WO2017086000A1 - 運転支援装置 - Google Patents

運転支援装置 Download PDF

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Publication number
WO2017086000A1
WO2017086000A1 PCT/JP2016/076882 JP2016076882W WO2017086000A1 WO 2017086000 A1 WO2017086000 A1 WO 2017086000A1 JP 2016076882 W JP2016076882 W JP 2016076882W WO 2017086000 A1 WO2017086000 A1 WO 2017086000A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver
vehicle
driving
driving support
scene
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2016/076882
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English (en)
French (fr)
Japanese (ja)
Inventor
希 北川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Priority to US15/775,576 priority Critical patent/US10940869B2/en
Publication of WO2017086000A1 publication Critical patent/WO2017086000A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • 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
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2540/215—Selection or confirmation of options
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

Definitions

  • the present disclosure relates to a driving support device that supports driving of a driver.
  • Patent Document 1 discloses a technique for automatically changing a vehicle to an adjacent lane by operating a driver's blinker lever.
  • the vehicle to the adjacent lane is automatically changed by operating the driver's blinker lever, so the driver must determine the timing when the lane can be changed.
  • the driver does not only have to confirm the safety at the rear side of the lane change destination, but also checks the safety of whether it is too close to the preceding vehicle and determines the timing when the lane change is possible. It must be made.
  • Patent Document 1 For the driver, since it is normal that the safety check at the time of lane change is a larger load than the driving operation at the time of lane change, the technology disclosed in Patent Document 1 provides the driver with support for driving. Such a load remained large.
  • An object of the present disclosure is to provide a driving support device that can reduce a driver's load in a driving scene where a driver needs to work.
  • a driving support device is used in a vehicle and performs driving support of a driver of a vehicle using a sensing result of a sensor device that monitors the periphery of the vehicle.
  • the driving support device further determines whether or not the driver is a driving scene that the driver should work on, and if the scene determining unit determines that the driver should work on the driving scene, according to the driving scene, An allocation determining unit that determines allocation of the work to be performed by the driver, excluding exemption work that exempts the driver from work by driving support in the driving support unit.
  • the assignment determination unit determines the assignment of the work to be performed by the driver, excluding the exemption work that exempts the work by the driver by driving support. From this execution work, exemption work exempting the work by the driver by driving assistance is excluded, so the work performed by the driver can be reduced. As a result, it is possible to reduce the driver's load in an operation scene that requires work by the driver.
  • FIG. 1 shows an example of a schematic structure of a driving assistance system. It is a figure which shows an example of the sensing range of a 1st monitoring sensor, a 2nd monitoring sensor, and a 3rd monitoring sensor. It is a figure which shows an example of a schematic structure of driving assistance ECU. It is a figure which shows an example of the area
  • a driving support system 1 shown in FIG. 1 is mounted on a vehicle, and includes a driving support ECU 10, a surrounding monitoring ECU 20, a first monitoring sensor 21, a second monitoring sensor 22, a third monitoring sensor 23, an HCU (Human Machine Interface). Control Unit) 30, operation input device 31, DSM (Driver Status Monitor) 32, display device 33, audio output device 34, locator 40, and vehicle control ECU 50 are included.
  • the driving support ECU 10, the surrounding monitoring ECU 20, the HCU 30, the locator 40, and the vehicle control ECU 50 are connected to each other by, for example, an in-vehicle LAN.
  • the vehicle equipped with the driving support system 1 is referred to as a host vehicle HV (Host Vehicle).
  • the first monitoring sensor 21, the second monitoring sensor 22, and the third monitoring sensor 23 are monitoring sensors that monitor the vicinity of the host vehicle HV.
  • the first monitoring sensor 21, the second monitoring sensor 22, and the third monitoring sensor 23 are used to detect moving objects such as pedestrians and vehicles, installation objects, road markings, and stationary objects such as lane markings.
  • the first monitoring sensor 21, the second monitoring sensor 22, and the third monitoring sensor 23 correspond to sensors.
  • the sensor device can also be referred to as including the first monitoring sensor 21, the second monitoring sensor 22, and the third monitoring sensor 23.
  • the first monitoring sensor 21, the second monitoring sensor 22, and the third monitoring sensor 23 for example, a camera, a sonar, a millimeter wave radar, a laser radar, or the like can be used.
  • the following description will be given by taking as an example a case where the first monitoring sensor 21, the second monitoring sensor 22, and the third monitoring sensor 23 are monocular or compound-eye cameras.
