WO2014148025A1 - Dispositif de commande de déplacement - Google Patents

Dispositif de commande de déplacement Download PDF

Info

Publication number
WO2014148025A1
WO2014148025A1 PCT/JP2014/001485 JP2014001485W WO2014148025A1 WO 2014148025 A1 WO2014148025 A1 WO 2014148025A1 JP 2014001485 W JP2014001485 W JP 2014001485W WO 2014148025 A1 WO2014148025 A1 WO 2014148025A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver
change
control device
unit
control
Prior art date
Application number
PCT/JP2014/001485
Other languages
English (en)
Japanese (ja)
Inventor
泰斗 渡邉
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2014148025A1 publication Critical patent/WO2014148025A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0872—Driver physiology
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/22—Psychological state; Stress level or workload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/30—Driving style

Definitions

  • the present disclosure relates to a traveling control device that performs measures for safe traveling based on the driver's attention behavior during driving.
  • the travel control device disclosed in Patent Document 1 includes a driver attention level setting unit that sets a degree of attention to be paid by a driver of the vehicle according to a surrounding state of the vehicle and a driving state of the vehicle,
  • the driver attention level detection means that detects the degree of attention paid to the situation and the driving state, and the driver attention level setting means sets the degree of attention paid by the driver detected by the driver attention level detection means. At least one of the following actions: alerting the driver, decelerating the car, prohibiting the acceleration of the car, changing the direction of the car, and canceling the lane change of the car Traveling control means to perform.
  • the driver attention level detection means detects the degree of attention given by the driver based on the driver's line-of-sight direction detected by the line-of-sight detection device.
  • the degree of attention paid by the driver is the number of times that the driver has confirmed safety by looking at the preceding vehicle, pedestrian, roadside object, etc., or the interval at which safety confirmation has been performed. For example, when the driver performs a lane change, the driver's gaze and safety confirmation operation on the side mirror (or side or front) is periodically performed (for example, 200 ms or more per second). If not detected by the detection means, the actuator controller operates the alarm actuator to warn the driver and stop the lane change.
  • Patent Document 1 the degree of attention paid by the driver as described above is detected based on the driver's line-of-sight direction.
  • the movement of a person's line of sight grasps the movement of the pupil of the eye, but the range of movement of the pupil is a limited small range in the open eye.
  • An object of the present disclosure is to provide a travel control device that can clearly detect a driver's attention behavior and take measures for safe driving.
  • the travel control device includes a control unit that performs automatic driving control of the vehicle based on various types of information required for traveling, Facial image acquisition means for acquiring a facial image of a driver driving the vehicle; A determination unit configured to determine presence or absence of the driver's attention behavior in accordance with a time-series change in face orientation in the face image.
  • the control unit performs at least the operation of the warning unit for warning to the driver and the prohibition of the operation of the driving unit or the change of the operation related to the change of the driving state in the automatic driving control when the caution action is not recognized for a predetermined time. Run one.
  • the determination unit determines the presence / absence of the driver's attention behavior during the automatic driving control from the time-series change in face orientation in the face image. Compared with the case where the determination is made based on a small change in the line-of-sight direction, the change in the face direction can be greatly obtained, and the determination accuracy can be significantly improved.
  • the control unit is configured to operate at least one of the operation of the warning unit for warning to the driver and the prohibition of the operation of the driving unit or the change of the operation related to the change of the driving state in the automatic driving control when the caution action is not recognized for a predetermined time. Therefore, safe driving can be realized with certainty.
  • the travel control device that performs the automatic driving control of the vehicle includes: A face image acquisition unit for acquiring driver's face image data; Based on the acquired face image data, an attention behavior determination unit that determines the presence or absence of the driver's attention behavior according to a change state of the driver's time-series facial orientation; When the attention behavior determination unit determines that there is no driver's attention behavior, at least one of an accelerator opening control device, a steering angle control device, and a brake control device that controls the operation of the warning unit and automatic driving An operation control unit that performs at least one of the operation control including prohibition or change of the operation related to the change of the traveling state.
  • This effect can provide the same effect as described above.
  • a travel control device 100 according to the first embodiment will be described with reference to FIGS. 1 and 2.
  • the travel control device 100 performs automatic driving control of the vehicle based on various information (described later) required for the vehicle to travel, monitors the driver's attention behavior during driving, It is a device that controls measures for safe driving when it is not allowed.
  • the travel control apparatus 100 includes positioning information detection means 110, travel route information detection means 120, surrounding vehicle information detection means 130, surrounding environment recognition means 140, own vehicle information collection means 150, face image acquisition means. 160, a control unit 170, and the like.
  • the control unit 170 is configured to give instructions to the accelerator opening control device 210, the steering angle control device 220, and the brake control device 230.
  • the positioning information detection means 110 is constituted by, for example, a GPS receiver (which may be dedicated to the system or may be provided for a car navigation device), and in real time based on the received GPS signal. This is means for detecting positioning information (longitude and latitude information) indicating the current position of the host vehicle.
