WO2019116557A1 - 運転支援方法及び運転支援装置 - Google Patents
運転支援方法及び運転支援装置 Download PDFInfo
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- WO2019116557A1 WO2019116557A1 PCT/JP2017/045172 JP2017045172W WO2019116557A1 WO 2019116557 A1 WO2019116557 A1 WO 2019116557A1 JP 2017045172 W JP2017045172 W JP 2017045172W WO 2019116557 A1 WO2019116557 A1 WO 2019116557A1
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- action
- driver
- state
- vehicle
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- 238000000034 method Methods 0.000 title claims description 28
- 230000005856 abnormality Effects 0.000 claims description 113
- 238000007689 inspection Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 abstract description 37
- 230000007257 malfunction Effects 0.000 abstract 4
- 238000010586 diagram Methods 0.000 description 8
- 230000010365 information processing Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 208000002693 Multiple Abnormalities Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000002826 coolant Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
Images
Classifications
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
- B60R16/0234—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions related to maintenance or repairing of vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/035—Bringing the control units into a predefined state, e.g. giving priority to particular actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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- 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
- B60W2050/143—Alarm means
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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
- 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
- B60W2050/146—Display means
Definitions
- the present invention relates to a driving support method and a driving support device.
- Patent Document 1 a technique for alerting a driver of information related to an abnormality when an abnormality occurs in a vehicle.
- Patent Document 1 a technique for alerting a driver of information related to an abnormality when an abnormality occurs in a vehicle.
- Patent Document 1 when an abnormality occurs in the engine rotational speed, the remaining fuel amount, and the engine coolant temperature, the driver is notified of information on the abnormality.
- Patent Document 1 When a plurality of abnormalities occur in the vehicle, it is desirable to give priority to the driver with more important information. However, the invention described in Patent Document 1 does not refer to the priority of information, and there is room for improvement.
- the present invention has been made in view of the above problems, and an object thereof is to provide a driving support method and a driving support apparatus for guiding information with high priority to a driver when a plurality of abnormalities occur in a vehicle. It is to be.
- a driving support method detects a plurality of abnormalities of a device mounted on a vehicle, and selects, based on the detected plurality of abnormalities, a plurality of action candidates to be urged to the driver.
- the driving support method selects a candidate with a high priority from among a plurality of action candidates to be urged to the driver as an action to urge the driver, and guides the driver to the action to urge the selected driver.
- FIG. 1 is a schematic configuration diagram of a driving support device according to a first embodiment of the present invention.
- FIG. 2 is a diagram for explaining an example of an action for prompting the driver.
- FIG. 3 is a diagram for explaining another example of the action for prompting the driver.
- FIG. 4A is a diagram for explaining an example of a travel restriction state for guiding a driver.
- FIG. 4B is a view for explaining another example of the travel restriction state for guiding the driver.
- FIG. 5 is a flowchart for explaining an operation example of the driving assistance apparatus according to the first embodiment of the present invention.
- FIG. 6 is a schematic block diagram of a driving assistance apparatus according to a second embodiment of the present invention.
- FIG. 1 is a schematic configuration diagram of a driving support device according to a first embodiment of the present invention.
- FIG. 2 is a diagram for explaining an example of an action for prompting the driver.
- FIG. 3 is a diagram for explaining another example of the action for prompting the driver.
- FIG. 7 is a diagram for explaining an example of an action prompting the driver and a travel restriction state for guiding the driver.
- FIG. 8 is a diagram for explaining another example of the action for prompting the driver.
- FIG. 9 is a diagram for explaining setting of a margin according to the second embodiment of the present invention.
- the driving support device notifies an action to urge the driver based on the plurality of abnormalities of the device mounted on the vehicle.
- the devices mounted on the vehicle are, for example, a generator 10, a battery 11, an engine 12, a drive motor 13, and an accessory 14 shown in FIG.
- the apparatus mounted in a vehicle is not limited to these, A radiator, a transmission, etc. may be included.
- the driving support device includes a controller 20, a speaker 40, and a display 41.
- the vehicle is a host vehicle
- the driver is a driver of the host vehicle.
- the generator 10 receives power from the engine 12 and charges the battery 11.
- the battery 11 supplies power to the drive motor 13.
- the drive motor 13 drives the tire using the power received from the battery 11. Further, the drive motor 13 charges the battery 11 with the electric power regenerated and generated.
- the accessory 14 is, for example, an electric motor or a headlight for driving a compressor of the air conditioner.
- the battery 11 is not particularly limited, and is, for example, a lithium ion battery.
- the generator 10, the battery 11, the engine 12, the drive motor 13, and the accessory 14 may be simply referred to as the generator 10 or the like.
