WO2018163549A1 - 運転制御動作支援装置、運転制御動作支援方法及び運転制御動作支援プログラム - Google Patents

運転制御動作支援装置、運転制御動作支援方法及び運転制御動作支援プログラム Download PDF

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Publication number
WO2018163549A1
WO2018163549A1 PCT/JP2017/044481 JP2017044481W WO2018163549A1 WO 2018163549 A1 WO2018163549 A1 WO 2018163549A1 JP 2017044481 W JP2017044481 W JP 2017044481W WO 2018163549 A1 WO2018163549 A1 WO 2018163549A1
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Prior art keywords
vehicle
driver
automatic
driving
unit
Prior art date
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PCT/JP2017/044481
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English (en)
French (fr)
Japanese (ja)
Inventor
相澤　知禎
智浩 籔内
円香 渡部
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オムロン株式会社
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Publication of WO2018163549A1 publication Critical patent/WO2018163549A1/ja

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    • 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
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • 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
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping

Definitions

  • the present invention relates to a driving control operation support device, a driving control operation support method, and a driving control operation support program that support the operation of an automatic driving control device that selectively uses an automatic driving mode and a manual driving mode to drive a vehicle.
  • a driving control operation support device that selectively uses an automatic driving mode and a manual driving mode to drive a vehicle.
  • automatic driving control including an automatic driving mode for driving the vehicle along a predetermined route other than the driving operation by the driver, in addition to the manual driving mode by the driver.
  • the device has been put into practical use and has reached the stage of test running on actual roads.
  • Autonomous driving mode consists of a combination of map information and current position information for driving control of a car. For example, navigation system information using GPS (Global Positioning System), traffic information acquired by road-to-vehicle communication, By controlling the power unit, the steering device, the brake, etc. based on the information of the peripheral monitoring system that monitors the position and movement of a person or vehicle, it is possible to automatically drive the vehicle (Japanese Patent Laid-Open No. 2016- No. 137819).
  • GPS Global Positioning System
  • an object of the present invention is to provide a driving control operation support device, a driving control operation support method, and a driving control operation support program that effectively support a retreat operation by an automatic driving control device when an emergency vehicle approaches. .
  • a first aspect of the present invention is a driving control operation that supports the operation of an automatic driving control device that makes a vehicle run while selectively using an automatic driving mode and a manual driving mode.
  • a support device or a support method wherein an emergency vehicle recognition unit or a recognition process for recognizing an approach of an emergency vehicle, a preceding vehicle detection unit or a detection process for detecting the presence of a preceding vehicle, and a state of a driver of the vehicle are determined
  • the driver state determination unit or determination process and when the vehicle is traveling in the automatic driving mode and the emergency vehicle recognition unit or the recognition process recognizes the approach of the emergency vehicle, the driver It is determined whether or not the driver is in a state where manual driving is possible based on the determination result of the driver state by the state determination unit or the determination process, and it is determined that the driver is not in a state where manual driving is possible and
  • a control unit or a control process for outputting follow-up instruction information for causing the vehicle to follow the preceding vehicle when the presence of the preceding
  • the control unit determines that the driver is in a state where manual driving is possible based on the determination result of the driver state by the driver state determination unit.
  • the switching instruction information for switching the automatic operation mode to the manual operation mode is output to the automatic operation control device.
  • the emergency vehicle recognizing unit further has a function of recognizing the passage of the emergency vehicle, and the control unit performs the emergency vehicle recognizing unit after outputting the follow-up instruction information.
  • the control unit performs the emergency vehicle recognizing unit after outputting the follow-up instruction information.
  • the vehicle when an emergency vehicle approaches during traveling in the automatic driving mode, even if the driver is in a state where manual driving is not possible, The vehicle follows the preceding vehicle and travels. For this reason, according to the evacuation action of the preceding vehicle, it is possible to slow down or stop the own vehicle by approaching the shoulder side.
  • the second aspect of the present invention when it is determined that the driver is in a state capable of manual driving based on the determination result of whether or not the driver can drive by the driver state determination unit, An instruction to switch from the automatic operation mode to the manual operation mode is issued. For this reason, the evacuation action by the driver's operation can be promptly performed thereafter.
