WO2020053983A1 - Autonomous driving diagnostic device and autonomous driving diagnostic method - Google Patents

Autonomous driving diagnostic device and autonomous driving diagnostic method Download PDF

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Publication number
WO2020053983A1
WO2020053983A1 PCT/JP2018/033777 JP2018033777W WO2020053983A1 WO 2020053983 A1 WO2020053983 A1 WO 2020053983A1 JP 2018033777 W JP2018033777 W JP 2018033777W WO 2020053983 A1 WO2020053983 A1 WO 2020053983A1
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WIPO (PCT)
Prior art keywords
automatic driving
vehicle
diagnosis
unit
control
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PCT/JP2018/033777
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French (fr)
Japanese (ja)
Inventor
真二 太田
下谷　光生
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2018/033777 priority Critical patent/WO2020053983A1/en
Publication of WO2020053983A1 publication Critical patent/WO2020053983A1/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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures

Definitions

  • the present invention relates to an automatic driving diagnosis device and an automatic driving diagnosis method for diagnosing automatic driving control of a vehicle.
  • Patent Literatures 1 and 2 propose an automatic driving device that reassures a driver by notifying the driver of the change before the vehicle changes lanes by automatic driving.
  • the automatic driving devices of Patent Literatures 1 and 2 described above are not configured to diagnose (determine) whether or not a failure has occurred in the automatic driving control that is the control for performing the automatic driving.
  • the device automatically determines whether or not the vehicle has properly changed lanes. It is considered that whether the operation control is normal or abnormal is diagnosed.
  • the diagnosis involves a lane change, the automatic driving control cannot be periodically diagnosed, for example, when the lane in which the vehicle is traveling is one lane on each side. As a result, it is considered that the reliability in the diagnosis of the automatic operation control is not sufficient.
  • the present invention has been made in view of the above-described problems, and has as its object to provide a technique capable of increasing the reliability of diagnosis of automatic driving control.
  • An automatic driving diagnostic device includes a control unit that controls the vehicle to perform a predetermined automatic driving operation for diagnosis in a lane in which the vehicle is traveling by automatic driving, and a control unit that performs the diagnosis.
  • An acquisition unit for acquiring the behavior of the vehicle when performing the automatic driving, an automatic driving for diagnosis performed by the control unit, and automatic driving control of the vehicle based on the behavior acquired by the acquisition unit.
  • a determination unit for determining whether the is normal or abnormal.
  • the present invention it is determined whether the automatic driving control of the vehicle is normal or abnormal based on the automatic driving for diagnosis in the lane performed by the control unit and the behavior acquired by the acquiring unit. According to such a configuration, the possibility of periodically diagnosing the automatic driving control can be increased, so that the reliability of the diagnosis of the automatic driving control can be increased.
  • FIG. 2 is a block diagram illustrating a configuration of the automatic driving diagnostic device according to the first embodiment.
  • FIG. 9 is a block diagram illustrating a configuration of an automatic driving diagnosis device according to a second embodiment. It is a figure showing the contents regarding small change automatic operation concerning Embodiment 2. It is a figure which shows the content regarding the minute change automatic driving
  • FIG. 11 is a block diagram illustrating a hardware configuration of an automatic driving diagnostic device according to a modification.
  • FIG. 11 is a block diagram illustrating a hardware configuration of an automatic driving diagnostic device according to a modification.
  • FIG. 11 is a block diagram illustrating a hardware configuration of an automatic driving diagnostic device according to a modification. It is a block diagram showing the composition of the server concerning a modification.
  • FIG. 11 is a block diagram illustrating a configuration of a communication terminal according to a modification.
  • the automatic driving diagnostic device is a device that diagnoses (determines) whether automatic driving control of a vehicle is normal or abnormal.
  • a vehicle equipped with an automatic driving diagnosis device may be described as a "vehicle to be diagnosed" as "own vehicle”, and a vehicle other than the own vehicle may be described as “other vehicle”. .
  • FIG. 1 is a block diagram showing a configuration of the automatic driving diagnostic device 1 according to the first embodiment. 1 includes a control unit 11, an acquisition unit 12, and a determination unit 13.
  • the control unit 11 performs control to cause the host vehicle to perform predetermined automatic driving for diagnosis in a lane in which the host vehicle is driving automatically.
  • the lane in which the own vehicle is traveling by automatic driving may be described as “traveling lane”
  • the automatic driving for diagnosis may be described as “automatic driving for diagnosis”.
  • the acquisition unit 12 acquires the behavior of the own vehicle when the control unit 11 performs the automatic driving for diagnosis.
  • the determination unit 13 determines whether the automatic driving control of the own vehicle is normal or abnormal based on the diagnostic automatic driving performed by the control unit 11 and the behavior acquired by the acquiring unit 12. For example, the determination unit 13 determines that the automatic driving control of the own vehicle is normal when the automatic operation for diagnosis that is being performed and the behavior acquired by the acquisition unit 12 are the same or similar, Otherwise, it is determined that the automatic driving control of the own vehicle is abnormal.
  • FIG. 2 is a block diagram showing a configuration of the automatic driving diagnostic device 1 according to Embodiment 2 of the present invention.
  • the same or similar components as those described above are denoted by the same reference numerals, and different components will be mainly described.
  • the autonomous driving diagnostic device 1 of FIG. 2 includes a control unit 11, an acquisition unit 12, and a determination unit 13 similar to the control unit 11, the acquisition unit 12, and the determination unit 13 of the first embodiment.
  • a unit 15 and a navigation device 16 are provided.
  • the control unit 11 in FIG. 2 includes a steering control unit 11a, a brake control unit 11b, and an acceleration control unit 11c.
  • the acquisition unit 12 in FIG. 2 includes a vehicle speed acquisition unit 12a and a distance acquisition unit 12b. Including.
  • the steering control unit 11a controls the steering of the own vehicle.
  • the steering control unit 11a controls the steering of the host vehicle based on the detection results of the vehicle speed acquisition unit 12a and the distance acquisition unit 12b.
  • the brake control unit 11b controls the brake of the own vehicle.
  • the brake control unit 11b controls the brake of the own vehicle based on the detection results of the vehicle speed acquisition unit 12a and the distance acquisition unit 12b.
  • the acceleration control unit 11c controls the accelerator of the own vehicle.
  • the acceleration control unit 11c controls the accelerator of the host vehicle based on the detection results of the vehicle speed acquisition unit 12a and the distance acquisition unit 12b.
  • the vehicle speed acquisition unit 12a acquires the speed of the own vehicle.
  • the vehicle speed acquisition unit 12a may be a vehicle speed detection device that detects the speed of the host vehicle, or may be an interface that obtains a detection result of the speed of the host vehicle from the vehicle speed detection device.
  • the distance obtaining unit 12b obtains a distance between an end of the traveling lane (for example, a lane marking) and the own vehicle, and a distance between the own vehicle and an obstacle of the own vehicle such as another vehicle around the own vehicle. To get.
  • the distance acquisition unit 12b may be a distance detection device that detects these distances, or may be an interface that acquires detection results of these distances from the distance detection device. Further, the distance detection device may include, for example, a video recognition device that recognizes a lane or an obstacle from a video image of a camera attached to a side such as a front side, a rear side, and a left side or a right side of the own vehicle.
  • the radar device may include a radar device that detects an obstacle and is attached to a side such as a front, a rear, and a left and right of the vehicle.
  • lane distance the distance between the end of the traveling lane and the host vehicle
  • other vehicle the distance between the host vehicle and another vehicle that is an obstacle
  • vehicle distance the distance between the host vehicle and another vehicle that is an obstacle
  • the input unit 14 receives an operation from a user such as a driver.
  • the input unit 14 may be, for example, a button or a touch panel to which a user's manual operation is input, or a voice input device such as a microphone to which a user's voice operation is input. And so on.
  • the operation accepted by the input unit 14 includes, for example, an operation of setting a diagnosis of the automatic driving control, an operation of setting a notification of the notification unit 15, and the like. If it is not necessary to change these settings, the automatic driving diagnostic device 1 does not need to include the input unit 14.
  • the notification unit 15 notifies the user of various kinds of information in the own vehicle and thus the user.
  • the notification unit 15 may be, for example, a sound output device such as a speaker, or a display device such as a liquid crystal display device or a HUD (head-up display).
  • the notification of the notification unit 15 includes, for example, a notification of a diagnosis result and a notification before automatic driving for diagnosis.
  • description will be given assuming that the notification unit 15 includes both a sound output device and a display device.
  • the navigation device 16 provides guidance from the current position to the destination based on the current position of the vehicle and map information including lane information and the like. According to such a navigation device 16, it is possible to specify information on the lane in which the host vehicle is traveling, that is, information on the traveling lane.
  • the information on the traveling lane includes, for example, information as to whether the traveling lane has a curve, and information as to whether the traveling lane is a general road or an expressway.
  • the input device and the notification device included in the navigation device 16 may be applied to the input unit 14 and the notification unit 15.
  • the diagnostic automatic driving includes the small-change automatic driving as the first automatic driving and the small-change automatic driving as the second automatic driving. Control to selectively execute the automatic change operation and the small change automatic operation is performed. As will be described later, the change in the behavior of the own vehicle when the small-change automatic driving is performed is larger than the change in the behavior of the own vehicle when the small-change automatic driving is performed.
  • control unit 11 will be described as performing control for causing the host vehicle to perform the small-change automatic driving when performing control for causing the host vehicle to perform the small-change automatic driving for a fixed number of times, but is not limited thereto. Not something.
  • control unit 11 may perform control to cause the host vehicle to selectively perform the small-change automatic driving and the small-change automatic driving based on the operation received from the user at the input unit 14.
  • FIG. 3 is a diagram showing the contents related to the small-change automatic driving
  • FIG. 4 is a diagram showing the contents related to the small-change automatic driving.
  • a plurality of diagnostic items are defined in advance for the automatic operation for diagnosis including the small-change automatic operation and the small-change automatic operation.
  • the plurality of diagnostic items according to the second embodiment include “move right”, “move left”, “extend inter-vehicle distance”, and “shorten inter-vehicle distance”. .
  • a description will be given assuming that automatic driving for diagnosis is performed in the order of “move right”, “move left”, “extend inter-vehicle distance”, and “shorten inter-vehicle distance”, but the present invention is not limited to this. .
  • the change amount of the diagnostic item of FIG. 4 is smaller than the change amount of the corresponding diagnostic item of FIG. 3, and the control of the diagnostic item of FIG. 4 is performed.
  • the time is longer than the time of the corresponding diagnostic item in FIG.
  • the change in the behavior of the own vehicle when the small-change automatic driving shown in FIG. 3 is performed is larger than the change in the behavior of the own vehicle when the small-change automatic driving shown in FIG. 4 is performed.
  • the change in the behavior of the own vehicle may be the sum of changes in the own vehicle during the entire period in which the automatic driving of each diagnostic item is performed, or the change in the automatic driving of each diagnostic item may be performed. It may be a change per unit time of the vehicle.
  • ⁇ Notice on small change automatic driving> The change in the behavior of the own vehicle due to the execution of the small-change automatic driving is more easily recognized by the user than the change in the behavior of the own vehicle due to the execution of the small-change automatic driving.
  • the actual execution timing of the small-change automatic driving may be different from the execution timing of the small-change automatic driving expected by the user. Therefore, in the second embodiment, before the control unit 11 causes the own vehicle to perform the small-change automatic driving, the notification unit 15 notifies the user of the content of the small-change automatic driving by notifying the content in the own vehicle.
  • the notification unit 15 Before performing the small-change automatic driving related to “move right”, the notification unit 15 outputs a voice saying “move to the right about 30 cm in one second” as shown in FIGS. 3 and 5. At the same time, an arrow 41a directed rightward from the host vehicle 41 is displayed. Note that the arrow 41a may be displayed blinking. Thereafter, the control unit 11 controls the steering of the own vehicle, thereby performing automatic driving for moving the own vehicle to the right by about 30 cm.
  • the control unit 11 determines a plurality of diagnostic items based on the information on the traveling lane specified by the navigation device 16, the lane distance acquired by the distance acquisition unit 12b, and the other vehicle distance. It is configured to determine whether to omit the small-change automatic driving according to at least one of the above. When the control unit 11 determines that the small-change automatic driving related to at least one of the plurality of diagnostic items is to be omitted, the control unit 11 performs the omission.
  • the notification unit 15 outputs a voice such as "Omit the right-movement diagnosis because the lane width is insufficient" and a voice "Omit the right-movement diagnosis because the vehicle is approaching from the right lane” Is output as appropriate.
  • the notification unit 15 notifies the own vehicle of the diagnosis result regardless of the diagnosis result (determination result) of the determination unit 13. Accordingly, when the rightward movement of the host vehicle after the execution of the automatic driving is within the predetermined normal range, the determination unit 13 diagnoses (determines) that the automatic driving control related to the rightward movement is normal. , The notification unit 15 outputs a voice saying “right movement control is normal”. On the other hand, when the rightward movement of the own vehicle after performing the automatic driving is not within the predetermined normal range, and the determination unit 13 diagnoses (determines) that the automatic driving control related to the rightward movement is abnormal, The notification unit 15 outputs a voice saying “Right movement control is abnormal”.
  • control and notification in the case of performing the small-change automatic driving related to “move to the left”, “extension of the inter-vehicle distance”, and “shortening of the inter-vehicle distance” are also performed in the case of performing the small-change automatic driving related to the “move right” described above. This is almost the same as the control and notification of the above. Therefore, hereinafter, main control and notification in the case of performing the small-change automatic driving related to “move left”, “extend the inter-vehicle distance”, and “shorten the inter-vehicle distance” will be described.
  • the notification unit 15 Before performing the small-change automatic driving related to “move to the left”, the notification unit 15 outputs a voice saying “move to the left about 30 cm in one second” as shown in FIGS. 3 and 6. At the same time, an arrow 41b pointing leftward from the host vehicle 41 is displayed. Thereafter, the control unit 11 controls the steering of the own vehicle, thereby performing automatic driving for moving the own vehicle to the left by about 30 cm. Note that when the width of the traveling lane is not sufficiently large, for example, the automatic diagnosis driving for moving the vehicle to the left is omitted. At this time, the notification unit 15 outputs a voice such as "Omit the left-moving diagnosis because the lane width is insufficient" and a voice "Omit the left-moving diagnosis because the vehicle is approaching from the left lane” Is output as appropriate.