- the controller 20 is connected to the generator 10 and the like, detects an abnormality of the generator 10 and the like, and guides the driver to an action prompting the driver via the speaker 40 and the display 41.
- connection method of the controller 20 and the generator 10 etc. is not specifically limited, For example, CAN (Controller Area Network) can be used.
- the controller 20 is a general-purpose microcomputer including a CPU (central processing unit), a memory, and an input / output unit.
- a computer program for functioning as a driving support device is installed. By executing the computer program, the microcomputer functions as a plurality of information processing circuits included in the driving support device.
- the controller 20 includes, as a plurality of information processing circuits, an abnormality detection unit 21, a traveling state detection unit 23, a travel restriction detection unit 25, a candidate selection unit 27, a priority determination unit 29, and a guidance unit 31. .
- the abnormality detection unit 21 detects a plurality of abnormalities such as the generator 10 based on the information received from the generator 10 or the like.
- the abnormality detection unit 21 outputs information on the detected plurality of abnormalities to the traveling state detection unit 23, the traveling restriction detection unit 25, and the candidate selection unit 27.
- the abnormality detection unit 21 may be configured as a sensor that detects an abnormality of the generator 10 or the like.
- the traveling state detection unit 23 detects the traveling state of the vehicle. More specifically, the traveling state detection unit 23 detects the traveling state based on the information acquired from a speed sensor or the like (not shown).
- the traveling state in the first embodiment means, for example, a state in which the vehicle is traveling or a state in which the vehicle is stopped.
- the traveling state may also include the state of the shift lever. That is, the traveling state includes a state in which the shift lever is set to parking, a state in which the shift lever is set to drive, and the like.
- the traveling state detection unit 23 outputs the detected traveling state to the candidate selection unit 27.
- the travel restriction detection unit 25 detects the travel restriction of the vehicle or calculates the travel restriction limit value based on the plurality of abnormalities detected by the abnormality detection unit 21.
- the travel restriction of the vehicle is, for example, the restriction of the maximum speed and the maximum driving force (maximum start acceleration, etc.) of the vehicle, or a state in which the vehicle can not be started next time. Also, control parameters for realizing this limitation include, for example, maximum drive power or maximum drive torque. The details of the travel restriction will be described later.
- the travel restriction detection unit 25 outputs the detected travel restriction to the candidate selection unit 27.
- the candidate selection unit 27 (first selection circuit) selects, based on the plurality of abnormalities detected by the abnormality detection unit 21, a plurality of action candidates to be prompted by the driver.
- the priority determination unit 29 selects a plurality of candidates selected by the candidate selection unit 27 based on the information output from the abnormality detection unit 21, the traveling state detection unit 23, and the travel restriction detection unit 25. From among the above, the candidate with high priority is selected as the action to urge the driver.
- the guiding unit 31 guides the driver to the action selected by the priority determining unit 29.
- the guiding unit 31 may guide the driver using sound from the speaker 40, or may display an image on the display 41 for guidance.
- the display 41 is not particularly limited, but is a liquid crystal display in a meter panel or a liquid crystal display used for a car navigation device.
- the action for prompting the driver is an action assumed to be appropriate for the driver to take an action when an abnormality occurs in a device (such as the above-described generator 10) mounted on the vehicle. is there.
- an abnormality A occurs in the generator 10.
- the action to prompt the driver there is an action "Please check at a store”.
- the guiding unit 31 guides the driver of the action "Please check at the store” as the action to urge the driver.
- the guiding unit 31 may use the speaker 40 to guide the driver as "Please check at the store" by voice.
- voice guidance guidance may be performed only once or may be performed a predetermined number of times.
- an abnormality B has occurred in the battery 11.
- Abnormality A and abnormality B have different contents.
- the action to prompt the driver there is an action of "please stop safely”.
- the guiding unit 31 guides the driver of an action "please stop safely” as an action prompting the driver.
- the guiding unit 31 may use the speaker 40 to guide the driver as "Please stop safely” by voice.
- the driver can take an appropriate action by guiding the driver to the action for prompting the driver according to the abnormality of the generator 10 or the like.
- a plurality of abnormalities may occur in the generator 10 or the like.
- an abnormality A occurs in the generator 10 and an abnormality B occurs in the battery 11.
- there are a plurality of actions for prompting the driver such as the action of “check at the dealer” and the action of “stop safely” described above.
- the candidate selection unit 27 selects candidates for a plurality of actions to be prompted by the driver based on the plurality of abnormalities that have occurred.
- the candidate of the several action which the candidate selection part 27 selects is two, the action of "please inspect at a store," and the action of "please stop safely.”
