WO2023080060A1 - Dispositif de commande de véhicule pour conducteur et procédé de commande de véhicule pour conducteur - Google Patents

Dispositif de commande de véhicule pour conducteur et procédé de commande de véhicule pour conducteur Download PDF

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Publication number
WO2023080060A1
WO2023080060A1 PCT/JP2022/040231 JP2022040231W WO2023080060A1 WO 2023080060 A1 WO2023080060 A1 WO 2023080060A1 JP 2022040231 W JP2022040231 W JP 2022040231W WO 2023080060 A1 WO2023080060 A1 WO 2023080060A1
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WIPO (PCT)
Prior art keywords
driver
automatic driving
state
reclining
driving level
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PCT/JP2022/040231
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English (en)
Japanese (ja)
Inventor
拓弥 久米
一輝 和泉
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株式会社デンソー
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Publication date
Priority claimed from JP2022169376A external-priority patent/JP2023070099A/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2023080060A1 publication Critical patent/WO2023080060A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • It relates to a vehicle control device for a driver and a vehicle control method for a driver.
  • Patent Document 1 in a vehicle equipped with an automatic driving system, it is allowed to recline the driver's seat during automatic driving control.
  • the reclining state is a state in which the angle of the seat back is the reclining angle.
  • the reclining angle is an angle that is inclined toward the rear of the vehicle relative to the proper angle during driving.
  • the automatic driving level at which the driver can take a nap will be referred to as the nap-allowable automatic driving level.
  • the automated driving system does not necessarily maintain the level of automated driving that allows naps.
  • An operational design domain hereinafter referred to as ODD
  • ODD operational design domain
  • the automated driving system changes the automated driving level from the nap-enabled automated driving level to an automated driving level that requires a state in which the driver can immediately take over driving or an automated driving below it. Switch to level.
  • the automatic driving system switches the automatic driving level from automatic driving level 4 to automatic driving level 3 or lower.
  • the automated driving level changes to a level lower than the nap-allowable automated driving level, regardless of whether the driver's consciousness state is awake or sleeping, the same control is executed to end the reclining state. If so, it may be difficult for the driver to quickly adapt to the level of automated driving after the level is lowered.
  • the present disclosure has been made based on this situation, and its object is to provide a driver's vehicle control device and a driver's vehicle control method that can ensure the convenience of automatic driving that allows naps. to do.
  • An automatic driving system that can switch between a nap-enabled automatic driving level that allows the driver to take a nap and an automatic driving level that is lower than the automatic driving level that requires a state in which the driver can immediately take over driving; a driver's seat angle adjustment unit that adjusts the angle of the back of the driver's seat; a driver state determination unit that determines whether the state of consciousness of the driver is an awake state or a sleeping state; A vehicle control device for a driver used in a vehicle equipped with an automated driving level acquisition unit that acquires the automated driving level being executed by the automated driving system and the automated driving level scheduled to be executed; a driver state acquisition unit that acquires the state of consciousness of the driver from the driver state determination unit; When the back of the driver's seat is in a reclining state and the automatic driving level acquisition unit acquires that the automatic driving level switches from the nap-allowing automatic driving level to an automatic driving level lower than the nap-allowing automatic driving level, the reclining state ends
  • the reclining control unit when ending the reclining state, determines the control order of the angle control of the back of the driver's seat and the output control from the notification unit for ending the reclining state according to the state of consciousness of the driver. It is a vehicle control device for a person.
  • One disclosure relating to a vehicle control method for a driver to achieve the above object includes: An automatic driving system that can switch between a nap-enabled automatic driving level that allows the driver to take a nap and an automatic driving level that is lower than the automatic driving level that requires a state in which the driver can immediately take over driving; a driver's seat angle adjustment unit that adjusts the angle of the back of the driver's seat; a driver state determination unit that determines whether the state of consciousness of the driver is an awake state or a sleeping state; A vehicle control method for a driver used in a vehicle equipped with Acquire the automated driving level that the automated driving system is running and the automated driving level that is scheduled to be executed, Acquiring the driver's state of consciousness from the driver's state determination unit, When it is acquired that the back of the driver's seat is in a reclining state and the automatic driving level switches from the nap-allowing automatic driving level to an automatic driving level lower than the nap-allowing automatic driving level, the reclining state is ended and the vehicle is equipped with output a notification associated with
  • the notification unit outputs a notification associated with ending the reclining state.
  • the reclining state is ended according to the driver's state of consciousness.
  • the control order of the angle control of the back of the driver's seat and the output control from the notification unit is determined. This makes it easier for the driver to adapt to the level of automatic driving after the level is lowered, and it is possible to ensure the convenience of automatic driving that allows a nap.
  • An automatic driving system that can switch between a nap-enabled automatic driving level that allows the driver to take a nap and an automatic driving level that is lower than the automatic driving level that requires a state in which the driver can immediately take over driving; a driver's seat angle adjustment unit that adjusts the angle of the back of the driver's seat; a driver state determination unit that determines whether the state of consciousness of the driver is an awake state or a sleep state; A vehicle control device for a driver used in a vehicle equipped with an automated driving level acquisition unit that acquires the automated driving level being executed by the automated driving system and the automated driving level scheduled to be executed; a driver state acquisition unit that acquires the state of consciousness of the driver from the driver state determination unit; When the back of the driver's seat is in a reclining state and the automatic driving level acquisition unit acquires that the automatic driving level switches from the nap-allowing automatic driving level to an automatic driving level lower than the nap-allowing automatic driving level, the reclining state ends
  • An automatic driving system that can switch between a nap-enabled automatic driving level that allows the driver to take a nap and an automatic driving level that is lower than the automatic driving level that requires a state in which the driver can immediately take over driving; a driver's seat angle adjustment unit that adjusts the angle of the back of the driver's seat; a driver state determination unit that determines whether the state of consciousness of the driver is an awake state or a sleep state; A vehicle control method for a driver used in a vehicle equipped with Acquire the automated driving level that the automated driving system is running and the automated driving level that is scheduled to be executed, Acquiring the driver's state of consciousness from the driver's state determination unit, When it is acquired that the back of the driver's seat is in a reclining state and the automatic driving level switches from the nap-possible automatic driving level to an automatic driving level lower than the nap-possible automatic driving level, the reclining state is terminated, This vehicle control method for a
  • the back of the driver's seat is in a reclining state, and the automatic driving level is switched from the nap-allowable automatic driving level to a lower automatic driving level.
  • the maximum control angle of the back of the driver's seat is varied according to the state of consciousness of the driver.
  • an automatic driving system capable of implementing automatic driving at a nap-possible automatic driving level in which the driver can take a nap
  • a driver's seat angle adjustment unit that adjusts the angle of the back of the driver's seat
  • a driver state determination unit that determines whether the state of consciousness of the driver is an awake state or a sleep state
  • Another disclosure relating to a vehicle control method for a driver to achieve the above object is: an automatic driving system capable of implementing automatic driving at a nap-possible automatic driving level in which the driver can take a nap; a driver's seat angle adjustment unit that adjusts the angle of the back of the driver's seat; a driver state determination unit that determines whether the state of consciousness of the driver is an awake state or a sleep state; A vehicle control method for a driver used in a vehicle equipped with Acquiring the driver's state of consciousness from the driver's state determination unit, A vehicle control method for a driver, in which, when the vehicle approaches a destination while maintaining a nap-possible automatic driving level and the driver is in a sleeping state, the angle control of the back of the driver's seat for ending the reclining state is suspended. be.