  • the notification unit 15 When the determination unit 13 diagnoses that the automatic driving control related to the leftward movement is normal, because the leftward movement of the own vehicle after performing the automatic driving is within a predetermined normal range, the notification unit 15 Outputs the sound "Left movement control is normal.” On the other hand, when the left movement of the own vehicle after the execution of the automatic driving is not within the predetermined normal range, and the determination unit 13 diagnoses that the automatic driving control related to the left movement is abnormal, the notification unit 15 Outputs a voice saying "Left movement control is abnormal.”
  • the notification unit 15 Before performing the small-change automatic driving related to “extension between vehicles”, the notification unit 15 outputs a voice saying “widen the distance between vehicles by about 5 m in 3 seconds” as shown in FIGS. 3 and 7. In addition to the output, an arrow 41c pointing rearward from the host vehicle 41 is displayed. Thereafter, the control unit 11 controls the brakes of the own vehicle to perform automatic driving for increasing the inter-vehicle distance, which is the inter-vehicle distance between the own vehicle and the preceding vehicle, by about 5 m. Note that when the distance between the rear vehicles, which is the distance between the host vehicle and the rear vehicle, is not sufficiently large, the automatic driving for diagnosis to increase the distance between the front vehicles is omitted. At this time, the notification unit 15 appropriately outputs a sound such as "The inter-vehicle distance extension diagnosis is omitted because the inter-vehicle distance with the following vehicle is not sufficient".
  • the notifying unit 15 sets “ The inter-vehicle distance extension control is normal. " On the other hand, when the inter-vehicle distance ahead of the vehicle after the automatic driving is not within the predetermined normal range, and the determination unit 13 diagnoses that the automatic driving control related to the extension of the inter-vehicle distance is abnormal, the notifying unit 15 sets , A sound is output that states that "inter-vehicle distance extension control is abnormal.”
  • the notification unit 15 Before performing the small-change automatic driving related to “shortening the inter-vehicle distance”, the notification unit 15 outputs a voice saying “shorten the inter-vehicle distance by about 5 m in three seconds” as shown in FIGS. 3 and 8. In addition to the output, an arrow 41d directed forward from the host vehicle 41 is displayed. Thereafter, the control unit 11 controls the accelerator or the like of the own vehicle, thereby performing automatic driving for reducing the distance between the front vehicles by about 5 m. If the distance between the front vehicles is not sufficiently large, the automatic diagnosis driving for reducing the distance between the front vehicles is omitted. At this time, the notification unit 15 appropriately outputs a sound such as "The inter-vehicle distance is not sufficient, and the inter-vehicle distance reduction diagnosis will be omitted.”
  • the determination unit 13 diagnoses that the automatic driving control for the inter-vehicle distance reduction is normal, and the notification unit 15 determines that the “inter-vehicle distance reduction”. Control is normal. " On the other hand, when the inter-vehicle distance in front of the vehicle after the automatic driving is not within the predetermined normal range, and the determination unit 13 diagnoses that the automatic driving control for shortening the inter-vehicle distance is abnormal, the notifying unit 15 , And outputs a voice saying "inter-vehicle distance reduction control is abnormal.”
  • the notification unit 15 does not notify the content of the minute change automatic driving to the own vehicle before the control unit 11 causes the own vehicle to execute the minute change automatic driving.
  • the notification unit 15 determines the determination result of the determining unit 13. Is notified in the own vehicle. That is, when the control unit 11 causes the own vehicle to perform the small-change automatic driving and the determination unit 13 determines that the automatic driving control of the own vehicle is normal, the notification unit 15 The result is not notified to the host vehicle.
  • control in the case of performing the small change automatic operation is the same as the control in the case of performing the small change automatic operation, except for the magnitude of the behavior change.
  • the control unit 11 performs, based on the information on the traveling lane specified by the navigation device 16 and the lane distance and the other vehicle distance acquired by the distance acquisition unit 12b, It is determined whether or not the small change automatic operation relating to at least one of the plurality of diagnosis items is omitted. Then, when the control unit 11 determines that the small change automatic operation related to at least one of the plurality of diagnosis items is to be omitted, the control unit 11 performs the omission.
  • FIG. 9 is a flowchart illustrating the overall operation of the automatic driving diagnostic device 1 according to the second embodiment.
  • the operation of FIG. 9 will be described as being started when the user performs a diagnosis start operation, but is not limited to this.
  • the operation in FIG. 9 may be started when the drive source (engine or motor) of the vehicle operates.
  • step S1 the control unit 11 waits until a predetermined time elapses after the process proceeds to step S1.
  • the predetermined time is set to, for example, 15 minutes by the user and the automatic driving diagnostic device 1 or the like. That is, the user can change the diagnosis interval by performing an operation of changing the predetermined time on the input unit 14.
  • step S2 the control unit 11 determines whether or not the automatic driving for diagnosis can be appropriately performed based on the information on the traveling lane based on the position of the own vehicle specified by the navigation device 16. As an example, when the control unit 11 determines that the traveling lane is a straight line or a gentle curve based on the information on the traveling lane, the control unit 11 determines that the automatic driving for diagnosis can be appropriately performed. As another example, the control unit 11 determines that the traveling lane maintains a straight line or a gentle curve during the period of performing the automatic driving for diagnosis based on the information on the traveling lane and the speed acquired by the vehicle speed acquiring unit 12a. In this case, it is determined that the automatic diagnosis operation can be appropriately performed.
  • step S3 If it is determined that the automatic diagnosis operation can be appropriately performed, the process proceeds to step S3. If it is determined that the automatic diagnosis operation cannot be appropriately performed, step S2 is performed again. Note that, when the process proceeds to step S3, the notification unit 15 may output a voice saying "start diagnosis of the automatic driving system".
  • step S3 the control unit 11 increments a determination counter for determining whether to perform the diagnosis using the small-change automatic driving.
  • control unit 11 determines whether or not the determination counter has reached a predetermined number.
  • the predetermined number of times is determined by the user, for example. That is, when the user performs an operation of changing the predetermined number of times on the input unit 14, it is possible to change the diagnosis interval by the small-change automatic driving. In addition, depending on the operation of the input unit 14 by the user, it may be set so that the diagnosis based on the small-change automatic driving is not performed.
  • step S5 a diagnosis using the small change automatic operation is performed. This will be described later in detail with reference to a flowchart (FIG. 10).
  • control unit 11 returns the determination counter to 0. Thereafter, the process proceeds to step S8.
  • step S7 a diagnosis using the small change automatic operation is performed. This will be described later in detail with reference to a flowchart (FIG. 11). Thereafter, the process proceeds to step S8.
  • step S8 the control unit 11 determines whether the user has performed a diagnosis end operation. When it is determined that the user has performed the diagnosis ending operation, the operation in FIG. 9 ends, and when it is determined that the user has not performed the diagnosis ending operation, the process returns to step S1.
  • FIG. 10 is a flowchart showing a diagnosis operation using the small-change automatic driving of the automatic driving diagnostic device 1 according to the second embodiment.
  • step S11 the control unit 11 has performed control to execute small-change automatic driving for all diagnosis items (“rightward movement”, “leftward movement”, “inter-vehicle distance extension”, “inter-vehicle distance reduction”). Determine whether or not.
  • the operation in FIG. 10 ends, and when it is determined that the control has not been performed for all the diagnostic items, the process proceeds to step S12. Note that the processing after step S12 may be performed a plurality of times for each diagnosis item.
  • step S12 the control unit 11 determines whether or not the diagnostic automatic driving can be appropriately performed based on the lane distance and the other vehicle distance acquired by the distance acquisition unit 12b for the diagnostic item for which control is not performed. judge.
  • the control unit 11 checks the right end of the traveling lane, the front of the right lane, and the rear of the right lane based on the lane distance and the distance of another vehicle. Then, the control unit 11 appropriately performs the automatic driving for diagnosis when it is determined that the width of the traveling lane is sufficiently wide and when it is determined that another vehicle is not approaching from the right lane. It is determined that it can be performed.
  • the control unit 11 checks the left end of the traveling lane, the front of the left lane, and the rear of the left lane based on the lane distance and the distance of another vehicle. Then, the control unit 11 appropriately performs the automatic driving for diagnosis when it is determined that the width of the traveling lane is sufficiently wide and when it is determined that another vehicle is not approaching from the left lane. Judge that it can be performed
  • the control unit 11 checks the rear of the traveling lane, the rear of the right lane, and the rear of the left lane based on the distance of another vehicle.
  • the reason for checking the rear of the right lane and the rear of the left lane is that another vehicle may change lanes behind the traveling lane.
  • the control unit 11 determines that the automatic driving for diagnosis can be appropriately performed, for example, when it is determined from the confirmations that the inter-vehicle distance behind is sufficiently large.
  • the control unit 11 checks the front of the traveling lane, the front of the right lane, and the front of the left lane based on the distance of another vehicle.
  • the reason for checking the right lane ahead and the left lane ahead is that there is a possibility that another vehicle will change lanes ahead of the traveling lane.
  • the control unit 11 determines that the automatic driving for diagnosis can be appropriately performed, for example, when it is determined that the inter-vehicle distance in front is sufficiently large based on these confirmations.
  • step S13 If it is determined that the automatic diagnosis operation can be appropriately performed, the process proceeds to step S13. If it is determined that the automatic diagnosis operation cannot be appropriately performed, the process returns to step S11.
  • step S13 the notification unit 15 notifies the self-vehicle of the pre-diagnosis notification contents of FIG. 3 corresponding to the diagnosis item as the contents of the small-change automatic driving.
  • the situation around the own vehicle may have changed.
  • step S14 the control unit 11 determines whether or not the automatic operation for diagnosis can be appropriately performed as in step S12. If it is determined that the automatic diagnosis operation can be appropriately performed, the process proceeds to step S15. If it is determined that the automatic diagnosis operation cannot be appropriately performed, the process proceeds to step S17.
  • step S15 a diagnosis corresponding to the diagnosis item is performed. That is, the control unit 11 performs control to cause the own vehicle to perform the small change automatic driving corresponding to the diagnosis item, and the acquisition unit 12 performs the behavior of the own vehicle when the control unit 11 performs the small change automatic driving. To get. Then, the determining unit 13 determines whether the automatic driving control of the own vehicle is normal or abnormal based on the small-change automatic driving performed by the control unit 11 and the behavior acquired by the acquiring unit 12.
  • step S16 the notification unit 15 notifies the diagnosis result (judgment result) to the inside of the own vehicle. Thereafter, the process returns to step S11.
  • step S17 the notification unit 15 notifies the diagnosis omission notification content of FIG. 3 corresponding to the diagnosis item to the inside of the own vehicle. Thereafter, the process returns to step S11.
  • the control of the diagnosis item for which step S17 has been performed may be determined to have been performed in step S11 which has returned.
  • FIG. 11 is a flowchart showing a diagnosis operation using the small-change automatic driving of the automatic driving diagnosis device 1 according to the second embodiment.
  • step S21 the control unit 11 performs control to execute the small-change automatic driving for all the diagnosis items (“rightward movement”, “leftward movement”, “inter-vehicle distance extension”, and “inter-vehicle distance reduction”). Determine whether or not.
  • the operation in FIG. 11 ends, and when it is determined that the control has not been performed for all the diagnostic items, the process proceeds to step S22. Note that the processing after step S22 may be performed a plurality of times for each diagnosis item.
  • control unit 11 determines whether or not the diagnostic automatic operation can be appropriately performed as in step S12 in FIG. If it is determined that the automatic diagnosis operation can be appropriately performed, the process proceeds to step S23. If it is determined that the automatic diagnosis operation cannot be appropriately performed, the process returns to step S21.
  • step S23 a diagnosis corresponding to the diagnosis item is performed. That is, the control unit 11 controls the own vehicle to perform the small change automatic driving corresponding to the diagnosis item, and the acquisition unit 12 performs the control of the own vehicle when the control unit 11 performs the small change automatic driving. To get. Then, the determining unit 13 determines whether the automatic driving control of the own vehicle is normal or abnormal based on the small-change automatic driving performed by the control unit 11 and the behavior acquired by the acquiring unit 12.
  • control unit 11 determines whether the diagnosis result (determination result) at step S23 is abnormal. When it is determined that the diagnosis result is abnormal, the process proceeds to step S25, and when it is determined that the diagnosis result is normal, the process returns to step S21.
  • step S25 the notifying unit 15 notifies the own vehicle of a diagnosis result (determination result) indicating an abnormality. Thereafter, the process returns to step S21.
  • the notification unit 15 notifies the content of the small-change automatic driving to Notify inside the vehicle.
  • the user can be notified that the diagnosis is being performed periodically, so that the reliability in the diagnosis of the automatic driving control can be improved. This is particularly effective when the vehicle is traveling on a road where it is difficult for the user to recognize whether the automatic driving is normal or abnormal, for example, a monotonous road such as an expressway.
  • the notification as described above can prevent the user from erroneously recognizing the movement of the host vehicle due to the small-change automatic driving as a malfunction.
  • the control unit 11 when the control unit 11 causes the own vehicle to perform the small-change automatic driving, the control unit 11 notifies the self-vehicle of the diagnosis result regardless of the diagnosis result of the determination unit 13.
  • a user who knows that there is an abnormality in automatic driving control can perform a measure such as canceling automatic driving in advance.
  • the notification unit 15 does not notify the contents of the minute change automatic driving to the own vehicle before the control unit 11 causes the own vehicle to execute the minute change automatic driving.
  • the control unit 11 causes the own vehicle to perform the small-change automatic driving and the determination unit 13 determines that the automatic driving control of the own vehicle is abnormal
  • the notification unit 15 The result is notified to the host vehicle. According to such a configuration, the notification to the driver is suppressed, so that the driver can be prevented from feeling troublesome.