  • the first monitoring sensor 21 is, for example, a camera that is installed in a room mirror in the center of the interior of the host vehicle HV and images a predetermined range in front of the host vehicle HV (see F in FIG. 2). As an example, the first monitoring sensor 21 images a range of about 80 meters from the own vehicle HV at a horizontal viewing angle of about 45 degrees, for example.
  • the predetermined range in front of the host vehicle HV is referred to as a front range F.
  • the first monitoring sensor 21 sequentially outputs captured image data to be sequentially captured to the periphery monitoring ECU 20.
  • the second monitoring sensor 22 is installed to the right of the rear portion of the host vehicle HV, and scans, for example, a quasi-millimeter wave in the 24 GHz band from the transmitting antenna to a predetermined range on the right rear side of the host vehicle HV (see RRS in FIG. 2). While sending.
  • the second monitoring sensor 22 receives the quasi-millimeter wave reflected by the object existing in the predetermined range on the right rear side of the host vehicle HV by the receiving antenna.
  • the second monitoring sensor 22 scans a range of about 40 meters from the host vehicle HV at a horizontal scanning angle of about 120 degrees, for example.
  • the predetermined range on the right rear side of the host vehicle HV is referred to as a right rear side range RRS.
  • the second monitoring sensor 22 sequentially outputs the scanning result based on the received signal to the periphery monitoring ECU 20.
  • the third monitoring sensor 23 is installed on the left side of the rear portion of the host vehicle HV, and scans, for example, a quasi-millimeter wave in the 24 GHz band from the transmitting antenna to a predetermined range on the left rear side of the host vehicle HV (see RLS in FIG. 2). While sending.
  • the third monitoring sensor 23 receives the quasi-millimeter wave reflected by the object existing in the predetermined range on the left rear side of the host vehicle HV by the receiving antenna.
  • the third monitoring sensor 23 scans a range of about 40 meters from the host vehicle HV at a horizontal scanning angle of about 120 degrees, for example.
  • the predetermined range on the left rear side of the host vehicle HV is referred to as a left rear side range RLS.
  • the third monitoring sensor 23 sequentially outputs the scanning result based on the received signal to the periphery monitoring ECU 20.
  • the operation result based on the data of the captured image captured by the first monitoring sensor 21 and the received signals of the second monitoring sensor 22 and the third monitoring sensor 23 corresponds to the sensing result. Further, the range captured by the first monitoring sensor 21 and the range scanned by the second monitoring sensor 22 and the third monitoring sensor 23 correspond to the sensing range.
  • the periphery monitoring ECU 20 includes a CPU, a volatile memory, a nonvolatile memory, an I / O, and a bus connecting them, and executes various processes by executing a control program stored in the nonvolatile memory. Note that some or all of the functions executed by the periphery monitoring ECU 20 may be configured in hardware by one or a plurality of ICs.
  • the surrounding monitoring ECU 20 detects the distance from the own vehicle HV, the relative position with respect to the own vehicle HV, the relative speed with respect to the own vehicle HV, and the like of the object existing in the forward range F from the information acquired from the first monitoring sensor 21.
  • a vehicle such as an automobile, a bicycle, or a motorcycle or a pedestrian may be detected by a known image recognition process such as template matching.
  • a camera is used as the monitoring sensor, a range narrower than the imaging range (that is, the sensing range) is cut out from the captured image and image recognition processing is performed.
  • the range used for this image recognition processing is hereinafter referred to as a detection target range.
  • Information is used not only as a countable noun but also as a countable noun, and is equivalent to an information item.
  • One information item is equivalent to one information item, and a plurality of information items are equivalent to a plurality of information items.
  • the relative position of the object relative to the own vehicle HV, the own vehicle HV and the object are determined from the camera installation position and the optical axis direction with respect to the own vehicle HV and the position of the object in the captured image. Can be determined.
  • the distance between the host vehicle HV and the object may be determined based on the parallax amount between the pair of cameras. Furthermore, what is necessary is just to determine the relative speed of the object with respect to the own vehicle HV from the rate of change of the distance between the own vehicle HV and the object.
  • the surrounding monitoring ECU 20 detects the distance from the own vehicle HV, the direction with respect to the own vehicle HV, the relative speed with respect to the own vehicle HV, etc. for the object existing in the right rear side range RRS from the information acquired from the second monitoring sensor 22. To do.
  • the surrounding monitoring ECU 20 detects the object based on the received intensity of the reflected wave generated by reflecting the quasi-millimeter wave transmitted from the second monitoring sensor 22 to the object. Further, the periphery monitoring ECU 20 detects the direction of the object with respect to the host vehicle HV from the direction in which the quasi-millimeter wave from which the reflected wave is obtained is transmitted.
