WO2020230467A1 - 運転支援方法及び運転支援装置 - Google Patents

運転支援方法及び運転支援装置 Download PDF

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Publication number
WO2020230467A1
WO2020230467A1 PCT/JP2020/014517 JP2020014517W WO2020230467A1 WO 2020230467 A1 WO2020230467 A1 WO 2020230467A1 JP 2020014517 W JP2020014517 W JP 2020014517W WO 2020230467 A1 WO2020230467 A1 WO 2020230467A1
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WIPO (PCT)
Prior art keywords
mode
hands
vehicle
driving
driver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/014517
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English (en)
French (fr)
Japanese (ja)
Inventor
敦 伊東
中村　昌平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
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Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to EP23187621.0A priority Critical patent/EP4257444B1/en
Priority to JP2021519300A priority patent/JP7314991B2/ja
Priority to EP20806623.3A priority patent/EP3971867B1/en
Priority to US17/607,450 priority patent/US11945436B2/en
Priority to CN202080033630.2A priority patent/CN113785341A/zh
Publication of WO2020230467A1 publication Critical patent/WO2020230467A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B60W60/0055—Handover processes from vehicle to occupant only part of driving tasks shifted to occupants
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

Definitions

  • This disclosure relates to a driving support method and a driving support device.
  • the notification speed determination unit determines the notification speed based on the speed limit.
  • the notification unit notifies when the traveling speed of the own vehicle exceeds the notification speed.
  • a device is known in which the notification speed is set lower during the follow-up travel control than when the follow-up travel control is not performed (see, for example, Patent Document 1).
  • the conventional device notifies the driver when the traveling speed of the own vehicle reaches the notification speed based on the speed limit.
  • driving support control that supports the driver's driving operation
  • driving support control with the advancement of driving support that raises the level of support for the driver's driving operation, it may not be possible to promote driving with appropriate driving support only by notification. There was a problem.
  • the driving support level In a lane-keeping driving scene in which the driving support level is raised, the driving support level is lowered when a driving condition that requires attention to the driver is determined.
  • the purpose is to encourage driving with appropriate driving support.
  • the present disclosure has a vehicle speed / inter-vehicle distance control function and a lane-keeping function as driving support functions for assisting the driver's driving operation, and supports the own vehicle to drive while maintaining the lane.
  • This is a driving support method using a mode switching controller that switches the lane keep support mode.
  • the hands-off mode that allows the driver to release the steering wheel is selected.
  • the actual vehicle speed exceeds the speed limit of the road on which the vehicle is traveling. Determine if the condition is met.
  • the hands-off mode is switched to the hands-on mode in which the driver touches the steering wheel.
  • the driving support level is raised, when the driving conditions that require attention to the driver are determined, the driving support level is lowered to drive with appropriate driving support. Can be prompted.
  • the driving support method and the driving support device in the first embodiment are applied to a driving support vehicle equipped with an advanced driving support system ADAS (abbreviation of "Advanced Driver Assistance Systems”) that supports the driving operation of the driver.
  • ADAS Advanced Driver Assistance Systems
  • the configuration of the first embodiment will be described separately as “overall system configuration”, “control block configuration of mode switching controller”, and “lane keep support mode switching control processing configuration”.
  • FIG. 1 shows an advanced driving support system to which the driving support method and the driving support device of the first embodiment are applied.
  • FIG. 2 shows the vehicle interior configuration when the front window is viewed from the driver's seat position of the driving support vehicle.
  • FIG. 3 shows an operation switch by a driver provided on the steering wheel of a driving support vehicle.
  • the advanced driver assistance system ADAS is a system that has a vehicle speed / inter-vehicle distance control function and a lane keeping function. Then, as shown in FIG. 1, an in-vehicle sensor 1, a map data storage unit 2, an external data communication device 3, an ADAS control unit 4, an actuator 5, an HMI device 6, a navigation system 7, and an operation switch are used. 8 and control information sensors 9 are provided.
  • HMI is an abbreviation for "Human Machine Interface”.
  • the in-vehicle sensor 1 includes a camera 11, a radar 12, a GPS 13, and an in-vehicle data communication device 14.
  • the sensor information acquired by the in-vehicle sensor 1 is output to the ADAS control unit 4.
  • the camera 11 is a vehicle surrounding recognition sensor that realizes a function of acquiring information on the surroundings of the vehicle such as the vehicle's lane, adjacent lanes, vehicles around the vehicle, and pedestrians around the vehicle from image data.
  • the camera 11 is configured to have an around view monitor function by combining a front recognition camera, a rear recognition camera, a right recognition camera, a left recognition camera, and the like.