  • the positioning information detection unit 110 outputs the detected positioning information to the control unit 170 described later.
  • the positioning information detection means 110 is capable of highly accurate positioning such as RTK (realtime kinetic) -GPS using an electronic reference point and D (differential) -GPS using correction data from a reference station. Use.
  • the travel route information detection unit 120 performs road-to-vehicle communication using radio waves or the like as a medium with a road machine (corresponding to an information providing unit) installed at a predetermined interval at a position along the travel lane of the vehicle. It is a detection means for receiving travel route information transmitted from the roadside.
  • the travel route information detection means 120 outputs the detected travel route information to the control unit 170 described later.
  • the travel route information transmitted from the roadside machine side includes, for example, the following information (a) to (d).
  • A Among a large number of reference points set at predetermined intervals on a travel lane provided during the automatic driving control of the vehicle, a plurality of reference points located in the traveling direction of the vehicle (that is, the vehicle should proceed next) High-precision location information (for example, longitude and latitude information)
  • B Congestion information relating to the destination of the vehicle on the road where the driving lane is set
  • C Traffic signal information indicating the status of traffic signals existing at the destination of the vehicle on the road where the travel lane is set
  • D Speed limit information and traffic regulation information about the road on which the travel lane is set.
  • the surrounding vehicle information detection means 130 acquires the current position information of the other vehicle by performing two-way communication with another vehicle located within a predetermined distance from the own vehicle, and This is a detection means having a function of transmitting current position information to another vehicle.
  • the surrounding vehicle information detection means 130 outputs the surrounding vehicle information including the acquired current position information of other vehicles to the control unit 170 described later.
  • the surrounding environment recognition unit 140 can detect obstacles by a self-supporting method (or a self-supporting method combining them) using a CCD (Charge Coupled Device) camera, a millimeter wave or laser radar, an ultrasonic sensor, or the like.
  • the recognition means is configured to be detected.
  • the surrounding environment recognition unit 140 recognizes the environment around the host vehicle, the road surface condition, etc., recognizes the presence / absence and location of obstacles on the road, and outputs the recognition information to the control unit 170 described later as surrounding environment information. It is like that.
  • the own vehicle information collecting means 150 is a means for collecting information on the own vehicle, that is, vehicle speed, steering angle, engine speed, and other diagnostic information, and outputs the collected own vehicle information to the control unit 170 described later. It has become.
  • the face image acquisition means 160 acquires a driver's face image during driving, and is mounted on the steering column, for example, facing the driver's face in the passenger compartment.
  • the face image acquisition means 160 for example, a CCD camera or the like can be used.
  • the face image acquisition unit 160 acquires a driver's face during driving in a time series in a predetermined cycle, and outputs the acquired face image data to a control unit 170 described later.
  • the drowsiness determination device is mounted on the vehicle, and the camera used in the drowsiness determination device is also used as the face image acquisition means 160 in the travel control device 100.
  • the drowsiness determination device acquires a driver's face image with a camera in time series, and from the obtained face image, the driver's state, for example, the driver's eye openness, the direction of gaze, It is an apparatus that assists in understanding driving direction, concentration on driving, etc., and leading to safe driving. Specifically, from the driver's face image obtained by the camera, for example, it may be determined whether or not the driver is drowsy by grasping the degree of eye opening, and the driver seems to be drowsy. For example, appropriate driving assistance such as activating an alarm or the like to awaken the driver or decelerating or forcibly stopping the brake device is performed.
  • the control unit 170 is configured mainly by a computer, and includes the positioning information detection unit 110, the travel route information detection unit 120, the surrounding vehicle information detection unit 130, the surrounding environment recognition unit 140, and the own vehicle information collection unit 150. Accelerator opening and steering angle for automatic driving control of the vehicle based on various information (positioning information, travel route information, surrounding vehicle information, surrounding environment information, own vehicle information), and preset programs In addition, it has a function of determining each control value for the brake depression force and the like.
  • the controller 170 controls the accelerator opening control device 210 that controls the accelerator opening, the steering angle control device 220 that controls the steering angle by steering, and the brake that controls the effectiveness of the brake.
  • the controller 170 controls the accelerator opening control device 210 that controls the accelerator opening, the steering angle control device 220 that controls the steering angle by steering, and the brake that controls the effectiveness of the brake.
  • control unit 170 performs a caution action when the driver tries to change the traveling state of the vehicle in accordance with the change in the face-series face orientation in the face image obtained from the face image acquisition unit 160. It is determined whether or not the vehicle is in safe driving mode (details will be described later).
  • the control unit 170 is also a determination unit that determines the presence or absence of the driver's attention behavior.