  • the periphery monitoring ECU 20 detects the distance between the vehicle HV and the object from the time from when the quasi-millimeter wave is transmitted until the reflected wave is received. Further, the periphery monitoring ECU 20 detects the relative speed of the object with respect to the host vehicle HV by a known method based on the Doppler shift between the transmitted quasi-millimeter wave and the reflected wave. In addition, you may detect the relative speed of the object with respect to the own vehicle HV from the time change rate of the distance of the own vehicle HV and an object.
  • the periphery monitoring ECU 20 detects from the own vehicle HV an object existing in the left rear side range RLS in the same manner as when using the information of the second monitoring sensor 22 from the information acquired from the third monitoring sensor 23. A distance, a direction with respect to the own vehicle HV, a relative speed with respect to the own vehicle HV, and the like are detected. Then, the periphery monitoring ECU 20 outputs a detection result (hereinafter, monitoring information) to the in-vehicle LAN.
  • a detection result hereinafter, monitoring information
  • the operation input device 31 is a switch group operated by the driver of the own vehicle HV.
  • the operation input device 31 there is a steering switch provided in a spoke spoke portion of the host vehicle HV.
  • the steering switch is used for the driver to perform various settings including the necessity of starting a driving support application described later.
  • the operation input device 31 includes a winker lever provided on the steering column. The winker lever outputs a winker signal for turning left or right to the HCU 30 according to the lever operation.
  • the DSM 32 includes a near-infrared light source and a near-infrared camera, and a control unit that controls them.
  • the DSM 32 is arranged, for example, on the upper surface of the instrument panel in a posture in which the near-infrared camera faces the driver's seat side of the host vehicle HV.
  • the DSM 32 photographs the driver's face irradiated with near-infrared light from a near-infrared light source with a near-infrared camera.
  • the image captured by the near-infrared camera is analyzed by the control unit.
  • the control unit extracts, for example, the driver's face orientation and / or line-of-sight direction from the captured image.
  • the DSM 32 outputs the extraction result to the HCU 30.
  • Examples of the display device 33 include a combination meter, CID (Center Information Display), HUD (Head-Up Display), and the like.
  • the combination meter is arranged in front of the driver's seat.
  • the CID is arranged above the center cluster in the passenger compartment.
  • the combination meter displays various images for information notification on the display screen of the liquid crystal display based on the image data acquired from the HCU 30.
  • the HUD projects the image light based on the image data acquired from the HCU 30 onto the projection area defined by the windshield.
  • the light of the image reflected on the vehicle interior side by the windshield is perceived by the driver sitting in the driver's seat.
  • the driver can visually recognize the virtual image of the image projected by the HUD by superimposing it on the outside scene in front of the host vehicle HV.
  • Examples of the audio output device 34 include an audio speaker.
  • the audio speaker is disposed in the lining of the door of the own vehicle HV. The audio speaker notifies the occupant of information by the reproduced sound.
  • the HCU 30 includes a CPU, a volatile memory, a non-volatile memory, an I / O, and a bus connecting them, and executes various processes by executing a control program stored in the non-volatile memory. Note that some or all of the functions executed by the HCU 30 may be configured in hardware by one or a plurality of ICs.
  • the HCU 30 controls the display device 33 and the audio output device 34.
  • the HCU 30 executes processing based on various information input from the operation input device 31 and DSM (Driver Status Monitor) 32.
  • DSM Driver Status Monitor
  • the HCU 30 determines that the driver's face orientation and / or line-of-sight direction acquired from the DSM 32 is not facing the front, the driver's look-ahead may be determined.
  • the locator 40 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor such as a gyro sensor, and a memory for storing map data.
  • the GNSS receiver receives positioning signals from a plurality of artificial satellites.
  • the locator 40 measures the position of the host vehicle HV by combining the positioning signal received by the GNSS receiver and the measurement result of the inertial sensor.
  • the locator 40 reads map data ahead of the host vehicle HV from the memory, and extracts road information such as a crossing point position. Then, the locator 40 outputs the position information of the own vehicle HV and the road information ahead of the own vehicle HV to the in-vehicle LAN.
  • Locator 40 may be, for example, a car navigation device or an ADAS (Advanced Driver Assistance Systems) locator.
  • the vehicle control ECU 50 is an electronic control device that performs acceleration / deceleration control and / or steering control of the host vehicle HV.
  • the vehicle control ECU 50 includes a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, a brake ECU, and the like.
  • the vehicle control ECU 50 acquires detection signals output from sensors such as an accelerator position sensor, a brake pedal force sensor, a rudder angle sensor, and a vehicle speed sensor mounted on the host vehicle HV, and performs electronic control throttle, brake actuator, EPS (Electric Power Steering) Outputs control signals to each travel control device such as a motor. Further, the vehicle control ECU 50 can output the detection signals of the above-described sensors to the in-vehicle LAN.