- the priority determination unit 29 selects a candidate with a high priority from among the plurality of action candidates selected by the candidate selection unit 27 as an action to urge the driver.
- the level of priority in the first embodiment is determined using at least one of the contents of a plurality of abnormalities, the traveling state, and the traveling restriction.
- the high and low of the priority may be determined by the combination of the contents of the plurality of abnormalities, the traveling state, and the traveling restriction.
- the priority determination unit 29 determines that the action based on the abnormality B has a higher priority than the action based on the abnormality A. In other words, the priority determination unit 29 selects two actions, “Please check at the store” and “Please stop safely”, as candidates for multiple actions to prompt the driver. In this case, it is determined that the action of “stop safely” has a higher priority than the action of “check at the store”. Then, the priority determination unit 29 selects an action of “please stop safely” as the action for prompting the driver.
- such high and low of the priority can be preset according to the importance and urgency of the abnormal content.
- the abnormality of the 12V power system can be set to have a higher priority than the abnormality of the other devices.
- the guiding unit 31 guides the driver to the action selected by the priority determining unit 29. That is, in the driving support apparatus according to the first embodiment, a plurality of abnormalities occur in the device (such as the generator 10) mounted on the vehicle, and a plurality of action candidates are generated as illustrated in the images 60 and 61 illustrated in FIG. When selected, it is possible to select a candidate with high priority as an action to urge the driver based only on the contents of the plurality of abnormalities. Then, the driver can take appropriate action by the driving support device guiding the selected action to the driver.
- the guiding unit 31 may display an image indicating attention as in the image 80 illustrated in FIG.
- the guiding unit 31 can continuously turn on the image 80 and display it on the display 41.
- the guide unit 31 can blink and display an image indicating attention as shown in an image 81 of FIG. 2. This allows the driver to notice a high priority action quickly.
- the images 80 and 81 may be images relating to travel restriction.
- the guide unit 31 since the travel restriction is, for example, the restriction of the maximum speed and the maximum driving force of the vehicle, the guide unit 31 switches the lighting state of the images 80 and 81 according to the maximum speed and the maximum driving force. Good.
- the guiding unit 31 may display the image 80 continuously on the display 41 as illustrated in FIG. 2.
- the guiding unit 31 may blink the image 81 and display it on the display 41 as shown in FIG.
- the images 80 and 81 have the same function also in FIG. 3 and later, the description may be omitted in FIG. 3 and later.
- the travel restriction detection unit 25 calculates a travel restriction limit value based on the plurality of abnormalities detected by the abnormality detection unit 21.
- the information on the abnormality of the device detected by the abnormality detection unit 21 includes the limit value of the device.
- the limit value of the device is, for example, the maximum torque that the drive motor 13 can output.
- the travel limit detection unit 25 calculates the maximum speed and the maximum driving force of the vehicle as the travel limit limit value based on the limit value of the device.
- the priority determining unit 29 selects a candidate with a high priority as an action to urge the driver based on the maximum speed and the maximum driving force calculated by the traveling limit detecting unit 25.
- the candidate selection unit 27 selects a plurality of action candidates to be prompted by the driver based on the plurality of generated anomalies.
- the candidate of the several action which the candidate selection part 27 selects is two, the action of "please inspect at a store,” and the action of "please stop safely.”
- the traveling limit detecting unit 25 calculates the maximum speed and the maximum driving force caused by the abnormality A.
- the traveling limit detecting unit 25 calculates the maximum speed and the maximum driving force caused by the abnormality B.
- the order of calculations may be reversed.
- the priority determining unit 29 selects, as a candidate with a high priority, a candidate relating to one of the two maximum speeds and the maximum driving force calculated by the travel restriction detecting unit 25 that has the lower maximum speed and the maximum driving force. For example, if the maximum speed and maximum driving force caused by the abnormality B are lower than the maximum speed and maximum driving force caused by the abnormality A, the priority determination unit 29 "please stop safely" as an action prompting the driver. Choose an action. In this manner, the priority determination unit 29 can select a candidate with a high priority based on only the travel restriction as an action to urge the driver.
- the plurality of action candidates for prompting the driver include at least an action related to parking, an action related to stopping, and an action related to inspection.
- the action regarding stopping is the action of "Please stop safely” mentioned above.
- the action regarding the check is the action "Please check at the dealer” mentioned above.
- the action related to parking is an action of "Please set parking brake” as shown in FIG.
- the priority of the action on inspection is lower than the priority of the action on parking and the priority of the action on parking.
- an action related to stopping is guided when the vehicle is traveling, and an action related to parking is guided when the vehicle is stopping. This point will be described in detail.