  • control unit 11 determines whether or not to omit the diagnostic automatic driving related to at least one of the plurality of diagnostic items based on the information of the traveling lane, the lane distance, and the distance of another vehicle. Is determined. According to such a configuration, the automatic operation for diagnosis can be appropriately performed.
  • control unit 11 and the like are realized by the processing circuit 81 shown in FIG. That is, the processing circuit 81 includes a control unit 11 that performs control for causing the vehicle to perform a predetermined automatic operation for diagnosis in a lane in which the vehicle is traveling by automatic driving, and an automatic operation for diagnosis by the control unit 11.
  • An acquisition unit 12 that acquires the behavior of the vehicle when driving is performed, an automatic operation for diagnosis performed by the control unit 11, and an automatic operation of the vehicle based on the behavior acquired by the acquisition unit 12.
  • a determination unit 13 for determining whether the operation control is normal or abnormal.
  • processing circuit 81 dedicated hardware may be applied, or a processor that executes a program stored in a memory may be applied.
  • a central processing unit a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), and the like correspond to the processor.
  • DSP Digital Signal Processor
  • the processing circuit 81 When the processing circuit 81 is dedicated hardware, the processing circuit 81 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field Programmable Gate). Array), or a combination of these.
  • the function of each unit such as the control unit 11 may be realized by a circuit in which processing circuits are distributed, or the function of each unit may be realized by one processing circuit.
  • the processing circuit 81 When the processing circuit 81 is a processor, the functions of the control unit 11 and the like are realized by a combination with software and the like.
  • software etc. correspond to software, firmware, or software and firmware, for example.
  • Software and the like are described as programs and stored in a memory.
  • a processor 82 applied to the processing circuit 81 reads out and executes a program stored in a memory 83 to realize the function of each unit. That is, when the automatic driving diagnostic device 1 is executed by the processing circuit 81, the automatic driving diagnostic device 1 performs a control for causing the vehicle to perform a predetermined diagnostic automatic driving in a lane in which the vehicle is automatically driving.
  • a memory 83 for storing a program to be executed as a result.
  • this program causes a computer to execute the procedure and method of the control unit 11 and the like.
  • the memory 83 is a non-volatile or non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), its drive device, etc., or any storage medium to be used in the future. You may.
  • each function of the control unit 11 and the like is realized by one of hardware and software has been described above.
  • the present invention is not limited to this, and a configuration in which a part of the control unit 11 or the like is realized by dedicated hardware and another part is realized by software or the like may be used.
  • the function of the acquisition unit 12 is realized by a processing circuit 81 as dedicated hardware, an interface and a receiver, and the processing circuit 81 as the processor 82 otherwise reads the program stored in the memory 83. By executing the function, the function can be realized.
  • the processing circuit 81 can realize each function described above by hardware, software, or the like, or a combination thereof.
  • the automatic driving diagnosis device 1 described above includes a vehicle device such as a PND (Portable Navigation Device) and a navigation device, a communication terminal including a mobile terminal such as a mobile phone, a smart phone, and a tablet, and a vehicle device and a communication terminal.
  • the present invention can also be applied to an automatic driving diagnostic system constructed as a system by appropriately combining the function of an application installed in at least one of the functions and a server.
  • each function or each component of the automatic driving diagnosis device 1 described above may be dispersedly arranged in each device configuring the system, or may be concentratedly arranged in any one of the devices. Is also good.
  • the automatic driving diagnosis device may further include the input unit 14 in FIG.
  • FIG. 14 is a block diagram showing a configuration of a server 91 according to the present modification. 14 includes a communication unit 91a and a determination unit 91b, and can perform wireless communication with a vehicle device 93 such as a navigation device of a vehicle 92.
  • a vehicle device 93 such as a navigation device of a vehicle 92.
  • the communication unit 91a which is a control unit, performs control to cause the vehicle 92 to execute a predetermined automatic operation for diagnosis by performing wireless communication with the vehicle device 93.
  • the communication unit 91a which is an acquisition unit, receives the behavior of the vehicle 92 when performing the automatic driving for diagnosis by performing wireless communication with the vehicle device 93.
  • the determination unit 91b has a function similar to that of the control unit 11 of FIG. 1 when a processor (not shown) of the server 91 executes a program stored in a memory (not shown) of the server 91. That is, the determination unit 91b determines whether the automatic driving control of the vehicle 92 is normal or abnormal based on the automatic driving for diagnosis that is being performed and the behavior acquired by the communication unit 91a. Then, the communication unit 91a transmits the diagnosis result (judgment result) of the judgment unit 91b to the vehicle device 93. According to the server 91 configured as described above, the same effects as those of the automatic driving diagnostic device 1 described in the first embodiment can be obtained.
  • FIG. 15 is a block diagram showing a configuration of a communication terminal 96 according to the present modification.
  • the communication terminal 96 of FIG. 15 includes a communication unit 96a similar to the communication unit 91a and a determination unit 96b similar to the determination unit 91b, and can perform wireless communication with the vehicle device 98 of the vehicle 97. ing.
  • the communication terminal 96 is, for example, a mobile terminal such as a mobile phone, a smartphone, and a tablet carried by the driver of the vehicle 97. According to the communication terminal 96 configured as described above, the same effects as those of the automatic driving diagnostic device 1 described in the first embodiment can be obtained.
  • each embodiment and each modified example can be freely combined, and each embodiment and each modified example can be appropriately modified or omitted within the scope of the invention.

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Abstract

The purpose of the present invention is to provide art for improving reliability of diagnostics in autonomous driving control. This autonomous driving diagnostic device comprises: a control unit that implements control for causing a vehicle to perform predetermined autonomous driving for diagnostics in a lane in which the vehicle is traveling during autonomous driving; an acquisition unit that acquires the behavior of the vehicle while the autonomous driving for diagnostics is implemented by the control unit; and a determination unit that determines whether the autonomous driving control for the vehicle is normal or abnormal on the basis of the automatic driving for diagnostics implemented by the control unit and the behavior acquired by the acquisition unit.

Description

自動運転診断装置及び自動運転診断方法Automatic driving diagnosis device and automatic driving diagnosis method
　本発明は、車両の自動運転制御を診断する自動運転診断装置及び自動運転診断方法に関する。 The present invention relates to an automatic driving diagnosis device and an automatic driving diagnosis method for diagnosing automatic driving control of a vehicle.
　近年、車両の自動運転を実施する自動運転装置について様々な技術が提案されている。例えば特許文献１及び２には、車両が自動運転で車線変更する前に、その旨を運転者に通知することによって、運転者を安心させる自動運転装置が提案されている。 In recent years, various technologies have been proposed for an automatic driving device that performs automatic driving of a vehicle. For example, Patent Literatures 1 and 2 propose an automatic driving device that reassures a driver by notifying the driver of the change before the vehicle changes lanes by automatic driving.
特開２０１７－７４９１８号公報JP 2017-74918 A 特開２０１６－１８２８９１号公報JP 2016-182891 A
　しかしながら、上述のような特許文献１及び２の自動運転装置は、自動運転を行う制御である自動運転制御に故障が生じているか否かを診断（判定）するようには構成されていない。ここで、特許文献１及び２の自動運転装置に、そのような自動運転制御の診断機能を追加した装置を想定すると、その装置は、車両が適切に車線変更を実施したか否かによって、自動運転制御が正常か異常かを診断すると考えられる。しかしながら、そのような装置では、診断に車線変更を伴うため、例えば車両が走行している車線が片側１車線である場合などには自動運転制御を定期的に診断できない。この結果、自動運転制御の診断における信頼性は十分ではないと考えられる。 However, the automatic driving devices of Patent Literatures 1 and 2 described above are not configured to diagnose (determine) whether or not a failure has occurred in the automatic driving control that is the control for performing the automatic driving. Here, assuming a device in which such an automatic driving control diagnostic function is added to the automatic driving devices of Patent Documents 1 and 2, the device automatically determines whether or not the vehicle has properly changed lanes. It is considered that whether the operation control is normal or abnormal is diagnosed. However, in such an apparatus, since the diagnosis involves a lane change, the automatic driving control cannot be periodically diagnosed, for example, when the lane in which the vehicle is traveling is one lane on each side. As a result, it is considered that the reliability in the diagnosis of the automatic operation control is not sufficient.
　そこで、本発明は、上記のような問題点を鑑みてなされたものであり、自動運転制御の診断における信頼性を高めることが可能な技術を提供することを目的とする。 Therefore, the present invention has been made in view of the above-described problems, and has as its object to provide a technique capable of increasing the reliability of diagnosis of automatic driving control.
　本発明に係る自動運転診断装置は、車両が自動運転で走行している車線内において予め定められた診断用の自動運転を、車両に実施させる制御を行う制御部と、制御部によって診断用の自動運転を実施しているときの車両の挙動を取得する取得部と、制御部によって実施されている診断用の自動運転と、取得部で取得された挙動とに基づいて、車両の自動運転制御が正常か異常かを判定する判定部とを備える。 An automatic driving diagnostic device according to the present invention includes a control unit that controls the vehicle to perform a predetermined automatic driving operation for diagnosis in a lane in which the vehicle is traveling by automatic driving, and a control unit that performs the diagnosis. An acquisition unit for acquiring the behavior of the vehicle when performing the automatic driving, an automatic driving for diagnosis performed by the control unit, and automatic driving control of the vehicle based on the behavior acquired by the acquisition unit. And a determination unit for determining whether the is normal or abnormal.
　本発明によれば、制御部によって実施されている車線内での診断用の自動運転と、取得部で取得された挙動とに基づいて、車両の自動運転制御が正常か異常かを判定する。このような構成によれば、自動運転制御を定期的に診断する可能性を高めることができるので、自動運転制御の診断における信頼性を高めることができる。 According to the present invention, it is determined whether the automatic driving control of the vehicle is normal or abnormal based on the automatic driving for diagnosis in the lane performed by the control unit and the behavior acquired by the acquiring unit. According to such a configuration, the possibility of periodically diagnosing the automatic driving control can be increased, so that the reliability of the diagnosis of the automatic driving control can be increased.
　本発明の目的、特徴、態様及び利点は、以下の詳細な説明と添付図面とによって、より明白となる。 The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.
実施の形態１に係る自動運転診断装置の構成を示すブロック図である。FIG. 2 is a block diagram illustrating a configuration of the automatic driving diagnostic device according to the first embodiment. 実施の形態２に係る自動運転診断装置の構成を示すブロック図である。FIG. 9 is a block diagram illustrating a configuration of an automatic driving diagnosis device according to a second embodiment. 実施の形態２に係る小変化自動運転に関する内容を示す図である。It is a figure showing the contents regarding small change automatic operation concerning Embodiment 2. 実施の形態２に係る微小変化自動運転に関する内容を示す図である。It is a figure which shows the content regarding the minute change automatic driving | operation which concerns on Embodiment 2. 実施の形態２に係る自動運転診断装置の通知例を示す図である。It is a figure showing the example of a notice of the automatic operation diagnosing device concerning Embodiment 2. 実施の形態２に係る自動運転診断装置の通知例を示す図である。It is a figure showing the example of a notice of the automatic operation diagnosing device concerning Embodiment 2. 実施の形態２に係る自動運転診断装置の通知例を示す図である。It is a figure showing the example of a notice of the automatic operation diagnosing device concerning Embodiment 2. 実施の形態２に係る自動運転診断装置の通知例を示す図である。It is a figure showing the example of a notice of the automatic operation diagnosing device concerning Embodiment 2. 実施の形態２に係る自動運転診断装置の全体動作を示すフローチャートである。6 is a flowchart illustrating an overall operation of the automatic driving diagnostic device according to the second embodiment. 実施の形態２に係る自動運転診断装置の小変化自動運転を用いた診断の動作を示すフローチャートである。9 is a flowchart illustrating a diagnosis operation using the small-change automatic driving of the automatic driving diagnostic device according to the second embodiment. 実施の形態２に係る自動運転診断装置の微小変化自動運転を用いた診断の動作を示すフローチャートである。9 is a flowchart illustrating a diagnosis operation using the minute-change automatic driving of the automatic driving diagnosis device according to the second embodiment. 変形例に係る自動運転診断装置のハードウェア構成を示すブロック図である。FIG. 11 is a block diagram illustrating a hardware configuration of an automatic driving diagnostic device according to a modification. 変形例に係る自動運転診断装置のハードウェア構成を示すブロック図である。FIG. 11 is a block diagram illustrating a hardware configuration of an automatic driving diagnostic device according to a modification. 変形例に係るサーバの構成を示すブロック図である。It is a block diagram showing the composition of the server concerning a modification. 変形例に係る通信端末の構成を示すブロック図である。FIG. 11 is a block diagram illustrating a configuration of a communication terminal according to a modification.
　＜実施の形態１＞
　本発明の実施の形態１に係る自動運転診断装置は、車両の自動運転制御が正常か異常かを診断（判定）する装置である。以下、自動運転診断装置が搭載され、診断の対象となる車両を「自車両」と記載して説明することもあり、自車両以外の車両を「他車両」と記載して説明することもある。 <First Embodiment>
The automatic driving diagnostic device according to the first embodiment of the present invention is a device that diagnoses (determines) whether automatic driving control of a vehicle is normal or abnormal. Hereinafter, a vehicle equipped with an automatic driving diagnosis device may be described as a "vehicle to be diagnosed" as "own vehicle", and a vehicle other than the own vehicle may be described as "other vehicle". .
　図１は、本実施の形態１に係る自動運転診断装置１の構成を示すブロック図である。図１の自動運転診断装置１は、制御部１１と、取得部１２と、判定部１３とを備える。 FIG. 1 is a block diagram showing a configuration of the automatic driving diagnostic device 1 according to the first embodiment. 1 includes a control unit 11, an acquisition unit 12, and a determination unit 13.
