automatic driving is provided. The processing circuit is a processor 11 (also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor)) that executes a program stored in the memory 12.

The functions of the illuminance change estimation unit 2, the influence mitigation estimation unit 3, the state change acquisition unit 6, the manual operation switching unit 7, and the automatic operation switching unit 8 in the operation support device 5 are software, firmware, or software and firmware. It is realized by the combination. The software or firmware is described as a program and stored in the memory 12. The processing circuit realizes the functions of each part by reading and executing the program stored in the memory 12. That is, the driving support device 5 is a step of estimating a sudden change in illuminance so that the driver's vision cannot instantly follow the change in illuminance around the vehicle, and the sudden illuminance around the vehicle estimated by the illuminance change estimation unit 2. Step to estimate the mitigation of the influence of the change on the driver's vision, when the influence mitigation estimation unit 3 estimates the mitigation of the influence of the sudden change in illuminance around the vehicle on the driver's vision, the vehicle is automatically driven. Stores a program that results in the step of switching from manual driving to manual driving, and the step of switching vehicle driving from manual driving to automatic driving when the illuminance change estimation unit 2 estimates a sudden change in illuminance around the vehicle. A memory 12 for the operation is provided. In addition, these programs also cause a computer to execute the procedures or methods of the illuminance change estimation unit 2, the influence mitigation estimation unit 3, the state change acquisition unit 6, the manual operation switching unit 7, and the automatic operation switching unit 8. I can say. Here, the memory is, for example, non-volatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory). It may be a sex semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD, or the like, or any storage medium used in the future.

<Operation>
FIG. 4 is a flowchart showing an example of the operation of the driving support device 5. As a premise of the operation shown in FIG. 4, it is assumed that the vehicle is manually driven.

In step S101, the illuminance change estimation unit 2 determines whether or not the driver's field of vision is poor. As described above, the illuminance change estimation unit 2 determines that the driver's field of vision is poor when it is estimated that there is a sudden change in illuminance around the vehicle. The process of step S101 is repeated until it is determined that the driver's field of vision is poor, and when it is determined that the driver's field of vision is poor, the process proceeds to step S102.

In step S102, the automatic driving switching unit 8 instructs the automatic driving control device 10 to switch the driving of the vehicle from manual driving to automatic driving.

In step S103, the influence mitigation estimation unit 3 determines whether or not the driver's field of vision is normal. As described above, the influence mitigation estimation unit 3 determines that the driver's field of vision is normal when the illuminance change estimation unit 2 estimates the mitigation of the influence of the sudden change in illuminance around the vehicle on the driver's vision. to decide. The process of step S103 is repeated until it is determined that the driver's field of vision is normal, and when it is determined that the driver's field of vision is normal, the process proceeds to step S104.

In step S104, the manual driving switching unit 7 instructs the automatic driving control device 10 to switch the driving of the vehicle from the automatic driving to the manual driving.

From the above, according to the first embodiment, when a sudden change in brightness around the vehicle is estimated, the driving is switched from manual driving to automatic driving, and then it is estimated that the influence of the sudden change in illuminance on the driver's vision is alleviated. Then, it switches from automatic operation to manual operation. As a result, it is possible to prevent the driver from continuing the automatic operation even though the driver can perform the manual operation, and to smoothly switch from the automatic operation to the manual operation.

The illuminance change estimation unit 2 may estimate a sudden illuminance change around the vehicle in consideration of the surrounding environment such as a tunnel or an oncoming vehicle detected by an external sensor (not shown). In this case, the illuminance change estimation unit 2 can estimate the illuminance change more accurately. The vehicle exterior sensor is, for example, a camera capable of photographing the surroundings of the vehicle, and can photograph the surrounding environment such as a tunnel or an oncoming vehicle.

<Embodiment 2>
FIG. 5 is a block diagram showing an example of the configuration of the driving support device 13 according to the second embodiment of the present invention.