  • the driver's vehicle control device and the driver's vehicle control method even if the driver approaches the destination while the back of the driver's seat is in the reclining state, the end of the reclining state is postponed. Therefore, the driver can maintain sleep. According to the above, it is possible to ensure the convenience of automatic driving that allows a nap.
  • FIG. 1 is a configuration diagram of a vehicle 6 equipped with a driver's vehicle control device according to a first embodiment
  • FIG. FIG. 4 is a block diagram showing functions of an automatic driving ECU 42; The figure which shows the process which the reclining control part 424 performs.
  • FIG. 4 is a diagram showing processing executed by a reclining control unit 424 subsequent to FIG. 3; The figure which shows the process which the automatic operation control execution part 421 of 2nd Embodiment and the reclining control part 424 perform. The figure which shows the process which the reclining control part 424 of 3rd Embodiment performs.
  • FIG. 10 is a diagram showing another process executed by the reclining control unit 424; The figure which shows the process which the reclining control part 424 of 4th Embodiment performs following FIG.
  • FIG. 4 is a diagram showing processing executed by a wiper control unit 425;
  • FIG. 10 is a diagram showing another process executed by a wiper control unit 425;
  • a vehicle 6 shown in FIG. 1 is equipped with an automatic driving system 40 and the like.
  • Vehicle 6 is a vehicle having a driver's seat. A passenger sitting in the driver's seat can drive the vehicle 6 as a driver. However, the vehicle 6 is capable of automatic driving in which the vehicle automatically travels without the driver's driving operation.
  • the vehicle 6 is also provided with a passenger seat on which a fellow passenger sits.
  • the vehicle 6 is equipped with a driver's seat, a passenger's seat, and the configuration shown in FIG. 1, and runs on the road.
  • the back part is a part that supports the upper body of the occupant and is sometimes called a backrest part.
  • the seat angle adjuster 10 adjusts the angle of the back.
  • the seat angle adjuster 10 includes a driver seat angle adjuster 11 and a passenger seat angle adjuster 12 .
  • the driver's seat angle adjustment unit 11 adjusts the angle of the back of the driver's seat (hereinafter referred to as the back of the driver's seat).
  • the driver's seat angle adjusting unit 11 includes a gear that rotates to change the angle of the back of the driver's seat, and a motor that rotates the gear.
  • the driver's seat angle adjustment unit 11 includes an angle sensor that detects the angle of the back of the driver's seat, and a motor control circuit that controls the motor to achieve a desired angle based on the angle detected by the angle sensor.
  • the rotation speed of the motor can be changed in a plurality of steps (for example, two steps), and the driver's seat angle adjustment unit 11 can change the angle of the back of the driver's seat at a plurality of speeds.
  • the passenger seat angle adjustment unit 12 adjusts the angle of the back of the passenger seat (hereinafter referred to as the passenger seat back).
  • the passenger seat angle adjuster 12 like the driver's seat angle adjuster 11, includes a gear, a motor, an angle sensor, a motor control circuit, and the like. Like the driver seat angle adjuster 11, the passenger seat angle adjuster 12 can change the angle of the passenger seat back at multiple speeds.
  • the vehicle 6 also includes an occupant state determination unit 20, a notification unit 30, an operation unit 33, an automatic driving system 40, a travel control ECU 50, a peripheral monitoring sensor 60, a locator 70, a navigation device 75, an in-vehicle communication device 80, and these and a communication bus 90 for communicatively connecting the
  • the occupant state determination unit 20 includes a driver state determination unit 21 and a fellow passenger state determination unit 22 .
  • the driver state determination unit 21 sequentially determines the state of the driver.
  • Driver state determination unit 21 includes, for example, a near-infrared light source, a near-infrared camera, and a control unit that controls them.
  • the driver state determination unit 21 is installed on the upper surface of the steering column, the upper surface of the instrument panel, or the like, with the near-infrared camera facing the headrest portion of the driver's seat.
  • the driver's condition determination unit 21 captures an image of the driver's head irradiated with near-infrared light from the near-infrared light source with a near-infrared camera.
  • An image captured by the near-infrared camera is image-analyzed by the control unit.
  • the control unit sequentially determines whether the driver's state of consciousness is in the wakeful state or in the sleeping state based on the image analysis results.
  • the sleep state includes a state of drowsiness unsuitable for driving.
  • the fellow passenger state determination unit 22 sequentially determines whether the state of consciousness of the fellow passenger is in the wakeful state or in the sleeping state. In addition, the fellow passenger state determination unit 22 also determines whether or not the fellow passenger is an infant. For example, the fellow passenger state determination unit 22 determines whether or not the fellow passenger is an infant by analyzing the appearance of the fellow passenger photographed by the camera.
  • the notification unit 30 gives various notifications to the driver and fellow passengers.
  • the notification unit 30 has a speaker 31 and a display 32 .
  • the speaker 31 outputs sound toward the cabin of the vehicle 6 .
  • One or more displays 32 are provided. At least one display 32 is arranged at a position visible to the driver.
  • one display 32 is a center information display (hereinafter referred to as CID) arranged on the instrument panel.
  • CID center information display
  • the operation unit 33 is an interface that accepts user operations by the driver and fellow passengers. User operations related to activation and deactivation of the automatic driving function, user operations for inputting a destination to the navigation device 75, and the like are input to the operation unit 33, for example.
  • the operation unit 33 includes a steer switch provided on the spoke portion of the steering wheel, a touch panel provided integrally with the display 32, a voice input device for recognizing the utterance content of the passenger, and the like.
  • the automated driving system 40 is a system capable of realizing automated driving at multiple levels of automated driving.
  • the driver does not follow the obligation to monitor the surroundings within the ODD.
  • the driver can take a nap while driving at this level.
  • This level of automatic driving is defined as a napping-enabled automatic driving level.
  • this level of automatic driving is referred to as automatic driving level 4 below.
  • ODD can be set in various ways. One or more of road conditions, geographical conditions, environmental conditions, and other conditions can be set for ODD. An example of ODD is to limit the road type to expressways. As another example of ODD, it can be assumed that the weather is neither heavy rain nor snow.
  • the automated driving system 40 can also perform automated driving control at an automated driving level lower than automated driving level 4, that is, at automated driving level 3 or lower.
  • automated driving level 3 the automatic driving system 40 automatically drives the vehicle 6 within the ODD set for automatic driving level 3, and the driver is not obligated to monitor the surroundings.
  • automatic driving level 3 requires a state in which the driver can immediately take over driving.
  • the automatic driving system 40 causes the driver to drive the vehicle 6, and the automatic driving system 40 assists the driver in driving. In automatic driving level 2, the driver is naturally obligated to monitor the surroundings.
  • the automatic driving system 40 includes a driving support ECU 41 and an automatic driving ECU 42.
  • the driving support ECU 41 is an ECU (Electronic Control Unit) that sequentially determines vehicle control when the automatic driving system 40 executes automatic driving corresponding to driving support.
  • the automatic driving ECU 42 is an ECU that sequentially determines vehicle control when the automatic driving system 40 executes automatic driving at a level in which the driver is not obligated to monitor the surroundings.
  • the automatic driving ECU 42 is a computer including a processing unit 43, a RAM 44, a storage unit 45, an input/output interface 46, and a bus connecting these.