　制御部１１は、自車両が自動運転で走行している車線内において予め定められた診断用の自動運転を、自車両に実施させる制御を行う。以下、自車両が自動運転で走行している車線を「走行車線」と記載して説明することもあり、診断用の自動運転を「診断用自動運転」と記載して説明することもある。 The control unit 11 performs control to cause the host vehicle to perform predetermined automatic driving for diagnosis in a lane in which the host vehicle is driving automatically. Hereinafter, the lane in which the own vehicle is traveling by automatic driving may be described as “traveling lane”, and the automatic driving for diagnosis may be described as “automatic driving for diagnosis”.
　取得部１２は、制御部１１によって診断用自動運転を実施しているときの自車両の挙動を取得する。 The acquisition unit 12 acquires the behavior of the own vehicle when the control unit 11 performs the automatic driving for diagnosis.
　判定部１３は、制御部１１によって実施されている診断用自動運転と、取得部１２で取得された挙動とに基づいて、自車両の自動運転制御が正常か異常かを判定する。例えば、判定部１３は、実施されている診断用自動運転と、取得部１２で取得された挙動とが同一または類似である場合には、自車両の自動運転制御が正常であると判定し、それ以外の場合には、自車両の自動運転制御が異常であると判定する。 The determination unit 13 determines whether the automatic driving control of the own vehicle is normal or abnormal based on the diagnostic automatic driving performed by the control unit 11 and the behavior acquired by the acquiring unit 12. For example, the determination unit 13 determines that the automatic driving control of the own vehicle is normal when the automatic operation for diagnosis that is being performed and the behavior acquired by the acquisition unit 12 are the same or similar, Otherwise, it is determined that the automatic driving control of the own vehicle is abnormal.
　＜実施の形態１のまとめ＞
　本実施の形態１に係る自動運転診断装置１によれば、制御部１１によって実施されている走行車線内での診断用自動運転と、取得部１２で取得された挙動とに基づいて、自車両の自動運転制御が正常か異常かを診断（判定）する。このような構成によれば、走行車線が片側１車線である場合であっても自動運転制御の診断を行うことができる。また、走行車線が片側２車線以上であり、自車両周辺で他車両が走行している場合であっても、他車両の走行を妨害することなく自動運転制御の診断を行うことができる。したがって、自動運転制御を定期的に診断する可能性を高めることができるので、自動運転制御の診断における信頼性を高めることができる。 <Summary of Embodiment 1>
According to the automatic driving diagnostic device 1 according to the first embodiment, the self-vehicle based on the automatic driving for diagnosis in the traveling lane performed by the control unit 11 and the behavior acquired by the acquiring unit 12. Diagnose (determine) whether the automatic operation control is normal or abnormal. According to such a configuration, it is possible to diagnose the automatic driving control even when the traveling lane is one lane on each side. Further, even when the traveling lane is two or more lanes on one side and another vehicle is traveling around the own vehicle, the diagnosis of the automatic driving control can be performed without obstructing the traveling of the other vehicle. Therefore, the possibility of periodically diagnosing the automatic driving control can be increased, so that the reliability of the automatic driving control diagnosis can be increased.
　＜実施の形態２＞
　図２は、本発明の実施の形態２に係る自動運転診断装置１の構成を示すブロック図である。以下、本実施の形態２に係る構成要素のうち、上述の構成要素と同じまたは類似する構成要素については同じ参照符号を付し、異なる構成要素について主に説明する。 <Embodiment 2>
FIG. 2 is a block diagram showing a configuration of the automatic driving diagnostic device 1 according to Embodiment 2 of the present invention. Hereinafter, among the components according to the second embodiment, the same or similar components as those described above are denoted by the same reference numerals, and different components will be mainly described.
　図２の自動運転診断装置１は、実施の形態１の制御部１１、取得部１２及び判定部１３と同様の制御部１１、取得部１２及び判定部１３を備え、かつ、入力部１４、通知部１５及びナビゲーション装置１６を備える。なお、図２の制御部１１は、操舵制御部１１ａと、ブレーキ制御部１１ｂと、加速制御部１１ｃとを含み、図２の取得部１２は、車速取得部１２ａと、距離取得部１２ｂとを含む。 The autonomous driving diagnostic device 1 of FIG. 2 includes a control unit 11, an acquisition unit 12, and a determination unit 13 similar to the control unit 11, the acquisition unit 12, and the determination unit 13 of the first embodiment. A unit 15 and a navigation device 16 are provided. The control unit 11 in FIG. 2 includes a steering control unit 11a, a brake control unit 11b, and an acceleration control unit 11c. The acquisition unit 12 in FIG. 2 includes a vehicle speed acquisition unit 12a and a distance acquisition unit 12b. Including.
　操舵制御部１１ａは、自車両の操舵を制御する。診断用自動運転などの自動運転が行われている場合には、操舵制御部１１ａは、車速取得部１２ａ及び距離取得部１２ｂの検出結果に基づいて自車両の操舵を制御する。 The steering control unit 11a controls the steering of the own vehicle. When automatic driving such as diagnostic automatic driving is being performed, the steering control unit 11a controls the steering of the host vehicle based on the detection results of the vehicle speed acquisition unit 12a and the distance acquisition unit 12b.
　ブレーキ制御部１１ｂは、自車両のブレーキを制御する。診断用自動運転などの自動運転が行われている場合には、ブレーキ制御部１１ｂは、車速取得部１２ａ及び距離取得部１２ｂの検出結果に基づいて自車両のブレーキを制御する。 The brake control unit 11b controls the brake of the own vehicle. When automatic driving such as diagnostic automatic driving is performed, the brake control unit 11b controls the brake of the own vehicle based on the detection results of the vehicle speed acquisition unit 12a and the distance acquisition unit 12b.
　加速制御部１１ｃは、自車両のアクセルを制御する。診断用自動運転などの自動運転が行われている場合には、加速制御部１１ｃは、車速取得部１２ａ及び距離取得部１２ｂの検出結果に基づいて自車両のアクセルを制御する。 The acceleration control unit 11c controls the accelerator of the own vehicle. When automatic driving such as diagnostic automatic driving is being performed, the acceleration control unit 11c controls the accelerator of the host vehicle based on the detection results of the vehicle speed acquisition unit 12a and the distance acquisition unit 12b.
　車速取得部１２ａは、自車両の速度を取得する。車速取得部１２ａは、自車両の速度を検出する車速検出装置であってよいし、当該車速検出装置から自車両の速度の検出結果を取得するインターフェースであってもよい。 The vehicle speed acquisition unit 12a acquires the speed of the own vehicle. The vehicle speed acquisition unit 12a may be a vehicle speed detection device that detects the speed of the host vehicle, or may be an interface that obtains a detection result of the speed of the host vehicle from the vehicle speed detection device.
　距離取得部１２ｂは、走行車線の端部（例えば区画線）と自車両との間の距離を取得し、かつ、自車両と自車両周辺の他車両などの自車両の障害物と間の距離を取得する。距離取得部１２ｂは、これら距離を検出する距離検出装置であってよいし、当該距離検出装置からこれら距離の検出結果を取得するインターフェースであってもよい。また、この距離検出装置は、例えば、自車両の前方、後方及び左右などの側方に取り付けられたカメラの映像から、車線認識や障害物を認識する映像認識装置を含んでもよいし、自車両の前方、後方及び左右などの側方に取り付けられた、障害物を検出するレーダー装置を含んでもよい。なお、以下では、走行車線の端部と自車両との間の距離を「車線距離」と記載して説明することもあり、自車両と障害物である他車両との間の距離を「他車両距離」と記載して説明することもある。 The distance obtaining unit 12b obtains a distance between an end of the traveling lane (for example, a lane marking) and the own vehicle, and a distance between the own vehicle and an obstacle of the own vehicle such as another vehicle around the own vehicle. To get. The distance acquisition unit 12b may be a distance detection device that detects these distances, or may be an interface that acquires detection results of these distances from the distance detection device. Further, the distance detection device may include, for example, a video recognition device that recognizes a lane or an obstacle from a video image of a camera attached to a side such as a front side, a rear side, and a left side or a right side of the own vehicle. The radar device may include a radar device that detects an obstacle and is attached to a side such as a front, a rear, and a left and right of the vehicle. In the following, the distance between the end of the traveling lane and the host vehicle may be described as “lane distance”, and the distance between the host vehicle and another vehicle that is an obstacle may be referred to as “other vehicle”. It may be described as "vehicle distance".
　入力部１４は、運転者などのユーザからの操作を受け付ける。入力部１４は、例えば、ユーザからの手動操作が入力されるボタン及びタッチパネルであってもよいし、ユーザの音声操作が入力されるマイクなどの音声入力装置であってもよいし、これらのインターフェースなどであってもよい。入力部１４で受け付ける操作には、例えば、自動運転制御の診断を設定する操作、及び、通知部１５の通知を設定する操作などが含まれる。なお、これらの設定を変更する必要がなければ、自動運転診断装置１は入力部１４を備えなくてもよい。 The input unit 14 receives an operation from a user such as a driver. The input unit 14 may be, for example, a button or a touch panel to which a user's manual operation is input, or a voice input device such as a microphone to which a user's voice operation is input. And so on. The operation accepted by the input unit 14 includes, for example, an operation of setting a diagnosis of the automatic driving control, an operation of setting a notification of the notification unit 15, and the like. If it is not necessary to change these settings, the automatic driving diagnostic device 1 does not need to include the input unit 14.
　通知部１５は、自車両内、ひいてはユーザに各種情報を通知する。通知部１５は、例えば、スピーカなどの音声出力装置であってもよいし、液晶表示装置やＨＵＤ（ヘッドアップディスプレイ）などの表示装置であってもよい。通知部１５の通知には、例えば、診断結果の通知、及び、診断用自動運転前の通知などが含まれる。以下では、通知部１５が、音声出力装置及び表示装置の両方を含むものとして説明する。 (4) The notification unit 15 notifies the user of various kinds of information in the own vehicle and thus the user. The notification unit 15 may be, for example, a sound output device such as a speaker, or a display device such as a liquid crystal display device or a HUD (head-up display). The notification of the notification unit 15 includes, for example, a notification of a diagnosis result and a notification before automatic driving for diagnosis. Hereinafter, description will be given assuming that the notification unit 15 includes both a sound output device and a display device.
　ナビゲーション装置１６は、自車両の現在位置と、車線の情報などを含む地図情報とに基づいて、現在位置から目的地までの案内を行う。このようなナビゲーション装置１６によれば、自車両が走行している車線の情報、つまり走行車線の情報を特定することが可能である。走行車線の情報は、例えば、走行車線がカーブを有しているか否かなどの情報、及び、走行車線が一般道路であるか高速道路であるかなどの情報を含む。なお、入力部１４及び通知部１５には、ナビゲーション装置１６が有する入力装置及び通知装置が適用されてもよい。 The navigation device 16 provides guidance from the current position to the destination based on the current position of the vehicle and map information including lane information and the like. According to such a navigation device 16, it is possible to specify information on the lane in which the host vehicle is traveling, that is, information on the traveling lane. The information on the traveling lane includes, for example, information as to whether the traveling lane has a curve, and information as to whether the traveling lane is a general road or an expressway. Note that the input device and the notification device included in the navigation device 16 may be applied to the input unit 14 and the notification unit 15.
　＜診断用自動運転＞
　次に、本実施の形態２に係る診断用自動運転について説明する。本実施の形態２では、診断用自動運転は、第１自動運転である小変化自動運転と、第２自動運転である微小変化自動運転とを含んでおり、制御部１１は、自車両に小変化自動運転及び微小変化自動運転を選択的に実施させる制御を行う。なお後述するように、小変化自動運転を実施したときの自車両の挙動の変化は、微小変化自動運転を実施したときの自車両の挙動の変化よりも大きくなっている。 <Automatic operation for diagnosis>
Next, a diagnostic automatic operation according to the second embodiment will be described. In the second embodiment, the diagnostic automatic driving includes the small-change automatic driving as the first automatic driving and the small-change automatic driving as the second automatic driving. Control to selectively execute the automatic change operation and the small change automatic operation is performed. As will be described later, the change in the behavior of the own vehicle when the small-change automatic driving is performed is larger than the change in the behavior of the own vehicle when the small-change automatic driving is performed.
　以下、制御部１１は、自車両に一定回数の微小変化自動運転を実施させる制御を行った場合に、自車両に小変化自動運転を実施させる制御を行うものとして説明するが、これに限ったものではない。例えば、制御部１１は、入力部１４でユーザから受け付けた操作に基づいて、自車両に小変化自動運転及び微小変化自動運転を選択的に実施させる制御を行ってもよい。 Hereinafter, the control unit 11 will be described as performing control for causing the host vehicle to perform the small-change automatic driving when performing control for causing the host vehicle to perform the small-change automatic driving for a fixed number of times, but is not limited thereto. Not something. For example, the control unit 11 may perform control to cause the host vehicle to selectively perform the small-change automatic driving and the small-change automatic driving based on the operation received from the user at the input unit 14.
　図３は、小変化自動運転に関する内容を示す図であり、図４は、微小変化自動運転に関する内容を示す図である。 FIG. 3 is a diagram showing the contents related to the small-change automatic driving, and FIG. 4 is a diagram showing the contents related to the small-change automatic driving.
　小変化自動運転及び微小変化自動運転を含む診断用自動運転には、複数の診断項目が予め規定されている。図３及び図４に示すように、本実施の形態２に係る複数の診断項目は、「右移動」、「左移動」、「車間距離延長」、及び、「車間距離短縮」を含んでいる。なお、以下では、「右移動」、「左移動」、「車間距離延長」、及び、「車間距離短縮」の順に診断用自動運転が行われるものとして説明するが、これに限ったものではない。 診断 A plurality of diagnostic items are defined in advance for the automatic operation for diagnosis including the small-change automatic operation and the small-change automatic operation. As shown in FIGS. 3 and 4, the plurality of diagnostic items according to the second embodiment include “move right”, “move left”, “extend inter-vehicle distance”, and “shorten inter-vehicle distance”. . In the following, a description will be given assuming that automatic driving for diagnosis is performed in the order of “move right”, “move left”, “extend inter-vehicle distance”, and “shorten inter-vehicle distance”, but the present invention is not limited to this. .