  • the driving assistance ECU 10 is also referred to as a driving assistance device.
  • the driving assistance ECU 10 includes a CPU, a volatile memory, a nonvolatile memory, an I / O, and a bus connecting them, and a control stored in the nonvolatile memory.
  • Various processes are executed by executing the program. Note that some or all of the functions executed by the driving support ECU 10 may be configured in hardware by one or a plurality of ICs.
  • the driving support ECU 10 executes a plurality of driving support applications (hereinafter referred to as driving support applications) for supporting or acting on behalf of the driver by controlling the vehicle control ECU 50.
  • driving support applications a plurality of driving support applications
  • the driving support ECU 10 assigns a task performed by the driver and a task performed by the driving support application (hereinafter, task sharing) in the driving behavior that the driver should confirm safety. This safety check corresponds to work.
  • the driving support ECU 10 includes a support unit 100, a scene determination unit 110, an assignment determination unit 120, and an area presentation instruction unit 130 (support device 100, scene determination unit 110, assignment determination unit 120, and region presentation (Also referred to as indicator 130).
  • the support unit 100 is also referred to as a driving support unit and a driving support device, and performs processing related to driving support.
  • the support unit 100 executes a control program stored in the non-volatile memory of the driving assistance ECU 10, thereby enabling an ACC (Adaptive Cruise Control) function unit 101, an LKA (Lane Keeping Assist) function unit 102, and an LCA (Lane Change Assist).
  • the function unit 103 and the BSM (Blind Spot Monitor) function unit 104 are constructed as function blocks. With these functional blocks, the above-described driving support application is executed.
  • the ACC function unit 101 controls the traveling speed of the host vehicle HV by causing the vehicle control ECU 50 to adjust the driving force and the braking force based on the monitoring information of the preceding vehicle obtained by the first monitoring sensor 21 acquired from the surrounding monitoring ECU 20.
  • the ACC function is realized.
  • the ACC function unit 101 causes the host vehicle HV to travel at a constant speed, for example, at a target travel speed set by the driver via the operation input device 31.
  • the ACC function unit 101 sets the target inter-vehicle distance to the preceding vehicle according to the target traveling speed with the speed of the preceding vehicle as the target traveling speed.
  • the speed of the preceding vehicle may be obtained from the relative speed of the preceding vehicle with respect to the own vehicle detected by the surrounding monitoring ECU 20 and the vehicle speed of the own vehicle HV obtained from the signal of the vehicle speed sensor of the own vehicle HV.
  • the LKA function unit 102 realizes the LKA function of controlling the steering angle of the steering wheel of the host vehicle HV by causing the vehicle control ECU 50 to adjust the steering force.
  • the LKA function unit 102 causes the host vehicle HV to travel while maintaining the host vehicle lane by generating a steering force in a direction that prevents the approach to the travel lane line.
  • driving support that activates both the ACC function and the LKA function to realize automatic driving in the traveling lane of the vehicle is referred to as in-lane driving support.
  • the LCA function unit 103 realizes an LCA function of moving the host vehicle HV from the currently traveling lane to the adjacent lane.
  • the LCA function unit 103 causes the vehicle control ECU 50 to generate a steering force in a direction toward the adjacent lane, thereby moving the host vehicle HV to the adjacent lane.
  • the BSM function unit 104 notifies the driver of the presence of other vehicles in the left and right rear side regions of the host vehicle HV based on the monitoring information obtained by the second monitoring sensor 22 and the third monitoring sensor 23 acquired from the surrounding monitoring ECU 20. Implement BSM functions.
  • the BSM function unit 104 causes the HCU 30 to notify the driver of the presence of other vehicles in the left and right rear side areas of the host vehicle HV.
  • the scene determination unit 110 determines whether the driving scene should be confirmed by the driver based on the traveling state of the own vehicle HV and / or the situation around the own vehicle HV.
  • the driving scene that the driver should confirm safety is “the lane change condition is satisfied” will be described as an example.
  • the scene determination unit 110 determines whether the lane change condition is satisfied based on the position of the own vehicle HV and the position of the crossing point acquired from the locator 40 and the inter-vehicle distance between the own vehicle HV acquired from the surrounding monitoring ECU 20 and the preceding vehicle. Determine if there is. As a specific example, if the own vehicle HV is more than a predetermined distance from the intersection and the distance between the own vehicle HV and the preceding vehicle is less than a predetermined value, it may be determined that the lane change condition is satisfied.