  • the driving support ECU 41 is also a computer including a processing unit, a RAM, a storage unit, an input/output interface, and a bus connecting them.
  • the processing unit 43 includes at least one processor.
  • the processing unit 43 accesses the RAM 44 to execute various processes for implementing the driver vehicle control method of the present disclosure.
  • the storage unit 45 stores various programs (vehicle control method program for driver, etc.) executed by the processing unit 43 .
  • the automatic driving ECU 42 realizes the function of each unit shown in FIG. The contents of FIG. 2 will be described later.
  • the traveling control ECU 50 is an electronic control device that mainly includes a microcontroller.
  • the travel control ECU 50 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU.
  • the driving control ECU 50 controls the braking force of each wheel, the output control of the on-vehicle power source, and the Steering angle control is continuously implemented.
  • the traveling control ECU 50 generates vehicle speed information indicating the current traveling speed of the vehicle 6 based on detection signals from wheel speed sensors provided at the hub portions of the wheels, and sequentially transmits the generated vehicle speed information to the communication bus 90. Output.
  • the surroundings monitoring sensor 60 is an autonomous sensor that monitors the surrounding environment of the vehicle 6 .
  • Perimeter monitoring sensor 60 can detect moving and stationary objects from a detection range around the vehicle.
  • the surroundings monitoring sensor 60 can detect at least a forward vehicle, a rearward vehicle, a side vehicle, and the like traveling around the vehicle 6 .
  • the surroundings monitoring sensor 60 provides detection information of objects around the vehicle to the driving support ECU 41, the automatic driving ECU 42, and the like.
  • Perimeter monitoring sensor 60 includes one or more of camera unit 61, millimeter wave radar 62, lidar 63 and sonar 64, for example.
  • the camera unit 61 is mounted on the vehicle 6 so as to be able to photograph the front range of the vehicle 6 .
  • the millimeter wave radar 62 emits millimeter waves or quasi-millimeter waves toward the surroundings of the vehicle.
  • the millimeter wave radar 62 outputs detection information generated by a process of receiving reflected waves reflected by moving and stationary objects.
  • the rider 63 emits laser light toward the surroundings of the vehicle.
  • the lidar 63 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 64 emits ultrasonic waves around the vehicle.
  • the sonar 64 outputs detection information generated by a process of receiving ultrasonic waves reflected by moving and stationary objects existing near the vehicle.
  • the locator 70 is configured to include a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, and the like.
  • the locator 70 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 90, etc., and sequentially locates the current position, traveling direction, etc. of the vehicle 6.
  • Locator 70 sequentially outputs position information and direction information of vehicle 6 based on the positioning result to communication bus 90 as locator information.
  • the locator 70 further has a map database (hereinafter referred to as map DB) 71 that stores map data.
  • map DB 71 is mainly composed of a large-capacity storage medium storing a large amount of three-dimensional map data and two-dimensional map data.
  • the three-dimensional map data is a so-called HD (High Definition) map and includes road information necessary for automatic driving control.
  • 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 70 reads map data around the current position from the map DB 71 and provides the driving support ECU 41, the automatic driving ECU 42, and the like with locator information.
  • the navigation device 75 acquires destination information specified by a passenger such as a driver based on operation information of a user's operation.
  • the navigation device 75 uses the locator information acquired from the locator 70 to set a route from the current position to the destination.
  • the navigation device 75 displays a guidance image for route guidance on the display 32 provided as a CID. Further, the navigation device 75 provides the automatic driving system 40 with destination information indicating a destination and route information indicating a set route to the destination.
  • the in-vehicle communication device 80 is an external communication unit mounted on the vehicle 6 and functions as a V2X (Vehicle to Everything) communication device.
  • the in-vehicle communication device 80 transmits and receives information to and from a roadside device installed on the side of the road by wireless communication.
  • the in-vehicle communication device 80 receives traffic congestion information around the current position of the vehicle 6 and in the traveling direction from the roadside device.
  • the in-vehicle communication device 80 provides the received traffic jam information to the automatic driving ECU 42 and the like.
  • FIG. 2 shows functions executed by the automatic driving ECU 42 .
  • the automatic driving ECU 42 implements the functions of an automatic driving control execution unit 421 , an automatic driving level acquisition unit 422 , a driver state acquisition unit 423 , and a reclining control unit 424 by executing a program by the processing unit 43 .
  • the automatic driving ECU 42 has the functions of an automatic driving level acquisition unit 422, a driver state acquisition unit 423, and a reclining control unit 424, thereby realizing a vehicle control device for the driver.
  • the automatic driving control execution unit 421 combines detection information obtained from the surrounding monitoring sensor 60, locator information and map data obtained from the locator 70, traffic congestion information obtained from the in-vehicle communication device 80, etc., and executes automatic driving. Recognize the driving environment required for The automatic driving control execution part 421 sequentially determines the automatic driving level to be currently executed based on the recognized driving environment and ODD. When a destination is set in the navigation device 75, the automatic driving control execution unit 421 enables execution of an automatic driving level that does not require monitoring of surroundings.
  • the automatic driving control execution unit 421 if the determined automatic driving level is an automatic driving level without the obligation to monitor the surroundings, based on the recognized driving environment, a control command for executing vehicle control for automatically driving the vehicle 6, It outputs to running control ECU50 one by one.
  • the automatic driving control execution part 421 will instruct
  • the automatic driving control execution unit 421 determines not only the currently executed automatic driving level but also the scheduled automatic driving level.
  • the currently executed automatic driving level means the automatic driving level necessary for keeping the vehicle 6 running according to the traffic flow.
  • the currently executed automatic driving level can also be said to be the currently executed automatic driving level.
  • the currently executed automatic driving level is, for example, the automatic driving level up to several seconds ahead.
  • the automated driving level that is scheduled to be executed is the automated driving level that precedes the currently executed automated driving level.
  • ODD of automatic driving level 4 is limited to highways and vehicle 6 is scheduled to enter a general road at 10 km.
  • the automatic driving control execution unit 421 terminates the automatic driving level 4 at 10 km ahead and determines to switch to a lower automatic driving level, for example, the automatic driving level 2.
  • the automatic driving level acquisition unit 422 sequentially acquires the automatic driving levels sequentially determined by the automatic driving control execution unit 421.
  • the automatic driving level acquisition unit 422 acquires the automatic driving level to be executed and the timing for executing the automatic driving level.
  • the driver state acquisition unit 423 sequentially acquires the state of consciousness of the driver that is sequentially determined by the driver state determination unit 21 .
  • the state of consciousness of the driver is, as described above, whether the driver is in the wakeful state or in the sleeping state.
  • the reclining control unit 424 sequentially acquires from the automatic driving level acquiring unit 422 the currently executing automatic driving level and the scheduled automatic driving level. Also, the driver's state is sequentially acquired from the driver's state acquisition unit 423 . In addition, the reclining control unit 424 sequentially acquires the state of the fellow passenger from the fellow passenger state determination unit 22 . The state of the fellow passenger includes the state of consciousness of the fellow passenger and whether or not the fellow passenger is an infant. The reclining control unit 424 also acquires the angles of the back of the driver's seat and the back of the passenger's seat from the seat angle adjustment unit 10 . The reclining control unit 424 controls the angle (reclining state) of the back of the driver's seat and the back of the passenger's seat based on the acquired information.
  • the outline of the control executed by the reclining control unit 424 is as follows.
