WO2022215443A1 - 機能制御装置、及び機能制御プログラム - Google Patents

機能制御装置、及び機能制御プログラム Download PDF

Info

Publication number
WO2022215443A1
WO2022215443A1 PCT/JP2022/011269 JP2022011269W WO2022215443A1 WO 2022215443 A1 WO2022215443 A1 WO 2022215443A1 JP 2022011269 W JP2022011269 W JP 2022011269W WO 2022215443 A1 WO2022215443 A1 WO 2022215443A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
driver
driving
function
automatic driving
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/JP2022/011269
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
拓弥 久米
一輝 和泉
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.)
Denso Corp
Original Assignee
Denso Corp
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 Denso Corp filed Critical Denso Corp
Publication of WO2022215443A1 publication Critical patent/WO2022215443A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • 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
    • B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the disclosure in this specification relates to a function control device and a function control program.
  • the automatic driving control device disclosed in Patent Document 1 includes a driving execution unit that executes automatic driving of the vehicle. This automatic driving control device determines whether or not the driver has driving ability before starting automatic driving driving, and prohibits automatic driving driving when it is determined that the driver does not have driving ability.
  • Patent Literature 1 When the vehicle is driven by the automated driving function, there is a concern that the driver may take inappropriate actions such as unbuckling the seat belt or falling asleep.
  • the automatic driving control device disclosed in Patent Literature 1 does not make the driver aware of such inappropriate behavior and improve the behavior.
  • the purpose of the present disclosure is to provide a function control device and a function control program that can improve the driver's inappropriate behavior while driving with the automatic driving function.
  • one disclosed aspect is a function control device that is used in an own vehicle capable of traveling by an automatic driving function and performs control related to the automatic driving function, wherein the own vehicle is operated by the automatic driving function During the controlled driving period in which the vehicle runs, a driver behavior grasping unit that grasps the specific behavior of the driver whose implementation during the controlled driving period is inappropriate, and when the specific behavior by the driver is grasped during the controlled driving period, and a control restriction unit that restricts the next use of the automatic driving function by the driver.
  • one disclosed aspect is a function control program that is used in an own vehicle capable of traveling by an automatic driving function and performs control related to the automatic driving function, wherein the controlled driving period during which the own vehicle travels by the automatic driving function , grasps the specific behavior of the driver whose implementation during the controlled driving period is inappropriate, and if the specific behavior by the driver is grasped during the controlled driving period, the driver's next use of the automatic driving function is restricted.
  • the next use of the automatic driving function is restricted. If the use of the automatic driving function is restricted in this way, the driver can recognize that there was inappropriate behavior during the previous controlled driving period. As a result, it becomes possible to improve the inappropriate behavior of the driver during the controlled driving period.
  • FIG. 1 is a diagram showing an overview of an in-vehicle network including an automatic driving system and an HMI system according to the first embodiment of the present disclosure
  • FIG. 2 is a block diagram showing details of an HCU
  • 4 is a flowchart showing details of limit setting processing performed by an automatic driving ECU or HCU
  • 4 is a flowchart showing details of operation control switching processing performed by an automatic driving ECU
  • 4 is a flowchart showing details of a proposal execution process performed by an automatic driving ECU or HCU
  • 4 is a flowchart showing details of limit setting processing performed by an automatic driving ECU or HCU;
  • the functions of the function control device according to the first embodiment of the present disclosure are realized by an automatic driving ECU (Electronic Control Unit) 50b shown in FIGS. 1 and 2 .
  • the automatic driving ECU 50b is mounted on the vehicle (hereinafter referred to as host vehicle Am) together with the driving support ECU 50a and HCU (Human Machine Interface Control Unit) 100 .
  • the automatic driving ECU 50b constitutes an automatic driving system 50 of the own vehicle Am together with the driving support ECU 50a and the like. By installing the automatic driving system 50, the own vehicle Am becomes an automatic driving vehicle having an automatic driving function.
  • the driving assistance ECU 50a is an in-vehicle ECU that implements a driving assistance function that assists the driving operation of the driver.
  • the driving assistance ECU 50a enables advanced driving assistance of about level 2 or partial automated driving control in the automatic driving level defined by the Society of Automotive Engineers of America.
  • the automatic driving performed by the driving support ECU 50a is an automatic driving with a perimeter monitoring duty that requires the driver to visually monitor the perimeter of the vehicle.
  • the automatic driving ECU 50b is an in-vehicle ECU that realizes an automatic driving function that can take over the driving operation of the driver.
  • the automatic driving ECU 50b can implement autonomous driving of level 3 or higher in which the system is the main control. Automatic driving performed by the automatic driving ECU 50b does not require monitoring of the surroundings of the vehicle, that is, eyes-off automatic driving without the obligation to monitor the surroundings.
  • the driver may be permitted to perform a specific action (hereinafter referred to as second task) other than predetermined driving.
  • the second task is legally permitted to the driver until a request to perform a driving operation by cooperation between the automatic driving ECU 50b and the HCU 100, that is, a request to change driving occurs. For example, watching entertainment content such as video content, operating a device such as a smartphone, and eating a meal are assumed as second tasks.
  • the automatic driving ECU 50b may be capable of performing automatic driving control of level 4 or higher.
  • automatic driving control of level 2 or lower by the driving support ECU 50a may be described as “driving support control”
  • automatic driving control of level 3 or higher by the automatic driving ECU 50b may be described as “autonomous driving control”. .
  • the driving support ECU 50a, the automatic driving ECU 50b, and the HCU 100 are communicably connected to the communication bus 99 of the in-vehicle network 1 mounted on the own vehicle Am.
  • the communication bus 99 is connected to the driver monitor 29, the surroundings monitoring sensor 30, the locator 35, the vehicle-mounted communication device 39, the travel control ECU 40, and the like. These nodes connected to communication bus 99 can communicate with each other. Certain nodes of these devices and ECUs may be directly electrically connected to each other and be able to communicate without going through the communication bus 99 .
  • the driver monitor 29 includes a near-infrared light source, a near-infrared camera, and a control unit that controls them.
  • the driver monitor 29 is installed, for example, on the upper surface of the steering column or the upper surface of the instrument panel, with the near-infrared camera facing the headrest portion of the driver's seat.
  • the near-infrared camera may be configured integrally with a meter display 21 or a center information display (hereinafter referred to as CID) 22, which will be described later, and may be provided on either screen.
  • the driver monitor 29 uses a near-infrared camera to photograph the driver's head irradiated with near-infrared light from the near-infrared light source. An image captured by the near-infrared camera is image-analyzed by the control unit. The control unit extracts information such as the driver's eye point position and line-of-sight direction from the captured image. The driver monitor 29 provides driver status information extracted by the control unit to the HCU 100, the automatic driving ECU 50b, and the like.
  • the surroundings monitoring sensor 30 is an autonomous sensor that monitors the surroundings of the own vehicle Am.
  • the surroundings monitoring sensor 30 can detect a moving object and a stationary object from the detection range around the own vehicle.
  • the surroundings monitoring sensor 30 can detect at least a forward vehicle, a rearward vehicle, a side vehicle, and the like traveling around the host vehicle Am.
  • the surroundings monitoring sensor 30 provides detection information of objects around the vehicle to the driving support ECU 50a, the automatic driving ECU 50b, and the like.
