WO2019123887A1 - 自動運転車両に搭載される制御装置および方法 - Google Patents

自動運転車両に搭載される制御装置および方法 Download PDF

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Publication number
WO2019123887A1
WO2019123887A1 PCT/JP2018/041772 JP2018041772W WO2019123887A1 WO 2019123887 A1 WO2019123887 A1 WO 2019123887A1 JP 2018041772 W JP2018041772 W JP 2018041772W WO 2019123887 A1 WO2019123887 A1 WO 2019123887A1
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Prior art keywords
notification
driving operation
unit
driving
vehicle
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Ceased
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PCT/JP2018/041772
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English (en)
French (fr)
Japanese (ja)
Inventor
祐司 太田
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Denso Corp
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Denso Corp
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Publication of WO2019123887A1 publication Critical patent/WO2019123887A1/ja
Priority to US16/901,665 priority Critical patent/US20200307636A1/en
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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
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • 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
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2540/18—Steering angle
    • 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

Definitions

  • the present disclosure relates to a control device and method mounted on an autonomous driving vehicle.
  • the present disclosure aims to provide a control device and method mounted on an autonomous driving vehicle.
  • a control device mounted on an autonomous driving vehicle acquires an information processing unit that acquires a type of driving operation performed during autonomous driving in the autonomous driving vehicle and information indicating a reason for the driving operation being performed. And, when the acquired type of the driving operation is at least a driving operation involving movement in the lateral direction, information representing that the driving operation involving movement in the lateral direction is performed, and movement in the lateral direction And a notification unit configured to notify information representing the reason why the operation is performed using the notification device prior to the execution of the driving operation.
  • the passenger can easily foresee the driving operation automatically performed in the autonomous driving vehicle.
  • the drawing is It is a block diagram showing a schematic structure of an autonomous driving vehicle, It is a figure which shows the relationship between acceleration and information alerting
  • an autonomous driving ECU (Electronic Control Unit) 10 corresponding to the “control device” of the present disclosure is mounted on an autonomous driving vehicle 90.
  • the autonomous driving vehicle 90 includes a sensor unit 20, a vehicle control actuator 30, a notification device 40, and an input unit 50 in addition to the autonomous driving ECU 10.
  • the sensor unit 20 detects and rejects targets existing around the autonomous driving vehicle 90.
  • the sensor unit 20 includes, for example, LIDAR (Light Detection and Ranging), millimeter wave radar, a camera, and the like.
  • the vehicle control actuator 30 is an actuator for driving the autonomous driving vehicle 90.
  • the vehicle control actuator 30 includes, for example, a steering device mounted on the autonomous driving vehicle 90, a braking device, a drive device, and an actuator for operating the power device.
  • the notification device 40 is a device for notifying an occupant (mainly a driver) of the autonomous driving vehicle 90 of various types of information using images and sounds.
  • the notification device 40 includes a display device and a speaker.
  • the display device for example, a HUD (Head-Up Display) or a display device provided on an instrument panel can be used.
  • image includes moving images and character strings.
  • the input unit 50 is a device for acquiring an occupant's decision from the occupant.
  • the input unit 50 includes, for example, a handle, a lever, a button, a pedal, and a voice input device.
  • the input unit 50 can receive cancellation of the automatic driving operation.
  • the autonomous driving ECU 10 is a device for automatically driving the autonomous driving vehicle 90 using the sensor unit 20, the vehicle control actuator 30, the notification device 40, and the input unit 50 described above.
  • the autonomous driving ECU 10 includes a CPU, a RAM, and a ROM.
  • the CPU implements various functions for automatic operation by loading a program stored in the ROM into the RAM and executing it.
  • the program may be recorded on a non-transitory tangible recording medium.
  • the automatic driving in the present embodiment refers to a level 1 or higher, preferably a level 2 or higher automatic driving determined by the United States Department of Transportation Road Traffic Safety Administration (NHTSA).
  • Level 1 is a level at which the autonomous driving ECU 10 supports any one of acceleration, steering, and braking.