  • the vehicle's on-road object, lane, own vehicle's off-road object road structure, preceding vehicle, following vehicle, oncoming vehicle, surrounding vehicle, pedestrian, bicycle, two-wheeled vehicle
  • own vehicle's driving road (road) White lines, road boundaries, stop lines, pedestrian crossings), road signs (speed limit), etc.
  • the radar 12 is a distance measuring sensor that realizes a function of detecting the presence of an object around the vehicle and a function of detecting the distance to an object around the vehicle.
  • radar 12 is a general term including a radar using radio waves, a rider using light, and a sonar using ultrasonic waves.
  • the radar 12 detects the positions of objects on the vehicle's road and objects outside the vehicle's road (road structures, preceding vehicles, following vehicles, oncoming vehicles, surrounding vehicles, pedestrians, bicycles, motorcycles), and at the same time. The distance to each object is detected.
  • GPS 13 is a vehicle position sensor that has a GNSS antenna 13a and detects the vehicle position (latitude / longitude) while the vehicle is stopped / running by using satellite communication.
  • GNSS is an abbreviation for "Global Navigation Satellite System”
  • GPS is an abbreviation for "Global Positioning System”.
  • the in-vehicle data communication device 14 performs wireless communication with the external data communication device 3 via the transmission / reception antennas 3a and 14a to acquire information that cannot be acquired by the in-vehicle sensor 1 or map data from the outside. It is a data sensor.
  • the "external data communication device 3" is, for example, a data communication device mounted on another vehicle traveling around the own vehicle, vehicle-to-vehicle communication is performed between the own vehicle and the other vehicle, and the other vehicle performs inter-vehicle communication.
  • the "external data communication device 3" is, for example, a data communication device mounted on another vehicle traveling around the own vehicle, vehicle-to-vehicle communication is performed between the own vehicle and the other vehicle, and the other vehicle performs inter-vehicle communication.
  • the "external data communication device 3" is, for example, a data communication device installed in the infrastructure equipment
  • the infrastructure communication is performed between the own vehicle and the infrastructure equipment, and the necessary information in the own vehicle is acquired by request. Can be done. For example, if there is insufficient information in the map data stored in the map data storage unit 2 or information changed from the map data, the missing / changed information can be supplemented.
  • traffic information such as traffic congestion information and driving regulation information on the traveling route of the own vehicle can be acquired.
  • the map data storage unit 2 is composed of an in-vehicle memory that stores so-called electronic map data in which latitude / longitude and map information are associated with each other.
  • the map data stored in the map data storage unit 2 is basically high-precision map data having a level of accuracy that allows lane recognition, except for areas that do not have high-precision map data. Then, when the own vehicle position detected by the GPS 13 is recognized by the ADAS control unit 4, high-precision map data in a predetermined range centered on the own vehicle position is sent to the ADAS control unit 4 and the navigation system 7. ..
  • the "high-precision map data" has road information associated with each point, and the road information is defined by a node and a link connecting the nodes.
  • the road information includes information for identifying a road according to the position / area of the road, road type for each road, lane width for each road, and road shape information.
  • the road information is stored in association with the location of the intersection, the approach direction of the intersection, the type of the intersection, and other information related to the intersection for each identification information of each road link.
  • the road information includes the road type, lane width, road shape, whether or not to go straight, the priority relationship of progress, whether or not to pass (whether or not to enter the adjacent lane), speed limit, and sign for each road link identification information.
  • Other road information is associated and stored.
  • the ADAS control unit 4 is a unit that integrates driving support control, and has an accelerator / brake support controller 41, a traveling drive source controller 42, and a brake controller 43 as controllers that share the vehicle speed / inter-vehicle distance control function.
  • a steering wheel support controller 44 and a steering controller 45 are included as controllers that share the lane keeping function.
  • the HMI controller 46 is provided as a controller that shares the function of communicating between the driver and the system.
  • the mode switching controller 47 that controls the switching of the lane keep support mode as the driving support level is raised to the "hands-off mode M1" that enables the driver to release the steering wheel. Has.
  • the accelerator / brake support controller 41 performs the following controls to support the accelerator operation and the brake operation by the driver.
  • the vehicle speed set by the driver is set as the upper limit, and the vehicle-to-vehicle distance control is performed so as to maintain the inter-vehicle distance according to the vehicle speed.
  • the vehicle speed set by the driver is set as the upper limit, and the vehicle-to-vehicle distance control is performed so as to maintain the inter-vehicle distance according to the vehicle speed.
  • the vehicle will run at a constant speed at the set vehicle speed.
  • the own vehicle also stops following the preceding vehicle.