  • the predetermined distance may be any distance as long as it is longer than the distance that should be prohibited from changing lanes before the crossing point.
  • the predetermined value mentioned here may be approximately the target inter-vehicle distance when it can be said that the speed of the preceding vehicle is significantly lower than the speed regulation value, and can be arbitrarily set.
  • the predetermined value may be sequentially changed according to the speed restriction value included in the map data acquired from the locator, or may be a fixed value regardless of the speed restriction value.
  • the scene determination unit 110 may determine that the lane change condition is satisfied when the host vehicle HV is more than a predetermined distance from the intersection and the winker lever winker signal is acquired via the HCU 30. Good. In this case, what is necessary is just to determine from the turn signal to whether the own vehicle HV changes to the left or right side.
  • the following may be performed. For example, from the position and road information of the own vehicle HV acquired from the locator 40 and the lane information in the monitoring information acquired from the surrounding monitoring ECU 20, it is determined which lane the host vehicle HV is running, and the own vehicle HV It is only necessary to estimate which side will change lane to the left or right.
  • the driving support ECU 10 can acquire information on a planned route such as a recommended route that is being route-guided by the car navigation device and a planned route that is planned to be driven by automatic driving, the planned route is used.
  • the scene determination unit 110 may determine whether the lane change condition is satisfied. As an example, when a right / left turn is necessary at an intersection ahead of the traveling direction from the planned route and a lane change is necessary for the right / left turn, the scene determination unit 110 may determine that the lane change condition is satisfied.
  • the allocation determining unit 120 exempts the driver from confirming safety by driving support in the support unit 100 according to the driving scene.
  • the correspondence relationship between the driving support application being executed and the confirmation area may be stored in the nonvolatile memory of the driving support ECU 10 in association with the driving scene. Then, the allocation determination unit 120 may determine a confirmation region corresponding to the driving scene and the driving support application being executed with reference to the correspondence relationship.
  • the driver moves the host vehicle to the adjacent lane after confirming safety between the front of the host vehicle HV and the rear side of the host vehicle HV on the lane change side.
  • the front range F is automatically controlled by the function of the ACC function unit 101 to the obstacle.
  • the area in front of the host vehicle HV is an exempt area.
  • the rear side of the vehicle HV on the lane change side excluding the region in front of the host vehicle HV as the exempt region is determined by the allocation determination unit 120 as the confirmation region.
  • the area presentation instruction unit 130 sends the confirmation area allocation result determined by the allocation determination unit 120 to the HCU 30.
  • the HCU 30 that has acquired the confirmation region assignment result from the region presentation instruction unit 130 causes the display device 33 and / or the voice output device 34 to present information indicating the confirmation region based on the obtained confirmation region assignment result.
  • the area presentation instruction unit 130 presents information indicating the confirmation area excluding the exemption area. As a result, an area in which the driver must confirm safety is specified.
  • An example of presenting the confirmation area excluding the exemption area when changing lanes is text display such as “Please confirm the safety of the rear side and give a lane change signal”, voice output, etc.
  • an image showing the arrangement of the confirmation area with respect to the own vehicle may be displayed so that the driver can intuitively recognize the arrangement of the confirmation area with respect to the own vehicle.
  • the described flowchart includes a plurality of sections (or referred to as steps), and each section is expressed as, for example, S1. Further, each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section.
  • Each section can be referred to as a device, or as a unique name, and with structural modifiers, for example, a scene determination section can be referred to as a scene determination device, a scene determiner.
  • the section includes (i) not only a section of software combined with a hardware unit (eg, a computer) but also (ii) a section of hardware (eg, an integrated circuit, a wiring logic circuit) and related devices. It can be realized with or without the function.
  • the hardware section can be included inside the microcomputer.
  • the scene determination unit 110 determines whether the lane change condition is satisfied. If it is determined that the lane change condition is satisfied (YES in S1), the process proceeds to S2. On the other hand, if it is determined that the lane change condition is not satisfied (NO in S1), the process proceeds to S8.
  • the allocation determination unit 120 determines the allocation of the confirmation area that the driver should check for safety, excluding the exempt area that exempts the driver from the safety check by driving support in the support unit 100.
  • the area in front of the host vehicle HV is set as the exempt area by the function of the ACC, and the area on the rear side of the host vehicle HV excluding the preceding area is determined as the confirmation area.
  • the area on the right rear side of the host vehicle HV is determined as the confirmation area.
  • the region presentation instruction unit 130 causes the HCU 30 to present information indicating the confirmation region determined by the allocation determination unit 120.