  • Level 2 is a level at which the autonomous driving ECU 10 simultaneously performs a plurality of operations among acceleration, steering, and braking while observing the driving environment.
  • the autonomous driving ECU 10 includes a communication unit 110, a route development unit 130, a position specification unit 140, an environment recognition unit 150, a path development unit 160, a vehicle control unit 170, and a notification control unit 180. These units are realized by software or various hardware such as an IC.
  • the autonomous driving ECU 10 further includes a storage unit 120.
  • the communication unit 110 acquires various information from the information center 60 through the antenna 112. For example, the communication unit 110 acquires traffic information, weather information, accident information, obstacle information, and traffic regulation information from the information center 60.
  • the communication unit 110 may acquire various information from other vehicles by inter-vehicle communication.
  • the communication unit 110 may also acquire various information from roadside devices provided at various places on the road by road-to-vehicle communication.
  • the storage unit 120 is configured by a flash memory, and stores various information.
  • the storage unit 120 stores road information.
  • the road information includes, for example, information such as the road type, the number of lanes, the speed limit, the presence or absence of a pedestrian crossing, the presence or absence of a signal, and the presence or absence of a temporary stop line for each intersection and each road.
  • the road information may be sequentially acquired from the information center 60 through the communication unit 110.
  • the route development unit 130 determines (searches) a route to the destination designated by the occupant based on the road information stored in the storage unit 120.
  • the position specifying unit 140 measures the current position of the autonomous driving vehicle 90 based on a navigation signal received from an artificial satellite configuring a Global Navigation Satellite System (GNSS) via the antenna 142.
  • GNSS Global Navigation Satellite System
  • the environment recognition unit 150 uses the sensor unit 20 to recognize the surrounding environment and target of the autonomous driving vehicle 90.
  • the path formulation unit 160 formulates a path along which the autonomous driving vehicle 90 proceeds.
  • a path is a line on which a vehicle actually travels.
  • the path formulating unit 160 uses the current position of the autonomous driving vehicle 90 identified by the position identifying unit 140, the route formulated by the route formulating unit 130, the surrounding environment and target recognized by the environment recognizing unit 150, and the communication unit 110.
  • a path is formulated one after another during automatic traveling, and a driving operation for advancing the path is determined.
  • the driving operation includes, for example, steering in the right direction, steering in the left direction, acceleration, deceleration, back, and stop. Further, the reason why these driving operations are performed is, for example, right turn, left turn, intersection straight line, lane change, merging, passing, emergency stop, obstacle avoidance and the like.
  • the vehicle control unit 170 automatically drives the automatically driven vehicle 90 using the vehicle control actuator 30 in accordance with the driving operation determined by the path formulation unit 160.
  • the notification control unit 180 uses the notification device 40 to notify the occupant of various information.
  • the notification control unit 180 includes an acquisition unit 181 and a notification unit 182.
  • the acquisition unit 181 acquires, from the path development unit 160, the type of driving operation performed at the time of automatic driving in the autonomous driving vehicle and the information indicating the reason why the driving operation is performed.
  • the notification unit 182 indicates, when the type of the driving operation acquired by the acquiring unit 181 is at least a driving operation involving movement in the lateral direction, information indicating that the driving operation involving movement in the lateral direction is performed; Information indicating the reason why the movement in the lateral direction is performed is notified using the notification device 40 prior to the execution of the driving operation.
  • the notification unit 182 when the type of the driving operation acquired by the acquiring unit 181 is a driving operation involving a speed change (longitudinal movement), the notification unit 182 further performs a driving operation involving a speed change. The reason for the speed change is notified using the notification device 40.
  • the notification unit 182 changes the content of the notification according to the acceleration for moving the autonomous driving vehicle 90.
  • operation operation accompanied by the movement to a horizontal direction is only called “lateral movement” below.
  • operation operation accompanied by speed change is only called "speed change” below.
  • the notification control unit 180 requests the path setting unit 160 to cancel the driving operation. Do.