  • the reclining control unit 424 determines the angle at which the reclining state ends. Execute control.
  • output control is performed to output a notification associated with ending the reclining state from the notification unit 30 .
  • the reclining control unit 424 determines the control order of the angle control and the output control according to the state of consciousness of the driver. Also, the maximum standing angle of the back of the driver's seat when the reclining state is terminated is varied according to the state of consciousness of the driver.
  • the reclining state means that the back of the driver's seat is tilted more rearward than the proper angle for driving as described above.
  • a specific inclination angle is appropriately set.
  • the angle of the back of the driver's seat when the vehicle 6 is running at automatic driving level 2 or lower is set as the angle during driving, and the back of the driver's seat is inclined to the rear of the vehicle by a certain angle (for example, 10 degrees) or more than the angle during driving.
  • the reclining state of the back portion of the passenger seat means a state in which the back portion of the passenger seat is inclined toward the rear of the vehicle from the angle at which the seat belt can fully exhibit its function.
  • the standard angle is the angle of the back of the passenger's seat at which the seat belt can fully demonstrate its function.
  • the specific angle range for reclining the passenger seat back can be the same as the angle range for reclining the driver's seat back.
  • FIG. 424 The control executed by the reclining control unit 424 will be described in detail with reference to FIGS. 3 and 4.
  • FIG. The reclining control unit 424 sequentially executes the processing shown in FIG. 3 when the automatic driving control execution unit 421 starts automatic driving at automatic driving level 4 or higher. 3 and 4, the reclining control unit 424 executes processes other than S1, S5, and S11. S1 is executed by the 422, and S5 and S11 are executed by the driver state acquisition unit 423.
  • S1, S5, and S11 are executed by the driver state acquisition unit 423.
  • the driver state acquisition unit 423 acquires the automatic driving level being executed by the automatic driving control execution unit 421 and the automatic driving level scheduled to be executed.
  • S2 based on the information acquired in S1, it is determined whether the automated driving level will switch to level 3 or lower. If this judgment is NO, the process of FIG. 3 is terminated. If the determination result of S2 is YES, the process proceeds to S3.
  • the angle of the back of the driver's seat is obtained from the driver's seat angle adjustment unit 11, and it is determined whether or not the driver's seat is in a reclining state. If the determination result of S3 is NO, the process of FIG. 3 is also ended. If the determination result of S3 is YES, the process proceeds to S4.
  • S4 it is determined whether the switching of the automatic driving level is urgent.
  • the determination result in S4 will be YES. Due to weather changes, etc., the automatic driving level may switch immediately when the vehicle unexpectedly deviates from ODD.
  • the determination result in S4 will be NO. For example, when the vehicle 6 is scheduled to enter a general road at 10 km, it may be acquired that the automated driving level will soon switch. If the determination result of S4 is YES, the process proceeds to S5.
  • S5 it is determined whether or not the driver is awake. If the driver is awake, the process proceeds to S6.
  • the notification unit 30 outputs an emergency notification indicating that the automatic driving level is switched in an emergency.
  • the notification unit 30 when it is in a reclining state, it is preferable to use at least sound for the notification. This is because it is often difficult to see the display 32 in the reclining state. Of course, it is preferable to use sound and display.
  • the reclining state of all the reclining seats is ended in the following S7.
  • the changing speed of the back when ending the reclining state is set to be high.
  • the specific speed shall be the highest speed within the allowable speed range with the occupant seated.
  • the angle of the back of the driver's seat after the reclining state is finished is the driving angle, and the passenger's seat is the standard angle.
  • S8 If it is determined in S5 that the driver is sleeping, proceed to S8.
  • S8 and S9 sequential control conditions are determined. When the sequential control condition is satisfied, even if the driver is in a sleeping state, the process proceeds to S6, and the control is executed sequentially in the order of emergency notification and reclining end. In S8, it is determined whether or not there is an awake fellow passenger. If the determination result of S8 is YES, the process proceeds to S9.
  • S9 it is determined whether or not the only passengers who are awake are infants. If the determination result in S9 is NO, that is, if there is an awake fellow passenger who is not an infant, the process proceeds to S6 described above. On the other hand, if there are only infants in the awake state, the process proceeds to S10. Moreover, when the determination result of S8 is NO, it also progresses to S10.
  • the notification unit 30 outputs an emergency notification indicating that the automatic driving level is urgently switched. That is, in S10, S6 and S7 are executed simultaneously. Simultaneous does not have to be simultaneous in the strict sense. A time difference within a range that an awake occupant feels at the same time is allowed. On the other hand, after S6 is executed and before S7 is executed, the time required for an awake occupant to perceive the emergency notification and to understand its meaning generally remains.
  • the notification unit 30 outputs a notification of termination of monitoring unnecessary.
  • the no-monitoring end notification is a notification that directly or indirectly means that automatic driving level 4, which is an automatic driving level that does not require driver monitoring, will end soon.
  • An example of the latter notification is a notification that conveys the automated driving level after switching. It is also preferable to notify when the automatic driving level will switch.
  • the reclining state of the back of the driver's seat is ended.
  • the changing speed of the back when ending the reclining state is set to be low.
  • the change speed of the back in S13 is slower than the change speed of the back in S7.
  • the changing speed of the back in S13 is the changing speed when the passenger operates the switch.
  • the reclining state of the back of the driver's seat is ended by forward leaning via end control.
  • Forward-tilting via termination control is a control in which the back is once tilted forward and then set to the driving angle.
  • the forward tilt angle means an angle at which the vehicle is tilted forward from the driving angle. Therefore, the anteversion angle also includes the vertical.
  • forward leaning via control how much the back is to be leaned forward of the vehicle is set in advance. For example, the back of the driver's seat is tilted to an angle that is 20 degrees forward of the vehicle from the vertical.
  • the maximum control angle is the angle at which the back of the driver's seat is furthest forward of the vehicle when the reclining state is terminated.
  • the maximum control angle when executing S14 is the forward tilt angle described above.
  • the maximum control angle of the driver's seat back in S7, S10, and S13 is the driving angle.
  • S15 is the same process as S12, and causes the notification unit 30 to output a monitoring-unnecessary end notification. It is also preferable to notify when the automatic driving level will switch.
  • the reclining control unit 424 executes angle control to end the reclining state even when automatic driving at automatic driving level 4 or higher continues.
  • the reclining control unit 424 changes the reclining state of the driver's seat when the smartphone receives an incoming call or an e-mail. terminate.
  • the control for ending the reclining state when there is an incoming call or the like may be set so as not to be performed by a user operation.
  • the reclining control unit 424 causes the driver's seat to end the reclining state and raise the back of the driver's seat to a position in which the operation unit 33 can be operated. good.
  • the reclining control unit 424 terminates the reclining state and performs angle control to raise the back of the driver's seat to the extent that the emergency vehicle can be visually recognized. good.
  • the reclining control unit 424 terminates the reclining state. (S7, S10, S13, S15). In addition, the reclining control unit 424 causes the notification unit 30 to output a notification associated with terminating the reclining state (S6, S10, S12, S15). By outputting a notification associated with the end of the reclining state, it is possible to prevent the driver from feeling uncomfortable due to the automatic end of the reclining state.
  • the reclining control unit 424 determines the control order of the angle control of the driver's seat back portion for ending the reclining state and the notification control from the notification unit 30 according to the state of consciousness of the driver. . This makes it easier for the driver to adapt to the level of automatic driving after the level is lowered, and it is possible to ensure the convenience of automatic driving that allows a nap.