  • the return instruction information to the automatic travel mode is output. For this reason, the follow-up operation to the preceding vehicle is canceled and the vehicle automatically returns to the autonomous automatic traveling mode. Therefore, after the emergency vehicle passes, for example, the driver can restart the traveling operation in the automatic driving mode without performing the reset operation of the automatic driving mode.
  • FIG. 1 is a diagram showing an overall configuration of a vehicle including an operation control operation support device according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a functional configuration of the operation control operation support apparatus according to the embodiment of the present invention.
  • FIG. 3 is a flowchart for explaining the processing procedure and processing contents of the support control by the driving control operation support device shown in FIG.
  • FIG. 1 is a diagram showing an overall configuration of a vehicle including an operation control operation support device according to an embodiment of the present invention.
  • the automobile on which the driver is boarded is simply referred to as a vehicle, and the automobile traveling in front of the vehicle is referred to as a preceding vehicle.
  • the vehicle 1 includes, as basic equipment, a power unit 2 including a power source and a transmission, and a steering device 3 equipped with a steering wheel 3a.
  • the power source is used as a hybrid configuration in which either an engine that generates power by burning fuel and a motor that generates driving force by electric power such as a rechargeable battery, or a combination of both.
  • the vehicle 1 is provided with an automatic driving control device 4 for executing driving control in the automatic driving mode.
  • the automatic driving control device 4 is connected to a steering sensor 11, an accelerator pedal sensor 12, a brake pedal sensor 13, a GPS receiver 14, a gyro sensor 15, and a vehicle speed sensor 16, and obtains sensing data from each of them. .
  • the automatic operation control device 4 has an operation mode selection switch 7 for selecting either the manual operation mode or the automatic operation mode. If the engine is stopped or the main power to the motor is turned off due to a break or refueling during traveling in the automatic operation mode, the driver must be in the automatic operation mode when restarting. Let me check. This confirmation may be confirmed by a touch operation by operating the operation mode selection switch 7 or displaying a confirmation icon on a display display or the like, for example.
  • the manual operation mode is a mode in which the vehicle 1 is driven mainly by a driver's manual operation.
  • driving operation support control that supports the driving operation of the driver while mainly driving the driving operation of the vehicle 1 based on only the driving mode of the vehicle 1 based on the driving operation of the driver.
  • the operation mode to be performed is also included.
  • This driving operation support control assists the steering torque so that the driver's steering becomes an appropriate steering amount based on the curvature of the curve when the vehicle 1 is traveling on the curve, for example.
  • the driving operation support control includes control for assisting a driver's accelerator operation (for example, operation of an accelerator pedal) or brake operation (for example, operation of a brake pedal), manual steering (manual operation of steering), and manual speed adjustment (speed). Adjustment manual operation) is also included.
  • a driver's accelerator operation for example, operation of an accelerator pedal
  • brake operation for example, operation of a brake pedal
  • manual steering manual operation of steering
  • speed manual speed adjustment
  • Adjustment manual operation is also included.
  • manual steering the vehicle 1 is steered mainly by the driver's operation of the steering wheel 3a.
  • the manual speed adjustment the speed of the vehicle 1 is adjusted mainly by the driver's accelerator operation or brake operation.
  • the driving operation support control does not include control for forcibly intervening in the driving operation of the driver to automatically drive the vehicle 1. That is, in the manual driving mode, the driving operation of the driver is reflected in the driving of the vehicle 1 within a preset allowable range, but the driving of the vehicle 1 is compulsory under certain conditions (for example, lane departure of the vehicle 1). Interventive control is not included.
  • the automatic operation mode is a mode that realizes an operation state in which the vehicle 1 is automatically driven along the road on which the vehicle 1 is traveling, for example.
  • the automatic driving mode includes a driving state in which the vehicle 1 is automatically driven toward a preset destination without driving by the driver. In the automatic driving mode, it is not always necessary to automatically control all of the vehicle 1, and the driving state in which the driving operation of the driver is reflected in the driving of the vehicle 1 within the preset allowable range is also included in the automatic driving mode. . That is, the automatic driving mode includes control for forcibly intervening in the traveling of the vehicle 1 under certain conditions, while reflecting the driving operation of the driver in the traveling of the vehicle 1 within a preset allowable range.