  • the path formulation unit 160 receives a cancellation request for the driving operation from the notification control unit 180, the path setting unit 160 cancels the driving operation.
  • the user operates the steering wheel, the brake pedal, and the accelerator pedal by himself, presses the cancel button provided on the steering wheel, the dashboard, and the center console, and instructs to cancel the driving operation by voice. , Can cancel the driving operation.
  • the notification unit 182 in the present embodiment changes the speed and performs the lateral direction as the driving operation during the automatic driving, the information according to the degree (acceleration) Change the notification intensity.
  • the information notification intensity refers to the degree of notification of information to the occupant.
  • the values of the acceleration shown in FIG. 2 and subsequent ones are all examples, and are not limited to those values.
  • the larger the acceleration at the time of the driving operation the larger the information notification intensity (level).
  • the speed change is reported more discreetly than the lateral movement. Therefore, in the present embodiment, in general driving, the amount of information notification resulting from lateral movement is larger than speed change.
  • the greater the acceleration the greater the level of information notification. That is, in the present embodiment, the acceleration when the speed change or the lateral movement is performed indicates the degree of importance of the information notified in the driving operation.
  • a speed change sudden deceleration
  • the notification unit 182 notifies information by image and sound. Specifically, when the information notification intensity is level 1, the notification unit 182 causes the notification device 40 to simply display the type of the driving operation and the reason why the driving operation is performed as an image. When the information notification intensity is level 2, the notification unit 182 notifies those information by both an image and a sound. When the information notification intensity is at level 3, the notification unit 182 performs notification using an image and a voice as in the case of level 2, but by blinking the image, notification is performed with emphasis on level 2 more. Furthermore, when the information notification intensity is maximum, the notification unit 182 increases the blinking speed of the image and further increases the sound volume of the sound to perform notification with the highest emphasis.
  • voice are not restricted to adjustment of blink speed or volume.
  • the image may be enhanced by changing the color or brightness of the image.
  • the voice may be emphasized by changing the timbre and type of the voice.
  • the sound may be a buzzer or chime sound, or may be notified of the effect of lateral movement or speed change and the reason thereof by speech synthesis or a recorded sound.
  • the notification unit 182 can simultaneously represent them by an image without using a character string when notifying of the fact that the vehicle is moving laterally and the reason. For example, display a mark indicating left turn or right turn, mark indicating lane change to the right or left, mark indicating overtaking from the right or left, mark indicating a U-turn to the right or left, etc. At the same time, it is possible to notify the effect and the reason. Further, the notification unit 182 can represent them by an image without using a character string when notifying that the speed is to be changed and the reason.
  • the lateral direction notification processing shown in FIG. 5 and the speed change notification processing shown in FIG. 6 are repeatedly and parallelly executed by the notification control unit 180 of the automatic driving ECU 10, respectively.
  • the notification control unit 180 first determines whether the autonomous driving vehicle 90 is being driven automatically (step S100). If the automatic driving is not performed (step S100: No), that is, if the occupant is driving manually, all the processes to be described later which are executed in the lateral direction notification process are skipped. On the other hand, when the automatically driven vehicle 90 is driven automatically (step S100: Yes), the notification control unit 180 causes the path formulation unit 160 to identify the type of driving operation to be performed next and the reason why the driving operation is performed. And information representing H.sub.2 are acquired (step S102).
  • the notification control unit 180 determines whether the type of driving operation acquired in step S102 is lateral movement (step S104). If the type of driving operation is not lateral movement (step S104: No), the notification control unit 180 skips all the processing to be described later which is executed in the horizontal direction notification processing.
  • the lateral movement means that the autonomous driving vehicle 90 is steered to the right or left.
  • the reason why the side movement is performed is, for example, left turn, right turn, right lane change, left lane change, U turn, sharp curve, overtaking of preceding vehicles, evacuation for passing emergency vehicles, etc. There is.
  • the notification control unit 180 determines that the acceleration (hereinafter referred to as lateral G) to be added in the lateral direction along with the lateral movement is It is determined whether it is less than 0.4 G (step S106).