  • the reclining control unit 424 simultaneously executes the angle control of the driver's seat back and the output control from the notification unit 30 if the simultaneous control condition is satisfied (S10).
  • the simultaneous control condition is that the automatic driving level acquisition unit 422 has acquired that the automatic driving level immediately switches to the automatic driving level 3 or lower (S4: YES), and the driver is sleeping (S5: YES ) and the sequential control conditions (S8, S9) are not satisfied.
  • the end of the reclining state and the emergency notification may be executed at the same time. Since the driver can be awakened by the end of the reclining state, the driver can easily recognize the emergency notification rather than simply outputting the emergency notification from the notification unit 30 .
  • the sequential control conditions include that the fellow passenger is awake (S8: YES) and that the awake fellow passenger is not an infant (S9: NO). This is because if the awake fellow passenger is an infant, it is difficult to expect the driver to wake up.
  • the reclining control unit 424 first controls the output from the notification unit 30. (S6, S12). After that, angle control of the back of the driver's seat is started (S7, S13). Even if the driver's seat is in a reclining state, if the driver is awake, the warning allows the driver to take the driving posture by himself. Therefore, there is little need to automatically end the reclining state quickly. In addition, by notifying the driver in advance, even if the reclining state is automatically terminated later, the driver can understand the reason why the reclining state is terminated. Therefore, it is possible to prevent the driver from being confused when the reclining state is automatically ended.
  • the reclining control unit 424 ends the reclining state if the switching of the automatic driving level is not urgent (S4: NO) and the driver is sleeping (S11: sleeping). (S14). After that, it notifies that automatic driving level 4 will end soon (S15).
  • the driver can be expected to be in an awake state. Therefore, by ending the reclining state first, the driver can easily recognize the notification.
  • the reclining control unit 424 terminates the reclining state, if the switching of the automatic driving level is not urgent (S4: NO) and the driver is awake (S11: awakening), the automatic driving level 4 is Notify that the process will end soon (S12). After that, the reclining state is terminated (S13). By notifying the driver in advance, it is possible to reduce the sense of incongruity given to the driver when the reclining state is automatically ended later.
  • the reclining control unit 424 changes the maximum control angle of the driver's seat back according to the driver's state of consciousness when ending the reclining state (S7, S10, S13, S15).
  • the driver can quickly adapt to the level of automated driving after the switchover and take a nap, regardless of the driver's state of consciousness. It is possible to ensure the convenience of automatic driving.
  • the reclining control unit 424 executes termination control via forward leaning when the automatic driving level is nearly switched to level 3 or lower (S2: YES, S4: NO) and the driver is sleeping (S11: sleeping). (S14).
  • termination control via forward leaning when the automatic driving level is nearly switched to level 3 or lower (S2: YES, S4: NO) and the driver is sleeping (S11: sleeping).
  • S14 In anteversion-via-end control, the back is once at an anteversion angle. If the back of the driver's seat is tilted forward, the driver will be in a cramped posture, which makes it easier to awaken the driver.
  • the reclining control unit 424 does not depend on the driver's state of consciousness.
  • the angle of the back of the driver's seat is set to the driving angle (S7, S10). As a result, the driver can quickly assume a driving posture.
  • the reclining control unit 424 sets the back angle of the passenger seat to the standard. Make an angle (S7, S10). As a result, the fellow passenger can be quickly placed in a safe posture, so that the vehicle 6 can be prepared for the possibility of collision or sudden braking.
  • the reclining control unit 424 makes the angle change speed of the driver's seat back faster than when switching the automatic driving level is not urgent (S4: NO). (S7, S10).
  • S7, S10 the driver can be quickly placed in a posture suitable for driving.
  • the change speed of the angle of the back of the driver's seat is not increased, so it is possible to suppress unnecessarily startling the driver.
  • the automatic driving ECU 42 is capable of causing the vehicle 6 to reach the parking lot of the destination set by the driver while continuing the autonomous driving of the automatic driving level 4.
  • the automatic driving ECU 42 executes the processing shown in FIG. 5 (hereinafter, state control processing) based on the approach to the destination.
  • the state control process is a process that includes reclining control when the vehicle arrives near the destination, not in an emergency, and systematically awakens the driver. For example, the automatic driving ECU 42 determines that the destination is approached at the timing when the remaining distance to the destination is less than a predetermined distance, or at the timing when the remaining time until reaching the destination is less than a predetermined time. Then, the state control process shown in FIG. 5 is started.
  • the driver state acquisition unit 423 determines whether the driver is in an awake state. If the driver is awake, the process proceeds to S206, and if it is determined that the driver is asleep, the process proceeds to S202.
  • the automatic driving control execution unit 421 compares the estimated arrival time previously notified to the driver with the current time, and determines whether the current time is earlier than the estimated arrival time.
  • the estimated arrival time is the time presented to the driver when setting the destination, and is the time calculated by the edge-side navigation device 75 or the cloud-side route search server or the like. In the judgment of S202, if the current time is before the estimated arrival time, the process proceeds to S203, and if the current time is after the estimated arrival time, the process proceeds to S204.
  • the automatic driving control execution unit 421 maintains the driver's sleep. sleep maintenance control. Specifically, the automatic driving control execution unit 421 performs automatic driving to patrol around the destination while maintaining automatic driving level 4 as sleep maintenance control. The automatic driving control execution unit 421 performs travel control to tour around the destination until the driver wakes up (S201: awakening) or until the expected arrival time (S202: NO).
  • the automatic driving control execution unit 421 performs automatic parking control to park the vehicle 6 in the parking lot of the destination.
  • the driver state acquisition unit 423 further acquires sleep-related information related to sleep of the driver.
  • the driver state acquisition unit 423 acquires information such as sleep duration, fatigue level, and whether or not the driver is in a REM sleep state from the driver state determination unit 21 as sleep-related information.
  • the reclining control unit 424 determines, based on the sleep-related information acquired by the driver state acquiring unit 423, whether or not to perform angle control of the back of the driver's seat to end the reclining state. For example, if the sleep time is less than or equal to the predetermined time, the fatigue level exceeds a predetermined value, or the user is in the non-REM sleep state, the reclining control unit 424 determines to continue the sleep state (S205: YES). In this case, the end of the reclining state is suspended, and the process returns to S201.
  • the reclining control unit 424 determines awakening of the driver (S205: NO). In this case, the process proceeds to S206.
  • the reclining control unit 424 terminates the reclining state of the driver's seat. If the passenger seat is in a reclining state like the driver's seat, the reclining control unit 424 also terminates the reclining state of the passenger seat. The reclining control unit 424 wakes up the driver and the fellow passenger and performs reclining control so that the driver and the fellow passenger are in a dismounting posture. In this S206, the change speed of the back when ending the reclining state may be low. In addition, the positions of the seat slides of the driver's seat and the passenger's seat may be moved rearward from the position during driving (running). Furthermore, in S206, the notification unit 30 may notify the arrival at the destination.
  • the automatic operation control execution part 421 implements the automatic driving
  • the second embodiment described above also has the same effect as the first embodiment.
  • angle control of the back of the driver's seat ( S206) is suspended. This allows the driver to maintain sleep. According to the above, it is possible to ensure the convenience of automatic driving that allows a nap.