  • the automatic driving control device 4 includes the steering sensor 11, the accelerator pedal sensor 12, the brake pedal sensor 13, the GPS receiver 14, the gyro sensor 15, the vehicle speed sensor 16, and the navigation data (not shown). Automatic driving of the vehicle 1 based on route information generated by the system, traffic information acquired by road-to-vehicle communication, and information obtained by a peripheral monitoring system that monitors the position and movement of surrounding people and vehicles 1 Control.
  • This automatic control includes, for example, automatic steering (automatic steering operation) and automatic speed adjustment (automatic driving of speed).
  • Automatic steering is an operating state in which the steering device 3 is automatically controlled.
  • Automatic steering includes LKA (Lane Keeping Assist).
  • LKA Li Keeping Assist
  • the LKA automatically controls the steering device 3 so that the vehicle 1 does not deviate from the vehicle lane even when the driver does not perform the steering operation.
  • the driver's steering operation may be reflected in the steering of the vehicle 1 in a range where the vehicle 1 does not deviate from the vehicle lane (allowable range).
  • automatic steering is not limited to LKA.
  • Automatic speed adjustment is an operating state in which the speed of the vehicle 1 is automatically controlled.
  • Automatic speed adjustment includes ACC (Adaptive Cruise Control).
  • ACC is, for example, when there is no preceding vehicle ahead of the vehicle 1 and performs constant speed control that causes the vehicle 1 to travel at a constant speed at a preset speed, and there is a preceding vehicle ahead of the vehicle 1.
  • the control is performed in a follow-up mode in which the vehicle speed of the vehicle 1 is adjusted in accordance with the inter-vehicle distance from the preceding vehicle.
  • the automatic drive control device 4 causes the vehicle 1 to travel in the follow mode.
  • the automatic operation control device 4 gives priority to the driver's manual operation from the viewpoint of safety and convenience even when the ACC is being executed. For example, when the driver performs a brake operation (for example, operation of a brake pedal), the ACC is once released and the vehicle 1 is decelerated, or there is an accelerator operation (for example, operation of the accelerator pedal) by the driver. For example, the vehicle 1 can be accelerated to a preset maximum permissible speed (for example, the maximum speed legally determined on the running road). Note that the automatic speed adjustment is not limited to ACC, and includes CC (Cruise Control).
  • the monitoring system includes a driver camera 6 for imaging the driver's face and body state, and a driver state determination unit 21 that determines whether the driver can drive from the driver's face image and body image.
  • An operation mode switching instruction unit 22 for instructing switching of the operation mode between the manual operation mode and the automatic operation mode from the determination result by the driver state determination unit 21 is provided.
  • the driver camera 6 is installed at a location where the driver's face can be imaged.
  • the driver camera 6 is disposed on the dashboard, the center of the steering, the side of the speed meter, the front pillar, etc., and images the upper body including the driver's face.
  • the monitoring system is provided with a wake-up device 26 that wakes up the driver using a voice, a warning sound, vibration of the driver's seat, or the like in order to wake up the driver as necessary.
  • the vehicle 1 of the present embodiment further includes an operation control operation support device 5, an emergency vehicle recognition unit 8, and a preceding vehicle detection unit 9.
  • the emergency vehicle recognition unit 8 has a function of recognizing an emergency vehicle approaching from behind, and includes a rear camera 33, a distance measuring sensor 34, a microphone 35, a retraction instruction reception unit 36, and an approach determination unit 37. Have.
  • the rear camera 33 captures an emergency vehicle that is approaching from behind and has a warning light lit, and outputs the captured image information to the approach determination unit 37. In addition, the rear camera 33 may divert the parking camera used at the time of parking.
  • the rear camera 33 may have a structure including an imaging optical system with one optical path if the image is simply viewed, but may be an imaging optical system having a parallax with two optical paths when used as a distance measuring sensor. Good.
  • the ranging sensor 34 repeatedly measures the distance to the emergency vehicle in time series using the rear camera 33 having parallax and the millimeter wave radar.
  • the distance measurement result of the distance measurement sensor 34 is input to the approach determination unit 37.