  • the notification control unit 180 estimates acceleration based on a predetermined function or a map, for example, from the turning angle of the steering device in the driving operation determined by the path setting unit 160 and the vehicle speed at the time of lateral movement. If the lateral G is 0.4 G or more (step S106: No), the notification unit 182 immediately notifies that the lateral movement and the reason for the lateral movement by level 3 (see FIG. 4) (step S108).
  • step S106 determines whether the lateral G is less than 0.4 G (step S106: Yes). If the lateral G is less than 0.3 G (step S110). If the lateral G is 0.3 G or more (step S110: No), the notification unit 182 immediately notifies that the lateral movement and the reason for the lateral movement by level 3 (see FIG. 4) (step S108).
  • step S110: Yes the notification control unit 180 determines whether the lateral G is less than 0.2 G (step S112). If the lateral G is equal to or greater than 0.2 G (step S112: No), the notification unit 182 notifies that the vehicle is moving laterally and the reason thereof by level 2 (see FIG. 4) (step S114). On the other hand, if the lateral G is less than 0.2 G (step S112: Yes), the notification unit 182 notifies that the vehicle is moving laterally and the reason thereof by level 1 (see FIG. 4) (step S116).
  • the lateral direction notification processing in the present embodiment when the movement in the lateral direction is performed, even if the lateral G is small, the fact that the body necessarily moves in the lateral direction and its reason Is reported to the occupants.
  • the notification control unit 180 first determines whether the autonomous driving vehicle 90 is being driven automatically (step S200). When the automatic operation is not performed (step S200: No), all the processes to be described later which are executed in the speed change notification process are skipped. On the other hand, if the automatically driven vehicle 90 is driven automatically (step S200: Yes), the type of the driving operation to be executed next and information indicating the reason for the driving operation are acquired from the path formulating unit 160 (Step S202).
  • the notification control unit 180 determines whether the type of driving operation acquired in step S202 is speed change (step S204). If the type of driving operation is not a speed change (step S204: No), the notification control unit 180 skips all the processing described later executed in the speed change notification processing.
  • the speed change means that the autonomous driving vehicle 90 starts to move forward or backward and changes the speed of going straight or moving backward.
  • the reason for the speed change is, for example, starting, stopping, merging into a motorway or an expressway, detecting an obstacle or an emergency stop due to an accident, detecting a low speed vehicle, clearing a traffic jam, passing an emergency vehicle There is a shelter for, etc.
  • step S204 When the type of the driving operation acquired from the path formulation unit 160 is speed change (step S204: Yes), the notification control unit 180 determines that the acceleration (hereinafter referred to as vertical G) applied in the front-rear direction along with the speed change is 0. It is determined whether it is less than 4G (step S206). The notification control unit 180 acquires, for example, an acceleration for changing the speed from the path determination unit 160. If the vertical G is 0.4 G or more (step S206: No), the notification unit 182 immediately notifies that the speed is to be changed and the reason thereof by the maximum level (see FIG. 4) (step S208).
  • the acceleration hereinafter referred to as vertical G
  • 4G the notification control unit 180 acquires, for example, an acceleration for changing the speed from the path determination unit 160. If the vertical G is 0.4 G or more (step S206: No), the notification unit 182 immediately notifies that the speed is to be changed and the reason thereof by the maximum level (see FIG. 4) (step S208).
  • step S206 If the vertical G is less than 0.4 G (step S206: Yes), the notification control unit 180 determines whether the vertical G is less than 0.3 G (step S210). If the vertical G is 0.3 G or more (step S210: No), the notification unit 182 immediately notifies that the speed is to be changed and the reason thereof by the level 3 (see FIG. 4) (step S212).
  • step S210 If the vertical G is less than 0.3 G (step S210: Yes), the notification control unit 180 determines whether the vertical G is less than 0.2 G (step S214). If the vertical G is 0.2 G or more (step S214: No), the notification unit 182 notifies that the speed is to be changed and the reason thereof by the level 1 (see FIG. 4) (step S216). On the other hand, when the vertical G is less than 0.2 G (step S214: Yes), the notification unit 182 does not perform notification (step S218).