  • the support unit 100 determines whether or not there has been a signal to start lane change within a certain time after the information presentation is started in S3.
  • the time may be counted by a timer circuit or the like.
  • the certain time here may be a time that can secure a sufficient time to complete the safety check, and can be arbitrarily set. If it is determined that there has been a lane change start signal within a certain time (YES in S4), the process proceeds to S5. On the other hand, if it is determined that there is no lane change start signal within a certain time (NO in S4), the process proceeds to S8.
  • the support unit 100 When the operation input device 31 is provided with a dedicated switch for permitting movement to the adjacent lane by the function of the LCA, the support unit 100 signals via the HCU 30 that the dedicated switch has been turned on. What is necessary is just to determine with the signal of the start of lane change having been acquired. Further, when the winker signal is not used to determine whether or not the lane change condition is satisfied in the scene determination unit 110, the support unit 100 has received a lane change start signal when the winker signal is acquired via the HCU 30. You may judge.
  • the support unit 100 may determine whether or not there is a lane change start signal from the driver face orientation and / or line-of-sight direction extraction result obtained from the DSM 32 via the HCU 30. For example, from this extraction result, the driver's face direction and / or line-of-sight direction has returned to the front after staying for more than a specified time in the rear side of the vehicle HV on the lane change side or the door mirror direction on the lane change side. Is detected by the support unit 100, it may be determined that there has been a lane change start signal. According to this, since it becomes possible to signal the start of the lane change even if the driver does not operate the operation input device 31, it is possible to reduce the load on the driver.
  • the operation input device 31 includes a switch for holding a lane change, and when the support unit 100 acquires a signal that the switch is turned on via the HCU 30, a lane change start signal What is necessary is just not to judge.
  • the support unit 100 may make the determination. Even with this configuration, it is possible to signal the start of lane change even if the driver does not operate the operation input device 31, so the load on the driver can be reduced.
  • the support unit 100 once cancels the driving support in the lane.
  • the support unit 100 operates the LCA function to move the host vehicle HV to the adjacent lane.
  • the support unit 100 reactivates the driving support in the lane.
  • the area presentation instruction unit 130 may not present information indicating the confirmation area.
  • the driving support ECU 10 switches between the information presentation of the confirmation area excluding the exemption area and the information presentation of the confirmation area where the exemption area is not excluded. Also good. This makes it easier for the driver to realize a reduction in the load of safety confirmation due to the removal of the exempt area.
  • the area where the driver should confirm safety is the area ahead of the host vehicle HV that exempts the driver from confirming safety using the ACC function. It can be narrowed down to the area behind the host vehicle HV excluding.
  • the driver since it is possible to present information indicating that it is only necessary to confirm the safety of the narrowed area, the driver can limit the area where the safety confirmation is actually performed to the narrowed area, thereby reducing the load of safety confirmation. As a result, the driver can benefit from driving assistance, and the load of safety confirmation by the driver can be reduced.
  • the follow-up destination by the function of the ACC can be switched from the preceding vehicle of the own vehicle HV before the lane change to the preceding vehicle of the own vehicle HV after the lane change.
  • the vehicle HV may be moved to the adjacent lane by operating the LCA function without once releasing the driving assistance in the lane.
  • the driving support app mentioned in the first embodiment is merely an example of a driving support app that avoids proximity to an obstacle, and is not necessarily limited thereto.
  • a driving support application that avoids proximity to an obstacle by notifying the proximity of the obstacle to the own vehicle HV, and the obstacle by automatically braking the own vehicle HV when the obstacle is close to the own vehicle HV A driving support application that avoids proximity to an object may be used.
  • the area where the driver should confirm safety may be a confirmation area excluding the exempt area exempted by these driving support applications.
  • the support unit 100 determines the allocation of the verification region as the driving support application for avoiding the proximity to the obstacle existing in the exemption region. Compared with before, it is good also as a structure which increases the margin which avoids the proximity
  • the target inter-vehicle distance from the preceding vehicle (see L in FIG. 7) compared to before the allocation of the confirmation region is determined. )
  • the timing at which the notification is performed is earlier than before the allocation of the confirmation area is determined.
  • the timing for starting the braking control is made earlier than before the allocation of the confirmation region is determined. It should be changed as follows.
  • the driving support ECU 10 causes the fault that exists in the exempt area when the allocation determination unit 120 determines the allocation of the confirmation area as compared to before the allocation is determined. It is preferable to present information indicating that driving assistance for avoiding proximity to an object is performed by increasing a margin for avoiding proximity to an obstacle. According to this, the driver can know that measures for reducing the risk due to the driver not performing safety confirmation for the exempt area are taken, and the driver can be given a sense of security.