  • pressing the resume / accelerate switch 82 see FIG. 3) or depressing the accelerator pedal releases the stopped state and starts following driving again.
  • the electric parking brake is activated by a command to the electric parking brake actuator 53.
  • the accelerator / brake support controller 41 performs the following control.
  • (f) When the own vehicle is running by the vehicle speed / inter-vehicle distance control function, the set vehicle speed can be changed (up and down) by the driver's switch operation.
  • (g) When a new speed limit is detected by the speed limit sign detection function, the speed limit assist display lights up and “Set vehicle speed has been changed” is displayed on the display to reflect the detected speed limit. Set the vehicle speed.
  • the traveling drive source controller 42 calculates a drive command value so that the actual vehicle speed of the own vehicle becomes the target vehicle speed, and performs vertical control to output to the drive actuator 51. Do.
  • the brake controller 43 calculates a braking command value so that the actual braking deceleration of the own vehicle becomes the target braking deceleration, and outputs the braking command value to the braking actuator 52. Perform vertical control.
  • the steering wheel support controller 44 controls the steering (lateral control) so that the vehicle travels in the center of the lane based on the detection of the lane markers on both sides of the lane by the front recognition camera, and keeps the lane to assist the driver's steering operation. Demonstrate function.
  • the steering controller 45 calculates a steering angle command value so that the actual steering angle of the vehicle becomes the target steering angle. , The lateral control to output to the steering angle actuator 54 is performed.
  • the HMI controller 46 generates display commands to the head-up display 61 and the meter display 62 so that the operating state and the operating state change of the vehicle speed / inter-vehicle distance control function and the lane keeping function can be visually recognized. For example, when displaying "hands-off mode" and "hands-on mode", the driver can understand the operating state at a glance by utilizing the color-coded display by mode, icon display, and message display. Further, when an announcement appealing to the driver is required, an audio signal to the speaker 63 is generated, and when an alarm appealing to the driver is required, an activation / stop command of the alarm device 64 is generated. To do.
  • the head-up display 61 included in the HMI device 6 is set at a lower position of the front window 21 as shown in FIG. 2, and a light device displays the system status and the like on the windshield.
  • the meter display 62 is set on the instrument display unit of the instrument panel 22 and displays a system operating state, a state of surrounding vehicles, and the like.
  • the speaker 63 and the alarm 64 are set at predetermined positions inside the instrument panel 22.
  • the mode switching controller 47 determines whether or not the traveling condition in which the actual vehicle speed of the own vehicle exceeds the speed limit of the road on which the own vehicle is traveling is satisfied during the lane keeping driving in which the hands-off mode is selected. Then, when it is determined that the driving condition in which the actual vehicle speed exceeds the speed limit is satisfied, the control for switching from the hands-off mode to the hands-on mode is performed.
  • the "hands-off mode” refers to a lane keep support mode that allows the driver to take his / her hand off the handle 23.
  • the "hands-on mode” refers to a lane-keeping support mode that requires the driver to touch the handle 23. That is, the "hands-off mode” and the “hands-on mode” differ only in that the driver is allowed to take his hand off the handle 23 or is required to hold his hand on the handle 23. This is a mode, not a mode that changes the driving support control itself. Therefore, when the "hands-off mode” is selected, the driver can drive in the automatic driving state without being involved in the driving operation at all. When the "hands-on mode", which lowers the driving support level from the "hands-off mode", is selected, the driver does not have to be directly involved in the steering wheel operation, but is in a state of preparing for the transition to the steering wheel operation.
  • the navigation system 7 When the navigation system 7 combines the map data stored in the map data storage unit 2 with the GPS 13 using satellite communication and sets the destination, the navigation system 7 generates a traveling route from the current vehicle position to the destination and aims. It is a system that guides your vehicle to the ground. Then, when the traveling route is generated, the road map screen is displayed on the navigation display 71 together with the traveling route and the own vehicle icon. As shown in FIG. 2, the navigation display 71 is arranged at the upper center position of the instrument panel 22 and has a function of setting a destination by a touch operation or the like by a driver.
  • the operation switch 8 is a steering hub that connects the steering wheel and the steering shaft in the steering wheel 23, and is set at a position that can be operated by a finger while the driver holds the steering wheel.
  • the operation switch 8 includes a main switch 81, a resume acceleration switch 82, a set coast switch 83, a cancel switch 84, an inter-vehicle distance adjustment switch 85, and a lane change support switch 86.
  • the main switch 81 is a system power on / off switch.
  • the resume / accelerate switch 82 has a function of restarting the operation at the set vehicle speed before the release after the operation is released, a function of increasing the set vehicle speed, and a function of restarting after stopping following the preceding vehicle.