As shown in FIG. 5, the driving support device 13 includes a driving switching unit 4, a vehicle position acquisition unit 14, a map information acquisition unit 15, an illuminance change acquisition unit 16, a time information acquisition unit 17, and an illuminance change estimation. A unit 18 and an impact mitigation estimation unit 19 are provided. The operation switching unit 4 is connected to the automatic operation control device 10. The vehicle position acquisition unit 14 is connected to the high-precision locator 20. The map information acquisition unit 15 is connected to the map information storage device 22. It is assumed that the driving support device 13, the high-precision locator 20, and the automatic driving control device 10 are mounted on the vehicle. Since the operation switching unit 4 is the same as that of the first embodiment, detailed description thereof will be omitted here.

The high-precision locator 20 includes a GNSS (Global Navigation Satellite System) 21 and a map information storage device 22. The GNSS21 acquires position information from the GNSS satellite. It is desirable that the GNSS 21 acquire highly accurate position information from the GNSS satellite. The map information storage device 22 is composed of a storage device such as a hard disk or a semiconductor memory, and stores map information including at least one of a road structure and a road shape. The road structure includes at least one of a tunnel doorway, an underground parking lot doorway, a multi-storey car park doorway, and near the top of an uphill. In this way, the map information storage device 22 stores three-dimensional map information. The high-precision locator 20 detects the current position of the vehicle on the map based on the position information acquired by the GNSS 21 and the map information stored in the map information storage device 22.

The vehicle position acquisition unit 14 acquires the current position of the vehicle from the high-precision locator 20. The map information acquisition unit 15 acquires map information including at least one of the road structure and the road shape from the map information storage device 22.

The illuminance change acquisition unit 16 acquires a change in ambient illuminance indicating a change in illuminance around the vehicle. Specifically, the illuminance change acquisition unit 16 acquires the ambient illuminance change from an external sensor (not shown). The vehicle exterior sensor is, for example, a sensor or a camera that detects the illuminance outside the vehicle. When the sensor outside the vehicle is a camera, the change in ambient illuminance can be detected by image processing the image taken by the camera.

The time information acquisition unit 17 acquires time information including the current date and time. The time information acquisition unit 17 may acquire the time information held by the driving support device 13, or may acquire the time information from the outside.

The illuminance change estimation unit 18 includes the current position of the vehicle acquired by the vehicle position acquisition unit 14, the map information acquired by the map information acquisition unit 15, the peripheral illuminance change acquired by the illuminance change acquisition unit 16, and the time information acquisition unit. Based on the time information acquired by 17, the illuminance change around the vehicle, which is so rapid that the driver's vision cannot be instantly followed, is estimated.

For example, the illuminance change estimation unit 18 estimates that when the vehicle approaches the exit while traveling in the tunnel and the illuminance changes, a sudden change in illuminance around the vehicle occurs at the tunnel exit. In this case, the illuminance changes from dark to light. The change in illuminance when approaching the exit of the tunnel can be grasped from the change in ambient illuminance acquired by the illuminance change acquisition unit 16. Further, the illuminance at the tunnel exit can be grasped by estimating the direction of the sun at the tunnel exit from the time information acquired by the time information acquisition unit 17. The same applies when the vehicle travels toward the tunnel. In this case, the illuminance changes from light to dark.

The illuminance change estimation unit 18 estimates that when the vehicle travels toward the sun after turning a curve, a sudden change in illuminance around the vehicle occurs after turning the curve. Alternatively, the illuminance change estimation unit 2 estimates that when the vehicle travels toward the sun after coming out of the shadow of the building, a sudden change in illuminance around the vehicle occurs after coming out of the shadow of the building. In these cases, the illuminance changes from dark to light. Here, the case of traveling toward the sun includes the case of traveling toward the west sun at dusk, the case of traveling toward the morning sun, and the like.

The illuminance change estimation unit 18 may estimate a sudden illuminance change around the vehicle based only on the peripheral illuminance change acquired by the illuminance change acquisition unit 16. For example, the illuminance change estimation unit 18 may estimate that a sudden change in illuminance around the vehicle has occurred when the illuminance change acquisition unit 16 acquires the change in ambient illuminance due to the headlights of the oncoming vehicle. In this case, the illuminance changes from dark to light.