  • the perimeter monitoring sensor 30 includes one or more of a camera unit 31, a millimeter wave radar 32, a lidar 33 and a sonar 34, for example.
  • the camera unit 31 may be configured to include a monocular camera, or may be configured to include a compound eye camera.
  • the camera unit 31 is mounted on the own vehicle Am so as to be able to photograph a range in front of the own vehicle Am.
  • a camera unit 31 capable of photographing the side range and the rear range of the own vehicle Am may be mounted on the own vehicle Am.
  • the camera unit 31 outputs, as detection information, at least one of imaging data obtained by photographing the surroundings of the vehicle and analysis results of the imaging data.
  • the millimeter wave radar 32 emits millimeter waves or quasi-millimeter waves toward the surroundings of the vehicle.
  • the millimeter wave radar 32 outputs detection information generated by a process of receiving reflected waves reflected by moving and stationary objects.
  • the rider 33 irradiates a laser beam toward the surroundings of the own vehicle.
  • the lidar 33 outputs detection information generated by a process of receiving laser light reflected by a moving object, a stationary object, or the like existing within the irradiation range.
  • the sonar 34 emits ultrasonic waves around the vehicle.
  • the sonar 34 outputs detection information generated by a process of receiving ultrasonic waves reflected by moving and stationary objects existing near the vehicle.
  • the locator 35 is configured to include a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, and the like.
  • the locator 35 combines the positioning signal received by the GNSS receiver, the measurement result of the inertial sensor, the vehicle speed information output to the communication bus 99, etc., and sequentially locates the vehicle position, traveling direction, and the like of the vehicle Am.
  • the locator 35 sequentially outputs the position information and direction information of the own vehicle Am based on the positioning result to the communication bus 99 as locator information.
  • GNSS Global Navigation Satellite System
  • the locator 35 further has a map database (hereinafter referred to as map DB) 36 that stores map data.
  • map DB 36 is mainly composed of a large-capacity storage medium storing a large amount of 3D map data and 2D map data.
  • the 3D map data includes information necessary for advanced driving assistance and automatic driving, such as 3D shape information of roads and detailed information of each lane.
  • the locator 35 reads map data around the current position from the map DB 36, and provides the driving support ECU 50a, the automatic driving ECU 50b, and the like together with the locator information.
  • the in-vehicle communication device 39 is an external communication unit mounted on the own vehicle Am and functions as a V2X (Vehicle to Everything) communication device.
  • the in-vehicle communication device 39 transmits and receives information by wireless communication to and from a roadside device installed on the side of the road.
  • the in-vehicle communication device 39 receives traffic congestion information around the current position of the vehicle Am and in the traveling direction from the roadside device.
  • the congestion information is VICS (registered trademark) information or the like.
  • the in-vehicle communication device 39 provides the received traffic jam information to the automatic driving ECU 50b and the like.
  • the traveling control ECU 40 is an electronic control device that mainly includes a microcontroller.
  • the travel control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU.
  • the travel control ECU 40 controls the braking force of each wheel, the output control of the on-vehicle power source, and the steering based on one of the operation command based on the driving operation of the driver, the control command of the driving support ECU 50a, and the control command of the automatic driving ECU 50b.
  • Angle control is continuously implemented.
  • the traveling control ECU 40 generates vehicle speed information indicating the current traveling speed of the own vehicle Am based on detection signals from wheel speed sensors provided at the hub portions of each wheel, and transmits the generated vehicle speed information to the communication bus 99. Output sequentially.
  • the HCU 100 configures an HMI (Human Machine Interface) system 10 together with a plurality of display devices, an audio device 24, an operation device 26, and the like.
  • the HMI system 10 has an input interface function for accepting operations by a passenger such as the driver of the own vehicle Am, and an output interface function for presenting information to the driver.
  • the display device presents information through the driver's vision, such as by displaying images.
  • the display devices include a meter display 21, a CID 22, a head-up display (hereinafter referred to as HUD) 23, and the like.
  • the CID 22 has a touch panel function and detects a touch operation on the display screen by a driver or the like.
  • the audio device 24 has a plurality of speakers installed inside the vehicle so as to surround the driver's seat.
  • the operation device 26 is an input unit that receives user operations by a driver or the like.
  • the operation device 26 receives, for example, user operations related to activation and deactivation of the automatic driving function.
  • a driver input hereinafter referred to as level 3 transition operation
  • level 3 transition operation instructing transition from driving support control to autonomous driving control is input to the operation device 26 .
  • the operation device 26 includes a steer switch provided on the spoke portion of the steering wheel, an operation lever provided on the steering column portion, a voice input device for recognizing the utterance content of the driver, and the like.
  • the HCU 100 functions as a presentation control device that comprehensively manages the presentation of information related to automatic driving to the driver.
  • the HCU 100 requests the driver to change driving based on the driving operation execution request from the automatic driving ECU 50b.
  • the HCU 100 cooperates with the automatic driving ECU 50b, allows the driver to perform the second task, and can reproduce video content or the like related to the second task without interfering with the driver change request.
  • the HCU 100 mainly includes a control circuit having a processing unit 11, a RAM 12, a storage unit 13, an input/output interface 14, and a bus connecting them.
  • the processing unit 11 is hardware for arithmetic processing coupled with the RAM 12 .
  • the processing unit 11 includes at least one arithmetic core such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit).
  • the processing unit 11 may further include an FPGA (Field-Programmable Gate Array), an NPU (Neural network Processing Unit), and an IP core having other dedicated functions.
  • the RAM 12 may be configured to include a video RAM for generating video data.
  • the processing unit 11 accesses the RAM 12 to execute various processes for presentation control processing.
  • the storage unit 13 is configured to include a nonvolatile storage medium.
  • the storage unit 13 stores various programs (presentation control program, etc.) executed by the processing unit 11 .
  • the HCU 100 has a plurality of functional units that integrally control information presentation to the driver by executing the presentation control program stored in the storage unit 13 by the processing unit 11 .
  • functional units such as an information acquisition unit 81, an information cooperation unit 82, a driver behavior comprehension unit 86, and a presentation control unit 88 (see FIG. 3) are constructed.
  • the information acquisition unit 81 acquires vehicle information indicating the state of the own vehicle Am from the communication bus 99 .
  • the vehicle information includes vehicle speed information provided to the communication bus 99 by the travel control ECU 40, for example.
  • the information acquisition unit 81 acquires operation information indicating the details of the user's operation from the CID 22, the operation device 26, and the like.
  • the information cooperation unit 82 cooperates with the information cooperation unit 61 (described later) of the automatic driving ECU 50b to enable sharing of information between the automatic driving system 50 and the HCU 100.
  • the information cooperation unit 82 provides the automatic driving ECU 50b with operation information grasped by the information acquisition unit 81, driver action information (described later) grasped by the driver action grasping unit 86, and the like.
  • the information cooperation unit 82 grasps the operating state of automatic driving by the automatic driving system 50 by acquiring control status information indicating the state of the automatic driving function. Based on the control status information, the information cooperation unit 82 determines whether or not the driver is obliged to monitor the surroundings in the driving control performed by the automatic driving function. Figure out which one.