　図４の制御内容に示されているように、図４の診断項目の変化量は、図３の対応する診断項目の当該変化量よりも小さく、かつ、図４の診断項目の制御が行われる時間は、図３の対応する診断項目の当該時間よりも長くなっている。このように、図３に示される小変化自動運転を実施したときの自車両の挙動の変化は、図４に示される微小変化自動運転を実施したときの自車両の挙動の変化よりも大きくなっている。なお、自車両の挙動の変化は、各診断項目の自動運転が実施されている期間全体における自車両の変化の合計であってもよいし、各診断項目の自動運転が実施されているときの車両の単位時間当たりの変化であってもよい。 As shown in the control content of FIG. 4, the change amount of the diagnostic item of FIG. 4 is smaller than the change amount of the corresponding diagnostic item of FIG. 3, and the control of the diagnostic item of FIG. 4 is performed. The time is longer than the time of the corresponding diagnostic item in FIG. As described above, the change in the behavior of the own vehicle when the small-change automatic driving shown in FIG. 3 is performed is larger than the change in the behavior of the own vehicle when the small-change automatic driving shown in FIG. 4 is performed. ing. Note that the change in the behavior of the own vehicle may be the sum of changes in the own vehicle during the entire period in which the automatic driving of each diagnostic item is performed, or the change in the automatic driving of each diagnostic item may be performed. It may be a change per unit time of the vehicle.
　＜小変化自動運転に関する通知＞
　小変化自動運転の実施による自車両の挙動の変化は、微小変化自動運転の実施による自車両の挙動の変化よりもユーザに認知されやすい。また、実際の小変化自動運転の実施タイミングと、ユーザによって期待された小変化自動運転の実施タイミングとが異なることがある。そこで本実施の形態２では、制御部１１が自車両に小変化自動運転を実施させる前に、通知部１５は、小変化自動運転の内容を自車両内に通知することによりユーザに通知する。 <Notice on small change automatic driving>
The change in the behavior of the own vehicle due to the execution of the small-change automatic driving is more easily recognized by the user than the change in the behavior of the own vehicle due to the execution of the small-change automatic driving. In addition, the actual execution timing of the small-change automatic driving may be different from the execution timing of the small-change automatic driving expected by the user. Therefore, in the second embodiment, before the control unit 11 causes the own vehicle to perform the small-change automatic driving, the notification unit 15 notifies the user of the content of the small-change automatic driving by notifying the content in the own vehicle.
　例えば、「右移動」に係る小変化自動運転を実施する前には、通知部１５は、図３及び図５に示すように「１秒かけて右側に約３０ｃｍ移動します」という音声を出力するとともに、自車両４１から右側に向かう矢印４１ａを表示する。なお、矢印４１ａは点滅表示されてもよい。その後、制御部１１が、自車両のステアリングを制御することにより、自車両を右側に約３０ｃｍ移動させる自動運転が実施される。 For example, before performing the small-change automatic driving related to “move right”, the notification unit 15 outputs a voice saying “move to the right about 30 cm in one second” as shown in FIGS. 3 and 5. At the same time, an arrow 41a directed rightward from the host vehicle 41 is displayed. Note that the arrow 41a may be displayed blinking. Thereafter, the control unit 11 controls the steering of the own vehicle, thereby performing automatic driving for moving the own vehicle to the right by about 30 cm.
　なお、走行車線の幅が十分広くない場合、走行車線が複雑な一般道路である場合、及び、右車線から他車両が接近している場合などに、自車両を右側に移動させることは好ましくない。そこで、本実施の形態２に係る制御部１１は、ナビゲーション装置１６で特定された走行車線の情報と、距離取得部１２ｂで取得された車線距離及び他車両距離とに基づいて、複数の診断項目の少なくとも１つに係る小変化自動運転を省略するか否かを判定するように構成されている。そして、制御部１１は、複数の診断項目の少なくとも１つに係る小変化自動運転を省略すると判定した場合には、当該省略を行う。このような構成によれば、走行車線の幅が十分広くない場合などには、自車両を右側に移動させる診断用自動運転が省略される。この際、通知部１５は、「車線幅が足りないため、右移動診断を省略します」という音声、及び、「右車線から車両が接近のため、右移動診断を省略します」という音声などを適宜出力する。 In addition, when the width of the traveling lane is not sufficiently large, when the traveling lane is a complicated general road, and when another vehicle is approaching from the right lane, it is not preferable to move the own vehicle to the right side. . Therefore, the control unit 11 according to the second embodiment determines a plurality of diagnostic items based on the information on the traveling lane specified by the navigation device 16, the lane distance acquired by the distance acquisition unit 12b, and the other vehicle distance. It is configured to determine whether to omit the small-change automatic driving according to at least one of the above. When the control unit 11 determines that the small-change automatic driving related to at least one of the plurality of diagnostic items is to be omitted, the control unit 11 performs the omission. According to such a configuration, for example, when the width of the traveling lane is not sufficiently large, the diagnostic automatic driving for moving the vehicle to the right is omitted. At this time, the notification unit 15 outputs a voice such as "Omit the right-movement diagnosis because the lane width is insufficient" and a voice "Omit the right-movement diagnosis because the vehicle is approaching from the right lane" Is output as appropriate.
　制御部１１が自車両に小変化自動運転を実施させた場合、通知部１５は、判定部１３の診断結果（判定結果）にかかわらず、当該診断結果を自車両内に通知する。これにより、自動運転実施後の自車両の右移動が予め定められた正常範囲にあることによって、判定部１３が、右移動に係る自動運転制御は正常であると診断（判定）した場合には、通知部１５は、「右移動制御は正常です」という音声を出力する。一方、自動運転実施後の自車両の右移動が予め定められた正常範囲にないことによって、判定部１３が、右移動に係る自動運転制御は異常であると診断（判定）した場合には、通知部１５は、「右移動制御は異常です」という音声を出力する。 (4) When the control unit 11 causes the own vehicle to perform the small-change automatic driving, the notification unit 15 notifies the own vehicle of the diagnosis result regardless of the diagnosis result (determination result) of the determination unit 13. Accordingly, when the rightward movement of the host vehicle after the execution of the automatic driving is within the predetermined normal range, the determination unit 13 diagnoses (determines) that the automatic driving control related to the rightward movement is normal. , The notification unit 15 outputs a voice saying “right movement control is normal”. On the other hand, when the rightward movement of the own vehicle after performing the automatic driving is not within the predetermined normal range, and the determination unit 13 diagnoses (determines) that the automatic driving control related to the rightward movement is abnormal, The notification unit 15 outputs a voice saying “Right movement control is abnormal”.
　「左移動」、「車間距離延長」、「車間距離短縮」に係る小変化自動運転を実施する場合の制御及び通知も、以上で説明した「右移動」に係る小変化自動運転を実施する場合の制御及び通知と概ね同様である。そこで、以下では、「左移動」、「車間距離延長」、「車間距離短縮」に係る小変化自動運転を実施する場合の主な制御及び通知を説明する。 The control and notification in the case of performing the small-change automatic driving related to “move to the left”, “extension of the inter-vehicle distance”, and “shortening of the inter-vehicle distance” are also performed in the case of performing the small-change automatic driving related to the “move right” described above. This is almost the same as the control and notification of the above. Therefore, hereinafter, main control and notification in the case of performing the small-change automatic driving related to “move left”, “extend the inter-vehicle distance”, and “shorten the inter-vehicle distance” will be described.
　例えば、「左移動」に係る小変化自動運転を実施する前には、通知部１５は、図３及び図６に示すように「１秒かけて左側に約３０ｃｍ移動します」という音声を出力するとともに、自車両４１から左側に向かう矢印４１ｂを表示する。その後、制御部１１が、自車両のステアリングを制御することにより、自車両を左側に約３０ｃｍ移動させる自動運転が実施される。なお、走行車線の幅が十分広くない場合などには、自車両を左側に移動させる診断用自動運転が省略される。この際、通知部１５は、「車線幅が足りないため、左移動診断を省略します」という音声、及び、「左車線から車両が接近のため、左移動診断を省略します」という音声などを適宜出力する。 For example, before performing the small-change automatic driving related to “move to the left”, the notification unit 15 outputs a voice saying “move to the left about 30 cm in one second” as shown in FIGS. 3 and 6. At the same time, an arrow 41b pointing leftward from the host vehicle 41 is displayed. Thereafter, the control unit 11 controls the steering of the own vehicle, thereby performing automatic driving for moving the own vehicle to the left by about 30 cm. Note that when the width of the traveling lane is not sufficiently large, for example, the automatic diagnosis driving for moving the vehicle to the left is omitted. At this time, the notification unit 15 outputs a voice such as "Omit the left-moving diagnosis because the lane width is insufficient" and a voice "Omit the left-moving diagnosis because the vehicle is approaching from the left lane" Is output as appropriate.
　自動運転実施後の自車両の左移動が予め定められた正常範囲にあることによって、判定部１３が、左移動に係る自動運転制御は正常であると診断した場合には、通知部１５は、「左移動制御は正常です」という音声を出力する。一方、自動運転実施後の自車両の左移動が予め定められた正常範囲にないことによって、判定部１３が、左移動に係る自動運転制御は異常であると診断した場合には、通知部１５は、「左移動制御は異常です」という音声を出力する。 When the determination unit 13 diagnoses that the automatic driving control related to the leftward movement is normal, because the leftward movement of the own vehicle after performing the automatic driving is within a predetermined normal range, the notification unit 15 Outputs the sound "Left movement control is normal." On the other hand, when the left movement of the own vehicle after the execution of the automatic driving is not within the predetermined normal range, and the determination unit 13 diagnoses that the automatic driving control related to the left movement is abnormal, the notification unit 15 Outputs a voice saying "Left movement control is abnormal."
　例えば、「車間距離延長」に係る小変化自動運転を実施する前には、通知部１５は、図３及び図７に示すように「３秒かけて車間距離を約５ｍ広げます」という音声を出力するとともに、自車両４１から後側に向かう矢印４１ｃを表示する。その後、制御部１１が、自車両のブレーキなどを制御することにより、自車両と前方車両との間の車間距離である前方車間距離を約５ｍ広げる自動運転が実施される。なお、自車両と後方車両との間の車間距離である後方車間距離が十分広くない場合などには、前方車間距離を広げる診断用自動運転が省略される。この際、通知部１５は、「後方車両との車間距離が十分でないため、車間距離延長診断を省略します」という音声などを適宜出力する。 For example, before performing the small-change automatic driving related to “extension between vehicles”, the notification unit 15 outputs a voice saying “widen the distance between vehicles by about 5 m in 3 seconds” as shown in FIGS. 3 and 7. In addition to the output, an arrow 41c pointing rearward from the host vehicle 41 is displayed. Thereafter, the control unit 11 controls the brakes of the own vehicle to perform automatic driving for increasing the inter-vehicle distance, which is the inter-vehicle distance between the own vehicle and the preceding vehicle, by about 5 m. Note that when the distance between the rear vehicles, which is the distance between the host vehicle and the rear vehicle, is not sufficiently large, the automatic driving for diagnosis to increase the distance between the front vehicles is omitted. At this time, the notification unit 15 appropriately outputs a sound such as "The inter-vehicle distance extension diagnosis is omitted because the inter-vehicle distance with the following vehicle is not sufficient".
　自動運転実施後の前方車間距離が予め定められた正常範囲にあることによって、判定部１３が、車間距離延長に係る自動運転制御は正常であると診断した場合には、通知部１５は、「車間距離延長制御は正常です」という音声を出力する。一方、自動運転実施後の前方車間距離が予め定められた正常範囲にないことによって、判定部１３が、車間距離延長に係る自動運転制御は異常であると診断した場合には、通知部１５は、「車間距離延長制御は異常です」という音声を出力する。 If the determining unit 13 diagnoses that the automatic driving control related to the extension of the inter-vehicle distance is normal due to the fact that the inter-vehicle distance in front after the automatic driving is within the predetermined normal range, the notifying unit 15 sets “ The inter-vehicle distance extension control is normal. " On the other hand, when the inter-vehicle distance ahead of the vehicle after the automatic driving is not within the predetermined normal range, and the determination unit 13 diagnoses that the automatic driving control related to the extension of the inter-vehicle distance is abnormal, the notifying unit 15 sets , A sound is output that states that "inter-vehicle distance extension control is abnormal."
　例えば、「車間距離短縮」に係る小変化自動運転を実施する前には、通知部１５は、図３及び図８に示すように「３秒かけて車間距離を約５ｍ狭めます」という音声を出力するとともに、自車両４１から前側に向かう矢印４１ｄを表示する。その後、制御部１１が、自車両のアクセルなどを制御することにより、前方車間距離を約５ｍ狭める自動運転が実施される。なお、前方車間距離が十分広くない場合には、前方車間距離を狭める診断用自動運転が省略される。この際、通知部１５は、「前方車両との車間距離が十分でないため、車間距離短縮診断を省略します」という音声などを適宜出力する。 For example, before performing the small-change automatic driving related to “shortening the inter-vehicle distance”, the notification unit 15 outputs a voice saying “shorten the inter-vehicle distance by about 5 m in three seconds” as shown in FIGS. 3 and 8. In addition to the output, an arrow 41d directed forward from the host vehicle 41 is displayed. Thereafter, the control unit 11 controls the accelerator or the like of the own vehicle, thereby performing automatic driving for reducing the distance between the front vehicles by about 5 m. If the distance between the front vehicles is not sufficiently large, the automatic diagnosis driving for reducing the distance between the front vehicles is omitted. At this time, the notification unit 15 appropriately outputs a sound such as "The inter-vehicle distance is not sufficient, and the inter-vehicle distance reduction diagnosis will be omitted."