Further, the illuminance change estimation unit 18 may estimate that a sudden change in illuminance around the vehicle has occurred when the illuminance change acquisition unit 16 acquires the change in ambient illuminance due to the reflected light from the vehicle in front. In this case, the illuminance changes from dark to light. Examples of the reflected light from the vehicle in front include a glossy tank of a tank truck, a vehicle having a glossy vehicle body, and reflected light from a magic mirror attached to the rear glass of the vehicle.

The influence mitigation estimation unit 19 estimates the mitigation of the influence of the sudden illuminance change around the vehicle estimated by the illuminance change estimation unit 18 on the driver's vision based on the estimation result of the illuminance change estimation unit 18. A person generally has a light adaptation time, which is the time it takes for a person to get used to vision when the illuminance changes from dark to light, and a dark adaptation time, which is the time it takes for the person to get used to vision when the illuminance changes from light to dark. It is fixed, and the light adaptation time is shorter than the dark adaptation time.

In the influence mitigation estimation unit 19, when the estimation result of the illuminance change estimation unit 18 is a change in illuminance from dark to light, the driver's vision is that a sudden change in illuminance around the vehicle occurs after the illuminance adaptation time elapses from the time when the illuminance changes. It is estimated that the impact on Further, when the estimation result of the illuminance change estimation unit 18 is the illuminance change from light to dark, the influence mitigation estimation unit 19 causes a sudden change in illuminance around the vehicle after the dark adaptation time elapses from the time when the illuminance changes. It is estimated that the effect on the visual sense of The information on the light adaptation time and the dark adaptation time may be held by the influence mitigation estimation unit 19 or may be held by the illuminance change estimation unit 18. Further, the light adaptation time and the dark adaptation time may be different depending on the age of the driver.

When the illuminance change estimation unit 18 estimates a sudden illuminance change around the vehicle, the automatic driving switching unit 8 instructs the automatic driving control device 10 to switch the driving of the vehicle from manual driving to automatic driving. At this time, the automatic operation switching unit 8 instructs the automatic operation control device 10 to switch from the manual operation to the automatic operation before the time when the illuminance change estimated by the illuminance change estimation unit 18 occurs. May be good. As mentioned above, for example, when the vehicle approaches the exit of the tunnel, when the vehicle travels toward the sun after turning a curve, or when the vehicle travels toward the sun after leaving the shadow of the building, the illumination change estimation The unit 18 can estimate in advance a sudden change in illuminance around the vehicle. In such a case, the automatic operation switching unit 8 can switch from the manual operation to the automatic operation before the sudden change in illuminance actually occurs.

The manual driving switching unit 7 automatically drives the vehicle so as to switch the driving of the vehicle from automatic driving to manual driving when the influence mitigation estimation unit 19 estimates the mitigation of the influence of a sudden change in illuminance around the vehicle on the driver's vision. Instruct the control device 10. Specifically, the manual driving switching unit 7 has an effect on the driver's vision due to a sudden change in illuminance around the vehicle when the adaptation time for automatic driving estimated based on the light adaptation time or the dark adaptation time has elapsed. Is presumed to have eased. The adaptation time for automatic driving will be described later.

Each function of the vehicle position acquisition unit 14, the map information acquisition unit 15, the illuminance change acquisition unit 16, the time information acquisition unit 17, the illuminance change estimation unit 18, and the influence mitigation estimation unit 19 in the driving support device 13 is realized by the processing circuit. Will be done. That is, the driving support device 13 acquires the current position of the vehicle, acquires map information including at least one of the road structure and the road shape, acquires the change in ambient illuminance, and time information including the current date and time. Is acquired, and the sudden change in illuminance around the vehicle is estimated so that the driver's vision cannot follow it instantly, and the sudden change in illuminance around the vehicle is based on the estimation result of the illuminance change estimation unit 18. It is provided with a processing circuit for estimating the mitigation of the influence on the driver's vision. The processing circuit is a processor 11 that executes a program stored in the memory 12 as shown in FIG. The manual operation switching unit 7 and the automatic operation switching unit 8 are the same as the manual operation switching unit 7 and the automatic operation switching unit 8 shown in FIG.