  • the information cooperation unit 82 acquires a notification implementation request output by the notification request unit 73 (described later) of the automatic driving ECU 50b.
  • the information cooperation unit 82 acquires from the automatic driving ECU 50b a request to implement a driving change request to the driver, a request to implement control transition notification related to transition from driving support control to autonomous driving control, and the like.
  • the information linking unit 82 cooperates with the presentation control unit 88 to control the content and implementation timing of each notification based on the notification implementation request.
  • the driver behavior grasping unit 86 grasps the driver's state and behavior based on the driver status information obtained from the driver monitor 29 .
  • the driver behavior grasping unit 86 grasps task information or the like indicating the content of the second task being executed by the driver.
  • the task information is information such as operating a smartphone, watching the screen of the CID 22, operating the touch panel of the CID 22, and the like.
  • the driver behavior grasping unit 86 may further grasp monitoring information indicating whether or not the driver is monitoring the surroundings of the vehicle Am, posture information indicating whether the driver's driving posture is appropriate, and the like.
  • the driver behavior grasping unit 86 may be able to further acquire driving operation information indicating operations such as steering operation, accelerator operation, and brake operation by the driver, seatbelt attachment/detachment information, and the like.
  • the driver behavior grasping unit 86 detects a specific behavior (hereinafter referred to as inappropriate behavior) that is inappropriate for the driver during the controlled driving period in which the own vehicle Am travels under the driving control by the automatic driving function. It is detected using driving operation information, attachment/detachment information, and the like. Inappropriate actions are defined in advance according to the autonomous driving level of cruise control implemented by the autonomous driving function. That is, the inappropriate behavior during the controlled driving period (hereinafter referred to as the driving support period) during which the own vehicle Am runs under the driving support control, and the controlled driving period (hereinafter referred to as the automatic driving period) during which the own vehicle Am runs under the autonomous driving control.
  • One or more inappropriate actions are set for A driver behavior that becomes an inappropriate behavior may be changed as appropriate.
  • the driver action grasping unit 86 detects, as inappropriate actions during the automatic driving period, actions such as unfastening the seatbelt, losing posture, falling asleep, and performing a steering operation that does not result in an override.
  • the driver behavior grasping unit 86 provides inappropriate behavior information indicating inappropriate behavior of the driver to the information linking unit 82 and the presentation control unit 88 as driver behavior information in addition to task information, monitoring information, and the like.
  • the driver behavior information is provided to the automatic driving ECU 50b through the information linking unit 82.
  • the presentation control unit 88 integrally controls the provision of information to the driver using each display device and audio device 24 .
  • the presentation control unit 88 provides contents and information according to the operation state of automatic driving.
  • the presentation control unit 88 enables playback of video content and the like.
  • the presentation control unit 88 implements a driving change request, a control shift notification, and the like based on the implementation request acquired by the information linking unit 82 .
  • the driving support ECU 50a is a computer that mainly includes a control circuit having a processing unit, a RAM, a storage unit, an input/output interface, and a bus that connects them.
  • the driving assistance ECU 50a implements driving assistance functions such as ACC (Adaptive Cruise Control), LTC (Lane Trace Control), and LCA (Lane Change Assist) by executing programs in the processing unit.
  • ACC Adaptive Cruise Control
  • LTC Longe Trace Control
  • LCA Lane Change Assist
  • the driving assistance ECU 50a performs driving assistance control for causing the own vehicle Am to travel along the own vehicle lane in which the vehicle Am is traveling in cooperation with each function of ACC and LTC.
  • the automatic driving ECU 50b has higher computing power than the driving support ECU 50a, and can at least implement driving control corresponding to ACC, LTC and LCA.
  • the automatic driving ECU 50b like the HCU 100, is a computer that mainly includes a control circuit having a processing unit 51, a RAM 52, a storage unit 53, an input/output interface 54, and a bus that connects them.
  • the processing unit 51 accesses the RAM 12 to perform various processes for realizing the automatic driving control method and the function control method of the present disclosure.
  • the storage unit 13 stores various programs (automatic operation control program, function control program, etc.) executed by the processing unit 51 .
  • the automatic driving ECU 50b By executing the program by the processing unit 51, the automatic driving ECU 50b includes a plurality of functional units for realizing an automatic driving function, such as an information cooperation unit 61, an environment recognition unit 62, an action determination unit 63, a control execution unit 64, and the like. is constructed.
  • the information cooperation unit 61 provides information to the information cooperation unit 82 of the HCU 100 and acquires information from the information cooperation unit 82 .
  • the information cooperation unit 61 generates control status information indicating the operating state of the automatic driving function, and provides the information cooperation unit 82 with the generated control status information.
  • the information linking unit 61 has an input grasping unit 71, a driver grasping unit 72, and a notification requesting unit 73 as sub-function units for information cooperation.
  • the input grasping unit 71 acquires the driver's operation information from the information linking unit 82 .
  • the input grasping unit 71 grasps user operations input to the CID 22, the operation device 26, etc. based on the operation information.
  • the input grasping unit 71 grasps a level 3 transition operation that instructs transition from driving support control to autonomous driving control.
  • the driver grasping unit 72 acquires driver behavior information from the information linking unit 82.
  • the driver grasping unit 72 grasps the behavior of the driver during the driving support period and the automatic driving period based on the driver behavior information.
  • the driver grasping unit 72 grasps whether or not the driver is monitoring the surroundings, the content of the second task to be executed by the driver, and the like.
  • the driver grasping unit 72 grasps whether or not the driver has performed a predetermined inappropriate action during each of the driving support period and the automatic driving period.
  • the driver grasping unit 72 may have the function of the driver behavior grasping unit 86 of the HCU 100 . More specifically, the driver grasping unit 72 may acquire driver status information from the driver monitor 29 and, like the driver behavior grasping unit 86, may be capable of detecting inappropriate behavior by the driver.
  • the notification requesting unit 73 outputs a notification implementation request to the information linking unit 82 to enable notification by the HCU 100 in synchronization with the operating state of the automatic driving function. As described above, the notification requesting unit 73 transmits, to the information linking unit 82, a driving change request implementation request, a control transition notification implementation request, and the like as a notification implementation request related to automatic driving.
  • the notification requesting unit 73 transmits to the information linking unit 82 implementation requests such as usage restriction notification, driving assistance usage proposal, and behavior improvement proposal.
  • the use restriction notification is a notification that indicates to the driver that traveling under autonomous cruise control is restricted due to the driver's inappropriate behavior.
  • the driving assistance use proposal is information presentation that proposes to the driver to drive by driving assistance control when using the automatic driving function when driving by autonomous driving control is prohibited.
  • the behavior improvement proposal is information presentation that proposes behavior improvement to the driver when inappropriate behavior by the driver is recognized during the controlled driving period (automatic driving period).
  • the environment recognition unit 62 combines the locator information and map data acquired from the locator 35 with the detection information acquired from the perimeter monitoring sensor 30 to recognize the driving environment of the own vehicle Am.