  • control unit 170 performs automatic operation control. That is, the control unit 170 always collects positioning information from the positioning information detecting unit 110 in real time, collects driving route information from the driving route information detecting unit 120, collects surrounding vehicle information from the surrounding vehicle information detecting unit 130, The surrounding environment information is collected from the surrounding environment recognition unit 140, and the own vehicle information is collected from the own vehicle information collection unit 150.
  • control unit 170 determines control values for the accelerator, the steering, and the brake based on the collected various information (positioning information, travel route information, surrounding vehicle information, surrounding environment information, and own vehicle information). And the control part 170 performs drive control with respect to the accelerator opening degree control apparatus 210, the steering angle control apparatus 220, and the brake control apparatus 230 based on each determined control value, The automatic driving
  • control unit 170 performs measure control for safe driving based on the flowchart shown in FIG.
  • the control unit 170 obtains a face image from the face image obtaining unit 160 at predetermined intervals, and grasps a change in the orientation of the face, thereby determining whether or not there is a driver's attention behavior during driving. Monitor.
  • the driver is regarded as facing the front.
  • the driver is assumed to be facing the right side.
  • the driver is assumed to be facing the left side.
  • control unit 170 grasps the change in the face direction by setting three zones, which are the center, right, and left of the driver's face area.
  • the zones are not limited to three, and can be set arbitrarily.
  • orientation of the face is not limited to the nose (mouth) of the face image, but may be determined using the positional relationship on the face image such as the eyes, eyebrows, and cheeks. .
  • the control unit 170 determines whether or not the driver is performing a caution action based on the change in face orientation as described above. As a procedure for determination, when the driver's face direction changes from the front to the right or left for a predetermined time or more, the driver is looking to the right or left. Considering that the lane situation is confirmed, it is determined that there is a caution action. Conversely, if the time when the driver's face changes is less than the predetermined time, the driver has not intentionally turned to the right or left, and has not confirmed the right or left lane status. It is determined that there is no caution action. S110 is a determination step in which the control unit 170 (determination unit) determines whether or not there is a caution action.
  • the control unit 170 permits the operation of the drive unit related to the change of the traveling state in the automatic driving control in S120.
  • the steering angle control device 220 (steering as a drive unit) is allowed to change the steering angle for the lane change.
  • the control unit 170 prohibits the operation of the drive unit related to the change of the traveling state in the automatic driving control in S130.
  • the steering angle change for the lane change is prohibited for the steering angle control device 220 (steering as a drive unit).
  • the control unit 170 determines whether or not there is a caution action when the driver tries to change the driving state of the vehicle during the automatic driving control in a time-series manner in the face image. Judgment is based on changes in the orientation of the face. For example, in the configuration in which the degree of attention paid by the driver as in the prior art is detected based on the driver's gaze direction, the movement of the human gaze can be detected by grasping the movement of the eye pupil.
  • the moving range of the pupil is a small range limited in the open eye.
  • the control unit 170 determines whether the driving unit (for example, steering) according to the change of the running state (for example, lane change) in the automatic driving control when the attention behavior for a predetermined time or more is not recognized from the change of the face direction. Since the operation prohibition is executed, the safe driving operation can be surely realized.
  • the travel control device 100 is applied to a vehicle equipped with a drowsiness determination device, and the face image acquisition unit 160 is also used as a camera of the drowsiness determination device. .
  • the face image acquisition unit 160 is also used as a camera of the drowsiness determination device.
  • control unit 170 determines that the attention action is performed when the change in the face orientation is equal to or longer than the predetermined time, and that the attention action is not performed when the change is less than the predetermined time. Thus, it is possible to clearly determine the presence or absence of attention behavior.
  • control unit 170 regards the change in the left and right face orientation as a confirmation action to the left and right lanes, this allows the driver to understand the attention behavior at the time of the lane change. It is possible to ensure safety during the change.
  • FIGS. 1 A travel control apparatus 100A of the second embodiment is shown in FIGS.
  • the travel control device 100A of the second embodiment is obtained by adding a warning unit 180 to the travel control device 100 of the first embodiment.
  • the flowchart shown in FIG. 4 is obtained by adding S125 to the flowchart described in FIG.
  • the warning unit 180 generates a warning sound such as an alarm for the driver, or by displaying characters such as “Please check left and right” on the information display unit or the navigation screen in the combination meter unit, This is a warning means that warns the user to perform the caution action while driving.
  • the first embodiment prohibits the operation of the drive unit for changing the driving state
  • the second embodiment warns the driver and changes the driving state.
  • the operation of the drive unit is prohibited.
  • only a warning is given to the driver in S125 after a negative determination in S110 (when the driver's attention behavior is not recognized).
  • it can be a measure for safe driving.
  • FIG. 6 A control procedure of the fourth embodiment is shown in FIG.
  • the flowchart shown in FIG. 6 is an example showing how measure control for safe driving is performed with respect to specific control contents incorporated in advance in automatic driving control.
  • control unit 170 determines whether or not the vehicle is under automatic driving control. If not in automatic operation, the subroutine is terminated, and if automatic operation is in progress, the process proceeds to S20.