The functions of the vehicle position acquisition unit 14, the map information acquisition unit 15, the illuminance change acquisition unit 16, the time information acquisition unit 17, the illuminance change estimation unit 18, and the influence mitigation estimation unit 19 in the driving support device 13 are software, firmware, and Or it is realized by a combination of software and firmware. As shown in FIG. 3, the software or firmware is described as a program and stored in the memory 12. The processing circuit realizes the functions of each part by reading and executing the program stored in the memory 12. That is, the driving support device 13 obtains the step of acquiring the current position of the vehicle, the step of acquiring map information including at least one of the road structure and the road shape, the step of acquiring the change in ambient illuminance, and the current date and time. A step of acquiring time information including time, a step of estimating an illuminance change around the vehicle that is so rapid that the driver's vision cannot follow instantly, and a step of estimating the illuminance change estimation unit 18 around the vehicle. A memory 12 is provided for storing a program in which a step of estimating the mitigation of the influence of a sudden change in illuminance on the driver's vision is to be executed as a result. In addition, these programs provide a computer with the procedures or methods of the vehicle position acquisition unit 14, the map information acquisition unit 15, the illuminance change acquisition unit 16, the time information acquisition unit 17, the illuminance change estimation unit 18, and the influence mitigation estimation unit 19. It can be said that it is something to be executed. The manual operation switching unit 7 and the automatic operation switching unit 8 are the same as the manual operation switching unit 7 and the automatic operation switching unit 8 shown in FIG.

<Operation>
FIG. 6 is a flowchart showing an example of the operation of the driving support device 13. As a premise of the operation shown in FIG. 6, it is assumed that the vehicle is manually driven.

In step S201, the illuminance change estimation unit 18 determines whether or not the vehicle is traveling at a point where a sudden illuminance change occurs. Examples of points where a sudden change in illuminance occurs include a point near the exit of a tunnel as described above, a point approaching a curve, and a point exiting behind a building. The process of step S201 is repeated until it is determined that the vehicle is traveling at a point where a sudden change in illuminance occurs, and when it is determined that the vehicle is traveling at a point where a sudden change in illuminance occurs, the process proceeds to step S202.

In step S202, the influence mitigation estimation unit 19 estimates the adaptation time of the automatic driving, which is the time for performing the automatic driving. Specifically, the impact mitigation estimation unit 19 estimates the adaptation time for automatic driving based on the light adaptation time or the dark adaptation time described above. The adaptation time for automatic driving may be changed as appropriate. For example, when the degree of illuminance change is large, the start of automatic operation may be accelerated, and when the degree of illuminance change is small, the start of automatic operation may be delayed. The estimation of the adaptation time for automatic driving may be performed by the illuminance change estimation unit 18 instead of the influence mitigation estimation unit 19.

In step S203, the automatic driving switching unit 8 instructs the automatic driving control device 10 to switch the driving of the vehicle from manual driving to automatic driving.

In step S204, the impact mitigation estimation unit 19 determines whether or not the adaptation time for automatic driving has elapsed. The process of step S204 is repeated until the adaptation time for automatic operation elapses, and the process proceeds to step S205 when the adaptation time for automatic operation elapses.

In step S205, the manual driving switching unit 7 instructs the automatic driving control device 10 to switch the driving of the vehicle from the automatic driving to the manual driving.

From the above, according to the second embodiment, when it is determined that the vehicle is traveling at a point where a sudden change in illuminance occurs, the manual operation is switched to the automatic operation, and then the adaptation time for the automatic operation elapses. Switch from automatic operation to manual operation. As a result, it is possible to prevent the driver from continuing the automatic operation even though the driver can perform the manual operation, and to smoothly switch from the automatic operation to the manual operation. Further, since the point where the sudden illuminance change occurs can be estimated in advance, it is possible to switch from the manual operation to the automatic operation before the sudden illuminance change actually occurs.

<Embodiment 3>
<Structure>
The configuration of the driving support device according to the third embodiment of the present invention is the same as that of the driving support device 13 shown in FIG. 5 described in the second embodiment. Hereinafter, the driving support device according to the third embodiment will be described as being the driving support device 13 shown in FIG.