- the stop of the vehicle means the case where the speed of the vehicle is zero and the shift lever is not set to the parking brake.
- the candidate selection unit 27 selects a plurality of action candidates to be prompted by the driver based on the plurality of generated anomalies.
- Candidates of multiple actions selected by the candidate selection unit 27 are 3 of the action of “Please check at the store”, the action of “stop safely”, and the action of “please apply parking brake”. It is one.
- the priority determination unit 29 selects a candidate with a high priority from among the three action candidates selected by the candidate selection unit 27 as an action to urge the driver. First of all, in the priority determination section 29, the action of "please stop safely" and the action of "please put parking brake” have priority over the action of "please check at the store". Decide to be high.
- the priority determination unit 29 selects the action "Please stop safely” when the vehicle is traveling, and the action "Please apply parking brake” when the vehicle is stopped. select.
- the priority determination unit 29 can select a candidate with a high priority as an action to urge the driver based on only the traveling state of the vehicle.
- the guide unit 31 may guide the driver by voice "Please apply parking brake", and may display the image 62 shown in FIG. 3 on the display 41.
- the guiding unit 31 may display the image 81 indicating attention by continuously lighting it.
- the travel restriction detection unit 25 detects a plurality of travel restriction states based on the plurality of abnormalities detected by the abnormality detection unit 21.
- the travel restriction state detected by the travel restriction detection unit 25 as shown in the images 63 and 64 of FIG. 4, there are a state of “traveling restricted” and a “impossible to start next time”.
- the state of "traveling restricted” refers to a state in which traveling of the vehicle is restricted.
- a state in which the vehicle can not be started next time means a state in which the vehicle can not be started next time.
- the travel restriction and the travel restriction state will be described with words separated, but the travel restriction includes the travel restriction state.
- the priority determination unit 29 selects a candidate with a high priority from the plurality of candidates for the travel restriction state selected by the travel restriction detection unit 25 as a travel restriction state for guiding the driver to the driver.
- the travel restriction state caused by the abnormality A generated in the generator 10 is “a state where it can not start next time”. It is assumed that the travel restriction state caused by the abnormality B occurring in the state 11 is the state of "during travel restriction”.
- the plurality of travel restriction states selected by the candidate selection unit 27 are two states of “during travel restriction” and “a state where it can not start next time”. The priorities of the plurality of travel restriction states are set in advance.
- the priority determining unit 29 determines that the traveling restricted state based on the abnormality B is abnormal A It is determined that the priority is higher than the travel restriction state based on. Then, the priority determination unit 29 selects the state of "traveling restricted” as the traveling restricted state for guiding the driver. Then, the guiding unit 31 guides the travel restriction state selected by the priority determining unit 29 to the driver.
- the guide unit 31 may display the image 63 on the display 41 for guidance, or may indicate by voice that “travel is being restricted”.
- the guide part 31 may guide both a driving
- the priority determination unit 29 may select the travel restriction state having high priority and the action having high priority. it can.
- the plurality of travel restriction states the state of “traveling restricted” and the “impossible to start next time” are selected, and the state of “traveling restricted” is higher than the priority of the “impossible to start next time”.
- the action of "Please check at the store” and the action of "Please stop safely” are selected as candidates for multiple actions, and the action of "Please stop safely” is " "Please check with your dealer," the priority is higher than the action.
- the image 65 and the image 66 shown in FIG. 4B may be mentioned as the image to be displayed on the display 41, but the priority of the image 65 is higher than the priority of the image 66.
- the image 65 is displayed on the display 41.
- the guiding unit 31 can guide the driver in both the travel restriction state and the action for prompting the driver.
- the guiding unit 31 may alternately guide "I'm restricted to travel" and "Please stop safely” by voice.
- the guide part 31 may guide only a driving
- the priority determination unit 29 can select a candidate with a high priority as an action to urge the driver based on only the travel restriction state. For example, similarly to the above, when the travel restriction state caused by the abnormality A is “a state where it can not start next time”, an action “check at a store” is selected as an action prompting the driver. On the other hand, when the travel restriction state caused by the abnormality B is “during travel restriction”, the action “Please stop safely” is selected as the action prompting the driver. As described above, since the action of “please stop safely” has a higher priority than the action of “please check at the store”, the priority determination unit 29 “safely prompts the driver”. You can choose the action of "Stop at”. In this manner, the priority determination unit 29 can select a candidate with high priority based on only the travel restriction state as an action to urge the driver.
- step S101 the abnormality detection unit 21 detects an abnormality in the generator 10 or the like.