  • the automatic driving control execution unit 421 patrols around the destination with automatic driving at automatic driving level 4 (S203). In this way, according to the travel control that delays the parking timing, it becomes difficult for the driver and fellow passengers to see their sleeping state. In addition, security can be enhanced. Furthermore, if the passenger is an infant or the like, the behavior and vibration of the vehicle 6 heading for the parking lot will less likely wake the sleeping infant. In addition, when only one of the driver and the passenger is in a sleeping state, it is possible to show the scenery around the destination to the awake occupants by patrol driving.
  • the automatic driving control execution unit 421 performs automatic driving to patrol around the destination when the time is earlier than the estimated arrival time previously notified to the driver (S202: YES). That is, when the estimated arrival time has passed, the patrol around the destination is not carried out. Therefore, the situation in which the arrival at the destination is delayed due to the patrol travel is less likely to occur.
  • the driver state acquisition unit 423 further acquires sleep-related information related to sleep of the driver. Then, when the vehicle 6 is parked at the destination and the driver is sleeping, the reclining control unit 424 determines whether or not to perform angle control of the back of the driver's seat to end the reclining state. Make decisions based on sleep-related information. According to the above, it is possible to avoid a situation in which the reclining control for forcibly awakening the driver is performed despite the fact that the driver is in a state where it is difficult to awaken. As a result, the convenience of automatic driving that allows naps will be further improved.
  • the automatic driving ECU 42 of the third embodiment can carry out autonomous driving at automatic driving level 4 on general roads, and can make the vehicle 6 reach the destination while continuing autonomous driving. can.
  • the automatic driving ECU 42 has an automatic valet parking function, and can automatically park at the destination parking lot without any passengers on board.
  • the driver can park the vehicle at a designated boarding/alighting area and get off the vehicle, and entrust the parking to the automatic valet parking function (automatic driving ECU 42).
  • the automatic driving ECU 42 receives designation of a travel route and a parking place from the control center of the parking lot, and automatically drives the vehicle 6 to the parking place at a low speed according to the instruction.
  • the driver can call the vehicle 6 from a designated boarding/alighting place using a portable terminal.
  • the automatic driving ECU 42 Upon receiving a request from the driver, automatically drives the vehicle 6 at a low speed according to instructions from the control center and stops the vehicle at the boarding/alighting area.
  • the automatic driving control execution unit 421 determines the destination type. Based on the information acquired from the navigation device 75, the automatic driving control execution unit 421 determines whether the vehicle 6 is scheduled to arrive at the boarding/alighting place. When arriving at the boarding/alighting place, it progresses to S302, and when not arriving at a boarding/alighting place but a parking lot, it progresses to S303. Even if the road adjacent to the destination is the destination, the process proceeds to S302.
  • the reclining control unit 424 starts angle control of each back to end the reclining state of the driver's seat or passenger's seat before the vehicle arrives at the boarding/alighting area by automatic driving.
  • the reclining control unit 424 wakes up the driver and fellow passengers before arriving at the boarding/alighting area, and completes the reclining control so that the vehicle is in the getting-off posture.
  • the vehicle 6 After leaving the driver or passenger seat, the vehicle 6 is moved to a parking location by the automatic valet parking function.
  • the reclining control unit 424 starts angle control of each back to end the reclining state of the driver's seat or passenger's seat after arriving at the parking lot by automatic driving. As described above, after the vehicle 6 stops at the parking place, the reclining control unit 424 wakes up the driver and the fellow passenger and performs reclining control so that the vehicle is in the getting-off posture.
  • the automatic driving ECU 42 executes the process shown in FIG. 7 (hereinafter referred to as "starting process") when automatic driving at automatic driving level 4 can be started immediately when the vehicle starts from a boarding/alighting area or a parking lot.
  • start process the start of the control for reclining the driver's seat or the passenger's seat is temporarily suspended.
  • the automatic driving control execution unit 421 grasps the type of departure point. Based on information acquired from the navigation device 75, the automatic driving control execution unit 421 determines whether the vehicle 6 starts from a predetermined starting point.
  • the predetermined departure point is, for example, a place where people are around, such as a boarding/alighting area and a parking lot. If the vehicle starts from a predetermined departure point, the process proceeds to S322.
  • the reclining control unit 424 determines whether or not the reclining control start condition is satisfied. For example, when the vehicle 6 moves to an unseen road, or when the running speed of the vehicle 6 exceeds a threshold vehicle speed (for example, 30 km/h), the reclining control unit 424 sets the reclining control start condition. establish. On the other hand, while the vehicle is traveling at low speed near the boarding and alighting areas and the parking lot (S322: NO), the reclining control is in a standby state.
  • a threshold vehicle speed for example, 30 km/h
  • the reclining control unit 424 When starting from a place other than a predetermined starting point (S321: NO), or when the start condition is satisfied (S322: YES), the reclining control unit 424 starts reclining control for tilting the back of the driver's seat backward in S323. . When a fellow passenger is on board, the reclining control unit 424 also starts reclining control for tilting the back of the passenger's seat backward.
  • the third embodiment described above also has the same effect as the first embodiment.
  • the type of the destination including at least the boarding and alighting areas and the parking lot is further grasped (S301).
  • the reclining control unit 424 changes the contents of angle control of the driver's seat back for ending the reclining state depending on whether the destination is the boarding area or the parking lot (S302, S303). According to the above, it is possible to perform reclining control that is suitable for the place where the driver and fellow passengers get off the vehicle.
  • the angle control of the back of the driver's seat is started by the time it reaches the platform (S302).
  • the angle control of the back of the driver's seat is started after arriving at the parking lot (S303).
  • people are more likely to meet other people in boarding and alighting areas than in parking lots, and it is easier to see their sleeping state. Therefore, by ending the reclining state before arriving at the landing, the possibility of being seen asleep can be reduced. Furthermore, since the passenger arrives at the platform in an awake state, security can be improved.
  • the recline control unit 424 does not recline the driver's seat until the vehicle 6 has moved to a secluded road. Therefore, it is possible to prevent embarrassment caused by being seen in a sleeping state.
  • the automatic driving ECU 42 of the fourth embodiment performs processing different from that of the first embodiment when it is determined that switching of the automatic driving level is not urgent (S4: NO, see FIG. 3).
  • S4 switching of the automatic driving level is not urgent
  • the automatic driving ECU 42 starts the process (hereinafter referred to as planned awakening process) shown in FIG.
  • planned awakening process reclining control is performed to wake up the driver preferentially over the fellow passenger.
  • the reclining control unit 424 performs substantially the same process as in the first embodiment. Through these processes, the reclining control unit 424 changes the order of control depending on whether the driver is awake or not, and performs angle control for terminating the reclining state and notifying that no monitoring is required.
  • the angle of the back of the passenger's seat is obtained from the passenger's seat angle adjustment unit 12, and it is determined whether or not the passenger's seat is in a reclining state. If the determination result of S416 is YES, the process proceeds to S417, and if the determination result of S416 is NO, the series of planned awakening processing ends.
  • an inquiry is made to the driver through the display 32 or the like as to whether or not the reclining state of the passenger's seat should be ended.
  • the reclining control unit 424 determines whether or not an end operation has been input to the operation unit 33 .
  • the termination operation is an operation for instructing termination of the reclining state of the passenger seat, specifically, a touch operation for touching a button icon displayed on the display 32 .
  • the fourth embodiment described above also has the same effect as the first embodiment.