<Operation>
FIG. 7 is a flowchart showing an example of the operation of the driving support device 13 according to the third embodiment. As a premise of the operation shown in FIG. 7, it is assumed that the vehicle is manually driven. Since step S301, step S304, and step S305 of FIG. 7 correspond to step S201, step S204, and step S205 of FIG. 6, description thereof will be omitted here. Hereinafter, steps S302 and S303 will be described.

In step S302, the automatic driving switching unit 8 instructs the automatic driving control device 10 to switch the driving of the vehicle from manual driving to automatic driving.

In step S303, the influence mitigation estimation unit 19 estimates the adaptation time of the automatic driving, which is the time for performing the automatic driving. The estimation is the same as in step S202 of FIG.

From the above, according to the third embodiment, it is possible to smoothly switch from the automatic operation to the manual operation as in the second embodiment.

<Embodiment 4>
<Structure>
FIG. 8 is a block diagram showing an example of the configuration of the driving support device 23 according to the fourth embodiment of the present invention.

As shown in FIG. 8, the driving support device 23 includes the influence mitigation estimation unit 3 and the state change acquisition unit 6 shown in FIG. 2 described in the first embodiment, and the vehicle position shown in FIG. 5 described in the second embodiment. It is characterized in that it is configured by combining the acquisition unit 14, the map information acquisition unit 15, the illuminance change acquisition unit 16, the time information acquisition unit 17, and the illuminance change estimation unit 18. The operation switching unit 4 has the same functions as those of the first and second embodiments. It is assumed that the driving support device 23, the DMS 9, the high-precision locator 20, and the automatic driving control device 10 are mounted on the vehicle.

<Operation>
FIG. 9 is a flowchart showing an example of the operation of the driving support device 23. As a premise of the operation shown in FIG. 9, it is assumed that the vehicle is manually driven.

In step S401, the illuminance change estimation unit 18 determines whether or not the vehicle is traveling at a point where a sudden illuminance change occurs. The determination is the same as in step S201 of FIG. The process of step S401 is repeated until it is determined that the vehicle is traveling at a point where a sudden change in illuminance occurs, and when it is determined that the vehicle is traveling at a point where a sudden change in illuminance occurs, the process proceeds to step S402.

In step S402, the automatic driving switching unit 8 instructs the automatic driving control device 10 to switch the driving of the vehicle from manual driving to automatic driving.

In step S403, the impact mitigation estimation unit 3 determines whether or not the driver's field of vision is normal. The determination is the same as in step S103 of FIG. The process of step S403 is repeated until it is determined that the driver's field of view is normal, and when it is determined that the driver's field of view is normal, the process proceeds to step S404.

In step S404, the manual driving switching unit 7 instructs the automatic driving control device 10 to switch the driving of the vehicle from the automatic driving to the manual driving.

From the above, according to the fourth embodiment, when the driver's field of vision returns to normal after the vehicle is switched to automatic driving, the automatic driving is switched to manual driving. As a result, it is possible to prevent the driver from continuing the automatic operation even though the driver can perform the manual operation, and to smoothly switch from the automatic operation to the manual operation.

In the second embodiment, the automatic driving is switched to the manual driving when the adaptation time of the automatic driving elapses, but the driver may be in a state where the manual driving can be performed before the adaptation time of the automatic driving elapses. it is conceivable that. In such a case, according to the fourth embodiment, when the driver's field of vision returns to normal, the automatic driving is switched to the manual driving. Therefore, the time required for the automatic driving can be shortened as compared with the second embodiment. it can.

<Embodiment 5>
<Structure>
FIG. 10 is a block diagram showing an example of the configuration of the driving support device 24 according to the fifth embodiment of the present invention.