  • the set coast switch 83 has a function of starting operation at the vehicle speed during traveling and a function of lowering the set vehicle speed.
  • the cancel switch 84 is a switch that releases the operation.
  • the inter-vehicle distance adjustment switch 85 is a switch for switching between set inter-vehicle distances.
  • the lane change support switch 86 is a switch that instructs the driver to start the lane change when the system confirms the start of the lane change to the driver.
  • the vehicle accelerates or decelerates to the vehicle speed to be set, and when the set coast switch 83 is pressed, the speed limit of the road on which the vehicle is traveling becomes the set vehicle speed, and the driving support by the ADAS control unit 4 Start the control operation. If the speed limit of the road on which the vehicle is traveling is not detected, or if the speed limit assist is turned off, the speed when the set coast switch 83 is pressed becomes the set vehicle speed, and the ADAS control unit The operation of the driving support control according to 4 is started.
  • the control information sensors 9 acquire information necessary for executing the driving support control by the ADAS control unit 4.
  • the control information sensors 9 include a driver monitor camera 91, a touch sensor 92, a seating sensor 94, and a seatbelt buckle switch 95.
  • it has a torque sensor 93, a vehicle speed sensor 96, and an accelerator opening sensor 97.
  • the driver monitor camera 91 is set with the camera lens facing the driver, and monitors the driver's forward gaze (face orientation, eye open / closed).
  • the touch sensor 92 (capacitance sensor) is set on the steering wheel of the steering wheel 23 to which the driver touches, and detects that the driver is touching the steering wheel 23.
  • the torque sensor 93 is installed in the steering force transmission unit of the steering mechanism, and detects that the driver applies steering torque to operate the steering wheel.
  • the seating sensor 94 weight sensor
  • the seatbelt buckle switch 95 detects that the seatbelt is locked.
  • the vehicle speed sensor 96 detects the actual vehicle speed of the own vehicle.
  • the accelerator opening sensor 97 detects the accelerator operation amount when the driver operates the accelerator.
  • the mode switching controller 47 has "hands-off mode M1" and "hands-on mode M2" as lane keep support modes, and includes a traveling condition determination unit 471 and a mode switching unit 472. Further, a switching condition determination unit 473 and a mode switching unit 474 are provided.
  • the driving condition determination unit 471 determines whether or not the driving condition that the actual vehicle speed of the own vehicle exceeds the speed limit of the road on which the own vehicle is traveling is satisfied during the lane keeping driving in which the "hands-off mode M1" is selected. To judge.
  • the mode switching unit 472 switches the lane keep support mode from "hands-off mode M1" to "hands-on mode M2" when it is determined that the driving condition in which the actual vehicle speed exceeds the speed limit is satisfied.
  • the switching condition determination unit 473 determines whether or not the switching condition from "hands-on mode M2" to "hands-off mode M1" is satisfied.
  • the conditions for switching from the "hands-on mode M2" to the "hands-off mode M1" are, for example, “driving at a vehicle speed equal to or lower than the speed limit", “driver holding the handle 23", and “accelerator”. It is given under multiple conditions such as "the pedal is not depressed".
  • the mode switching unit 474 switches the lane keep support mode from the "hands-on mode M2" to the "hands-off mode M1" when the switching condition from the "hands-on mode M2" to the "hands-off mode M1" is satisfied.
  • the switching conditions are satisfied.
  • the vehicle speed / inter-vehicle distance control function of the accelerator / brake support controller 41 includes a function that allows the set vehicle speed to be used for vehicle speed / inter-vehicle distance control to be changed by driver operation.
  • the traveling condition determination unit 471 has a set vehicle speed change determination unit 471a
  • the mode switching unit 472 has a first mode switching unit 472a.
  • the set vehicle speed change determination unit 471a determines whether or not the driver has performed an operation to raise the set vehicle speed above the speed limit during lane keeping driving in which "hands-off mode M1" is selected.
  • the first mode switching unit 472a starts from the "hands-off mode M1". Switch to "Hands-on mode M2".
  • the vehicle speed / inter-vehicle distance control function of the accelerator / brake support controller 41 includes a function that allows acceleration by the driver's accelerator depression operation.
  • the traveling condition determination unit 471 has an accelerator operation determination unit 471b
  • the mode switching unit 472 has a second mode switching unit 472b.
  • the accelerator operation determination unit 471b determines whether or not the driver has depressed the accelerator during lane keeping driving in which "hands-off mode M1" is selected. Then, when it is determined that the driver has depressed the accelerator, the driver is required to hold the steering wheel. Even if it is determined that the driver has depressed the accelerator, the vehicle is held without accelerating according to the depressing operation of the accelerator.