　自動運転実施後の前方車間距離が予め定められた正常範囲にあることによって、判定部１３が、車間距離短縮に係る自動運転制御は正常であると診断し、通知部１５は、「車間距離短縮制御は正常です」という音声を出力する。一方、自動運転実施後の前方車間距離が予め定められた正常範囲にないことによって、判定部１３が、車間距離短縮に係る自動運転制御は異常であると診断した場合には、通知部１５は、「車間距離短縮制御は異常です」という音声を出力する。 When the inter-vehicle distance in front of the vehicle after the automatic driving is in a predetermined normal range, the determination unit 13 diagnoses that the automatic driving control for the inter-vehicle distance reduction is normal, and the notification unit 15 determines that the “inter-vehicle distance reduction”. Control is normal. " On the other hand, when the inter-vehicle distance in front of the vehicle after the automatic driving is not within the predetermined normal range, and the determination unit 13 diagnoses that the automatic driving control for shortening the inter-vehicle distance is abnormal, the notifying unit 15 , And outputs a voice saying "inter-vehicle distance reduction control is abnormal."
　＜微小変化自動運転に関する通知＞
　微小変化自動運転の実施による自車両の挙動の変化は、小変化自動運転の実施による自車両の挙動の変化よりもユーザに認知されにくい。そこで本実施の形態２では、制御部１１が自車両に微小変化自動運転を実施させる前には、通知部１５は、微小変化自動運転の内容を自車両内に通知しない。そして、制御部１１が自車両に微小変化自動運転を実施させ、かつ、判定部１３で自車両の自動運転制御が異常であると判定した場合に、通知部１５は、判定部１３の判定結果を自車両内に通知する。つまり、制御部１１が自車両に微小変化自動運転を実施させ、かつ、判定部１３で自車両の自動運転制御が正常であると判定した場合には、通知部１５は、判定部１３の判定結果を自車両内に通知しない。 <Notice on small change automatic driving>
The change in the behavior of the own vehicle due to the execution of the small-change automatic driving is less likely to be recognized by the user than the change in the behavior of the own vehicle due to the execution of the small-change automatic driving. Therefore, in the second embodiment, the notification unit 15 does not notify the content of the minute change automatic driving to the own vehicle before the control unit 11 causes the own vehicle to execute the minute change automatic driving. When the control unit 11 causes the own vehicle to perform the small-change automatic driving, and when the determining unit 13 determines that the automatic driving control of the own vehicle is abnormal, the notification unit 15 determines the determination result of the determining unit 13. Is notified in the own vehicle. That is, when the control unit 11 causes the own vehicle to perform the small-change automatic driving and the determination unit 13 determines that the automatic driving control of the own vehicle is normal, the notification unit 15 The result is not notified to the host vehicle.
　なお、微小変化自動運転を実施する場合の制御は、挙動の変化の大きさを除けば、小変化自動運転を実施する場合の制御と同様である。このため、上述した小変化自動運転と同様に、制御部１１は、ナビゲーション装置１６で特定された走行車線の情報と、距離取得部１２ｂで取得された車線距離及び他車両距離とに基づいて、複数の診断項目の少なくとも１つに係る微小変化自動運転を省略するか否かを判定する。そして、制御部１１は、複数の診断項目の少なくとも１つに係る微小変化自動運転を省略すると判定した場合には、当該省略を行う。 制 御 Note that the control in the case of performing the small change automatic operation is the same as the control in the case of performing the small change automatic operation, except for the magnitude of the behavior change. For this reason, similarly to the above-described small-change automatic driving, the control unit 11 performs, based on the information on the traveling lane specified by the navigation device 16 and the lane distance and the other vehicle distance acquired by the distance acquisition unit 12b, It is determined whether or not the small change automatic operation relating to at least one of the plurality of diagnosis items is omitted. Then, when the control unit 11 determines that the small change automatic operation related to at least one of the plurality of diagnosis items is to be omitted, the control unit 11 performs the omission.
　＜全体動作＞
　図９は、本実施の形態２に係る自動運転診断装置１の全体動作を示すフローチャートである。以下、図９の動作は、ユーザが診断開始操作を行ったときに開始するものとして説明するが、これに限ったものではない。例えば、図９の動作は、自車両の駆動源（エンジンまたはモータ）が動作したときに開始してもよい。 <Overall operation>
FIG. 9 is a flowchart illustrating the overall operation of the automatic driving diagnostic device 1 according to the second embodiment. Hereinafter, the operation of FIG. 9 will be described as being started when the user performs a diagnosis start operation, but is not limited to this. For example, the operation in FIG. 9 may be started when the drive source (engine or motor) of the vehicle operates.
　ステップＳ１にて、制御部１１は、ステップＳ１に処理が移行してから予め定められた時間が経過するまで待機する。予め定められた時間は、例えば、ユーザ及び自動運転診断装置１などによって１５分などに定められる。つまり、ユーザが予め定められた時間を変更する操作を入力部１４に行うことにより、診断間隔を変更することが可能となっている。 In step S1, the control unit 11 waits until a predetermined time elapses after the process proceeds to step S1. The predetermined time is set to, for example, 15 minutes by the user and the automatic driving diagnostic device 1 or the like. That is, the user can change the diagnosis interval by performing an operation of changing the predetermined time on the input unit 14.
　ステップＳ２にて、制御部１１は、ナビゲーション装置１６で特定された自車両の位置に基づく走行車線の情報に基づいて、診断用自動運転を適切に実施できるか否かを判定する。一例として、制御部１１は、走行車線の情報に基づいて、走行車線が直線または緩やかなカーブであると判定した場合に、診断用自動運転を適切に実施できると判定する。別例として、制御部１１は、走行車線の情報と、車速取得部１２ａで取得された速度とに基づいて、診断用自動運転の実施期間中、走行車線が直線または緩やかなカーブを維持すると判定した場合に、診断用自動運転を適切に実施できると判定する。 In step S2, the control unit 11 determines whether or not the automatic driving for diagnosis can be appropriately performed based on the information on the traveling lane based on the position of the own vehicle specified by the navigation device 16. As an example, when the control unit 11 determines that the traveling lane is a straight line or a gentle curve based on the information on the traveling lane, the control unit 11 determines that the automatic driving for diagnosis can be appropriately performed. As another example, the control unit 11 determines that the traveling lane maintains a straight line or a gentle curve during the period of performing the automatic driving for diagnosis based on the information on the traveling lane and the speed acquired by the vehicle speed acquiring unit 12a. In this case, it is determined that the automatic diagnosis operation can be appropriately performed.
　診断用自動運転を適切に実施できると判定された場合には処理がステップＳ３に進み、診断用自動運転を適切に実施できないと判定された場合にはステップＳ２を再度行う。なお、ステップＳ３に処理が進む際に、通知部１５は、「自動運転システムの診断を始めます」という音声を出力してもよい。 (4) If it is determined that the automatic diagnosis operation can be appropriately performed, the process proceeds to step S3. If it is determined that the automatic diagnosis operation cannot be appropriately performed, step S2 is performed again. Note that, when the process proceeds to step S3, the notification unit 15 may output a voice saying "start diagnosis of the automatic driving system".
　ステップＳ３にて、制御部１１は、小変化自動運転を用いた診断を行うかどうかを決定するための決定カウンタを、インクリメントする。 In step S3, the control unit 11 increments a determination counter for determining whether to perform the diagnosis using the small-change automatic driving.
　ステップＳ４にて、制御部１１は、決定カウンタが予め定められた回数に到達したか否かを判定する。予め定められた回数は、例えば、ユーザによって定められる。つまり、ユーザが予め定められた回数を変更する操作を入力部１４に行うことにより、小変化自動運転による診断間隔を変更することが可能となっている。なお、ユーザから入力部１４への操作によっては、小変化自動運転による診断を行わないように設定されてもよい。 制 御 At step S4, control unit 11 determines whether or not the determination counter has reached a predetermined number. The predetermined number of times is determined by the user, for example. That is, when the user performs an operation of changing the predetermined number of times on the input unit 14, it is possible to change the diagnosis interval by the small-change automatic driving. In addition, depending on the operation of the input unit 14 by the user, it may be set so that the diagnosis based on the small-change automatic driving is not performed.
　決定カウンタが予め定められた回数に到達したと判定された場合には処理がステップＳ５に進み、決定カウンタが予め定められた回数に到達していないと判定された場合には処理がステップＳ７に進む。 If it is determined that the decision counter has reached the predetermined number, the process proceeds to step S5. If it is determined that the decision counter has not reached the predetermined number, the process proceeds to step S7. move on.
　ステップＳ５にて、小変化自動運転を用いた診断が行われる。この詳細については、後でフローチャート（図１０）を用いて説明する。 診断 In step S5, a diagnosis using the small change automatic operation is performed. This will be described later in detail with reference to a flowchart (FIG. 10).
　ステップＳ６にて、制御部１１は、決定カウンタを０に戻す。その後、処理がステップＳ８に進む。 に て At step S6, control unit 11 returns the determination counter to 0. Thereafter, the process proceeds to step S8.
　ステップＳ７にて、微小変化自動運転を用いた診断が行われる。この詳細については、後でフローチャート（図１１）を用いて説明する。その後、処理がステップＳ８に進む。 診断 In step S7, a diagnosis using the small change automatic operation is performed. This will be described later in detail with reference to a flowchart (FIG. 11). Thereafter, the process proceeds to step S8.
　ステップＳ８にて、制御部１１は、ユーザが診断終了操作を行ったかを判定する。ユーザが診断終了操作を行ったと判定された場合には、図９の動作が終了し、ユーザが診断終了操作を行わなかったと判定された場合には、処理がステップＳ１に戻る。 In step S8, the control unit 11 determines whether the user has performed a diagnosis end operation. When it is determined that the user has performed the diagnosis ending operation, the operation in FIG. 9 ends, and when it is determined that the user has not performed the diagnosis ending operation, the process returns to step S1.
　＜小変化自動運転を用いた診断＞
　図１０は、本実施の形態２に係る自動運転診断装置１の小変化自動運転を用いた診断の動作を示すフローチャートである。 <Diagnosis using small-change automatic driving>
FIG. 10 is a flowchart showing a diagnosis operation using the small-change automatic driving of the automatic driving diagnostic device 1 according to the second embodiment.
　ステップＳ１１にて、制御部１１は、全ての診断項目（「右移動」、「左移動」、「車間距離延長」、「車間距離短縮」）について、小変化自動運転を実施させる制御を行ったか否かを判定する。全ての診断項目について制御が行われたと判定された場合には図１０の動作が終了し、全ての診断項目について制御が行われていないと判定された場合には処理がステップＳ１２に進む。なお、ステップＳ１２以降の処理は、各診断項目について複数回行われてもよい。 In step S11, the control unit 11 has performed control to execute small-change automatic driving for all diagnosis items (“rightward movement”, “leftward movement”, “inter-vehicle distance extension”, “inter-vehicle distance reduction”). Determine whether or not. When it is determined that the control has been performed for all the diagnostic items, the operation in FIG. 10 ends, and when it is determined that the control has not been performed for all the diagnostic items, the process proceeds to step S12. Note that the processing after step S12 may be performed a plurality of times for each diagnosis item.
　ステップＳ１２にて、制御部１１は、制御が行われていない診断項目について、距離取得部１２ｂで取得された車線距離及び他車両距離に基づき、診断用自動運転を適切に実施できるか否かを判定する。 In step S12, the control unit 11 determines whether or not the diagnostic automatic driving can be appropriately performed based on the lane distance and the other vehicle distance acquired by the distance acquisition unit 12b for the diagnostic item for which control is not performed. judge.
　例えば、制御が行われていない診断項目が「右移動」である場合、制御部１１は、車線距離及び他車両距離に基づいて、走行車線の右端、右側車線前方、右側車線後方を確認する。そして、制御部１１は、それらの確認によって、走行車線の幅が十分広いと判定した場合、及び、右車線から他車両が接近していないと判定した場合などに、診断用自動運転を適切に実施できると判定する。 For example, if the diagnosis item for which control is not performed is “moving to the right”, the control unit 11 checks the right end of the traveling lane, the front of the right lane, and the rear of the right lane based on the lane distance and the distance of another vehicle. Then, the control unit 11 appropriately performs the automatic driving for diagnosis when it is determined that the width of the traveling lane is sufficiently wide and when it is determined that another vehicle is not approaching from the right lane. It is determined that it can be performed.
　例えば、制御が行われていない診断項目が「左移動」である場合、制御部１１は、車線距離及び他車両距離に基づいて、走行車線の左端、左側車線前方、左側車線後方を確認する。そして、制御部１１は、それらの確認によって、走行車線の幅が十分広いと判定した場合、及び、左車線から他車両が接近していないと判定した場合などに、診断用自動運転を適切に実施できると判定する。 For example, when the diagnosis item for which control is not performed is “move to the left”, the control unit 11 checks the left end of the traveling lane, the front of the left lane, and the rear of the left lane based on the lane distance and the distance of another vehicle. Then, the control unit 11 appropriately performs the automatic driving for diagnosis when it is determined that the width of the traveling lane is sufficiently wide and when it is determined that another vehicle is not approaching from the left lane. Judge that it can be performed
　例えば、制御が行われていない診断項目が「車線距離延長」である場合、制御部１１は、他車両距離に基づいて、走行車線の後方、右側車線後方、左側車線後方を確認する。なお、右側車線後方、左側車線後方を確認する理由は、走行車線後方に他車両が車線変更する可能性があるためである。制御部１１は、それらの確認によって、後方車間距離が十分広いと判定した場合などに、診断用自動運転を適切に実施できると判定する。 For example, when the diagnosis item for which control is not performed is “lane length extension”, the control unit 11 checks the rear of the traveling lane, the rear of the right lane, and the rear of the left lane based on the distance of another vehicle. The reason for checking the rear of the right lane and the rear of the left lane is that another vehicle may change lanes behind the traveling lane. The control unit 11 determines that the automatic driving for diagnosis can be appropriately performed, for example, when it is determined from the confirmations that the inter-vehicle distance behind is sufficiently large.