As shown in FIG. 10, the driving support device 24 includes the state change acquisition unit 6 shown in FIG. 2 described in the first embodiment, the vehicle position acquisition unit 14 shown in FIG. 5 described in the second embodiment, and map information. It is characterized in that it is configured by combining the acquisition unit 15, the illuminance change acquisition unit 16, and the time information acquisition unit 17. Further, the impact mitigation estimation unit 25 has a function of combining the impact mitigation estimation unit 3 shown in FIG. 2 described in the first embodiment and the impact mitigation estimation unit 19 shown in FIG. 5 described in the second embodiment. doing. The operation switching unit 4 has the same functions as those of the first and second embodiments. It is assumed that the driving support device 24, the DMS 9, the high-precision locator 20, and the automatic driving control device 10 are mounted on the vehicle.

<Operation>
FIG. 11 is a flowchart showing an example of the operation of the driving support device 24. As a premise of the operation shown in FIG. 11, it is assumed that the vehicle is manually driven.

In step S501, the illuminance change estimation unit 18 determines whether or not the vehicle is traveling at a point where a sudden illuminance change occurs. The determination is the same as in step S201 of FIG. The process of step S501 is repeated until it is determined that the vehicle is traveling at a point where a sudden change in illuminance occurs, and when it is determined that the vehicle is traveling at a point where a sudden change in illuminance occurs, the process proceeds to step S502.

In step S502, the influence mitigation estimation unit 25 estimates the adaptation time of the automatic driving, which is the time for performing the automatic driving. The estimation is the same as in step S202 of FIG.

In step S503, the automatic driving switching unit 8 instructs the automatic driving control device 10 to switch the driving of the vehicle from manual driving to automatic driving.

In step S504, the impact mitigation estimation unit 25 determines whether or not the adaptation time for automatic driving has elapsed. The process of step S504 is repeated until the adaptation time for automatic operation elapses, and the process proceeds to step S505 when the adaptation time for automatic operation elapses.

In step S505, the influence mitigation estimation unit 25 determines whether or not the driver's field of vision is normal. The determination is the same as in step S103 of FIG. The process of step S505 is repeated until it is determined that the driver's field of vision is normal, and when it is determined that the driver's field of vision is normal, the process proceeds to step S506.

In step S506, the manual driving switching unit 7 instructs the automatic driving control device 10 to switch the driving of the vehicle from the automatic driving to the manual driving.

From the above, according to the fifth embodiment, when the adaptation time for automatic driving has elapsed after the vehicle is switched to automatic driving and the driver's visibility returns to normal, the automatic driving is changed to manual driving. Switch to. As a result, if the driver's field of vision does not return to normal even after the adaptation time for automatic driving has elapsed, the automatic driving is not switched to manual driving, so that safer driving can be switched. That is, it is possible to smoothly switch from automatic operation to manual operation.

The driving support device described above is a system in which not only an in-vehicle navigation device, that is, a car navigation device, but also a PND (Portable Navigation Device) that can be mounted on a vehicle, a server provided outside the vehicle, and the like are appropriately combined. It can also be applied to a navigation device to be constructed or a device other than the navigation device. In this case, each function or each component of the driving support device is distributed and arranged in each function for constructing the system.

Specifically, as an example, the function of the driving support device can be arranged on the server. For example, as shown in FIG. 12, the user side includes a DMS 9 and an automatic operation control device 10. Further, the server 26 includes a state change acquisition unit 6, an illuminance change estimation unit 2, an influence mitigation estimation unit 3, and an operation switching unit 4. With such a configuration, a driving support system can be constructed. The same applies to the driving support device 13 shown in FIG. 5, the driving support device 23 shown in FIG. 8, and the driving support device 24 shown in FIG.

As described above, even in a configuration in which each function of the driving support device is distributed and arranged in each function for constructing the system, the same effect as that of the above-described embodiment can be obtained.

Further, software that executes the operation according to the above embodiment may be incorporated into, for example, a server. The driving support method realized by the server executing this software estimates the sudden change in illuminance around the vehicle so that the driver's vision cannot follow it instantly, and the estimated change in illuminance is the vehicle. When the mitigation of the influence on the driver's vision is estimated and the mitigation of the influence is estimated, the driving of the vehicle is switched from the automatic driving to the manual driving.

As described above, by incorporating the software that executes the operation according to the above embodiment into the server and operating the server, the same effect as that of the above embodiment can be obtained.