  • the second mode switching unit 472b switches from "hands-off mode M1" to "hands-on mode M2".
  • the acceleration of the own vehicle in response to the driver's accelerator depression operation starts after switching to the "hands-on mode M2".
  • the vehicle speed / inter-vehicle distance control function of the accelerator / brake support controller 41 is a function that rewrites the set vehicle speed used for vehicle speed / inter-vehicle distance control to the detected speed limit when the speed limit of the road on which the vehicle is traveling is detected. Includes.
  • the traveling condition determination unit 471 has a speed limit determination unit 471c
  • the mode switching unit 472 has a third mode switching unit 472c.
  • the speed limit determination unit 471c determines whether or not the newly detected speed limit is lower than the previous speed limit during lane keeping running in which "hands-off mode M1" is selected.
  • the third mode switching unit 472c determines whether or not the actual vehicle speed exceeds the speed limit after the set time has elapsed since it was determined that the speed limit has decreased. Then, when it is determined that the actual vehicle speed exceeds the speed limit, the "hands-off mode M1" is switched to the "hands-on mode M2".
  • step S1 it is determined whether or not the set coast switch 83 has been pressed after the start by pressing the main switch 81. If YES (pressed the set coast SW), the process proceeds to step S2, and if NO (not pressed the set coast SW), the determination in step S1 is repeated.
  • step S2 following the determination that the set coast SW was pressed in S1 or the determination of NO in S4 or S19 or S21, the speed limit of the traveling road was not detected or restricted. Determine if speed assist is turned off. If YES (without speed limit detection, etc.), the process proceeds to step S3, and if NO (with speed limit detection, etc.), the process proceeds to step S5.
  • the speed limit of the road on which the vehicle is traveling is detected and the speed limit assist is turned on, the speed limit is set to the set vehicle speed by the speed limit assist, and the ADAS control unit by selecting "hands-on mode M2".
  • the operation of the driving support control according to 4 is started.
  • the speed limit of the traveling road is not detected, or when the speed limit assist is turned off, the speed at which the set coast switch 83 is pressed becomes the set vehicle speed. Then, the operation of the driving support control by the ADAS control unit 4 by selecting the "hands-on mode M2" is started.
  • step S3 following the determination that the speed limit is not detected in S2, "hands-on mode M2" is selected as the lane keep support mode, and the process proceeds to step S4.
  • step S4 is the selection of "hands-on mode M2" in S3, the determination of NO in S6, or the establishment of the operation release condition of the driving support control by the ADAS control unit 4 following S7, S12, S18, and S24? Judge whether or not. If YES (the cancellation condition is satisfied), the process proceeds to the end, and if NO (the cancellation condition is not satisfied), the process returns to step S2.
  • the release conditions are (a) press the cancel switch 84, (b) press the main switch 81, and (c) depress the brake pedal (however, when the own vehicle is stopped by the vehicle speed / inter-vehicle distance control function). If any of the operations is detected, it is judged that the condition is satisfied.
  • step S5 following the determination that the speed limit is detected in S2, it is determined whether or not the "hands-on mode M2" is selected. If YES (selection of "hands-on mode M2"), the process proceeds to step S6, and if NO (selection of "hands-off mode M1"), the process proceeds to step S8.
  • step S6 following the determination that the "hands-on mode M2" is selected in S5, it is determined whether or not the hands-off condition for switching from the "hands-on mode M2" to the "hands-off mode M1" is satisfied. If YES (hands-off condition is satisfied), the process proceeds to step S7, and if NO (hands-off condition is not satisfied), the process proceeds to step S4.
  • step S7 following the determination that the hands-off condition is satisfied in S6, the "hands-on mode M2" is switched to the "hands-off mode M1", and the process proceeds to step S4.
  • step S8 following the determination that the "hands-off mode M1" is selected in S5, it is determined whether or not the set vehicle speed is higher than the detected speed limit. If YES (set vehicle speed> speed limit), the process proceeds to step S9, and if NO (set vehicle speed ⁇ speed limit), the process proceeds to step S14.
  • step S9 following the determination that the set vehicle speed> the speed limit in S8, the driver determines whether or not there is an operation to increase the set vehicle speed. If YES (with the operation to increase the set vehicle speed), the process proceeds to step S10, and if NO (without the operation to increase the set vehicle speed), the process proceeds to step S12.