- the process proceeds to step S102, and the traveling restriction detecting unit 25 detects the traveling restriction state of the vehicle based on the plurality of abnormalities detected by the abnormality detecting unit 21. .
- step S101 when the abnormality detection unit 21 does not detect a plurality of abnormalities, the process stands by.
- step S103 The process proceeds to step S103, and the traveling restriction detecting unit 25 detects the traveling restriction of the vehicle based on the plurality of abnormalities detected by the abnormality detecting unit 21.
- step S104 the traveling state detection unit 23 detects the traveling state of the vehicle.
- step S105 the candidate selection unit 27 selects, based on the plurality of abnormalities detected by the abnormality detection unit 21, a plurality of action candidates to be prompted by the driver.
- the process proceeds to step S106, and the priority determination unit 29 selects a candidate having a high priority from among the plurality of candidates selected by the candidate selection unit 27 as an action to urge the driver.
- the priority determination unit 29 uses at least one of the contents of a plurality of abnormalities, the traveling state, the traveling restriction state, and the traveling restriction to select a candidate with a high priority as an action to urge the driver.
- the process proceeds to step S107, and the guiding unit 31 guides the driver to the action selected by the priority determining unit 29.
- the driving support device detects a plurality of abnormalities such as the generator 10 mounted on the vehicle, and selects, based on the detected plurality of abnormalities, a plurality of action candidates to be prompted by the driver.
- the driving support apparatus selects a candidate with high priority from among a plurality of action candidates to be urged to the driver as an action to urge the driver, and guides the driver to the action to urge the selected driver.
- the driving support device can guide the driver with information with high priority. This allows the driver to take appropriate action.
- the driving support device also detects the travel restriction of the vehicle based on the plurality of detected abnormalities.
- the driving support apparatus selects a candidate with a high priority using at least one of the content of the plurality of abnormalities, the traveling state, and the traveling restriction as an action to urge the driver.
- the driving support device can select a candidate with high priority even with a small amount of information.
- the plurality of action candidates for prompting the driver include at least an action related to parking, an action related to stopping, and an action related to inspection.
- the priority of the action on inspection is set lower than the priority of the action on parking and the priority of the action on parking.
- the driving support device selects the action regarding the stop when the vehicle is traveling, and the vehicle stops. If you choose to act on parking. Thereby, the driving assistance device can perform appropriate guidance based on the plurality of abnormalities and the traveling state.
- a plurality of travel restriction states may be detected based on a plurality of abnormalities.
- the plurality of travel restriction states are a state of "traveling restricted” and a state in which the vehicle can not be started next time.
- the driving support device guides the driver in the travel restriction state with high priority. If the priority of the state of "traveling restricted” is set higher than the priority of the "impossible to start next time", the driving support device guides the driver of the state of "traveling restricted”. In this way, the driving support device can guide both of the high priority travel restriction state and the high priority action.
- the driving support device may guide the travel restriction state.
- the driving support device guides both of the high priority travel restriction state and the high priority action, some drivers may feel bothersome.
- the travel restriction state instead of the driving support device guiding the action prompting the driver, the annoyance felt by the driver is reduced.
- images 80 and 81 shown in FIG. 2 are images relating to travel restriction, and the driving support apparatus switches between blinking lighting and continuous lighting of the images 80 and 81 according to the travel restriction (maximum speed and maximum driving force) .
- the driving support device causes the image 80 to be continuously lit and displayed on the display 41, as shown in FIG.
- the driving support device blinks the image 81 and displays it on the display 41 as shown in FIG. This allows the driver to quickly notice that it has dropped.
- the driving support device calculates the travel restriction limit value based on the plurality of abnormalities. Specifically, the driving support device calculates the maximum speed and the maximum driving force of the vehicle as the traveling restriction limit value based on the restriction values of the plurality of devices (such as the generator 10). Then, based on the maximum speed and the maximum driving force, the driving support apparatus selects a candidate with a high priority as an action to urge the driver. Thus, the driving support device can select a candidate with high priority based on only the travel restriction as an action to urge the driver.
- the second embodiment is different from the first embodiment in that the second embodiment includes a guide switching unit 35 and a margin setting unit 33 instead of the guide unit 31.
- symbol is referred and the description is abbreviate
- the guidance switching unit 35 alternately guides the plurality of actions when the priorities of the plurality of action candidates prompting the driver are the same. Moreover, the guidance switching part 35 guides a several driving
- the margin setting unit 33 sets a margin as a threshold value used when the guidance switching unit 35 switches the guidance.
- the margin setting unit 33 switches the state to guide the action related to the inspection. Set a margin for the threshold used.