In the present invention, each embodiment can be freely combined, and each embodiment can be appropriately modified or omitted within the scope of the invention.

Although the present invention has been described in detail, the above description is exemplary in all embodiments and the invention is not limited thereto. It is understood that innumerable variations not illustrated can be assumed without departing from the scope of the present invention.

1 Driving support device, 2 Illumination change estimation unit, 3 Impact mitigation estimation unit, 4 Operation switching unit, 5 Driving support device, 6 State change acquisition unit, 7 Manual operation switching unit, 8 Automatic operation switching unit, 9 DMS, 10 Automatic Driving control device, 11 processor, 12 memory, 13 driving support device, 14 vehicle position acquisition unit, 15 map information acquisition unit, 16 illuminance change acquisition unit, 17 time information acquisition unit, 18 illuminance change estimation unit, 19 impact mitigation estimation unit , 20 high-precision locator, 21 GNSS, 22 map information storage device, 23, 24 driving support device, 25 impact mitigation estimation unit, 26 servers.

In order to solve the above problems, the driving support device according to the present invention includes an illuminance change estimation unit that estimates a sudden illuminance change that the driver's vision cannot follow instantly, and an illuminance change estimation unit. When the impact mitigation estimation unit that estimates the mitigation of the effect of the illuminance change estimated by the change estimation unit on the vision of the driver who drives the vehicle and the illuminance change estimation unit estimate the sudden illuminance change, the vehicle is manually driven. It is provided with a driving switching unit that switches the driving of the vehicle from automatic driving to manual driving when the impact mitigation estimation unit estimates the mitigation of the impact after switching from driving to automatic driving.

Further, the driving support method according to the present invention estimates a sudden change in illuminance that cannot be instantly followed by the driver's vision due to a change in illuminance around the vehicle, and the estimated illuminance change is the visual vision of the driver driving the vehicle. When the mitigation of the influence on the vehicle is estimated and the sudden change in illuminance is estimated, the driving of the vehicle is switched from the manual driving to the automatic driving, and then when the mitigation of the influence is estimated, the driving of the vehicle is changed from the automatic driving to the manual driving. Switch.

According to the present invention, the driving support device includes an illuminance change estimation unit that estimates a sudden illuminance change that the driver's vision cannot follow instantaneously due to a illuminance change around the vehicle, and an illuminance estimated by the illuminance change estimation unit. When the impact mitigation estimation unit that estimates the mitigation of the impact of changes on the driver's vision and the illuminance change estimation unit estimates a sudden illuminance change, the vehicle driving is switched from manual driving to automatic driving. After that, when the impact mitigation estimation unit estimates the mitigation of the impact, it is equipped with a driving switching unit that switches the vehicle driving from automatic driving to manual driving, so that it is possible to smoothly switch from automatic driving to manual driving. Become.

In addition, the driving support method estimates a sudden change in illuminance that cannot be instantly followed by the driver's vision, which is a change in illuminance around the vehicle, and the effect of the estimated illuminance change on the driver's vision. When the mitigation of the vehicle is estimated and the sudden change in illuminance is estimated, the driving of the vehicle is switched from the manual driving to the automatic driving, and then when the mitigation of the influence is estimated, the driving of the vehicle is switched from the automatic driving to the manual driving. It is possible to smoothly switch from automatic operation to manual operation.

Claims (22)