  • the environment recognition unit 62 has an other vehicle recognition unit 74, an area recognition unit 75, and a traffic congestion recognition unit 76 as sub-function units for recognizing the driving environment.
  • the other vehicle grasping unit 74 grasps the relative positions and relative speeds of dynamic targets around the own vehicle, such as other vehicles.
  • the other vehicle grasping unit 74 grasps at least a forward vehicle and a rear vehicle traveling in the same lane as the own vehicle Am (hereinafter referred to as the own vehicle lane) and a side vehicle traveling in an adjacent lane adjacent to the own vehicle lane.
  • the area grasping unit 75 grasps information about the road on which the own vehicle Am travels. Specifically, the area grasping unit 75 grasps whether or not the road on which the vehicle Am travels or the road on which the vehicle Am is scheduled to travel is within a preset permitted area or restricted permitted area. Information indicating whether the area is a permitted area or a restricted permitted area may be recorded in the map data stored in the map DB 36 or may be included in the received information received by the in-vehicle communication device 39 .
  • the permitted area and restricted permitted area can correspond to the Operational Design Domain where automatic driving without the driver's obligation to monitor the surroundings is legally permitted.
  • automated driving without the obligation to monitor the surroundings has multiple implementation modes, limited traffic congestion control (hereinafter referred to as traffic congestion level 3), which is limited to driving in traffic congestion, and limited to a specific area.
  • area-limited control (hereinafter referred to as area level 3) that is implemented as a On roads within the permitted area, both congestion level 3 and area level 3 are permitted to be implemented, and on roads within the restricted area, only congestion level 3 is permitted to be implemented.
  • On roads that are not included in either the permitted area or restricted permitted area hereinafter referred to as the non-permitted area
  • automatic driving without a duty to monitor the surroundings is prohibited.
  • the traffic jam comprehending unit 76 comprehends the traffic congestion around the own vehicle Am by combining the information of other vehicles comprehended by the other vehicle comprehending unit 74 and the vehicle speed information provided by the travel control ECU 40 .
  • the traffic congestion grasping unit 76 determines whether or not a traffic jam has occurred, predicts that the traffic congestion will be resolved, and determines whether or not the traffic congestion has been resolved. Note that the traffic jam grasping unit 76 may use the traffic jam information received by the in-vehicle communication device 39 for judgment related to traffic jam.
  • the traffic congestion grasping unit 76 detects that the surrounding area of the own vehicle is in a congested state. Determine that there is. After determining that the surroundings of the own vehicle are in a congested state, the congestion grasping unit 76 predicts that the congestion around the own vehicle will be resolved when the vehicle speed of the own vehicle Am exceeds the congestion speed. After predicting that the congestion will be resolved, the congestion grasping unit 76 cancels the prediction that the congestion will be resolved when the vehicle speed of the own vehicle Am becomes equal to or lower than the congestion speed again.
  • the congestion speed for example, about 10 km/h
  • the congestion grasping unit 76 predicts that the congestion around the own vehicle will be resolved, and if the vehicle speed of the own vehicle Am or the vehicle ahead exceeds the congestion resolution speed (for example, about 60 km/h), it is determined that the congestion has been resolved. judge.
  • the behavior determination unit 63 cooperates with the HCU 100 and controls the automatic driving system 50 and driving changes between drivers.
  • the action determination unit 63 When the automatic driving system 50 has the right to control the driving operation, the action determination unit 63 generates a scheduled driving line along which the host vehicle Am travels based on the recognition result of the driving environment by the environment recognition unit 62, and determines the generated scheduled driving line. line is output to the control execution unit 64 .
  • the action determination unit 63 has a control switching unit 78 as a sub-function unit for controlling the operating state of the automatic driving function.
  • the control switching unit 78 cooperates with the driving assistance ECU 50a to perform driving control switching processing (see FIG. 5), which will be described later, to perform driving assistance control in which the driver is obligated to monitor the surroundings, and autonomous driving without the driver's obligation to monitor the surroundings. Toggle with control.
  • the control switching unit 78 switches the traveling control state among a plurality of levels including area level 3 and traffic jam level 3 when the own vehicle Am is caused to travel by autonomous traveling control.
  • the control switching unit 78 switches the driving control state from the driving support control to the autonomous driving control when the input of the level 3 transition operation by the driver is grasped by the input grasping unit 71 .
  • the control switching unit 78 switches from the driving support control to the autonomous driving control at congestion time level 3. and switch the travel control state.
  • control switching unit 78 restricts the driver's next use of the automatic driving function when inappropriate behavior by the driver is detected during the controlled driving period. Specifically, when the inappropriate behavior by the driver is grasped during the current automatic driving period, the control switching unit 78 performs autonomous driving control at area level 3 at the timing when the driver uses the automatic driving function next time. prohibit running. On the other hand, even when the driver's inappropriate behavior is recognized, both driving at congestion time level 3 and driving under driving support control in a traffic congestion scene are permitted.
  • control execution unit 64 When the automatic driving ECU 50b has the right to control the driving operation, the control execution unit 64 performs acceleration/deceleration control and steering of the own vehicle Am according to the scheduled driving line generated by the action determination unit 63 in cooperation with the driving control ECU 40. Execute control, etc. Specifically, the control execution unit 64 generates control commands based on the planned travel line, and sequentially outputs the generated control commands to the travel control ECU 40 .
  • the automatic driving ECU 50b limits the use of the automatic driving function.
  • the details of each of the limit setting process for realizing the use limit of the automatic driving function, the driving control switching process for switching the driving control state according to the presence or absence of the use limit, and the proposal execution process for proposing behavior improvement to the driver are shown in FIG. 1 to 3 and 7 on the basis of FIG. 6.
  • the restriction setting process shown in FIG. 4 is a process of setting and canceling usage restrictions for the automatic driving function.
  • the limit setting process is started by the automatic driving ECU 50b that has started level 3 autonomous driving control.
  • the driver comprehension unit 72 comprehends the behavior of the driver based on the driver behavior information.
  • the inappropriate behavior of the driver is grasped.
  • the control switching unit 78 determines whether or not a condition for switching from autonomous driving control to driving support control is satisfied. When it is determined in S102 that the switching condition is not satisfied, the process returns to S101 to continue grasping the behavior of the driver. By repeating S101 and S102, the presence or absence of inappropriate behavior of the driver during the controlled driving period (automatic driving period) is continuously grasped.
  • the control switching unit 78 determines in S103 whether or not restrictions are set on the use of level 3 autonomous driving control.
  • the control switching unit 78 determines in S104 whether or not the driver behavior recognition unit 86 has recognized inappropriate behavior of the driver. .
  • S104 it is determined whether or not the driver's behavior has improved during the immediately preceding automatic driving period. If the driver's inappropriate behavior was recognized during the immediately preceding automatic driving period, the control switching unit 78 determines that the driver's behavior has not improved, and terminates the current limit setting process. As described above, the state in which the use of the autonomous driving control is restricted is maintained.
  • the control switching unit 78 determines that the driver's behavior has been improved. In this case, in S105, the control switching unit 78 relaxes or cancels the use restriction of the autonomous driving control, and terminates the current restriction setting process.