- the guide switching unit 35 alternately displays the image 63 and the image 67 shown in FIG. Display and guide the driver to the travel restriction status. Further, the guidance switching unit 35 may alternately guide by voice “during running restriction” and “a state where it can not start next time”.
- the guidance switching unit 35 displays the image 68 and the image 62 shown in FIG. Are alternately displayed on the display 41 to guide the driver to the action. Further, the guide switching unit 35 may alternately guide by voice "Please turn off the ignition switch” and "Please apply parking brake".
- the driving support apparatus detects a plurality of abnormalities in the generator 10 or the like, and when a plurality of actions for prompting the driver and a plurality of travel restriction states for guiding the driver are selected, the action or the travel restriction state having high priority To guide you. By the way, another abnormality may be detected after the driving support device performs such guidance.
- the priority determination unit 29 selects an action regarding inspection and a state of “during traveling restriction”
- the image 69 of FIG. 8 is displayed on the display 41.
- guidance may be provided by voice instead of the image 69.
- the candidate selection unit 27 performs two actions: "Please check at the store” and "Please stop safely". It is assumed that you selected In this case, as described above, the priority determination unit 29 selects an action of “please stop safely” as the action for prompting the driver.
- the guidance switching unit 35 switches from the image 69 to the image 63 as shown in FIG. When switching the image 69 to the image 63, the guidance switching unit 35 switches immediately.
- the guidance switching unit 35 also switches immediately when guiding by voice.
- the image 63 and the image 69 were demonstrated as an action regarding a stop of "Please stop safely", you may be an action regarding parking.
- the guidance switching unit 35 can also switch the image 63 to the image 69.
- the priority determination unit 29 selects an action related to a stop and a state of “traveling restricted”, the image 63 of FIG. 8 is displayed on the display 41.
- guidance may be provided by voice instead of the image 63.
- the candidate selection unit 27 selects only the action "Please check at the store”.
- the priority determination unit 29 selects an action of "Please check at a store" as the action for prompting the driver.
- the guidance switching unit 35 switches from the image 63 to the image 69 as shown in FIG.
- the guidance switching unit 35 switches the image 63 to the image 69 after a predetermined time has elapsed.
- the reason is that when frequent image switching occurs, the driver may feel troublesome.
- the guidance switching unit 35 also switches after a predetermined time has elapsed, when guiding by voice.
- the guidance switching unit 35 can switch the image 69 to the image 60. At this time, when switching the image 69 to the image 60, the guidance switching unit 35 may switch after a predetermined time has elapsed. The same applies to voice guidance.
- a threshold for switching the image may be set.
- the threshold is set, for example, in accordance with a value obtained by normalizing a plurality of abnormalities. For example, as shown in FIG. 9, when the normalized value of the plurality of abnormalities exceeds the threshold A, the guidance switching unit 35 can switch the image 63 to the image 69. In this case, with the threshold A, as shown in FIG. 9, switching of images may occur frequently. Frequent image switching may cause the driver to feel bothersome. Therefore, the margin setting unit 33 sets a margin to the threshold A, and sets the threshold B shown in FIG. 9 as a new threshold. As a result, as shown in FIG.
- the margin setting unit 33 may set a margin as a threshold used when switching the image 69 shown in FIG. 8 to the image 60.
- the guidance switching unit 35 determines that the value obtained by normalizing a plurality of abnormalities exceeds the threshold after margin setting.
- the image 69 may be switched to the image 60 after a predetermined time has elapsed.
- the driving support apparatus alternately guides the plurality of actions when the priorities of the plurality of action candidates prompting the driver are the same.
- the driving support device guides the plurality of travel restriction states alternately when the priorities related to the plurality of travel restriction states are the same.
- the driving support device can perform appropriate guidance.
- the driving support device After selecting the action for inspection, when the action for parking or the action for stopping is selected, the driving support device immediately guides the action for parking or the action for stopping. As a result, the driving support device can quickly guide the driver to a high priority action. In addition, when selecting an action related to a check after selecting an action related to parking or an action related to a stop, the driving support device guides the action related to the check after a predetermined time has elapsed. As a result, the frequency of occurrence of image switching is reduced, so that the annoyance felt by the driver is reduced.
- the driving support device switches from the state in which the travel of the vehicle is restricted, and the state in which the action relating to parking or the action in regard to stopping is guided to the state in which the travel of the vehicle is restricted and the action relating to inspection Set a margin to the threshold used at the same time. As a result, the frequency of occurrence of image switching is reduced, so that the annoyance felt by the driver is reduced.
- the processing circuitry comprises a programmed processing device, such as a processing device that includes an electrical circuit.
- the processing circuitry also includes devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions.