An illuminance change estimation unit that estimates illuminance changes around the vehicle that are so rapid that the driver's vision cannot follow them instantly.
An effect mitigation estimation unit that estimates the mitigation of the effect of the illuminance change estimated by the illuminance change estimation unit on the vision of the driver who drives the vehicle, and an effect mitigation estimation unit.
When the impact mitigation estimation unit estimates the mitigation of the impact, a driving switching unit that switches the driving of the vehicle from automatic driving to manual driving, and
A driving support device equipped with. The driving support device according to claim 1, further comprising a state change acquisition unit that acquires a state change of at least one of the driver's face and eyes. 2. The illuminance change estimation unit is characterized in that the illuminance change estimation unit estimates the illuminance change based on the state change of at least one of the driver's face and eyes acquired by the state change acquisition unit. Driving support device. The driving support device according to claim 2, wherein the driving switching unit switches the driving of the vehicle from the manual driving to the automatic driving when the illuminance change estimating unit estimates the illuminance change. The state change acquisition unit acquires a change in the size of the driver's pupil and obtains the change.
The driving support device according to claim 2, wherein the illuminance change estimation unit estimates that the illuminance has changed when the size of the pupil becomes smaller than a predetermined size. The state change acquisition unit acquires at least one of a change in the opening and closing of the driver's eyelids, a change in the facial expression of the driver, and a change in the orientation of the driver's face.
The illuminance change estimation unit determines the illuminance change based on at least one of a change in the opening and closing of the driver's eyelids, a change in the facial expression of the driver, and a change in the orientation of the driver's face. The driving support device according to claim 2, wherein the driving support device is characterized by estimating. The mitigation estimation unit according to claim 2, wherein the effect mitigation estimation unit estimates the mitigation based on a state change of at least one of the driver's face and eyes acquired by the state change acquisition unit. Driving support device. The driving support device according to claim 4, wherein the driving switching unit changes a control parameter or an automatic driving level related to the automatic driving. A vehicle position acquisition unit that acquires the current position of the vehicle, and
A map information acquisition unit that acquires map information including at least one of the road structure and road shape,
An illuminance change acquisition unit that acquires an ambient illuminance change indicating an illuminance change around the vehicle, and an illuminance change acquisition unit.
The driving support device according to claim 1, further comprising. The illuminance change estimation unit is based on the current position acquired by the vehicle position acquisition unit, the map information acquired by the map information acquisition unit, and the ambient illuminance change acquired by the illuminance change acquisition unit. The driving support device according to claim 9, wherein the change in illuminance is estimated. The driving support device according to claim 10, wherein the driving switching unit switches the driving of the vehicle from the manual driving to the automatic driving when the illuminance change estimating unit estimates the illuminance change. The eleventh aspect of claim 11, wherein the operation switching unit switches from the manual operation to the automatic operation at a predetermined time before the time when the illuminance change estimated by the illuminance change estimation unit occurs. Driving support device. The driving support device according to claim 9, wherein the road structure includes at least one of a tunnel entrance / exit, an underground parking lot entrance / exit, a multi-storey car park entrance / exit, and the vicinity of the top of an uphill. .. The illuminance change estimation unit is characterized in that it estimates that the illuminance has changed when the vehicle travels toward the sun after turning a curve, or when the vehicle travels toward the sun after leaving the shadow of a building. The driving support device according to claim 10. The driving support device according to claim 9, wherein the influence mitigation estimation unit estimates the mitigation based on the estimation result of the illuminance change estimation unit. In the influence mitigation estimation unit, the light adaptation time, which is the time until the driver's vision gets used when the illuminance changes from dark to light, or the driver's vision changes when the illuminance changes from light to dark. The driving support device according to claim 15, wherein the relaxation is estimated when the dark adaptation time, which is the time to get used to, has elapsed. The driving support device according to claim 16, wherein the light adaptation time and the dark adaptation time differ depending on the age of the driver. The driving support device according to claim 11, wherein the driving switching unit changes a control parameter or an automatic driving level related to the automatic driving. The driving support device according to claim 11, further comprising a state change acquisition unit that acquires a state change of at least one of the driver's face and eyes. 19. The mitigation estimation unit according to claim 19, wherein the effect mitigation estimation unit estimates the mitigation based on a state change of at least one of the driver's face and eyes acquired by the state change acquisition unit. Driving support device. The influence mitigation estimation unit is also based on the current position acquired by the vehicle position acquisition unit, the map information acquired by the map information acquisition unit, and the peripheral illuminance change acquired by the illuminance change acquisition unit. The driving support device according to claim 20, wherein the relaxation is estimated. Estimate the illuminance change around the vehicle so suddenly that the driver's vision cannot follow it instantly.
Estimate the mitigation of the effect of the estimated illuminance change on the vision of the driver who drives the vehicle.
A driving support method for switching the driving of the vehicle from automatic driving to manual driving when the mitigation of the influence is estimated.

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