  • the control switching unit 78 determines in S106 whether or not the driver behavior recognition unit 86 has recognized inappropriate behavior of the driver. . If the driver did not act inappropriately during the immediately preceding automatic driving period, the control switching unit 78 terminates the current limit setting process. On the other hand, if the inappropriate behavior of the driver has been recognized during the immediately preceding automatic driving period, the control switching unit 78 changes the setting in S107 to tighten the conditions for transition to the autonomous driving control. End the limit setting process. As described above, when the automatic driving function is used next time, driving by autonomous driving control at area level 3 is prohibited.
  • the driving control switching process shown in FIG. 5 is a process of switching the driving control state of the automatic driving function between the driving support control described above and the autonomous driving control including congestion level 3 and area level 3.
  • the operation control switching process is started mainly by the control switching unit 78 after the automatic operation function is activated, and is repeatedly performed until the automatic operation function is stopped.
  • the control switching unit 78 determines whether or not the current travel area of the own vehicle Am grasped by the area grasping unit 75 is an unauthorized area. If the own vehicle Am is traveling in the non-permission area, the control switching unit 78 determines in S127 to implement or continue the driving support control. On the other hand, if the own vehicle Am is traveling in the permitted area or restricted permitted area, the control switching unit 78 determines whether or not the input grasping unit 71 grasps the level 3 shift operation in S122.
  • the control switching unit 78 determines in S127 whether to implement or continue the driving support control. On the other hand, when the level 3 shift operation is grasped, the control switching unit 78 determines in S123 whether or not the congestion grasping unit 76 grasps the traffic jam. If the traffic congestion around the vehicle is known, the control switching unit 78 determines in S129 to perform or continue the autonomous driving control at level 3 during traffic congestion. In this way, even when the usage restriction of the autonomous driving control is set due to the inappropriate behavior of the driver, autonomous driving at traffic jam level 3 is permitted in a traffic jam scene in which the own vehicle Am travels in a traffic jam. be done.
  • the control switching unit 78 determines in S124 whether the current travel area of the vehicle Am is a permitted area. If the own vehicle Am is traveling in the restricted permitted area, the control switching unit 78 determines in S127 to implement or continue the driving support control. On the other hand, if the own vehicle Am is traveling in the permitted area, the control switching unit 78 determines in S125 whether or not restrictions are set on the use of the autonomous traveling control. If no limit is set for the use of autonomous cruise control, the control switching unit 78 determines in S128 to implement or continue the autonomous cruise control of area level 3.
  • control switching unit 78 causes the notification requesting unit 73 to output a request to implement a driving assistance usage proposal that proposes the use of driving assistance control in S126, Furthermore, in S127, it is determined whether to implement or continue the driving support control.
  • a shift from level 3 to level 2 or lower driving support control is performed.
  • the HCU 100 that has acquired the implementation request implements a driving assistance usage proposal that proposes the use of driving assistance control in accordance with the forced transition to driving assistance control. If the driver receives a proposal to use driving assistance and decides not to use the driving assistance control, the driver can terminate the driving assistance control by performing an override such as by operating the accelerator and start driving by manual operation. .
  • the proposal execution process shown in FIG. 6 is performed mainly by the notification requesting unit 73 based on the understanding of the level 3 shift operation by the driver grasping unit 72 .
  • the notification requesting unit 73 determines whether or not restrictions are set on the use of the autonomous driving control. If the use of autonomous driving control is not restricted, the notification requesting unit 73 terminates the current proposal execution process. In this case, the HCU 100 does not make behavior improvement suggestions to the driver.
  • the notification requesting unit 73 outputs a usage restriction notification implementation request to the information linking unit 82 in S142.
  • the presentation control unit 88 notifies the driver that the use of the autonomous driving control is restricted based on the acquisition of the usage restriction notification implementation request by the information linking unit 82 .
  • the presentation control unit 88 uses the audio device 24 to reproduce a voice message such as "the use of the automatic driving function is restricted" in the vehicle compartment.
  • the presentation control unit 88 displays a virtual image of a message window MW1 (see FIG. 7) including a text message such as "the use of the automatic driving function is restricted" within the angle of view VA of the HUD 23.
  • the display device for displaying the message window MW1 may be the meter display 21, the CID 22, or the like.
  • the notification requesting unit 73 outputs a request to implement the action improvement proposal to the information linking unit 82.
  • the presentation control unit 88 presents to the driver information linked to the inappropriate behavior grasped during the previous automatic driving period based on the acquisition of the action improvement proposal implementation request by the information linking unit 82 .
  • the presentation control unit 88 notifies the driver to maintain a proper driving posture during the automatic driving period.
  • the presentation control unit 88 uses the audio device 24 to reproduce a voice message such as "Please maintain the driving posture during automatic driving" in the vehicle compartment.
  • the presentation control unit 88 displays the message window MW2 and the score bar SD using a display device such as the meter display 21 (see FIG. 7).
  • a text message such as "Keep driving posture during automatic driving” is displayed.
  • the score bar SD is a display object that visualizes what behavior of the driver was inappropriate behavior.
  • the score bar SD displays the item name indicating each behavior defined as inappropriate behavior and the score of each behavior. Specifically, if actions such as removing the seatbelt, losing posture, falling asleep, and steering operation that does not result in overriding are stipulated as inappropriate actions, "seatbelt", “driving posture”, “drowsy” and “ “Driving operation” etc. are displayed as item names.
  • a bar-shaped image portion indicating the extent to which each behavior is performed with respect to the criteria for inappropriate behavior is displayed at a position adjacent to the item name.
  • the item name of "driving posture" and the bar-shaped image portion of the score bar SD are highlighted.
  • the item name corresponding to the inappropriate behavior and the bar-shaped image portion may be displayed within the angle of view VA of the HUD 23 as the specific score bar SDs.
  • a message such as "Please fasten your seatbelt even during automatic driving” is presented to the driver by voice and image.
  • a message such as "drowsiness during automatic driving is prohibited” is presented to the driver by voice and image.
  • a steering operation that does not result in an override is detected as an inappropriate behavior, a message such as "Please be careful when operating the steering wheel during automatic driving” is presented to the driver by voice and image.
  • the presentation control unit 88 may carry out the usage limitation notification and the behavior improvement proposal in order, or may carry out the usage limitation notification and the behavior improvement proposal in parallel. Furthermore, the presentation control unit 88 may concurrently implement the usage restriction notification and behavior improvement proposal based on the proposal execution process and the driving assistance usage proposal based on the driving control switching process.
  • the next use of the automatic driving function is restricted. If the use of the automatic driving function is restricted in this way, the driver can recognize that there was inappropriate behavior during the previous controlled driving period. As a result, it is possible to improve the inappropriate behavior of the driver during the period of driving with the automatic driving function.