  • the control unit 170 determines whether or not parking is scheduled due to a lane change, a start from a stop state by a signal, or a reverse within a predetermined time. If these running state change controls are not scheduled, the subroutine is terminated, and if scheduled, the process of S30 is performed.
  • the controller 170 prompts the driver to perform a caution action commensurate with the driving state change control, and proceeds to S40.
  • the travel state change control is a lane change
  • the driver is notified that the vehicle is about to change the lane and the direction of the lane change.
  • the traveling state change control is a start from a stop state by an intersection signal
  • the driver is notified that the own vehicle will start.
  • the traveling state change control is a parking by reverse
  • the rear view monitor is activated to urge the driver to pay attention to the rear of the vehicle.
  • the face image of the driver who is driving the vehicle is acquired by the face image acquisition means 160, and the presence / absence of the driver's attention behavior is determined according to the time-series change in face orientation in the face image. Determination is performed by the determination unit (S110).
  • the determination unit recognizes the direction and line of sight of the driver's face, and determines whether the driver is paying attention to the direction according to the driving state change control. Specifically, if it is a lane change, whether it is paying attention to the side of the vehicle in the direction of the lane change, if the vehicle starts from a stop state due to a signal, or if the vehicle is parked by reversing, the vehicle rearward Determine.
  • This determination of presence / absence of attention behavior is made when the behavior of the face has changed for a certain period of time or when the number of times the face orientation has changed is greater than or equal to a predetermined number of times. To do.
  • control unit 170 determines whether to permit planned lane change, starting from a stop state by a signal, or parking by reversing (accelerator opening control device 210, steering angle control). A signal to be transmitted to the device 220 and the brake control device 230) is transmitted, and the subroutine is terminated.
  • S126 it is determined whether or not a predetermined time has elapsed from the notification in S30. If the predetermined time has not elapsed, the process returns to S40, and if the predetermined time has elapsed, the process proceeds to S130A. Before returning to S40, the warning unit 180 may be activated to warn the driver not to neglect the surroundings even during the automatic driving control.
  • S130A the operation of the drive unit for changing the traveling state is prohibited or the operation content is changed, and the subroutine is terminated. Specifically, it is possible to cancel lane changes, or do not complete lane changes at once, and perform them in multiple stages gently, or start and reverse parking from a signal at a slower speed than usual. .
  • a drowsiness determination device that recognizes whether or not the driver is drowsy from the driver's face image captured by the face image acquisition unit 160 may be further provided.
  • the drowsiness determination device is mounted on the vehicle, and the facial image acquisition unit 160 of the travel control devices 100 and 100A is also used as the camera of the drowsiness determination device.
  • the present invention is not limited to this.
  • the face image acquisition means 160 dedicated to the travel control devices 100 and 100A may be provided without the drowsiness determination device.
  • control unit 170 determines whether or not there is a change in the orientation of the face with a predetermined time.
  • the control unit 170 is not limited thereto, and may be determined with a predetermined number of times. In other words, when the face orientation continuously changes more than a predetermined number of times, it is determined that there is a driver's attention behavior (checking left and right), and if the number of face direction changes is less than the predetermined number of times Further, it may be determined that there is no driver's attention behavior (the left and right are not confirmed).
  • S100 that acquires the driver's face image data from the face image acquisition unit 160 corresponds to the face image acquisition unit, and responds to changes in face orientation in time series based on the acquired face image data.
  • S110 for determining the presence or absence of the driver's attention behavior corresponds to the attention behavior determination unit, and when the attention behavior determination unit determines that there is no driver's attention behavior, S125 or driving state change control for operating the warning unit S130 and S130A which perform are equivalent to an operation control part.
  • the running state change control for example, at least one of the accelerator opening degree control device 210, the steering angle control device 220, and the brake control device 230 is changed or prohibited in the control contents related to the running state change.
  • each section is expressed as S100, for example.
  • each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section.
  • each section configured in this manner can be referred to as a device, module, or means.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un dispositif de commande de déplacement comportant : une unité de commande (170) qui effectue une commande de conduite automatique pour un véhicule en fonction des types d'informations nécessaires à des fins de déplacement ; un moyen d'acquisition d'image faciale (160) qui permet d'acquérir une image faciale d'un conducteur conduisant le véhicule ; et un évaluateur (170, S110) qui évalue, en réponse à des changements dans les orientations faciales séquencées dans les images faciales, si le conducteur effectue des mouvements de prudence. Quand des mouvements de prudence ne sont pas perçus dans les limites d'un temps prescrit, l'unité de commande (170) effectue au moins l'une parmi une opération pour une unité d'avertissement (180) qui avertit le conducteur et un changement du contenu de l'opération et/ou une interruption de l'opération d'une unité de conduite qui est impliquée dans les changements de l'état de déplacement de la commande de conduite automatique. Ainsi, les mouvements de prudence effectués par le conducteur peuvent être clairement détectés et des mesures pour une opération de déplacement en toute sécurité peuvent être effectuées.
PCT/JP2014/001485 2013-03-21 2014-03-17 Dispositif de commande de déplacement WO2014148025A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013-058728 2013-03-21
JP2013058728A JP2014181020A (ja) 2013-03-21 2013-03-21 走行制御装置