  • the allocation determination unit 120 determines the allocation of the confirmation area
  • the driving support ECU 10 stops sensing such as imaging with the monitoring sensor whose sensing area includes the sensing range, scanning of the exploration wave, and reception of the reflected wave A configuration may be adopted.
  • the driving support ECU 10 may be configured to narrow the sensing range of the monitoring sensor whose sensing region includes the sensing range.
  • the sensing range it is preferable that the sensing range is narrowed so that at least the region estimated to be the driver's blind spot in the confirmation region is included in the sensing range.
  • the hardware resources used for the monitoring sensor whose sensing area includes the sensing range are used for the monitoring sensor whose sensing area includes the sensing area. It is good also as a structure (henceforth a 7th modification) to allocate.
  • the driving support ECU 10a is the same as the driving support ECU 10 of the first embodiment except that the driving support ECU 10a includes an allocation changing unit 140 (also referred to as an allocation changing unit 140).
  • the allocation change unit 140 uses hardware resources used for the monitoring sensor whose sensing area includes the sensing range, and the monitoring sensor whose sensing area includes the sensing range. Make changes that you assign to use in As an example, the allocation changing unit 140 may be configured to change the allocation of hardware resources by sending the result of allocation of the confirmation area determined by the allocation determining unit 120 to the peripheral monitoring ECU 20.
  • the hardware used for the second monitoring sensor 22 and the third monitoring sensor 23 when the allocation determination unit 120 determines allocation of the confirmation region A change is made to allocate the hardware resource for use by the first monitoring sensor 21.
  • the hardware resource used for the monitoring sensor is the surrounding monitoring ECU 20, and the surrounding monitoring ECU 20 will be described by taking as an example a case where the processing monitoring ECU 20 includes a plurality of processing ECUs 201 and 202.
  • the process ECU 201 is used for the first monitoring sensor 21 and the process ECU 202 is used for the second monitoring sensor 22 and the third monitoring sensor 23 before the hardware resource allocation is changed.
  • the process ECU 202 is not used for the second monitoring sensor 22 and the third monitoring sensor 23, and the process ECU 201 and the process ECU 202 are used for the first monitoring sensor 21.
  • the processing ECU 201 and the processing ECU 202 may be preliminarily programmed with processing related to the information acquisition destination and sensing in accordance with the allocation of the confirmation area. Then, according to the result of allocation of the confirmation area sent from the allocation changing unit 140, the information acquisition destination and the processing related to sensing may be switched.
  • the ECU is exemplified as the hardware resource to be allocated, but the hardware resource to be allocated may be a hardware resource used for processing related to sensing of the monitoring sensor, and may be a processor, for example. It may be a CPU.
  • FIGS. 10 and 11 An example of the use of hardware resources in a monitoring sensor that has increased available hardware resources will be described with reference to FIGS. 10 and 11, the case where the processing ECU 201 and the processing ECU 202 are used for the first monitoring sensor 21 by changing the allocation of hardware resources will be described as an example.
  • IA1 in FIGS. 10 and 11 indicates the detection target range before the hardware resource allocation change
  • IA2 and IA3 indicate the detection target range after the hardware resource allocation change.
  • the above-described detection target range may be widened by being biased in the left or right direction of the own vehicle HV.
  • the direction in which the vehicle HV is spread out is preferably the direction in which the lane of the host vehicle HV is changed between right and left of the host vehicle HV.
  • the detection target range is not expanded until the imaging range (that is, the sensing range) of the first monitoring sensor 21.
  • FIGS. 10 and 11 show an example in which a camera is used as a monitoring sensor.
  • a sensor that scans an exploration wave such as a millimeter wave radar, a laser radar, or a sonar
  • the following is performed. do it.
  • it may be configured to improve the obstacle detection accuracy by increasing the number of steps for scanning the exploration wave in the same sensing range.
  • the hardware resource is not limited to a configuration in which the allocation of a plurality of ECUs, a plurality of processors, and a plurality of CPUs is changed, but by using a virtualization technology, one ECU, one processor, one CPU is allocated. It is good also as a structure which performs this.
  • the virtualization technology is used, even one ECU, one processor, and one CPU can be operated as if a plurality of cores exist virtually.
  • the virtual core can be operated in parallel.
  • the virtualization technology is generally referred to as “virtualization”, and may be configured to use, for example, a hypervisor.
  • the allocation determination unit 120 is configured to change the allocation of the confirmation region in accordance with the type of driving scene determined by the scene determination unit 110 as a driving scene that the driver should check for safety (hereinafter referred to as a ninth modification). It is good.