  • the speed change notification process in the present embodiment when the vertical G is small, the notification is not performed. Therefore, the information on the speed change is reported less conservatively than the movement in the lateral direction.
  • the lateral movement notification processing and the speed change notification processing described above will be described by way of an example.
  • the lateral movement is performed in the same lane to avoid the obstacle B1
  • the lateral G is 0.. If it is less than 2 G, the notification unit 182 notifies at level 1 that the vehicle is moving laterally and the reason.
  • the notification unit 182 does not notify of the speed change if acceleration and deceleration with an acceleration of less than 0.2 G are performed.
  • the notification unit 182 when the autonomous driving vehicle 90 travels at an intersection, when a lateral movement is performed to avoid another vehicle B2 waiting for a left turn or for a right turn, the lateral G is 0. If it is less than 2 G, the notification unit 182 notifies at level 1 that the vehicle is moving laterally and the reason. Further, even when the intersection G is turned to the right or left, if the lateral G is less than 0.2 G, the notification unit 182 notifies at level 1 that the vehicle will move laterally and the reason. When the autonomous driving vehicle 90 goes straight on at the intersection, the notification unit 182 does not particularly notify anything.
  • the notification unit 182 moves laterally and why Change lanes) at level 2. At this time, if acceleration and deceleration with an acceleration of less than 0.2 G are performed, the notification unit 182 does not notify of the speed change.
  • the notification unit 182 moves laterally if the lateral G in the curve traveling is 0.2 to 0.3 G.
  • the notification unit 182 does not notify of the speed change.
  • the notification unit 182 when merging from the merging lane to the main lane, if the longitudinal G accompanying acceleration is 0.3 to 0.4 G, the notification unit 182 indicates that the speed change is performed and the reason ) At level 3. In addition, the fact that the lateral movement is performed and the reason thereof are also notified.
  • the notification unit 182 indicates that the speed change is performed and the reason (urgent avoidance ) At the maximum level. Moreover, when performing lateral movement at the time of emergency avoidance, the notification unit 182 also notifies that the lateral movement is to be performed.
  • the notification unit 182 when the type of the driving operation automatically performed in the automatically driven vehicle 90 is the driving operation involving the movement in the lateral direction, the notification unit 182 performs the movement in the lateral direction. Is notified using the notification device 40 prior to the execution of the driving operation, the information indicating that the driving operation involving the driving operation is performed, and the information indicating the reason for the movement in the lateral direction. Therefore, the occupant can easily foresee the driving operation of the autonomous driving vehicle. As a result, the occupant can easily determine whether or not to cancel the automatically performed driving operation.
  • the type of the driving operation performed automatically is the driving operation involving the speed change
  • notification that the driving operation involving the speed change is performed and the reason for the speed change are performed
  • the occupant can more easily foresee the driving operation of the autonomous driving vehicle.
  • the notification mode is changed according to the acceleration in the driving operation such as lateral movement or speed change to a simple display, highlight display, and a combination with voice, the passenger automatically You can intuitively understand the importance of driving operations.
  • the lateral direction notification processing and the speed change notification processing have been described as the notification processing performed in the autonomous driving vehicle 90.
  • notification processing different from the notification processing is performed.
  • the configuration of the autonomous driving vehicle 90 in the second embodiment is the same as that of the first embodiment. In the following description, the same configuration as that of the first embodiment will be described using the same reference numerals as the first embodiment.
  • the autonomous driving ECU 10 determines whether the autonomous driving vehicle 90 is being driven automatically (step S300). When the automatic driving is not performed (step S300: No), the automatic driving ECU 10 determines whether obstacle information is acquired through the communication unit 110 (step S302). When obstacle information is acquired (Step S302: Yes), the notification unit 182 notifies the obstacle information by an image, a character string, or a voice (Step S304). When obstacle information is not acquired (Step S302: No), reporting part 182 does not report.