- ASICs application specific integrated circuits
- the travel limitation may include the SOC (STATE OF CHARGE) of the battery 11.
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Abstract
Description
図1を参照して、第1実施形態に係る運転支援装置の構成の一例について説明する。運転支援装置は、車両に搭載される機器の複数の異常に基づいて、ドライバに促す行動を通知する。車両に搭載される機器は、例えば、図1に示す発電機10、バッテリ11、エンジン12、駆動モータ13、及び補機14である。車両に搭載される機器は、これらに限定されず、ラジエータやトランスミッションなどを含んでもよい。
走行状態検出部23は、検出した走行状態を候補選択部27に出力する。
走行制限検出部25は、異常検出部21によって検出された複数の異常に基づいて、走行制限の制限値を計算する。第1実施形態において、異常検出部21が検出する機器の異常に関する情報は、機器の制限値を含む。機器の制限値は、例えば駆動モータ13が出力できる最大トルクである。
以上説明したように、第1実施形態に係る運転支援装置によれば、以下の作用効果が得られる。
次に、図6を参照して、第2実施形態に係る運転支援装置について説明する。第2実施形態が第1実施形態と異なるのは、第2実施形態が案内部31の代わりに案内切替部35とマージン設定部33を備えることである。第1実施形態と重複する構成については符号を引用してその説明は省略する。以下、相違点を中心に説明する。
11 バッテリ
12 エンジン
13 駆動モータ
14 補機
20 コントローラ
21 異常検出部
23 走行状態検出部
25 走行制限検出部
27 候補選択部
29 優先度決定部
31 案内部
33 マージン設定部
35 案内切替部
40 スピーカ
41 ディスプレイ
60~69、80~81 画像
Claims (13)
- 車両に搭載された機器の複数の異常を検出するステップと、
検出した前記複数の異常に基づいて、ドライバに促す複数の行動の候補を選択するステップと、
前記ドライバに促す複数の行動の候補から優先度が高い候補を前記ドライバに促す行動として選択するステップと、
選択した前記ドライバに促す行動を前記ドライバに案内するステップと、
を備えることを特徴とする運転支援方法。 - 前記車両の走行状態を検出するステップと、
前記車両の走行制限を検出するステップと、をさらに備え、
前記複数の異常の内容、前記走行状態、前記走行制限のうち、少なくとも一つを用いて前記優先度が高い候補を前記ドライバに促す行動として選択することを特徴とする請求項1に記載の運転支援方法。 - 前記ドライバに促す複数の行動の候補は、少なくとも駐車に関する行動、停車に関する行動、点検に関する行動を含み、
前記点検に関する行動の優先度は、前記駐車に関する行動の優先度、及び前記停車に関する行動の優先度より低いことを特徴とする請求項1または2に記載の運転支援方法。 - 前記車両の走行状態を検出するステップをさらに備え、
前記ドライバに促す複数の行動の候補は、少なくとも駐車に関する行動、停車に関する行動、点検に関する行動を含み、
前記走行状態に基づいて、前記駐車に関する行動、及び前記停車に関する行動から、どちらか一方を前記ドライバに促す行動として選択することを特徴とする請求項1~3のいずれか1項に記載の運転支援方法。 - 前記車両の走行制限を検出するステップと、
前記走行制限を前記ドライバに案内するステップとをさらに備え、
前記複数の異常を検出することによって複数の走行制限を検出した場合、検出した前記複数の走行制限から、優先度が高い走行制限を案内し、
前記複数の走行制限は、前記車両の走行が制限された状態、及び前記車両が次回始動できない状態を含むことを特徴とする請求項2~4のいずれか1項に記載の運転支援方法。 - 前記ドライバに促す行動を案内することに代えて、前記走行制限を案内することを特徴とする請求項5に記載の運転支援方法。
- 前記複数の行動の候補に係る優先度が同一の場合、前記複数の行動を交互に案内し、または、前記複数の走行制限に係る優先度が同一の場合、前記複数の走行制限を交互に案内することを特徴とする請求項5または6に記載の運転支援方法。
- 前記点検に関する行動を選択した後に、前記駐車に関する行動、または前記停車に関する行動を選択した場合、即座に前記駐車に関する行動、または前記停車に関する行動を案内し、
前記駐車に関する行動、または前記停車に関する行動を選択した後に、前記点検に関する行動を選択した場合、前記点検に関する行動を案内する状態に切り替える際に用いられる閾値にマージンを設定することを特徴とする請求項3または4に記載の運転支援方法。 - 前記車両の走行が制限された状態、及び前記駐車に関する行動、または前記停車に関する行動を案内している状態から、前記車両の走行が制限された状態、及び前記点検に関する行動を案内する状態に切り替える際に用いられる閾値にマージンを設定することを特徴とする請求項8に記載の運転支援方法。
- 前記車両の走行が制限された状態、かつ、前記点検に関する行動を案内する状態4から、前記車両の走行が制限されていない状態、かつ、前記点検に関する行動を案内する状態に切り替える際に用いられる閾値にマージンを設定することを特徴とする請求項8または9に記載の運転支援方法。
- 前記車両に搭載されるディスプレイに画像を表示するステップをさらに備え、
前記画像は、前記走行制限に関する画像であり、