  • the automatic driving function of the first embodiment can implement driving support control in which the driver is obligated to monitor the surroundings, and autonomous driving control in which the driver is not obligated to monitor the surroundings. Then, when inappropriate behavior by the driver is detected during the automatic driving period, the control switching unit 78 prohibits driving by the autonomous driving control in the next use of the automatic driving function. As described above, if the use of autonomous driving control is prohibited due to inappropriate behavior, it becomes possible to guide the driver using the automatic driving function to correct his own behavior.
  • the first embodiment even if inappropriate behavior by the driver is recognized during the automatic driving period, driving under driving support control is permitted the next time the automatic driving function is used. In other words, even under conditions where autonomous driving control can be performed, only driving support control is permitted. According to the above, it is possible to guide the driver to correct inappropriate behavior by setting a penalty for the driver while ensuring the convenience of the automatic driving function.
  • the driver when a limit is set for the use of autonomous driving control, the driver is notified of the presence of the limit setting. Specifically, when driving under autonomous driving control is prohibited, when the driver inputs an operation to shift to level 3, the presentation control unit 88 notifies the driver of use restriction and not to shift to autonomous driving control. Notice. According to the above, the driver can reliably grasp the current state in which the restrictions on the automatic driving function are set. As a result, the effect of making the driver aware that he/she has taken an unfavorable inappropriate behavior and guiding him to correct his behavior is more likely to be exhibited.
  • a driving support use proposal that proposes driving by driving support control to the driver is implemented. be. Specifically, even if the driver inputs an operation to shift to level 3, the presentation control unit 88 notifies the driver of continuation of driving under the driving support control. This notification also allows the driver to become aware of inappropriate behavior during the previous period of automatic driving. As a result, the effect of voluntarily encouraging behavioral improvement is more likely to be exhibited.
  • the first embodiment even if inappropriate behavior by the driver is recognized during the automatic driving period, in a traffic jam scene in which the own vehicle Am travels in a traffic jam, driving by autonomous driving control at level 3 during congestion is permitted. be done.
  • This level 3 autonomous driving control function during congestion is the most convenient function for the driver. Therefore, by not prohibiting the use up to level 3 during traffic congestion, a situation in which the driver's convenience is significantly impaired can be avoided.
  • the control switching unit 78 switches from level 3 to driving assistance control based on the usage restriction setting. and forced to migrate. According to the above, it is possible to encourage the improvement of inappropriate behavior by penalizing the driver while ensuring the convenience of the automatic driving function.
  • the restrictions on the next use of the automatic driving function will be relaxed. According to the above, in order to obtain the advantage of relaxing restrictions on use, the driver will positively correct inappropriate behavior. As a result, it is possible to make the driver understand how to use the automatic driving function appropriately while ensuring the convenience of the automatic driving function.
  • the driver's inappropriate behavior corresponds to the "specific behavior”
  • the permitted area corresponds to the "specific area”.
  • the automatic driving ECU 50b corresponds to the "function control device”
  • the driver grasping unit 72 corresponds to the “driver behavior grasping unit”
  • the notification requesting unit 73 corresponds to the "notification control unit”
  • the “improvement proposal unit” corresponds to the "control limiting section”.
  • the second embodiment of the present disclosure is a modification of the first embodiment.
  • the functions of the function control device implemented in the automatic driving ECU 50b in the first embodiment are implemented in the HCU 100 shown in FIGS.
  • the storage unit 53 of the HCU 100 stores a function control program in addition to the presentation control program.
  • Each functional unit of the HCU 100 can perform a limit setting process (see FIG. 4) and a proposal execution process (see FIG. 6) based on the function control program.
  • the restriction setting process is mainly carried out by the information cooperation unit 82 of the HCU 100.
  • the information linking unit 82 cooperates with the driver behavior grasping unit 86 to grasp the driver's behavior, especially inappropriate behavior (S101).
  • the information cooperation unit 82 refers to the control status information acquired from the automatic driving ECU 50b, and continues to grasp the behavior of the driver until the conditions for switching from autonomous driving control to driving support control are satisfied (S102: YES).
  • the information cooperation unit 82 determines whether or not the control switching unit 78 sets a limit on the use of the autonomous driving control (S103), and if the use limit is set (S103: YES), the driver It is further determined whether there is improvement in behavior (S104). If the driver behavior grasping unit 86 has grasped the improvement of the driver behavior (S104: YES), the information cooperation unit 82 outputs a release request to the information cooperation unit 61 (S105). Based on the above cancellation request, the control switching unit 78 carries out the setting cancellation processing of the use restriction.
  • the information cooperation unit 82 determines whether or not inappropriate behavior occurred during the immediately preceding automatic driving period (S106). If the driver behavior grasping unit 86 does not grasp inappropriate behavior (S106: NO), the information linking unit 82 terminates this limit setting process. On the other hand, if the driver behavior grasping unit 86 has grasped inappropriate behavior (S106: YES), the information cooperation unit 82 requests the information cooperation unit 61 to tighten the conditions for transition to autonomous driving control. A limit setting request is output (S107). Based on the above limit setting request, the control switching unit 78 sets to prohibit the use of the area level 3. FIG. In the second embodiment as well, the use of driving support control of level 2 or lower and the use of autonomous driving control of level 3 during traffic jams are permitted even when restrictions are set.
  • the proposal execution process is performed mainly by the presentation control unit 88 .
  • the presentation control unit 88 Based on the operation information acquired by the information acquisition unit 81, the presentation control unit 88 starts the proposal execution process when the level 3 shift operation is input.
  • the presentation control unit 88 determines whether or not a usage limit is set for the autonomous driving control based on the control status information acquired by the information cooperation unit 82 (S141). If there is no usage restriction set (S141: NO), the presentation control unit 88 terminates the current proposal execution process.
  • the presentation control unit 88 uses the display device and the audio device 24 to sequentially perform usage restriction notification (S142) and behavior improvement proposal (S143) (Fig. 7).
  • a driving assistance use proposal is also implemented in accordance with the behavior improvement proposal.
  • the second embodiment described so far also has the same effect as the first embodiment, and by making the driver aware that there was inappropriate behavior during the previous controlled travel period, the driver's inappropriate behavior during the controlled travel period behavior can be improved.
  • the HCU 100 corresponds to the "function control device”
  • the information cooperation unit 82 corresponds to the "control restriction unit”
  • the presentation control unit 88 corresponds to the "notification control unit” and the "improvement proposal unit”. Equivalent to.
  • the third embodiment of the present disclosure is another modification of the first embodiment.
  • the settings are changed to narrow the permitted range of the second task as the use restriction of the automatic driving function. Details of the limit setting process (see FIG. 8) of the third embodiment for changing the permission range of the second task will be described below with reference to FIGS. 1 to 3.
  • FIG. 8 Details of the limit setting process (see FIG. 8) of the third embodiment for changing the permission range of the second task will be described below with reference to FIGS. 1 to 3.
  • the limit setting process is mainly performed by the control switching unit 78 of the automatic driving ECU 50b.
  • the control switching unit 78 cooperates with the driver grasping unit 72, and grasps the behavior of the driver, especially the inappropriate behavior, based on the driver behavior information provided from the HCU 100 (S301).
  • the control switching unit 78 continues to grasp the behavior of the driver until the autonomous driving control in progress is terminated (S301 and S302).