  • step S300: Yes the autonomous driving ECU 10 determines whether the autonomous driving vehicle 90 travels the same lane based on the path formulated by the path formulation unit 160. (Step S306).
  • step S306: Yes it is determined whether obstacle information has been acquired through the communication unit 110 (step S308).
  • step S308: Yes the notification unit 182 notifies the obstacle information by an image, a character string, or a voice (step S30).
  • step S308: No informing part 182 reports running the same lane (Step S310).
  • step S306 When not traveling on the same lane (step S306: No), the automatic driving ECU 10 determines whether to travel near the intersection based on the current position and the route (step S312). When not traveling in the vicinity of the intersection (step S312: No), the autonomous driving vehicle 90 neither travels in the same lane nor in the intersection, so the autonomous driving vehicle 90 changes lanes. Therefore, the automatic driving ECU 10 executes a lane change notification process (step S314). Details of the lane change notification process will be described later.
  • step S312 When traveling near the intersection (step S312: Yes), the autonomous driving ECU 10 determines whether to turn right or left at the intersection based on the path (step S316). When turning to the right or turning to the left (step S316: Yes), the automatic driving ECU 10 executes an intersection right / left turn notification process (step S318). The details of the intersection right and left turn notification process will be described later.
  • step S316: No When the intersection is not turned right (step S316: No), based on the information acquired by the camera of the sensor unit 20, the autonomous driving ECU 10 determines whether the signal of the intersection is a red light using the environment recognition unit 150 (Step S320). When the signal is not a red signal (step S320: No), the automatic driving ECU 10 executes an intersection straight-ahead traveling notification process (step S322). The details of the intersection straight-ahead traveling notification processing will be described later. When the signal is a red signal (step S320: Yes), the notification unit 182 notifies that deceleration is to be performed (step S324). The autonomous driving ECU 10 repeatedly executes the series of processes described above.
  • the automatic driving ECU 10 determines whether an instruction to change the lane has been issued from the occupant (step S400). During automatic driving, for example, the passenger can instruct to change lanes forcibly by operating the direction indication switch.
  • the notification unit 182 notifies that the lane change instruction has been received (step S402).
  • the autonomous driving ECU 10 searches for and adjusts an interruption position and an interruption space for the adjacent lane according to the environment around the autonomous driving vehicle 90 recognized by the environment recognition unit 150 (step S404). At this time, the notification unit 182 may notify that the interrupt position and the interrupt space are being searched and adjusted. Then, the autonomous driving ECU 10 changes lanes to the searched position (step S406).
  • step S400: No When the lane change instruction is not issued from the occupant (step S400: No), that is, when the lane change is the driving operation determined in the automatic driving, the autonomous driving ECU 10 continues the lane change until it is actually executed. It is determined whether the time is 5 seconds or more (step S408). If it is 5 seconds or more before the lane change (step S408: Yes), when 5 seconds remain, the notification unit 182 notifies that the lane change is to be performed soon (step S410). When the time until the lane change is performed is less than 5 seconds (step S408: No), the notification unit 182 immediately notifies that the lane change is performed at that time (step S412).
  • the notification unit 182 Immediately before the lane change is performed, the notification unit 182 notifies that the lane change is to be performed (step S414). That is, the notification unit 182 performs notification a plurality of times at different timings (steps S410, S412, and S414) before reaching the place where the lane change is to be performed. Thereafter, the autonomous driving ECU 10 changes lanes in accordance with the path formulated by the path formulation unit 160 (step S406). Note that the time "5 seconds" is an example and may be another time. The same applies to the times shown later.
  • the contents and the mode notified in the above steps S410, S412 and S414 are the same as the contents and the mode of the notification in the horizontal direction notification process described in the first embodiment. That is, the mode of the notification is changed according to the side G at the time of the lane change. Note that the contents to be notified may be changed in steps S414 and S410 and S412. For example, in step S410, which has time allowance until the lane change is actually performed, the informing unit 182 notifies simple contents about the lane change, and the detail in step S414 which is the timing immediately before the lane change. The content may be notified.