　例えば、制御が行われていない診断項目が「車線距離短縮」である場合、制御部１１は、他車両距離に基づいて、走行車線の前方、右側車線前方、左側車線前方を確認する。なお、右側車線前方、左側車線前方を確認する理由は、走行車線前方に他車両が車線変更する可能性があるためである。制御部１１は、それらの確認によって、前方車間距離が十分広いと判定した場合などに、診断用自動運転を適切に実施できると判定する。 For example, when the diagnosis item for which control is not performed is “shortening of the lane distance”, the control unit 11 checks the front of the traveling lane, the front of the right lane, and the front of the left lane based on the distance of another vehicle. The reason for checking the right lane ahead and the left lane ahead is that there is a possibility that another vehicle will change lanes ahead of the traveling lane. The control unit 11 determines that the automatic driving for diagnosis can be appropriately performed, for example, when it is determined that the inter-vehicle distance in front is sufficiently large based on these confirmations.
　診断用自動運転を適切に実施できると判定された場合には処理がステップＳ１３に進み、診断用自動運転を適切に実施できないと判定された場合には処理がステップＳ１１に戻る。 処理 If it is determined that the automatic diagnosis operation can be appropriately performed, the process proceeds to step S13. If it is determined that the automatic diagnosis operation cannot be appropriately performed, the process returns to step S11.
　ステップＳ１３にて、通知部１５は、小変化自動運転の内容として、診断項目に対応する図３の診断前通知内容を自車両内に通知する。ここで、この通知を行っている際に、自車両周辺の状況が変化している可能性がある。 In step S13, the notification unit 15 notifies the self-vehicle of the pre-diagnosis notification contents of FIG. 3 corresponding to the diagnosis item as the contents of the small-change automatic driving. Here, during the notification, the situation around the own vehicle may have changed.
　このため、ステップＳ１４にて、制御部１１は、ステップＳ１２と同様に診断用自動運転を適切に実施できるか否かを判定する。診断用自動運転を適切に実施できると判定された場合には処理がステップＳ１５に進み、診断用自動運転を適切に実施できないと判定された場合には処理がステップＳ１７に進む。 た め Therefore, in step S14, the control unit 11 determines whether or not the automatic operation for diagnosis can be appropriately performed as in step S12. If it is determined that the automatic diagnosis operation can be appropriately performed, the process proceeds to step S15. If it is determined that the automatic diagnosis operation cannot be appropriately performed, the process proceeds to step S17.
　ステップＳ１５にて、診断項目に対応する診断が行われる。つまり、制御部１１が、診断項目に対応する小変化自動運転を自車両に実施させる制御を行い、取得部１２が、制御部１１によって小変化自動運転を実施しているときの自車両の挙動を取得する。そして、判定部１３が、制御部１１によって実施されている小変化自動運転と、取得部１２で取得された挙動とに基づいて、自車両の自動運転制御が正常か異常かを判定する。 診断 In step S15, a diagnosis corresponding to the diagnosis item is performed. That is, the control unit 11 performs control to cause the own vehicle to perform the small change automatic driving corresponding to the diagnosis item, and the acquisition unit 12 performs the behavior of the own vehicle when the control unit 11 performs the small change automatic driving. To get. Then, the determining unit 13 determines whether the automatic driving control of the own vehicle is normal or abnormal based on the small-change automatic driving performed by the control unit 11 and the behavior acquired by the acquiring unit 12.
　ステップＳ１６にて、通知部１５は、診断結果（判定結果）を自車両内に通知する。その後、処理がステップＳ１１に戻る。 In step S16, the notification unit 15 notifies the diagnosis result (judgment result) to the inside of the own vehicle. Thereafter, the process returns to step S11.
　ステップＳ１７にて、通知部１５は、診断項目に対応する図３の診断省略通知内容を自車両内に通知する。その後、処理がステップＳ１１に戻る。なお、ステップＳ１７を実施した診断項目の制御は、戻ったステップＳ１１において実施したと判定されてもよい。 In step S17, the notification unit 15 notifies the diagnosis omission notification content of FIG. 3 corresponding to the diagnosis item to the inside of the own vehicle. Thereafter, the process returns to step S11. The control of the diagnosis item for which step S17 has been performed may be determined to have been performed in step S11 which has returned.
　＜微小変化自動運転を用いた診断＞
　図１１は、本実施の形態２に係る自動運転診断装置１の微小変化自動運転を用いた診断の動作を示すフローチャートである。 <Diagnosis using micro-change automatic driving>
FIG. 11 is a flowchart showing a diagnosis operation using the small-change automatic driving of the automatic driving diagnosis device 1 according to the second embodiment.
　ステップＳ２１にて、制御部１１は、全ての診断項目（「右移動」、「左移動」、「車間距離延長」、「車間距離短縮」）について、微小変化自動運転を実施させる制御を行ったか否かを判定する。全ての診断項目について制御が行われたと判定された場合には図１１の動作が終了し、全ての診断項目について制御が行われていないと判定された場合には処理がステップＳ２２に進む。なお、ステップＳ２２以降の処理は、各診断項目について複数回行われてもよい。 In step S21, the control unit 11 performs control to execute the small-change automatic driving for all the diagnosis items (“rightward movement”, “leftward movement”, “inter-vehicle distance extension”, and “inter-vehicle distance reduction”). Determine whether or not. When it is determined that the control has been performed for all the diagnostic items, the operation in FIG. 11 ends, and when it is determined that the control has not been performed for all the diagnostic items, the process proceeds to step S22. Note that the processing after step S22 may be performed a plurality of times for each diagnosis item.
　ステップＳ２２にて、制御部１１は、図１０のステップＳ１２と同様に診断用自動運転を適切に実施できるか否かを判定する。診断用自動運転を適切に実施できると判定された場合には処理がステップＳ２３に進み、診断用自動運転を適切に実施できないと判定された場合には処理がステップＳ２１に戻る。 に て In step S22, control unit 11 determines whether or not the diagnostic automatic operation can be appropriately performed as in step S12 in FIG. If it is determined that the automatic diagnosis operation can be appropriately performed, the process proceeds to step S23. If it is determined that the automatic diagnosis operation cannot be appropriately performed, the process returns to step S21.
　ステップＳ２３にて、診断項目に対応する診断が行われる。つまり、制御部１１が、診断項目に対応する微小変化自動運転を自車両に実施させる制御を行い、取得部１２が、制御部１１によって微小変化自動運転を実施しているときの自車両の挙動を取得する。そして、判定部１３が、制御部１１によって実施されている微小変化自動運転と、取得部１２で取得された挙動とに基づいて、自車両の自動運転制御が正常か異常かを判定する。 診断 In step S23, a diagnosis corresponding to the diagnosis item is performed. That is, the control unit 11 controls the own vehicle to perform the small change automatic driving corresponding to the diagnosis item, and the acquisition unit 12 performs the control of the own vehicle when the control unit 11 performs the small change automatic driving. To get. Then, the determining unit 13 determines whether the automatic driving control of the own vehicle is normal or abnormal based on the small-change automatic driving performed by the control unit 11 and the behavior acquired by the acquiring unit 12.
　ステップＳ２４にて、制御部１１は、ステップＳ２３の診断結果（判定結果）が異常であるか否かを判定する。診断結果が異常であると判定された場合には処理がステップＳ２５に進み、診断結果が正常であると判定された場合には処理がステップＳ２１に戻る。 に て At step S24, control unit 11 determines whether the diagnosis result (determination result) at step S23 is abnormal. When it is determined that the diagnosis result is abnormal, the process proceeds to step S25, and when it is determined that the diagnosis result is normal, the process returns to step S21.
　ステップＳ２５にて、通知部１５は、異常を示す診断結果（判定結果）を自車両内に通知する。その後、処理がステップＳ２１に戻る。 In step S25, the notifying unit 15 notifies the own vehicle of a diagnosis result (determination result) indicating an abnormality. Thereafter, the process returns to step S21.
　＜実施の形態２のまとめ＞
　以上のような本実施の形態２に係る自動運転診断装置１によれば、制御部１１が自車両に小変化自動運転を実施させる前に、通知部１５は、小変化自動運転の内容を自車両内に通知する。このような構成によれば、例えば、定期的に診断が行われていることをユーザに知らせることができるため、自動運転制御の診断における信頼性を高めることができる。このことは、特に自車両が、自動運転が正常か異常かをユーザが認識することが困難な道路、例えば、高速道路などの単調な道路を走行している場合に有効である。また、以上のような通知によって、ユーザが、小変化自動運転による自車両の移動を誤動作として誤認することを抑制することができる。 <Summary of Embodiment 2>
According to the automatic driving diagnostic device 1 according to the second embodiment as described above, before the control unit 11 causes the vehicle to perform the small-change automatic driving, the notification unit 15 notifies the content of the small-change automatic driving to Notify inside the vehicle. According to such a configuration, for example, the user can be notified that the diagnosis is being performed periodically, so that the reliability in the diagnosis of the automatic driving control can be improved. This is particularly effective when the vehicle is traveling on a road where it is difficult for the user to recognize whether the automatic driving is normal or abnormal, for example, a monotonous road such as an expressway. In addition, the notification as described above can prevent the user from erroneously recognizing the movement of the host vehicle due to the small-change automatic driving as a malfunction.
　また本実施の形態２によれば、制御部１１が自車両に小変化自動運転を実施させた場合に、判定部１３の診断結果にかかわらず、当該診断結果を自車両内に通知する。このような構成によれば、例えば、自動運転の制御に異常があることを知ったユーザは、事前に、自動運転を解除することなどの処置を行うことができる。 According to the second embodiment, when the control unit 11 causes the own vehicle to perform the small-change automatic driving, the control unit 11 notifies the self-vehicle of the diagnosis result regardless of the diagnosis result of the determination unit 13. According to such a configuration, for example, a user who knows that there is an abnormality in automatic driving control can perform a measure such as canceling automatic driving in advance.
　また本実施の形態２によれば、通知部１５は、制御部１１が自車両に微小変化自動運転を実施させる前には、微小変化自動運転の内容を自車両内に通知しない。加えて、通知部１５は、制御部１１が自車両に微小変化自動運転を実施させ、かつ、判定部１３で自車両の自動運転制御が異常であると判定した場合に、判定部１３の判定結果を自車両内に通知する。このような構成によれば、運転者に対する通知が抑制されるので、運転者が通知を煩わしく感じることを抑制することができる。 According to the second embodiment, the notification unit 15 does not notify the contents of the minute change automatic driving to the own vehicle before the control unit 11 causes the own vehicle to execute the minute change automatic driving. In addition, when the control unit 11 causes the own vehicle to perform the small-change automatic driving and the determination unit 13 determines that the automatic driving control of the own vehicle is abnormal, the notification unit 15 The result is notified to the host vehicle. According to such a configuration, the notification to the driver is suppressed, so that the driver can be prevented from feeling troublesome.
　また本実施の形態２によれば、制御部１１は、走行車線の情報、車線距離及び他車両距離に基づいて、複数の診断項目の少なくとも１つに係る診断用自動運転を省略するか否かを判定する。このような構成によれば、診断用自動運転を適切に実施することができる。 Further, according to the second embodiment, the control unit 11 determines whether or not to omit the diagnostic automatic driving related to at least one of the plurality of diagnostic items based on the information of the traveling lane, the lane distance, and the distance of another vehicle. Is determined. According to such a configuration, the automatic operation for diagnosis can be appropriately performed.
　＜変形例＞
　上述した図１の制御部１１、取得部１２及び判定部１３を、以下「制御部１１等」と記す。制御部１１等は、図１２に示す処理回路８１により実現される。すなわち、処理回路８１は、車両が自動運転で走行している車線内において予め定められた診断用の自動運転を、車両に実施させる制御を行う制御部１１と、制御部１１によって診断用の自動運転を実施しているときの車両の挙動を取得する取得部１２と、制御部１１によって実施されている診断用の自動運転と、取得部１２で取得された挙動とに基づいて、車両の自動運転制御が正常か異常かを判定する判定部１３と、を備える。処理回路８１には、専用のハードウェアが適用されてもよいし、メモリに格納されるプログラムを実行するプロセッサが適用されてもよい。プロセッサには、例えば、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰ（Digital Signal Processor）などが該当する。 <Modification>
The above-described control unit 11, acquisition unit 12, and determination unit 13 in FIG. 1 are hereinafter referred to as “control unit 11 and the like”. The control unit 11 and the like are realized by the processing circuit 81 shown in FIG. That is, the processing circuit 81 includes a control unit 11 that performs control for causing the vehicle to perform a predetermined automatic operation for diagnosis in a lane in which the vehicle is traveling by automatic driving, and an automatic operation for diagnosis by the control unit 11. An acquisition unit 12 that acquires the behavior of the vehicle when driving is performed, an automatic operation for diagnosis performed by the control unit 11, and an automatic operation of the vehicle based on the behavior acquired by the acquisition unit 12. A determination unit 13 for determining whether the operation control is normal or abnormal. As the processing circuit 81, dedicated hardware may be applied, or a processor that executes a program stored in a memory may be applied. For example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), and the like correspond to the processor.
　処理回路８１が専用のハードウェアである場合、処理回路８１は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application Specific Integrated Circuit）、ＦＰＧＡ（Field Programmable Gate Array）、またはこれらを組み合わせたものが該当する。制御部１１等の各部の機能それぞれは、処理回路を分散させた回路で実現されてもよいし、各部の機能をまとめて一つの処理回路で実現されてもよい。 When the processing circuit 81 is dedicated hardware, the processing circuit 81 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field Programmable Gate). Array), or a combination of these. The function of each unit such as the control unit 11 may be realized by a circuit in which processing circuits are distributed, or the function of each unit may be realized by one processing circuit.