  • the control switching unit 78 determines whether or not the allowable range of the second task is restricted (S303). is further determined (S304). If the driver grasping unit 72 has grasped the improvement of the driver's behavior (S304: YES), the control switching unit 78 relaxes or cancels the limitation of the permitted range (S305). On the other hand, if the driver's behavior has not improved, the control switching unit 78 maintains the limit of the allowable range and terminates the current limit setting process.
  • the control switching unit 78 determines whether or not inappropriate behavior occurred during the immediately preceding automatic driving period (S306). If the driver grasping unit 72 does not grasp inappropriate behavior (S306: NO), the control switching unit 78 ends the current limit setting process without setting a limit on the permitted range. On the other hand, if the driver grasping unit 72 has grasped inappropriate behavior (S306: YES), the control switching unit 78 reduces the permission range of the second task, and terminates the current limit setting process. As described above, second tasks permitted to the driver in the next automatic driving period are restricted.
  • the control switching unit 78 disallows the operation of devices not attached to the own vehicle Am during the next automatic driving period. Even in this case, the control switching unit 78 permits operation of devices attached to the own vehicle Am. For example, the control switching unit 78 permits viewing of moving image content reproduced by the CID 22, but does not permit operation of a smartphone or the like that would occupy the driver's hands.
  • the third embodiment described so far also has the same effect as the first embodiment, and by making the driver aware of the inappropriate behavior during the previous controlled travel period, the driver's inappropriate behavior during the controlled travel period behavior can be improved.
  • the third embodiment if inappropriate behavior by the driver is detected during the automatic driving period, the second task permitted to the driver is restricted in the next use of the automatic driving function. As described above, if a penalty that reduces the convenience of the automatic driving period is set, it becomes possible to guide the driver to correct inappropriate behavior.
  • a fourth embodiment of the present disclosure is a modification of the third embodiment.
  • the function of the function control device implemented in the automatic driving ECU 50b in the third embodiment is implemented in the HCU 100.
  • the information linking unit 82 based on the function control program executed by the HCU 100, the information linking unit 82 mainly performs the restriction setting process (see FIG. 8).
  • the information cooperation unit 82 implements a setting change to reduce the permission range of the second task (S307).
  • the information cooperation unit 82 may disallow a plurality of second tasks in stages, or disallow a plurality of second tasks collectively.
  • the information cooperation unit 82 requests the autonomous driving ECU 50b to end the autonomous driving control.
  • the information cooperation unit 82 reduces the set permission range. is relaxed (S305).
  • the relaxation of restrictions on the scope of permission may be a process of gradually permitting a part of a plurality of disallowed second tasks, or a process of permitting all of a plurality of disallowed second tasks. good too.
  • the fourth embodiment described so far also has the same effect as the third embodiment, and by making the driver aware that there was inappropriate behavior during the previous controlled travel period, the driver's inappropriate behavior during the controlled travel period behavior can be improved.
  • Level 3 for example, based on the improvement of driver behavior during the driving assistance (level 2) period, the use of driving assistance control multiple times under conditions where level 3 can be performed, the passage of a predetermined time after the transition is prohibited, etc. Level 3 may be lifted or relaxed.
  • the autonomous driving ECU 50b performs Level 4 autonomous driving control.
  • the automatic driving ECU 50b prohibits the next use of level 4 when the inappropriate behavior is detected during the automatic driving period of level 4.
  • Inappropriate actions at level 4 include continuing to sleep (not waking up) even when the system calls, unfastening the seatbelt, and losing posture outside the detection range of the driver monitor 29. It is said that
  • a behavior improvement proposal is made the next time the function is used.
  • a behavior improvement proposal is implemented at the timing when the driver's inappropriate behavior is recognized. In this case as well, the next use of the function is restricted depending on the presence or absence of behavioral improvement.
  • the degree of usage restriction of the automatic driving function is changed according to the item and degree of inappropriate behavior grasped during the automatic driving period. For example, if the driver falls asleep, the use of level 3 is completely prohibited, and if the driver has a bad posture, only the use of area level 3 is prohibited.
  • each function of the HCU and the automatic driving ECU 50b is provided by one automatic driving ECU. That is, the functions of the driving support ECU 50a are implemented in the automatic driving ECU 50b of the ninth modification.
  • functional units such as an environment recognition unit 62, an action determination unit 63, a control execution unit 64, an information acquisition unit 81, a driver action grasping unit 86, and a presentation control unit 88 are constructed based on a function control program. be. That is, in Modification 9, functional units corresponding to the information linking units 61 and 82 are omitted.
  • each function of the driving support ECU 50a, the automatic driving ECU 50b, and the HCU 100 is provided by one integrated ECU.
  • the integrated ECU corresponds to the "function control device”.
  • the function of the function control device according to the present disclosure may be realized through cooperation between the automatic driving ECU 50b and the HCU 100.
  • a system including the automatic driving ECU 50b and the HCU 100 corresponds to a "function control device”.
  • Each function provided by the autonomous driving ECU and HCU in the above embodiment can be provided by software and hardware that executes it, software only, hardware only, or a complex combination thereof. Furthermore, if such functions are provided by electronic circuits as hardware, each function can also be provided by digital circuits, including numerous logic circuits, or analog circuits.
  • Each processing unit in the above embodiment may be configured to be individually mounted on a printed circuit board, or may be configured to be mounted on an ASIC (Application Specific Integrated Circuit), FPGA, or the like.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-programmable gate array
  • the form of a storage medium (non-transitory tangible storage medium) storing various programs and the like may be changed as appropriate.
  • the storage medium is not limited to the configuration provided on the circuit board, but is provided in the form of a memory card or the like, is inserted into the slot, and is electrically connected to the control circuit of the automatic operation ECU or HCU. configuration.
  • the storage medium may be an optical disk or a hard disk drive that serves as a basis for copying the program to the automatic driving ECU or HCU.
  • Vehicles equipped with the above-mentioned automatic driving system and HMI system are not limited to general private passenger cars, but can be rental vehicles, manned taxi vehicles, ride-sharing vehicles, freight vehicles, buses, etc. good too.
  • the vehicle equipped with the automatic driving system and the HMI system may be a right-hand drive vehicle or a left-hand drive vehicle.
  • the traffic environment in which the vehicle travels may be a traffic environment assuming left-hand traffic or a traffic environment assuming right-hand traffic.
  • Each content of automatic driving control, information presentation control, and function control according to the present disclosure may be appropriately optimized according to the road traffic laws of each country and region, the steering wheel position of the vehicle, and the like.
  • the controller and techniques described in the present disclosure may be implemented by a dedicated computer comprising a processor programmed to perform one or more functions embodied by a computer program.
  • the apparatus and techniques described in this disclosure may be implemented by dedicated hardware logic circuitry.
  • the apparatus and techniques described in this disclosure may be implemented by one or more special purpose computers configured in combination with a processor executing a computer program and one or more hardware logic circuits.
  • the computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2022/011269 2021-04-06 2022-03-14 機能制御装置、及び機能制御プログラム Ceased WO2022215443A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-064912 2021-04-06
JP2021064912A JP7578052B2 (ja) 2021-04-06 2021-04-06 機能制御装置、及び機能制御プログラム