  • the approach determination unit 37 calculates the speed at which the emergency vehicle approaches from the measured distance change, and adjusts the timing of retreat.
  • the rear camera 33 can be used for ranging from a short distance to a middle distance.
  • the millimeter wave radar is suitable for detecting a target portion at a long distance.
  • an infrared laser sensor may be used in place of the millimeter wave radar as long as it is an infrared laser sensor capable of detecting a mid-range distance.
  • the rear camera 33 with parallax may not be able to measure distance due to sudden changes in illuminance at tunnel entrances, fog, or heavy rain, because the emergency vehicle cannot be correctly identified from the captured image due to camera performance. The For this reason, in order to obtain certainty, it is preferable to arrange a dedicated distance measuring sensor such as a millimeter wave radar separately from the rear camera 33.
  • the microphone 35 is a sound collection unit that collects siren sounds generated by emergency vehicles in an emergency.
  • the siren sound signal output from the microphone 35 is input to the approach determination unit 37.
  • the approach determination unit 37 detects that the emergency vehicle is approaching from behind by the change in the volume of the siren sound and the change in the wavelength of the sound (Doppler effect). Accordingly, even when a large vehicle such as a bus or a freight car exists behind and the emergency vehicle cannot be recognized by the distance measuring sensor 34 and the rear camera 33, the approach of the emergency vehicle from the rear can be recognized. In addition, the approach of the emergency vehicle from the front can also be detected by making the microphone 35 non-directional.
  • the approach determination unit 37 When the approach determination unit 37 detects that an emergency vehicle is approaching from behind, the approach determination unit 37 outputs an approach signal of the emergency vehicle to the control unit 23.
  • the evacuation instruction receiving unit 36 receives the evacuation instruction signal and inputs the received signal to the approach determination unit 37 when the emergency vehicle broadcasts the evacuation instruction signal by radio.
  • the approach determination unit 37 also has a function of recognizing the approach of an emergency vehicle by receiving the save request information.
  • an emergency vehicle approaching from the front can be recognized by using a captured image of a front camera included in the preceding vehicle detection unit 9. It is.
  • the preceding vehicle detection unit 9 detects the presence or absence of a preceding vehicle and the inter-vehicle distance and speed when there is a preceding vehicle, and includes a front camera 31 and a distance sensor 32.
  • the front camera 31 performs distance measurement at a short distance in the same manner as the rear camera 33 described above.
  • the distance measuring sensor 32 is equivalent to the distance measuring sensor 34, and a millimeter wave radar or an infrared laser sensor is used.
  • FIG. 2 is a block diagram illustrating a function of supporting the driving control operation of the driving control operation support device 5.
  • the driving control operation support device 5 has a function of supporting the driving control operation by the automatic driving control device 4. That is, the operation control operation support device 5 includes a control unit 20, an information storage unit 25, and an interface unit 27.
  • the interface unit 27 transmits and receives signals to and from the automatic driving control device 4, the driver camera 6, the driving mode selection switch 7, the emergency vehicle recognition unit 8, the preceding vehicle detection unit 9, and the awakening device 26.
  • the information storage unit 25 is a non-volatile memory that can be written and read as needed, such as SSD (Solid State Drive) or HDD (Hard Disk Drive), and a random time memory such as RAM (Random Access Memory), as storage media.
  • a facial feature pattern information storage unit 44 as a storage area used for carrying out the present embodiment.
  • the face feature pattern information storage unit 44 stores face feature reference pattern information used by the driver state determination unit 21 to determine a face feature pattern.
  • the control unit 20 includes a CPU (Central Processing Unit) and a program memory constituting a computer, and as a control function necessary for carrying out the present embodiment, a driver state determination unit 21 and an operation mode switching instruction unit 22 are provided. And a control unit 23. All of these control functions are realized by causing the CPU to execute a program stored in the program memory.
  • CPU Central Processing Unit
  • program memory constituting a computer
  • the driver state determination unit 21 includes a face image processing unit 41, a face feature pattern extraction unit 42, and a face feature pattern determination unit 43.
  • the face image processing unit 41 captures image information including the driver's face captured by the driver camera 6 at a predetermined cycle via the interface unit 27. Then, the image information including the captured face is digitally processed to generate face image data.