  • step S10 following the determination that the set vehicle speed has been increased in S9, it is determined whether or not the actual vehicle speed has increased to the vehicle speed determination value obtained by adding the error amount ⁇ to the limited vehicle speed. If YES (actual vehicle speed ⁇ vehicle speed determination value), the process proceeds to step S11, and if NO (actual vehicle speed ⁇ vehicle speed determination value), the process proceeds to step S4.
  • a predetermined vehicle speed for example, 5 km / h.
  • step S11 following the determination that the actual vehicle speed ⁇ the vehicle speed determination value in S10 or the vehicle speed difference> the vehicle speed threshold value in S13, the process changes from "hands-off mode M1" to "hands-on mode M2". Switching and proceeding to step S4.
  • step S12 following the determination that there is no operation for increasing the set vehicle speed in S9, the speed limit of the road on which the own vehicle is traveling is newly detected, and a predetermined time after the newly detected speed limit decreases. To determine if has passed. If YES (the set time has elapsed since the vehicle speed limit has decreased), the process proceeds to step S21, and if NO (the set time has not elapsed since the vehicle speed limit has decreased), the determination in step S20 is repeated.
  • the "set time" is necessary for the actual vehicle speed to converge to the set vehicle speed after the rewriting from the rewriting of the set vehicle speed when the set vehicle speed is rewritten as the speed limit decreases in the speed limit assist. Determined based on time.
  • step S13 following the determination that the set time has elapsed from the decrease in the speed limit in S12, whether or not the vehicle speed difference obtained by subtracting the speed limit from the actual vehicle speed exceeds the vehicle speed threshold indicating that the vehicle speed has converged. To judge. If YES (vehicle speed difference> vehicle speed threshold value), the process proceeds to step S11, and if NO (vehicle speed difference ⁇ vehicle speed threshold value), the process proceeds to step S4.
  • step S14 following the determination that the set vehicle speed ⁇ the speed limit in S8, it is determined whether or not the driver has stepped on the accelerator. If YES (with accelerator depression operation), the process proceeds to step S15, and if NO (without accelerator depression operation), the process proceeds to step S4.
  • step S15 following the determination that there is an accelerator depression operation in S14, it is determined whether or not the driver has released his hand from the handle 23. If YES (hand is released from the handle 23), the process proceeds to step S16, and if NO (hand is attached to the handle 23), the process proceeds to step S20.
  • step S16 following the determination that the hand has been released from the steering wheel 23 in S15, the driver is notified by a display or an announcement so as to put his hand on the steering wheel 23, and the process proceeds to step S16.
  • step S17 following the notification to the driver in S16, it is determined whether or not the driver has touched the handle 23. If YES (hand is attached to handle 23), the process proceeds to step S18, and if NO (hand is released from handle 23), the process proceeds to step S4.
  • step S18 following the determination that the handle 23 is being touched in S15 or the handle 23 is being touched in S17, "hands-off mode M1" to "hands-on mode M2" Switch to and proceed to step S19.
  • step S19 following the switch to "hands-on mode M2" in S18, acceleration according to the driver's accelerator depression operation is started, and the process proceeds to step S4. That is, even if the driver's accelerator depression operation is detected in step S14, the actual acceleration of the own vehicle is suspended until the switch to the "hands-on mode M2".
  • the vehicle has a vehicle speed / inter-vehicle distance control function and a lane-keeping function as driving support functions that support the driver's driving operation, and driving support for lane-keeping while maintaining a single lane, provided that the driver touches the steering wheel.
  • the vehicle is known.
  • This driving support vehicle requires the driver to touch the steering wheel, but there is a demand to further raise the driving support level and enable driving support that does not require the driver to touch the steering wheel.
  • the present inventors have focused on the above-mentioned problem that it is necessary for the driver to receive the information transmitted from the system and reflect it, not only to notify the driver but also to call the driver's attention.
  • the driving support method of the present disclosure is the road on which the own vehicle is traveling during lane keeping driving in which "hands-off mode M1" that allows the driver to take his / her hand off the steering wheel 23 is selected. It is determined whether or not the driving condition that the actual vehicle speed of the own vehicle exceeds the speed limit of is satisfied. When it is determined that the driving condition that the actual vehicle speed exceeds the speed limit is satisfied, the solution is to switch from the "hands-off mode M1" to the "hands-on mode M2" that requires the driver to touch the handle 23. It was adopted.
  • the actual vehicle speed is limited if the driver increases the set vehicle speed, the driver depresses the accelerator, or the speed limit of the road on which the vehicle is traveling decreases. It will exceed the speed.
  • some drivers may keep their hands off the steering wheel 23, which may result in insufficient attention to the driver and delay in the operation of the steering wheel. ..