Publications (1)

Publication Number Publication Date
WO2014148025A1 true WO2014148025A1 (fr) 2014-09-25

Family

ID=51579723

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2014/001485 WO2014148025A1 (fr) 2013-03-21 2014-03-17 Dispositif de commande de déplacement

Country Status (2)

Country Link
JP (1) JP2014181020A (fr)
WO (1) WO2014148025A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105460014A (zh) * 2014-09-29 2016-04-06 富士重工业株式会社 驾驶辅助控制装置
JP2017100562A (ja) * 2015-12-02 2017-06-08 株式会社デンソーアイティーラボラトリ 運転制御装置、運転制御方法及びプログラム
US9896101B2 (en) 2015-04-27 2018-02-20 Toyota Jidosha Kabushiki Kaisha Autonomous driving vehicle system
US9933783B2 (en) 2015-04-27 2018-04-03 Toyota Jidosha Kabushiki Kaisha Automatic driving vehicle system
US10231660B2 (en) 2017-02-08 2019-03-19 Panasonic Intellectual Property Management Co., Ltd. System and method for assessing arousal level of driver of vehicle that can select manual driving mode or automated driving mode
CN110027565A (zh) * 2018-01-10 2019-07-19 奥迪股份公司 驾驶辅助系统和方法
CN110371123A (zh) * 2018-04-10 2019-10-25 本田技研工业株式会社 车辆控制装置、车辆控制方法及存储介质
CN110517520A (zh) * 2019-08-06 2019-11-29 赵天钰 一种智能行车系统及其控制方法
CN110636962A (zh) * 2017-05-22 2019-12-31 株式会社电装 电子控制装置、车辆控制方法、以及车辆控制用程序
CN110678913A (zh) * 2017-06-02 2020-01-10 本田技研工业株式会社 预测装置、车辆、预测方法以及程序
CN111469846A (zh) * 2019-01-17 2020-07-31 本田技研工业株式会社 车辆的控制系统、车辆的控制方法以及介质