  • the face feature pattern extraction unit 42 obtains features such as eyelids, pupils, and mouth shapes from the face image data when awakening, napping, and sleepiness (for example, when yawning). Extract.
  • the face feature pattern determination unit 43 compares the extracted features with the driver's face feature reference pattern stored in advance in the face feature pattern information storage unit of the information storage unit 25 to determine the driver's state. judge. As the state of the driver to be determined, for example, an arousal state, a nap state, a drowsiness state, and an aside look state are set. In addition, the face feature pattern determination unit 43 is incapable of driving on the assumption that an image in which a face is not imprinted is in a state where the person has fallen out of consciousness or has left the driver's seat. It may be determined that
  • the operation mode switching instruction unit 22 instructs the automatic operation control device 4 to switch between the manual operation mode and the automatic operation mode.
  • switching from the manual operation mode to the automatic operation mode is performed by the driver operating the operation mode selection switch 7.
  • Switching from the automatic operation mode to the manual operation mode is performed according to the determination result of the driver state determination unit 21 when the operation is performed by the driver or when the automatic operation mode cannot be maintained.
  • the apparatus 4 is instructed to switch the operation mode.
  • the switching operation by the driver is preferable, and the awakening device 26 gives a warning sound or voice or vibrations to the driver's seat to wake up the driver and switch the driving operation by the driver himself. Prompt.
  • the control unit 23 When the emergency vehicle recognizing unit 8 recognizes the approach of the emergency vehicle, the control unit 23 operates the driver based on the information indicating the driver state determined by the driver state determining unit 21. Determine whether it is possible or impossible. The control unit 23 determines the presence or absence of a preceding vehicle based on the detection result by the preceding vehicle detection unit 9. Then, the control unit 23 determines whether to follow the preceding vehicle based on the determination result of whether the driver is capable of driving or not, the determination result of the presence / absence of the preceding vehicle, Information for instructing switching to the operation mode is selectively generated, and the generated instruction information is output to the automatic operation control device 4. The control unit 23 generates information instructing the return to the automatic operation mode when the emergency vehicle recognition unit 8 recognizes the passage of the emergency vehicle after outputting the follow-up instruction information, and the automatic operation control device 4 is also provided.
  • step S1 the driving control operation support device 5 first performs emergency vehicle operation based on the recognition result of the emergency vehicle recognition unit 8 in step S2 under the control of the control unit 23. The presence or absence of approach is determined. In this state, if it is determined that the emergency vehicle is approaching, the control unit 23 next performs manual operation based on the driver state determination result by the driver state determination unit 21 in step S3. Determine if it is in a possible state. When it is determined that the driver is in a state where manual driving is possible, in step S4, switching instruction information for switching to the manual driving mode is generated, and the switching instruction information is transmitted from the interface unit 27 to the automatic driving control device 4. Output.
  • the automatic operation control device 4 can switch the operation mode from the automatic operation mode to the manual operation mode, and thereafter the driver can perform a evacuation operation such as bringing the vehicle to the roadside belt or the like and stopping the vehicle manually.
  • the control part 23 determines the presence or absence of a preceding vehicle based on the detection result by the preceding vehicle detection part 9 in step S5. The determination of the presence or absence of the preceding vehicle is performed in consideration of the inter-vehicle distance and the relative speed with the preceding vehicle.
  • control unit 23 When it is determined that the preceding vehicle exists, the control unit 23 generates instruction information for causing the host vehicle to follow the preceding vehicle in step S6, and outputs the following instruction information from the interface unit 27 to the automatic driving control device 4. To do. Information indicating the inter-vehicle distance to the preceding vehicle to be followed and the relative speed is inserted into the follow-up instruction information.
  • the automatic driving control device 4 performs control so that the traveling state of the vehicle follows the preceding vehicle according to the following instruction information. Therefore, if the preceding vehicle performs a retreat operation such as stopping the vehicle by approaching the roadside belt according to the approach of the emergency vehicle, the host vehicle follows the preceding vehicle and stops at the roadside belt.