  • step S410 where there is a time margin until the lane change is actually performed, the informing unit 182 notifies detailed information on the lane change, and in step S414, which is the timing of the straight line of the lane change.
  • the simple content may be notified.
  • the detailed information on the lane change is, for example, information indicating the direction in which the lane change is performed and the reason, and the simple content is, for example, information indicating only that the lane change is performed.
  • step S500 determines whether the time taken to reach the right / left turn at the intersection is 5 seconds or more (step S500). If it is five seconds or more until the turning point (step S500: Yes), when the remaining five seconds, the notifying unit 182 notifies that the turning is to be performed soon (step S502). If the time to the right / left turn is less than 5 seconds (step S500: No), the notification unit 182 immediately notifies that the right / left turn is to be executed (step S504).
  • the autonomous driving ECU 10 determines whether a target is present in the traveling direction (right turn direction or left turn direction) of the intersection according to the environment around the autonomous driving vehicle 90 recognized by the environment recognition unit 150. (Step S506).
  • the target in the intersection right and left turn information presentation processing is a low speed vehicle such as a bicycle, a motor bike, or a small special automobile for farming. If the target does not exist (Step S506: No), the notification unit 182 notifies that the right turn or the left turn is performed immediately before the right turn or the left turn (Step S508).
  • the notification unit 182 performs notification a plurality of times at different timings (steps S502, S504, and S508) before reaching a place where the right / left turn is performed. Thereafter, the autonomous driving ECU 10 executes the left / right turn according to the path formulated by the path formulation unit 160 (step S510).
  • the notification unit 182 When the target exists in the traveling direction of the intersection (step S506: Yes), the notification unit 182 notifies that the vehicle travels (target tracking) following the target (step S512).
  • the autonomous driving ECU 10 determines whether the occupant cancels the target following operation using the input unit 50 (step S514). If the target following operation is not canceled (Step S514: No), the notification unit 182 notifies that the right turn or the left turn is to be performed immediately before the right turn or the left turn (Step S508). In accordance with the path formulated by the path formulation unit 160, right-left turn is executed while following the target (step S510).
  • Step S514 If the target following operation has been canceled by the occupant (Step S514: Yes), it is determined whether the driver has overridden the driving operation (Step S516).
  • the override in the intersection right and left turn information notification processing is the steering wheel operation by the occupant.
  • the driving is performed manually (step S518).
  • Step S516: No) the path formulation unit 160 formulates a path to turn left or right so as to avoid the target (Step S520).
  • step S508 the notification unit 182 notifies that the right turn or the left turn is to be performed (step S508), and the automatic driving ECU 10 avoids the target according to the path formulated by the path formulating unit 160. While turning left and right is executed (step S510).
  • step S600 the automatic driving ECU 10 determines whether the time taken to reach the straight traveling place at the intersection is 5 seconds or more (step S600). If it is five seconds or more to the straight part at the intersection (step S600: Yes), when five seconds are left, the notification unit 182 notifies that straight traveling is to be performed soon (step S602). If the time to the straight intersection at the intersection is less than 5 seconds (step S600: No), the notification unit 182 immediately notifies that straight running is to be performed at that time (step S604).
  • the autonomous driving ECU 10 determines whether a target is present in the straight direction at the intersection (step S606).
  • the target in the intersection straight-ahead traveling notification processing includes general vehicles such as ordinary vehicles as well as low-speed vehicles such as bicycles, motorbikes and small special vehicles for farming. Further, in the case where the target is present in the straight direction at the intersection in the intersection straight-ahead traveling information processing, it is assumed that there is a vehicle waiting for a right turn or a left turn in the straight direction.
  • step S606 When the target does not exist (step S606: No), immediately before traveling straight at the intersection, the notification unit 182 notifies that traveling straight at the intersection is to be performed (step S608). That is, the notification unit 182 performs notification a plurality of times at different timings (steps S602, S604, and S608) until straight traveling at an intersection is performed. Thereafter, the autonomous driving ECU 10 executes straight traveling in accordance with the path formulated by the path formulation unit 160 (step S610).