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6432948B2 (ja) * 2014-09-30 2018-12-05 エイディシーテクノロジー株式会社 自動運転制御装置
KR20160076262A (ko) 2014-12-22 2016-06-30 엘지전자 주식회사 차량의 주행 모드 전환 장치 및 그 방법
KR101659034B1 (ko) 2015-01-20 2016-09-23 엘지전자 주식회사 차량의 주행 모드 전환 장치 및 그 방법
JP6311648B2 (ja) * 2015-05-29 2018-04-18 株式会社デンソー 衝突緩和装置
JP6447468B2 (ja) 2015-11-17 2019-01-09 株式会社デンソー 運転支援装置
JP2017151694A (ja) * 2016-02-24 2017-08-31 株式会社デンソー 安全確認診断システム及び安全確認診断方法
JP2017165296A (ja) 2016-03-17 2017-09-21 株式会社日立製作所 自動運転制御システム
KR101765229B1 (ko) * 2016-09-29 2017-08-04 엘지전자 주식회사 차량의 주행 모드 전환 장치 및 그 방법
JP2018092318A (ja) * 2016-12-01 2018-06-14 アイシン精機株式会社 安全確認装置
JP6528787B2 (ja) * 2017-01-17 2019-06-12 トヨタ自動車株式会社 車両の制御装置
KR20180124381A (ko) * 2017-05-11 2018-11-21 현대자동차주식회사 운전자의 상태 판단 시스템 및 그 방법
JP7074432B2 (ja) * 2017-06-26 2022-05-24 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
WO2019003325A1 (fr) * 2017-06-28 2019-01-03 三菱電機株式会社 Dispositif de correction de plan de déplacement, et procédé de correction de plan de déplacement
JP6863194B2 (ja) * 2017-09-19 2021-04-21 トヨタ自動車株式会社 自動運転システム
JP7018852B2 (ja) * 2018-08-29 2022-02-14 ヤフー株式会社 判定装置、判定方法および判定プログラム
JP7484902B2 (ja) * 2019-05-15 2024-05-16 日産自動車株式会社 運転支援方法及び運転支援システム
JP7014214B2 (ja) * 2019-11-12 2022-02-01 株式会社デンソー 運転支援装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006227905A (ja) * 2005-02-17 2006-08-31 Toyota Motor Corp 車両用情報報知装置
JP2007233476A (ja) * 2006-02-27 2007-09-13 Toyota Motor Corp 車両用警報装置
JP2008285015A (ja) * 2007-05-17 2008-11-27 Toyota Motor Corp 運転タイプ判別装置、プログラム、及び運転支援装置
JP2009018625A (ja) * 2007-07-10 2009-01-29 Toyota Motor Corp 走行制御装置
JP2009168473A (ja) * 2008-01-10 2009-07-30 Nissan Motor Co Ltd 車載用ナビゲーション装置および車載用ナビゲーション装置における運転者の関心度推定方法
JP2010133722A (ja) * 2008-12-02 2010-06-17 Calsonic Kansei Corp 顔向き検出装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006227905A (ja) * 2005-02-17 2006-08-31 Toyota Motor Corp 車両用情報報知装置
JP2007233476A (ja) * 2006-02-27 2007-09-13 Toyota Motor Corp 車両用警報装置
JP2008285015A (ja) * 2007-05-17 2008-11-27 Toyota Motor Corp 運転タイプ判別装置、プログラム、及び運転支援装置
JP2009018625A (ja) * 2007-07-10 2009-01-29 Toyota Motor Corp 走行制御装置
JP2009168473A (ja) * 2008-01-10 2009-07-30 Nissan Motor Co Ltd 車載用ナビゲーション装置および車載用ナビゲーション装置における運転者の関心度推定方法
JP2010133722A (ja) * 2008-12-02 2010-06-17 Calsonic Kansei Corp 顔向き検出装置