  • the control unit 23 monitors the passage of the emergency vehicle in step S7 after the output of the follow-up instruction information. The passing of the emergency vehicle is performed based on the recognition result of the emergency vehicle by the emergency vehicle recognition unit 8. If it is determined in step S7 that the emergency vehicle has passed the side of the host vehicle, the control unit 23 monitors the start of the preceding vehicle based on the detection result by the preceding vehicle detection unit 9 in step S8. When the start of the preceding vehicle is confirmed, information for instructing the return to the automatic operation mode is generated in step S9, and the return instruction information is output from the interface unit 27 to the automatic operation control device 4.
  • the dynamic operation control device 4 returns to the automatic operation mode before changing the operation mode to the follow-up mode, and resumes the automatic operation control operation in the automatic operation mode. Therefore, the vehicle automatically returns to the traveling operation in the automatic driving mode even if the driver performs the start operation of the vehicle in the manual driving mode or does not reset the automatic driving mode.
  • the control unit 23 determines that it is difficult to follow the preceding vehicle, and outputs an operation instruction to the awakening device 26 in step S10.
  • the awakening operation for example, generation of sound or voice message, light emission, vibration of a vibrator provided in a seat, or the like is used.
  • the awakening operation to the driver by the awakening device 26 in step S10 is from when the emergency vehicle in step S2 described above is detected until it is determined whether the driver in step S3 can cope with the manual mode. It may be operated in between.
  • the automatic driving control measure 4 is switched to the manual driving mode, and after that, the vehicle can be withdrawn by a manual driving operation by the driver. If the driver does not wake up even after performing the above-mentioned wake-up operation for a certain time, a driving stop instruction signal is output from the driving control operation support device 5 to the automatic driving control device 4. As a result, the vehicle stops at the roadside or the like under the control of the automatic driving control device 4.
  • the preceding vehicle exists.
  • the own vehicle travels following the preceding vehicle. For this reason, according to the evacuation action of the preceding vehicle, it is possible to slow down or stop the own vehicle by approaching the shoulder side.
  • an instruction to switch from the automatic operation mode to the manual operation mode is issued. For this reason, the evacuation action by the driver's operation can be promptly performed thereafter.
  • the return instruction information to the automatic travel mode is output. For this reason, the follow-up operation to the preceding vehicle is canceled and the vehicle automatically returns to the autonomous automatic traveling mode. Therefore, after the emergency vehicle passes, for example, the driver can restart the traveling operation in the automatic driving mode without performing the reset operation of the automatic driving mode.
  • the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage.
  • various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.
  • a driving operation support device that supports the operation of an automatic driving control device that selectively uses an automatic driving mode and a manual driving mode to drive a vehicle, and includes a hardware processor and a memory, The hardware processor is Recognize the approaching emergency vehicle, Detect the presence of the preceding vehicle, Determining the state of the driver of the vehicle; When the approach of the emergency vehicle is recognized by the emergency vehicle recognition unit while the vehicle is traveling in the automatic driving mode, based on the determination result of the driver state by the driver state determination unit It is determined whether or not the driver is in a state where manual driving is possible, it is determined that the driver is not in a state where manual driving is possible, and the vehicle is detected when the preceding vehicle detecting unit detects the presence of the preceding vehicle.
  • a driving control operation support device configured to output tracking instruction information for causing the vehicle to follow the preceding vehicle to the automatic driving control device.
  • An emergency vehicle recognition process for recognizing the approach of an emergency vehicle using at least one hardware processor;
  • a preceding vehicle detection process for detecting the presence of a preceding vehicle using at least one hardware processor;
  • a driver state determination process for determining a state of the driver of the vehicle using at least one hardware processor;
  • the driver state determination process Based on the determination result of the driver state, it is determined whether or not the driver is in a state where manual driving is possible.
  • a control process for outputting follow-up instruction information for causing the vehicle to follow the preceding vehicle when the presence is detected;
  • a driving control operation support method comprising:

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2017/044481 2017-03-10 2017-12-12 運転制御動作支援装置、運転制御動作支援方法及び運転制御動作支援プログラム WO2018163549A1 (ja)

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JP2017046385A JP6652091B2 (ja) 2017-03-10 2017-03-10 運転制御動作支援装置、運転制御動作支援方法及び運転制御動作支援プログラム
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Cited By (6)

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