Publications (1)

Publication Number Publication Date
WO2022215443A1 true WO2022215443A1 (ja) 2022-10-13

Family

ID=83546322

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/011269 Ceased WO2022215443A1 (ja) 2021-04-06 2022-03-14 機能制御装置、及び機能制御プログラム

Country Status (2)

Country Link
JP (1) JP7578052B2 (https=)
WO (1) WO2022215443A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7631385B2 (ja) 2023-01-23 2025-02-18 本田技研工業株式会社 運転支援装置、車両、方法およびプログラム
JP2025010803A (ja) * 2023-07-10 2025-01-23 トヨタ自動車株式会社 制御システム

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020164077A (ja) * 2019-03-29 2020-10-08 本田技研工業株式会社 車両制御システム

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3657465A4 (en) 2017-07-21 2020-10-21 Sony Semiconductor Solutions Corporation VEHICLE CONTROL DEVICE AND VEHICLE CONTROL PROCEDURE

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020164077A (ja) * 2019-03-29 2020-10-08 本田技研工業株式会社 車両制御システム

Also Published As

Publication number Publication date
JP2022160266A (ja) 2022-10-19
JP7578052B2 (ja) 2024-11-06

Similar Documents

Publication Publication Date Title
JP7632235B2 (ja) 自動運転制御装置、及び自動運転制御プログラム
WO2022202032A1 (ja) 自動運転制御装置、自動運転制御プログラム、提示制御装置及び提示制御プログラム
JP7722529B2 (ja) 自動運転制御装置及び自動運転制御プログラム
WO2021210316A1 (ja) 制御装置及び制御プログラム
WO2022255075A1 (ja) シート制御装置、シート制御プログラム、状態推定装置、及び状態推定プログラム
JP7512998B2 (ja) 自動運転制御装置、自動運転制御プログラム、提示制御装置及び提示制御プログラム
JP7647810B2 (ja) 提示制御装置及び提示制御プログラム
WO2022215443A1 (ja) 機能制御装置、及び機能制御プログラム
US20240116529A1 (en) Presentation control device, autonomous driving control device, and storage medium thereof
JP2023113119A (ja) 自動運転制御装置及び自動運転制御プログラム
JP7694639B2 (ja) 自動運転制御装置、及び自動運転制御プログラム
WO2023026717A1 (ja) 自動運転制御装置、及び自動運転制御プログラム
US20240083455A1 (en) Function control device, function control program, automated driving control device, and storage medium
JP7655198B2 (ja) 機能制御装置及び機能制御プログラム
JP2024153878A (ja) 自動運転制御装置、自動運転制御プログラム、提示制御装置及び提示制御プログラム
US20240227868A9 (en) Presentation control device, and automated drive control device
JP7334768B2 (ja) 提示制御装置及び提示制御プログラム
WO2023149115A1 (ja) 自動運転制御装置及び自動運転制御プログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22784428

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22784428

Country of ref document: EP

Kind code of ref document: A1