  • the angle control of the driver's seat back (S13, S14) takes precedence over the angle control of the passenger's seat back (S419).
  • the reclining control unit 424 performs control so that the back of the driver's seat is preferentially raised over the back of the passenger's seat. Therefore, the driver can recognize the no-monitoring end notification and resume surroundings monitoring without being disturbed by the passenger.
  • the reclining control unit 424 starts angle control of the passenger's seat back to end the reclining state based on the input of the end operation by the driver (S418, S419). In this manner, the reclining control of the passenger's seat is determined by the operation of the driver, so that it is possible to avoid the implementation of the reclining control that would force the passenger to wake up.
  • the automatic driving ECU 42 of the fifth embodiment executes the program by the processing unit 43, and in addition to the functional units 421 to 424 that are the same as those of the first embodiment (see FIG. 1), the wiper control unit 425 shown in FIG. It further includes the function of The wiper control unit 425 can control the operation of the wiper module 36 mounted on the vehicle 6 in cooperation with the body ECU 35 .
  • the body ECU 35 is an ECU that comprehensively controls body-based in-vehicle equipment mounted on the vehicle 6 .
  • the body ECU 35 outputs signals to the wiper module 36 to start and stop the operation of the wipers.
  • the wiper module 36 has a controller section and a motor section.
  • the wiper module 36 changes the wiping timing, wiping speed, etc. of the front and rear wipers mounted on the vehicle 6 according to command signals from the body ECU 35 .
  • the automatic driving control execution unit 421 starts automatic driving at automatic driving level 4, the automatic driving ECU 42 executes the processing (hereinafter referred to as operation restriction processing) shown in FIG. 10 .
  • operation restriction processing the processing shown in FIG. 10 .
  • the driver state acquisition unit 423 and the reclining control unit 424 grasp the reclining states of the driver's seat and the passenger's seat.
  • the reclining control unit 424 determines whether or not all seats including the driver's seat are in a reclining state. If the determination result of S502 is NO, the processes of S501 and S502 are repeated. On the other hand, if both the driver's seat back and the passenger's seat back are in the reclining state and the determination result in S502 is YES, the wiper control unit 425 limits the wiper operation in S503.
  • the wiper control unit 425 basically stops wiping by the wiper when the operation restriction is activated.
  • the wiper control unit 425 may change the operation limitation, such as lengthening the wiping interval or slowing down the wiping speed.
  • the wiper control section 425 may sequentially operate the wipers so that the forward recognition function of the camera unit 61 is not impaired.
  • the automatic driving ECU 42 executes the process shown in FIG. 11 (hereinafter referred to as "restriction release process") based on the activation of the wiper operation restriction.
  • the automatic driving control execution unit 421 determines whether or not there is a scheduled end of automatic driving level 4. When the urgency becomes high, when the driving change point is approaching, when it is expected that the automatic driving level will decrease, etc., the automatic driving control execution unit 421 is scheduled to end the automatic driving level 4. In other words, it is determined that there is a plan to switch to automatic driving level 3.
  • the wiper control unit 425 relaxes the wiper operation restriction in S522.
  • the wiper control unit 425 may release all restrictions on operation and allow the wipers to begin normal operation, or may gradually release restrictions on operation, increasing the wiping frequency and wiping speed of the wipers step by step. .
  • the fifth embodiment described above also has the same effect as the first embodiment.
  • the vehicle 6 is equipped with a fellow passenger state judgment unit 22 for judging the arousal state of the fellow passenger and a fellow passenger seat angle adjustment unit 12 for adjusting the angle of the back of the passenger seat.
  • the wiper control unit 425 limits the operation of the wipers mounted on the vehicle 6 (S503). According to the above, when all the seats on which the passengers are seated are in the reclining state and all the passengers are likely to be sleeping, the operation of the wipers is restricted. As described above, it becomes difficult for the operating noise of the wiper to disturb the sleep of the passenger.
  • the wiper control unit 425 relaxes the restrictions on the operation of the wipers (S522). As described above, the wiper operation can be resumed at the timing when the driver needs to monitor the surroundings. As a result, the driver can resume monitoring the surroundings while maintaining visibility.
  • the automatic driving ECU 42 executes the automatic driving level acquisition unit 422 , the driver state acquisition unit 423 , and the reclining control unit 424 .
  • the automatic driving level acquisition unit 422, the driver state acquisition unit 423, and the reclining control unit 424 may be executed by an ECU other than the automatic driving ECU 42.
  • the driver state determining unit 21 and the fellow passenger state determining unit 22 may detect the state of the driver and the fellow passenger by biological information detecting means other than the camera instead of or in addition to the camera.
  • biological information detecting means other than cameras include biometric information detection means for detecting body temperature, heartbeat, and pulse.
  • ⁇ Modification 4> when there is an emergency (S4: YES), the driver's seat back is quickly changed to the driving angle (S7, S10) regardless of the driver's state of consciousness. However, even if it is an emergency, if the driver is in a sleeping state, the termination control via forward leaning may be executed. This is because there are cases where it is better to awaken the driver quickly. For example, if it is an emergency where the risk of collision is judged to be low and the driver is sleeping, the termination control via forward leaning may be executed.
  • Each function related to the "vehicle control device for driver" mounted in the automatic driving ECU 42 in the above embodiment may be mounted in an in-vehicle ECU different from the automatic driving ECU 42 .
  • an HMI (Human Machine Interface)-ECU that comprehensively controls the user interface mounted on the vehicle 6 may be implemented with at least some of the functions related to the "vehicle control device for the driver".
  • the HMI-ECU or a system including the automatic driving ECU and the HMI-ECU corresponds to the "vehicle control device for the driver".
  • a storage medium non-transitory tangible storage medium
  • a storage medium for storing various programs may be changed as appropriate.
  • Such a storage medium is not limited to being provided on a circuit board, but is provided in the form of a memory card or the like, is inserted into a slot, and is electrically connected to a control circuit such as an automatic driving ECU or an HMI-ECU. may be configured to be
  • the storage medium may be an optical disk or hard disk drive, etc., from which the program is copied or distributed to the autonomous driving ECU or HMI-ECU.
  • the driving support ECU 41, the automatic driving ECU 42, and the travel control ECU 50 are control units described below.
  • the controller and techniques described in this disclosure may be implemented by a special purpose 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.
  • a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat
  • a driver state determination unit (21) for determining whether the state of consciousness of the driver is an awake state or a sleeping state
  • the back of the driver's seat is in a reclining state, and the automatic driving level acquisition unit acquires that the automatic driving level switches from the nap-allowable automatic driving level to the automatic driving level lower than the nap-allowable automatic driving level.
  • a reclining control unit (424) that terminates the reclining state and outputs a notification associated with terminating the reclining state from a notification unit mounted on the vehicle,
  • the reclining control section controls the angle control of the back of the driver's seat and the output control from the notification section for terminating the reclining state according to the state of consciousness of the driver.
  • a vehicle controller for the driver that determines the turn.
  • a vehicle control device for a driver according to technical idea 2,
  • the vehicle is equipped with a fellow passenger state determination unit (22) that determines the awakening state of a fellow passenger who is a passenger other than the driver,
  • the automatic driving level acquiring unit acquires that the automatic driving level immediately switches to a level lower than the nap-allowable automatic driving level, and the driving Even if the passenger is in a sleeping state, if the sequential control condition including the fact that the fellow passenger is in an awake state is satisfied, the angle control of the back of the driver's seat is started after performing the output control from the notification unit.