  • the speed limit changes, there is a higher probability that the driver will keep his hand off the handle 23 than if it were based on driver operation.
  • the "hands-off mode M1" can be switched to the "hands-on mode M2" on which the driver touches the handle 23. .. That is, in a driving scene where the actual vehicle speed exceeds the speed limit, when the driver releases his / her hand from the handle 23, the mode is switched to the “hands-on mode M2” in which the driver's hand is attached to the handle 23. Therefore, by switching the mode that appeals to the driver's sense of touch, it is possible to surely call the driver's attention when the actual vehicle speed exceeds the speed limit. Further, by attaching the driver's hand to the steering wheel 23, it is possible to handle the operation of the steering wheel.
  • the "hands-on mode M2" in which the driver's hand is attached to the steering wheel 23 is determined. Lower the driving support level to.
  • a driving support system that allows selection of "hands-off mode M1" with a raised driving support level is established. be able to. Then, by allowing the selection of the "hands-off mode M1" that can realize the same hand-held driving as in the automatic driving, it is possible to promote the driving by the appropriate driving support with the driving support level raised.
  • the head-up display 61 and the meter display 62 have a steering wheel icon display unit, a limited vehicle speed display unit, a set vehicle speed display unit, a message display unit, a lane / own vehicle display unit, and the like. Then, while the "hands-off mode M1" is being selected, as shown in FIG. 6, the handle icon display unit is displayed in blue, for example, and the icon of only the handle is displayed.
  • the lane keep support mode switching control processing operation executed by the mode switching controller 47 will be described with reference to the flowchart shown in FIG.
  • the actual vehicle speed is VR
  • the speed limit is VL (n), VL (n + 1)
  • the set vehicle speed is VS (n), VS (n + 1)
  • the vehicle speed difference is ⁇ V
  • the vehicle speed threshold value is set. It is called Vth.
  • the set vehicle speed VS (n) is less than or equal to the speed limit VL (n) detected, but when the driver depresses the accelerator, S2 ⁇ S5 ⁇ S8 ⁇ S14 ⁇ Proceed to S15.
  • S14 it is determined whether or not there is an accelerator depression operation by the driver.
  • S15 it is determined whether or not the driver has released his hand from the handle 23.
  • S15 If it is determined in S15 that the driver has released his hand from the steering wheel 23, the process proceeds from S15 to S16 ⁇ S17, and in S16, the driver is notified by a display or announcement so as to put his hand on the steering wheel 23.
  • S17 it is determined whether or not the driver has touched the handle 23. When it is determined in S17 that the driver has put his hand on the handle 23, the process proceeds from S17 to S18, and in S18, the "hands-off mode M1" is switched to the "hands-on mode M2". On the other hand, if it is determined in S15 that the driver is touching the handle 23, the process proceeds from S15 to S18, and in S18, the "hands-off mode M1" is switched to the "hands-on mode M2".
  • control process (c) is a mode switching control by raising the set vehicle speed VS.
  • the switching control action of the lane keep support mode by changing the set vehicle speed VS by the driver operation will be described.
  • “Hands-off mode M1" is selected and the speed limit VL (n) is set to the set vehicle speed VS (n) During lane keeping driving, the driver raises the set vehicle speed VS (n) from the speed limit VL (n). It is assumed that the operation is performed twice at time t1 and time t2. In this case, the actual vehicle speed VR starts to increase at time t3 based on the operation of increasing the set vehicle speed VS (n). Then, when the actual vehicle speed VR rises to the vehicle speed determination value (speed limit VL (n) + ⁇ ) or more at time t4, the “hands-off mode M1” is switched to the “hands-on mode M2”.
  • control process (d) is the mode switching control by the accelerator depression operation.
  • the operation of switching the lane keep support mode by the driver's accelerator depression operation will be described.
  • the driver holding the steering wheel 23 is a condition for switching to "hands-on mode M2". .. Then, after switching to the "hands-on mode M2" at time t2, the acceleration of the own vehicle according to the driver's accelerator depression operation is started, and at time t3, the actual vehicle speed VR corresponding to the accelerator depression amount is reached. That is, the start of acceleration of the own vehicle is conditioned on the driver holding the steering wheel 23 and preparing for the steering wheel operation.
  • control process (e) is a mode switching control due to a decrease in the speed limit VL (n).
  • the switching control action of the lane keep support mode by changing the speed limit VL (n) of the road on which the own vehicle travels will be described.
  • “Hands-off mode M1" is selected and the speed limit VL (n) is set.
  • the speed limit VL (n + 1) newly detected at time t1 is up to now. It is assumed that the speed limit is lower than the speed limit VL (n).