  • the notification unit 182 When the target exists in the straight direction of the intersection (step S606: Yes), the notification unit 182 notifies that the vehicle travels (target tracking) following the target (step S612).
  • the autonomous driving ECU 10 determines whether the occupant cancels the target following operation using the input unit 50 (step S614). If the target following operation is not canceled (step S614: No), immediately before traveling straight on the intersection, the notification unit 182 notifies that straight traveling is performed at the intersection (step S608), and the automatic driving ECU 10 In accordance with the path formulated by the path formulation unit 160, the vehicle travels straight ahead while following the target (step S610).
  • step S616 it is determined whether the driver has overridden the driving operation.
  • the override in the intersection straight-ahead traveling information notification processing is steering operation by the occupant.
  • the driving is performed manually (step S618).
  • step S616: No) the path formulation unit 160 formulates a path that goes straight ahead avoiding the target (step S620).
  • step S608 the notification unit 182 reports that straight traveling is to be performed at the intersection (step S608), and the automatic driving ECU 10 uses the target in accordance with the path formulated by the path formulation portion 160. Running straight ahead while avoiding (step S610).
  • automatic driving such as whether or not automatic driving, whether traveling on the same lane, traveling near the intersection, and whether the signal of the intersection is a red light or not
  • Optimal information can be notified to the occupant according to the traveling condition of the vehicle 90.
  • the occupant is notified that right or left turn or going straight is to be performed 5 seconds before reaching the intersection and at least two timings immediately before reaching the intersection. Whether or not to cancel the automatically performed driving operation can be determined with a margin.
  • the obstacle information acquired by the communication is notified, so that the occupant can travel safely based on the information.
  • the notification unit 182 may be capable of switching on / off of the information notification according to an instruction from the occupant using the input unit 50. When the information notification is turned off, the notification unit 182 does not perform notification in each process described above. C2.
  • Other embodiment 2 In the lane change notification processing, the intersection right / left turn notification processing, and the intersection straight-ahead traveling notification processing in the above embodiment, the notification is issued when the remaining time until the driving operation is performed reaches a predetermined time (the remaining 5 seconds). It will be. On the other hand, the notification of the driving operation may be performed when the distance until the driving operation is performed reaches a predetermined distance.
  • the notification may be performed according to the distance such as 100 m before or 300 m before the driving operation is performed.
  • Other embodiment 3 In the above embodiment, the autonomous driving ECU 10 may not execute the speed change notification process shown in FIG. Further, the automatic driving ECU 10 may not execute the notification process shown in FIG. Furthermore, the notification control unit 180 may not change the notification mode according to the acceleration.
  • the present disclosure can also be implemented in various forms other than the control device.
  • the present invention can be realized in the form of a method executed by a control device mounted on an autonomous driving vehicle, a computer program for executing the method, or a non-transitory tangible recording medium storing the computer program.
  • control unit described in the present disclosure and the method thereof are realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. It may be done.
  • control unit described in the present disclosure and the method thereof may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits.
  • control unit and the method described in the present disclosure may be a combination of a processor and a memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more configured dedicated computers.
  • the computer program may also be stored in a computer readable non-transition tangible storage medium as computer-executable instructions.
  • the present disclosure is not limited to the above-described embodiment, and can be implemented in various configurations without departing from the scope of the present disclosure.
  • the technical features in the embodiments corresponding to the technical features in the respective forms described in the section of the outline may be used to solve some or all of the above-mentioned problems, or to partially or partially change the above-mentioned effects. It is possible to replace or combine as appropriate to achieve the whole. Also, if the technical features are not described as essential in the present specification, they can be deleted as appropriate.
  • each section is expressed as, for example, S100.
  • each section can be divided into multiple subsections, while multiple sections can be combined into one section.
  • each section configured in this way can be referred to as a device, a module, or a means.

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WO2024181310A1 (ja) * 2023-03-01 2024-09-06 株式会社デンソー 車両制御装置、車両制御方法、プログラム

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