  • the scene determination unit 110 may determine whether or not the driver should confirm the safety of a plurality of types of driving scenes. As an example, in addition to determining whether the lane change condition is satisfied as in the first embodiment, it is determined whether the right turn condition is satisfied or the left turn condition is satisfied. Since there is a difference in the area that the driver should check for safety at the time of right turn and left turn, the right turn condition establishment and the left turn condition establishment are different types of driving scenes.
  • the ninth modification shown below is a modification corresponding to an area where left-hand traffic is legalized.
  • the following modifications and the contents at the time of right turn and left turn are as follows: Vice versa.
  • the scene determination unit 110 determines whether the right turn condition or the left turn condition is satisfied based on the position of the own vehicle HV and the position of the crossing point acquired from the locator 40 and the winker signal acquired from the HCU 30. As a specific example, when the host vehicle HV is less than a predetermined distance to the intersection ahead of the traveling direction and the winker signal indicating the lighting of the right winker lamp is acquired, the right turn condition may be determined to be satisfied.
  • the predetermined distance here may be less than the distance that should be prohibited from changing lanes before the intersection, and can be arbitrarily set.
  • the driving support ECU 10 can acquire information on a planned route such as a recommended route that is being route-guided by the car navigation device and a planned route that is planned to be driven by automatic driving, the planned route is used instead of the blinker signal.
  • the scene determination unit 110 may determine whether the right turn condition and the left turn condition are satisfied. As an example, when a right turn is required at an intersection ahead in the traveling direction from the planned route, and the own vehicle HV is less than a predetermined distance to the intersection ahead in the traveling direction, the scene determination unit 110 determines that the right turn condition is satisfied. That's fine. The same applies to the left turn.
  • the allocation determination unit 120 of the ninth modification changes the allocation of the confirmation region according to the type of the driving scene.
  • the correspondence relationship between the driving support application being executed and the confirmation area may be stored in the nonvolatile memory of the driving support ECU 10 for each type of driving scene. Then, the allocation determination unit 120 may determine a confirmation region corresponding to the type of driving scene and the driving support application being executed with reference to the correspondence relationship.
  • confirmation area corresponding to the type of driving scene is described below.
  • the area in front of the host vehicle HV is exempted by the function of the ACC, and the vehicle HV rear side except the front area is excluded. Is determined as a confirmation region.
  • the driving scene is “Left turn condition met”, pay attention to pedestrians on the pedestrian crossing from the front of the vehicle HV, the bicycle on the left rear side, the motorcycle, and the vehicle HV diagonally forward to the left. I need to pay. Therefore, in the case of the driving scene “the left turn condition is satisfied”, the own vehicle HV is to be confirmed by the function of the ACC among the front of the own vehicle HV to be confirmed, the left rear side of the own vehicle HV, and the left side from the front left of the own vehicle HV.
  • the area in front of the HV is set as an exempt area, and the area on the left rear side from the front left side of the host vehicle HV excluding the front area is determined as a confirmation area (see CA in FIG. 13).
  • bicycles and motorcycles on the left rear side of the vehicle HV are decelerating near the intersection, and the bicycles and motorcycles can be sufficiently detected by the BSM function. It may be configured as a region. In this case, an area on the left side from the front left side of the host vehicle HV except for the area in front of the host vehicle HV and the area on the left rear side of the host vehicle HV may be determined as the confirmation region.
  • the driver by changing the allocation of the confirmation region according to the type of driving scene, the driver receives the benefit of driving support according to the type of driving scene, The load of safety confirmation by the corresponding driver can be reduced.
  • the number, type, and combination of types of monitoring sensors are not limited to the examples described above.
  • it is good also as a structure which has a sensing range with which several types of monitoring sensors overlapped, such as performing sensing ahead of the own vehicle HV together using a camera and a millimeter wave radar.
  • a monitoring sensor it further includes a millimeter wave radar having a sensing range in the left and right diagonal front of the host vehicle, or a sonar having a sensing range in the vicinity of the left and right front corners and the left and right rear corners of the host vehicle HV. It is good also as composition to do.
  • the driver safety confirmation is described as an example of the work of the claims.
  • the present invention is not limited to this.
  • the present disclosure can be applied to any work other than the driver's safety check as long as the work is a load on the driver and can be assigned with the driving support application.
  • the driving support apps are assigned to work that has excellent driving support apps, and the driver has excellent work. Is preferably determined to be performed. According to this, the load of work by the driver can be reduced while the driver receives the benefit of driving support.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
PCT/JP2016/076882 2015-11-17 2016-09-13 運転支援装置 Ceased WO2017086000A1 (ja)

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