  • the actual vehicle speed VR sets the speed limit VL (n + 1) at time t2 after the set time T has elapsed since it was determined that the newly detected speed limit VL (n + 1) has decreased. It is judged whether or not it exceeds. Then, when it is determined that the actual vehicle speed VR exceeds the speed limit VL (n + 1) ( ⁇ V> Vth), the “hands-off mode M1” is switched to the “hands-on mode M2”.
  • the set time The condition for switching to the "hands-on mode M2" is that the actual vehicle speed VR does not converge to the speed limit VL (n + 1) even after waiting for T.
  • the speed limit assist functions normally, the speed limit VL (n + 1) newly detected at time t1 is set as the set vehicle speed VS (n + 1) as shown by the broken line characteristic in FIG.
  • the actual vehicle speed VR converges to the speed limit VL (n + 1).
  • the driving support method and the driving support device of the first embodiment have the effects listed below.
  • Mode switching that has a vehicle speed / inter-vehicle distance control function and a lane-keeping function as driving support functions that support the driver's driving operation, and switches the lane-keeping support mode that assists the vehicle in the lane while driving. It is a driving support method by the controller 47, and has a function of rewriting the set vehicle speed used in the vehicle speed control to the speed limit when the speed limit of the road on which the own vehicle is traveling is detected as a vehicle speed / inter-vehicle distance control function. "Hands-off mode M1" that allows the driver to take his / her hand off the handle 23 is selected as the lane keep support mode.
  • the speed limit VL (n) of the road on which the vehicle is traveling is set.
  • the driver performs a set vehicle speed change operation in which the set vehicle speed VS (n) is raised above the speed limit VL (n) while the "hands-off mode M1" is selected, the actual vehicle speed VR rises to the vehicle speed determination value or higher.
  • the condition can be switched to "hands-on mode M2".
  • Mode switching that has a vehicle speed / inter-vehicle distance control function and a lane-keeping function as driving support functions that support the driver's driving operation, and switches the lane-keeping support mode that assists the vehicle in the lane while driving.
  • a driving support device provided with a controller 47, which has a function of rewriting the set vehicle speed used in vehicle speed control to the speed limit when the speed limit of the road on which the vehicle is traveling is detected as a vehicle speed / inter-vehicle distance control function.
  • the mode switching controller 47 selects the "hands-off mode M1" that allows the driver to release the handle 23 as the lane keep support mode. The road on which the vehicle is traveling during lane keep driving.
  • the driving condition determination unit 471 that determines whether or not the driving condition in which the actual vehicle speed VR of the own vehicle exceeds the speed limit VL (n) is satisfied, and the driving condition in which the actual vehicle speed VR exceeds the speed limit VL (n) is satisfied. Is determined, the mode switching unit 472 switches from the “hands-off mode M1” to the “hands-on mode M2” on condition that the driver touches the handle 23 (FIG. 4). For this reason, in a lane-keeping driving scene in which the driving support level is raised, a driving support device that encourages driving with appropriate driving support is provided by lowering the driving support level when it is necessary to call attention to the driver. Can be done.
  • the traveling condition determination unit 471 an example is shown by a set vehicle speed change determination unit 471a, an accelerator operation determination unit 471b, and a speed limit determination unit 471c.
  • a set vehicle speed change determination unit 471a an example is shown by a set vehicle speed change determination unit 471a, an accelerator operation determination unit 471b, and a speed limit determination unit 471c.
  • the judgment unit is not limited to these judgment units.
  • Example 1 the driving support method and the driving support device of the present disclosure are applied to a driving support vehicle equipped with the advanced driving support system ADAS that supports the driving operation of the driver.
  • the driving support method and the driving support device of the present disclosure perform driving / braking / steering angle operation support control according to the target driving locus, and automatically drive the vehicle in automatic driving (AD). It can also be applied to vehicles.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
PCT/JP2020/014517 2019-05-15 2020-03-30 運転支援方法及び運転支援装置 Ceased WO2020230467A1 (ja)

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EP23187621.0A EP4257444B1 (en) 2019-05-15 2020-03-30 Driving assistance method and driving assistance device
JP2021519300A JP7314991B2 (ja) 2019-05-15 2020-03-30 運転支援方法及び運転支援装置
EP20806623.3A EP3971867B1 (en) 2019-05-15 2020-03-30 Driving assistance method and driving assistance device
US17/607,450 US11945436B2 (en) 2019-05-15 2020-03-30 Driving assist method and driving assist device
CN202080033630.2A CN113785341A (zh) 2019-05-15 2020-03-30 驾驶辅助方法及驾驶辅助装置

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