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016071513A (ja) * 2014-09-29 2016-05-09 富士重工業株式会社 運転支援制御装置
US9682708B2 (en) 2014-09-29 2017-06-20 Fuji Jukogyo Kabushiki Kaisha Driving support controller
CN105460014B (zh) * 2014-09-29 2017-11-10 株式会社斯巴鲁 驾驶辅助控制装置
CN105460014A (zh) * 2014-09-29 2016-04-06 富士重工业株式会社 驾驶辅助控制装置
US9896101B2 (en) 2015-04-27 2018-02-20 Toyota Jidosha Kabushiki Kaisha Autonomous driving vehicle system
US9933783B2 (en) 2015-04-27 2018-04-03 Toyota Jidosha Kabushiki Kaisha Automatic driving vehicle system
JP2017100562A (ja) * 2015-12-02 2017-06-08 株式会社デンソーアイティーラボラトリ 運転制御装置、運転制御方法及びプログラム
US10485468B2 (en) 2017-02-08 2019-11-26 Panasonic Intellectual Property Management Co., Ltd. System and method for assessing arousal level of driver of vehicle that can select manual driving mode or automated driving mode
US10231660B2 (en) 2017-02-08 2019-03-19 Panasonic Intellectual Property Management Co., Ltd. System and method for assessing arousal level of driver of vehicle that can select manual driving mode or automated driving mode
US10786193B2 (en) 2017-02-08 2020-09-29 Panasonic Intellectual Property Management Co., Ltd. System and method for assessing arousal level of driver of vehicle that can select manual driving mode or automated driving mode
CN110636962A (zh) * 2017-05-22 2019-12-31 株式会社电装 电子控制装置、车辆控制方法、以及车辆控制用程序
CN110636962B (zh) * 2017-05-22 2022-08-23 株式会社电装 电子控制装置、车辆控制方法、以及存储装置
CN110678913A (zh) * 2017-06-02 2020-01-10 本田技研工业株式会社 预测装置、车辆、预测方法以及程序
CN110678913B (zh) * 2017-06-02 2022-05-31 本田技研工业株式会社 预测装置、车辆、预测方法以及存储介质
CN110027565A (zh) * 2018-01-10 2019-07-19 奥迪股份公司 驾驶辅助系统和方法
CN110371123A (zh) * 2018-04-10 2019-10-25 本田技研工业株式会社 车辆控制装置、车辆控制方法及存储介质
CN111469846A (zh) * 2019-01-17 2020-07-31 本田技研工业株式会社 车辆的控制系统、车辆的控制方法以及介质
CN110517520A (zh) * 2019-08-06 2019-11-29 赵天钰 一种智能行车系统及其控制方法

Also Published As

Publication number Publication date
JP2014181020A (ja) 2014-09-29

Similar Documents

Publication Publication Date Title
WO2014148025A1 (fr) Dispositif de commande de déplacement
CN108068698B (zh) 车辆系统以及车辆
JP6237685B2 (ja) 車両制御装置
JP6617534B2 (ja) 運転支援装置
JP6428713B2 (ja) 情報表示装置
CN111361552B (zh) 自动驾驶系统
JP6342856B2 (ja) 車両制御装置
JP6933638B2 (ja) 車両制御装置、車両および車両制御方法
JP6269606B2 (ja) 車両制御装置
WO2018186127A1 (fr) Dispositif d'assistance au déplacement
US8666644B2 (en) Drive assistance apparatus
CN110050301A (zh) 车辆控制装置
CN110192084B (zh) 自动驾驶辅助装置、方法及程序
JP2017197053A (ja) 自動運転制御装置
CN107672584A (zh) 超车车道控制的系统和方法
JP2010125923A (ja) 緊急退避装置
JP6269360B2 (ja) 運転支援システム及び運転支援方法
CN111762187A (zh) 车辆控制系统
JP7035447B2 (ja) 車両制御装置
CN109987090B (zh) 驾驶辅助系统和方法
JP2017151703A (ja) 自動運転装置
JP6462492B2 (ja) 車両の運転支援装置、及び運転支援方法
WO2017018192A1 (fr) Appareil d'affichage d'informations
JP7307549B2 (ja) 車両の運転制御システム
JP2010108180A (ja) 運転意思推定装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14768555

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14768555

Country of ref document: EP

Kind code of ref document: A1