  • a vehicle control device for a driver is equipped with a fellow passenger state determination unit (22) that determines the awakening state of a fellow passenger who is a passenger other than the driver,
  • the automatic driving level acquiring unit acquires that the automatic driving level immediately switches to a level lower than the nap-allowable automatic driving level, and the driving Even if the passenger is in a sleeping state, if the sequential control condition including the fact that the fellow passenger is in an awake state is satisfied
  • (Technical idea 4) A vehicle control device for a driver according to technical idea 3, A vehicle control device for a driver, wherein the sequential control conditions include that the fellow passenger is in an awake state and that the awake fellow passenger is not an infant.
  • (Technical idea 5) A vehicle control device for a driver according to any one of technical ideas 1 to 4, In the reclining control unit, when the reclining state is terminated, the automatic driving level acquiring unit acquires that the automatic driving level immediately switches to a level lower than the nap-allowable automatic driving level, and the driving A vehicle control device for a driver, which starts controlling the angle of the back of the driver's seat after performing output control from the notification unit if the driver is in an awake state.
  • the automatic driving level acquisition unit further grasps the type of the destination including at least a boarding and alighting area and a parking lot when the vehicle can reach the destination while maintaining the nap-enabled automatic driving level, The driver's vehicle, wherein the reclining control unit changes the content of the angle control of the driver's seat back for ending the reclining state depending on whether the destination is the boarding area or the parking lot. Control device.
  • a vehicle control device for a driver according to any one of technical ideas 1 to 11, The vehicle includes: A fellow passenger state determination unit (22) that determines an arousal state of a fellow passenger who is a passenger other than the driver; A fellow passenger seat angle adjustment unit (12) for adjusting the angle of the back of the passenger seat is mounted, A vehicle control device for a driver, wherein the reclining control unit gives priority to angle control of the driver's seat back over angle control of the passenger's seat back when ending the reclining state.
  • a vehicle control device for a driver according to technical idea 12 A vehicle control device for a driver, wherein the reclining control unit starts angle control of the passenger seat back portion for ending the reclining state based on an end operation input by the driver.
  • An automatic driving system capable of switching between a nap-permissible automatic driving level at which a driver can take a nap and an automatic driving level below the automatic driving level at which a state in which the driver can immediately take over driving is required.
  • a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat
  • a driver state determination unit (21) for determining whether the state of consciousness of the driver is an awake state or a sleeping state
  • the back of the driver's seat is in a reclining state, and the automatic driving level acquisition unit acquires that the automatic driving level switches from the nap-allowable automatic driving level to the automatic driving level lower than the nap-allowable automatic driving level.
  • a reclining control unit (424) that terminates the reclining state when The reclining control unit, when ending the reclining state, varies a maximum control angle of the driver's seat back when ending the reclining state according to the state of consciousness of the driver.
  • Device. (Technical idea 18) A vehicle control device for a driver according to technical idea 17, When the reclining control unit ends the reclining state, the automatic driving level acquisition unit sets the angle of the back of the driver's seat to a forward tilt angle based on the fact that the driver is in a sleeping state. vehicle control device for a person.
  • a vehicle control device for a driver When the reclining control unit ends the reclining state, if the automatic driving level acquisition unit acquires that the automatic driving level immediately switches to a level lower than the nap-allowable automatic driving level, the A vehicle control device for a driver that sets the angle of the back of the driver's seat to a driving angle regardless of the driver's state of consciousness.
  • the reclining control unit is configured to: A vehicle for a driver, wherein the rate of change in the angle of the back of the driver's seat is made faster than when the reclining state is terminated by acquiring that the automatic driving level switches to a level lower than the nap-allowable automatic driving level. Control device.
  • an automatic driving system capable of performing automatic driving at a nap-possible automatic driving level in which the driver can take a nap; a driver's seat angle adjustment unit (11) for adjusting the angle of the back of the driver's seat; a driver state determination unit (21) for determining whether the state of consciousness of the driver is an awake state or a sleeping state; A vehicle control device for a driver used in a vehicle equipped with a driver state acquisition unit (423) that acquires the state of consciousness of the driver from the driver state determination unit; A reclining control unit (424) that controls the reclining state of the driver's seat back, The reclining control unit controls the angle of the back of the driver's seat to end the reclining state when the vehicle approaches the destination while maintaining the nap-allowable automatic driving level and the driver is in a sleeping state.
  • a vehicle control device for the driver that holds the (Technical idea 25) A vehicle control device for a driver according to technical idea 24, A vehicle control device for a driver, further comprising an automatic driving control execution unit (421) for patrolling around the destination by automatic driving at the nap-allowable automatic driving level when the driver is in a sleeping state.
  • an automatic driving control execution unit (421) for patrolling around the destination by automatic driving at the nap-allowable automatic driving level when the driver is in a sleeping state.
  • a vehicle control device for a driver according to technical idea 25 A vehicle control device for a driver, wherein the automatic driving control execution unit performs automatic driving to patrol around the destination when the time is earlier than the expected arrival time previously notified to the driver.
  • the driver state acquisition unit further acquires sleep-related information related to sleep of the driver when the driver is in a sleeping state, When the vehicle is parked at the destination and the driver is in a sleeping state, the reclining control unit determines whether or not to perform angle control of the back of the driver's seat to terminate the reclining state. based on the sleep-related information.

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  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention comprend : une unité d'acquisition de niveau de conduite autonome (422) qui acquiert un niveau de conduite autonome qui est exécuté par un système de conduite autonome et un niveau de conduite autonome programmé pour être exécuté ; une unité d'acquisition d'état de conducteur (423) qui acquiert un état de conscience d'un conducteur à partir d'une unité de détermination d'état de conducteur (21) ; et une unité de commande d'inclinaison (424) qui, lorsqu'un degré de dossier de siège du conducteur est dans un état d'inclinaison et l'unité d'acquisition de niveau de conduite autonome (422) a acquis qu'un niveau de conduite autonome est commuté à un niveau de conduite autonome inférieur à un niveau de conduite autonome possible, termine l'état d'inclinaison et amène une unité de notification (30) à délivrer en sortie une notification associée à la fin de l'état d'inclinaison. Lors de la fin de l'état d'inclinaison, l'unité de commande d'inclinaison (424) détermine, en fonction de l'état de conscience du conducteur, un ordre de commande pour la commande d'angle du dossier du siège du conducteur pour terminer l'état d'inclinaison et commander la sortie de l'unité de notification.
PCT/JP2022/040231 2021-11-03 2022-10-27 Dispositif de commande de véhicule pour conducteur et procédé de commande de véhicule pour conducteur WO2023080060A1 (fr)

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JP2021-179890 2021-11-03
JP2021179890 2021-11-03
JP2022-169376 2022-10-21
JP2022169376A JP2023070099A (ja) 2021-11-03 2022-10-21 運転者用車両制御装置および運転者用車両制御方法

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JP2008120164A (ja) * 2006-11-09 2008-05-29 Aisin Aw Co Ltd 乗員覚醒システム
JP2017042544A (ja) * 2015-08-28 2017-03-02 シャープ株式会社 着座姿勢調整装置
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JP2020138707A (ja) * 2019-03-01 2020-09-03 株式会社今仙電機製作所 車両用シート及びこの車両用シートを備えた車両

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