前記画像を表示するステップにおいて、前記走行制限に応じて前記画像の点滅点灯と連続点灯とを切り替えることを特徴とする請求項2に記載の運転支援方法。 - 前記車両の走行制限を検出するステップと、
前記複数の異常に基づいて、前記走行制限の制限値を計算するステップとをさらに備え、
前記機器は、少なくとも発電機と、エンジンと、補機と、駆動モータと、バッテリとを含み、
前記複数の異常に関する情報は、前記機器の制限値を含み、
前記計算するステップにおいて、前記機器の制限値に基づいて、前記走行制限の制限値として前記車両の最高速度と最大駆動力を計算し、
前記最高速度と前記最大駆動力とに基づいて、前記選択した複数の行動から、優先度が高い行動を選択することを特徴とする請求項2~10のいずれか1項に記載の運転支援方法。 - 車両に搭載された機器の複数の異常を検出するセンサと、
前記センサによって検出された前記複数の異常に基づいて、ドライバに促す複数の行動の候補を選択する第1選択回路と、
前記第1選択回路によって選択された前記ドライバに促す複数の行動の候補から優先度が高い候補を前記ドライバに促す行動として選択する第2選択回路と、
前記第2選択回路によって選択された前記ドライバに促す行動を前記ドライバに案内する案内回路と、
を備えることを特徴とする運転支援装置。
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US16/771,859 US11961342B2 (en) | 2017-12-15 | 2017-12-15 | Driving assistance method and driving assistance device |
BR112020011928-8A BR112020011928A2 (pt) | 2017-12-15 | 2017-12-15 | método de assistência à condução e dispositivo de assistência à condução |
CN201780097754.5A CN111492418B (zh) | 2017-12-15 | 2017-12-15 | 驾驶辅助方法和驾驶辅助装置 |
KR1020207019264A KR102390138B1 (ko) | 2017-12-15 | 2017-12-15 | 운전 지원 방법 및 운전 지원 장치 |
RU2020122268A RU2748730C1 (ru) | 2017-12-15 | 2017-12-15 | Способ помощи при вождении и устройство помощи при вождении |
PCT/JP2017/045172 WO2019116557A1 (ja) | 2017-12-15 | 2017-12-15 | 運転支援方法及び運転支援装置 |
MX2020006161A MX2020006161A (es) | 2017-12-15 | 2017-12-15 | Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion. |
EP17934468.4A EP3726499B1 (en) | 2017-12-15 | 2017-12-15 | Driving assistance method and driving assistance device |
JP2019558847A JP6977781B2 (ja) | 2017-12-15 | 2017-12-15 | 運転支援方法及び運転支援装置 |
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JP2015038894A (ja) | 2009-12-24 | 2015-02-26 | ソニー株式会社 | リチウムイオン二次電池、リチウムイオン二次電池用負極、リチウムイオン二次電池用負極活物質、電動工具、電気自動車および電力貯蔵システム |
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JP2021062683A (ja) * | 2019-10-11 | 2021-04-22 | トヨタ自動車株式会社 | 駐車支援装置 |
JP7136060B2 (ja) | 2019-10-11 | 2022-09-13 | トヨタ自動車株式会社 | 駐車支援装置 |
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US20210174615A1 (en) | 2021-06-10 |
KR102390138B1 (ko) | 2022-04-25 |
CN111492418A (zh) | 2020-08-04 |
JP6977781B2 (ja) | 2021-12-08 |
MX2020006161A (es) | 2020-08-13 |
EP3726499A4 (en) | 2021-04-28 |
JPWO2019116557A1 (ja) | 2020-12-03 |
EP3726499B1 (en) | 2023-09-20 |
KR20200090901A (ko) | 2020-07-29 |
RU2748730C1 (ru) | 2021-05-31 |
US11961342B2 (en) | 2024-04-16 |
BR112020011928A2 (pt) | 2020-11-17 |
EP3726499A1 (en) | 2020-10-21 |
CN111492418B (zh) | 2022-07-12 |
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