　処理回路８１がプロセッサである場合、制御部１１等の機能は、ソフトウェア等との組み合わせにより実現される。なお、ソフトウェア等には、例えば、ソフトウェア、ファームウェア、または、ソフトウェア及びファームウェアが該当する。ソフトウェア等はプログラムとして記述され、メモリに格納される。図１３に示すように、処理回路８１に適用されるプロセッサ８２は、メモリ８３に記憶されたプログラムを読み出して実行することにより、各部の機能を実現する。すなわち、自動運転診断装置１は、処理回路８１により実行されるときに、車両が自動運転で走行している車線内において予め定められた診断用の自動運転を、車両に実施させる制御を行うステップと、診断用の自動運転を実施しているときの車両の挙動を取得するステップと、実施されている診断用の自動運転と、取得された挙動とに基づいて、車両の自動運転制御が正常か異常かを判定するステップと、が結果的に実行されることになるプログラムを格納するためのメモリ８３を備える。換言すれば、このプログラムは、制御部１１等の手順や方法をコンピュータに実行させるものであるともいえる。ここで、メモリ８３は、例えば、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）、フラッシュメモリ、ＥＰＲＯＭ（Erasable Programmable Read Only Memory）、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）などの、不揮発性または揮発性の半導体メモリ、ＨＤＤ（Hard Disk Drive）、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ（Digital Versatile Disc）、そのドライブ装置等、または、今後使用されるあらゆる記憶媒体であってもよい。 When the processing circuit 81 is a processor, the functions of the control unit 11 and the like are realized by a combination with software and the like. In addition, software etc. correspond to software, firmware, or software and firmware, for example. Software and the like are described as programs and stored in a memory. As shown in FIG. 13, a processor 82 applied to the processing circuit 81 reads out and executes a program stored in a memory 83 to realize the function of each unit. That is, when the automatic driving diagnostic device 1 is executed by the processing circuit 81, the automatic driving diagnostic device 1 performs a control for causing the vehicle to perform a predetermined diagnostic automatic driving in a lane in which the vehicle is automatically driving. Acquiring the behavior of the vehicle when the automatic driving for diagnosis is performed; and based on the automatic driving for diagnosis and the acquired behavior, the automatic driving control of the vehicle is performed normally. And a memory 83 for storing a program to be executed as a result. In other words, it can be said that this program causes a computer to execute the procedure and method of the control unit 11 and the like. Here, the memory 83 is a non-volatile or non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), its drive device, etc., or any storage medium to be used in the future. You may.
　以上、制御部１１等の各機能が、ハードウェア及びソフトウェア等のいずれか一方で実現される構成について説明した。しかしこれに限ったものではなく、制御部１１等の一部を専用のハードウェアで実現し、別の一部をソフトウェア等で実現する構成であってもよい。例えば、取得部１２については専用のハードウェアとしての処理回路８１、インターフェース及びレシーバなどでその機能を実現し、それ以外についてはプロセッサ８２としての処理回路８１がメモリ８３に格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。 The configuration in which each function of the control unit 11 and the like is realized by one of hardware and software has been described above. However, the present invention is not limited to this, and a configuration in which a part of the control unit 11 or the like is realized by dedicated hardware and another part is realized by software or the like may be used. For example, the function of the acquisition unit 12 is realized by a processing circuit 81 as dedicated hardware, an interface and a receiver, and the processing circuit 81 as the processor 82 otherwise reads the program stored in the memory 83. By executing the function, the function can be realized.
　以上のように、処理回路８１は、ハードウェア、ソフトウェア等、またはこれらの組み合わせによって、上述の各機能を実現することができる。 As described above, the processing circuit 81 can realize each function described above by hardware, software, or the like, or a combination thereof.
　また、以上で説明した自動運転診断装置１は、ＰＮＤ（Portable Navigation Device）及びナビゲーション装置などの車両装置と、携帯電話、スマートフォン及びタブレットなどの携帯端末を含む通信端末と、車両装置及び通信端末の少なくともいずれか１つにインストールされるアプリケーションの機能と、サーバとを適宜に組み合わせてシステムとして構築される自動運転診断システムにも適用することができる。この場合、以上で説明した自動運転診断装置１の各機能あるいは各構成要素は、前記システムを構築する各機器に分散して配置されてもよいし、いずれかの機器に集中して配置されてもよい。例えば、自動運転診断装置は、図２の入力部１４などをさらに備えてもよい。 The automatic driving diagnosis device 1 described above includes a vehicle device such as a PND (Portable Navigation Device) and a navigation device, a communication terminal including a mobile terminal such as a mobile phone, a smart phone, and a tablet, and a vehicle device and a communication terminal. The present invention can also be applied to an automatic driving diagnostic system constructed as a system by appropriately combining the function of an application installed in at least one of the functions and a server. In this case, each function or each component of the automatic driving diagnosis device 1 described above may be dispersedly arranged in each device configuring the system, or may be concentratedly arranged in any one of the devices. Is also good. For example, the automatic driving diagnosis device may further include the input unit 14 in FIG.
　図１４は、本変形例に係るサーバ９１の構成を示すブロック図である。図１４のサーバ９１は、通信部９１ａと判定部９１ｂとを備えており、車両９２のナビゲーション装置などの車両装置９３と無線通信を行うことが可能となっている。 FIG. 14 is a block diagram showing a configuration of a server 91 according to the present modification. 14 includes a communication unit 91a and a determination unit 91b, and can perform wireless communication with a vehicle device 93 such as a navigation device of a vehicle 92.
　制御部である通信部９１ａは、車両装置９３と無線通信を行うことにより、予め定められた診断用の自動運転を車両９２に実施させる制御を行う。また、取得部である通信部９１ａは、車両装置９３と無線通信を行うことにより、診断用の自動運転を実施しているときの車両９２の挙動を受信する。 The communication unit 91a, which is a control unit, performs control to cause the vehicle 92 to execute a predetermined automatic operation for diagnosis by performing wireless communication with the vehicle device 93. In addition, the communication unit 91a, which is an acquisition unit, receives the behavior of the vehicle 92 when performing the automatic driving for diagnosis by performing wireless communication with the vehicle device 93.
　判定部９１ｂは、サーバ９１の図示しないプロセッサなどが、サーバ９１の図示しないメモリに記憶されたプログラムを実行することにより、図１の制御部１１と同様の機能を有している。つまり、判定部９１ｂは、実施されている診断用の自動運転と、通信部９１ａで取得された挙動とに基づいて、車両９２の自動運転制御が正常か異常かを判定する。そして、通信部９１ａは、判定部９１ｂの診断結果（判定結果）を車両装置９３に送信する。このように構成されたサーバ９１によれば、実施の形態１で説明した自動運転診断装置１と同様の効果を得ることができる。 The determination unit 91b has a function similar to that of the control unit 11 of FIG. 1 when a processor (not shown) of the server 91 executes a program stored in a memory (not shown) of the server 91. That is, the determination unit 91b determines whether the automatic driving control of the vehicle 92 is normal or abnormal based on the automatic driving for diagnosis that is being performed and the behavior acquired by the communication unit 91a. Then, the communication unit 91a transmits the diagnosis result (judgment result) of the judgment unit 91b to the vehicle device 93. According to the server 91 configured as described above, the same effects as those of the automatic driving diagnostic device 1 described in the first embodiment can be obtained.
　図１５は、本変形例に係る通信端末９６の構成を示すブロック図である。図１５の通信端末９６は、通信部９１ａと同様の通信部９６ａと、判定部９１ｂと同様の判定部９６ｂとを備えており、車両９７の車両装置９８と無線通信を行うことが可能となっている。なお、通信端末９６には、例えば車両９７の運転者が携帯する携帯電話、スマートフォン、及びタブレットなどの携帯端末が適用される。このように構成された通信端末９６によれば、実施の形態１で説明した自動運転診断装置１と同様の効果を得ることができる。 FIG. 15 is a block diagram showing a configuration of a communication terminal 96 according to the present modification. The communication terminal 96 of FIG. 15 includes a communication unit 96a similar to the communication unit 91a and a determination unit 96b similar to the determination unit 91b, and can perform wireless communication with the vehicle device 98 of the vehicle 97. ing. The communication terminal 96 is, for example, a mobile terminal such as a mobile phone, a smartphone, and a tablet carried by the driver of the vehicle 97. According to the communication terminal 96 configured as described above, the same effects as those of the automatic driving diagnostic device 1 described in the first embodiment can be obtained.
　なお、本発明は、その発明の範囲内において、各実施の形態及び各変形例を自由に組み合わせたり、各実施の形態及び各変形例を適宜、変形、省略したりすることが可能である。 In the present invention, each embodiment and each modified example can be freely combined, and each embodiment and each modified example can be appropriately modified or omitted within the scope of the invention.
　本発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、本発明がそれに限定されるものではない。例示されていない無数の変形例が、本発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that innumerable modifications that are not illustrated can be assumed without departing from the scope of the present invention.
　１　自動運転診断装置、１１　制御部、１２　取得部、１３　判定部、１５　通知部、４１　自車両。 {1} Automatic driving diagnostic device, 11} control unit, 12} acquisition unit, 13} determination unit, 15} notification unit, 41} own vehicle.

Claims (8)

  1. 　車両が自動運転で走行している車線内において予め定められた診断用の自動運転を、前記車両に実施させる制御を行う制御部と、
    　前記制御部によって前記診断用の自動運転を実施しているときの前記車両の挙動を取得する取得部と、
    　前記制御部によって実施されている前記診断用の自動運転と、前記取得部で取得された前記挙動とに基づいて、前記車両の自動運転制御が正常か異常かを判定する判定部と
    を備える、自動運転診断装置。     A control unit that performs control for causing the vehicle to execute predetermined automatic driving for diagnosis in a lane in which the vehicle is running in automatic driving,
    An acquisition unit that acquires the behavior of the vehicle when performing the automatic driving for diagnosis by the control unit,
    The automatic driving for diagnosis performed by the control unit, based on the behavior acquired by the acquiring unit, based on the automatic driving control of the vehicle, a determination unit that determines whether normal or abnormal, Automatic driving diagnostic device.
  2. 　請求項１に記載の自動運転診断装置であって、
    　前記診断用の自動運転は、第１自動運転及び第２自動運転を含み、
    　前記第１自動運転を実施したときの前記車両の挙動の変化は、前記第２自動運転を実施したときの前記車両の挙動の変化よりも大きく、
    　前記制御部は、前記車両に前記第１自動運転及び前記第２自動運転を選択的に実施させる制御を行う、自動運転診断装置。     The automatic driving diagnostic device according to claim 1,
    The automatic operation for diagnosis includes a first automatic operation and a second automatic operation,
    The change in the behavior of the vehicle when performing the first automatic driving is greater than the change in the behavior of the vehicle when performing the second automatic driving,
    The automatic driving diagnostic device, wherein the control unit controls the vehicle to selectively execute the first automatic driving and the second automatic driving.
  3. 　請求項２に記載の自動運転診断装置であって、
    　前記制御部が前記車両に前記第１自動運転を実施させる前に、前記第１自動運転の内容を前記車両内に通知する通知部をさらに備える、自動運転診断装置。     The automatic driving diagnostic device according to claim 2,
    The automatic driving diagnostic device further includes a notifying unit that notifies the content of the first automatic driving to the inside of the vehicle before the control unit causes the vehicle to perform the first automatic driving.
  4. 　請求項３に記載の自動運転診断装置であって、
    　前記通知部は、前記制御部が前記車両に前記第２自動運転を実施させる前には、前記第２自動運転の内容を前記車両内に通知しない、自動運転診断装置。     The automatic driving diagnosis device according to claim 3,
    The automatic driving diagnostic device, wherein the notifying unit does not notify the vehicle of the content of the second automatic driving before the control unit causes the vehicle to perform the second automatic driving.
  5. 　請求項２に記載の自動運転診断装置であって、
    　前記制御部が前記車両に前記第１自動運転を実施させた場合に、前記判定部の判定結果にかかわらず、当該判定結果を前記車両内に通知する通知部をさらに備える、自動運転診断装置。     The automatic driving diagnostic device according to claim 2,
    The automatic driving diagnosis device further comprising a notifying unit that notifies the determination result in the vehicle regardless of a determination result of the determination unit when the control unit causes the vehicle to perform the first automatic driving.
  6. 　請求項２に記載の自動運転診断装置であって、
    　前記制御部が前記車両に前記第２自動運転を実施させ、かつ、前記判定部で前記車両の自動運転制御が異常であると判定した場合に、前記判定部の判定結果を前記車両内に通知する通知部をさらに備える、自動運転診断装置。     The automatic driving diagnostic device according to claim 2,
    When the control unit causes the vehicle to perform the second automatic driving, and when the determination unit determines that the automatic driving control of the vehicle is abnormal, the determination result of the determination unit is notified to the inside of the vehicle. An automatic driving diagnostic device further comprising a notifying unit for performing the operation.
  7. 　請求項１に記載の自動運転診断装置であって、
    　前記診断用の自動運転には、複数の診断項目が予め規定され、
    　前記制御部は、前記車線の情報、前記車線の端部と前記車両との間の距離、及び、前記車両と前記車両の障害物との間の距離の少なくとも１つに基づいて、前記複数の診断項目の少なくとも１つに係る前記診断用の自動運転を省略するか否かを判定する、自動運転診断装置。     The automatic driving diagnostic device according to claim 1,
    In the automatic operation for diagnosis, a plurality of diagnostic items are defined in advance,
    The control unit is configured to control the plurality of lanes based on at least one of information on the lane, a distance between an end of the lane and the vehicle, and a distance between the vehicle and an obstacle of the vehicle. An automatic operation diagnosis device for determining whether to omit the automatic operation for diagnosis relating to at least one of the diagnosis items.
  8. 　車両が自動運転で走行している車線内において予め定められた診断用の自動運転を、前記車両に実施させる制御を行い、
    　前記診断用の自動運転を実施しているときの前記車両の挙動を取得し、
    　実施されている前記診断用の自動運転と、取得された前記挙動とに基づいて、前記車両の自動運転制御が正常か異常かを判定する、自動運転診断方法。     Carrying out control for causing the vehicle to perform predetermined automatic driving for diagnosis in a lane in which the vehicle is running in automatic driving,
    Acquiring the behavior of the vehicle when performing the automatic driving for the diagnosis,
    An automatic driving diagnosis method for determining whether the automatic driving control of the vehicle is normal or abnormal based on the performed automatic driving for diagnosis and the acquired behavior.
PCT/JP2018/033777 2018-09-12 2018-09-12 Autonomous driving diagnostic device and autonomous driving diagnostic method WO2020053983A1 (en)

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