WO2024018563A1 - 自動運転車両、制御装置、制御方法、及び制御プログラム - Google Patents

自動運転車両、制御装置、制御方法、及び制御プログラム Download PDF

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Publication number
WO2024018563A1
WO2024018563A1 PCT/JP2022/028220 JP2022028220W WO2024018563A1 WO 2024018563 A1 WO2024018563 A1 WO 2024018563A1 JP 2022028220 W JP2022028220 W JP 2022028220W WO 2024018563 A1 WO2024018563 A1 WO 2024018563A1
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WIPO (PCT)
Prior art keywords
anxiety
information
driving vehicle
user
route
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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
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PCT/JP2022/028220
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English (en)
French (fr)
Japanese (ja)
Inventor
琴由 笹山
智也 上船
道学 吉田
宗貴 西平
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Mitsubishi Electric Corp
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Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to DE112022007560.0T priority Critical patent/DE112022007560T5/de
Priority to CN202280098136.3A priority patent/CN119547125A/zh
Priority to PCT/JP2022/028220 priority patent/WO2024018563A1/ja
Priority to JP2024505593A priority patent/JP7551025B2/ja
Publication of WO2024018563A1 publication Critical patent/WO2024018563A1/ja
Priority to US18/984,102 priority patent/US20250231036A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/21—Information-providing devices intended to provide information to rider or passenger
    • B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
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    • A61M21/02—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis for inducing sleep or relaxation, e.g. by direct nerve stimulation, hypnosis, analgesia
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    • 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
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
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    • A61M2021/0044—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense
    • A61M2021/005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense images, e.g. video
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    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2205/00—General characteristics of the apparatus
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    • A61M2205/3303—Using a biosensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
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    • G05D2105/22—Specific applications of the controlled vehicles for transportation of humans
    • G05D2105/24—Specific applications of the controlled vehicles for transportation of humans personal mobility devices

Definitions

  • the present disclosure relates to a self-driving vehicle, a control device for a self-driving vehicle, a method for controlling a self-driving vehicle, and a control program for a self-driving vehicle.
  • JP 2016-052374 (e.g., abstract)
  • anxiety alleviation information namely, anxiety alleviation information
  • the physiological index hardly changes, such as at a position far away from the position of the anxiety factor in front.
  • the moving object does not change its behavior (for example, acceleration in the front-rear direction, left-right direction, or vertical direction) when passing through the position of the anxiety factor, mitigation information cannot be presented.
  • the present disclosure aims to provide an automated driving vehicle that can present anxiety-reducing information at an appropriate position during automated driving, as well as a control device, a control method, and a control program for the automated driving vehicle.
  • the self-driving vehicle of the present disclosure is a vehicle that automatically travels with a user on board, and includes a surrounding sensor that detects at least a state in front of the user in the traveling direction, an information presentation section that presents information to the user, and an operation section. , a position in front of an anxiety factor that makes the experiment participant feel anxious, in the middle of the autonomous driving route of the autonomous vehicle on which the experiment participant is riding, the experiment participant feels anxious about the anxiety element. a collection unit that collects in advance the anxiety starting position, which is the position where the person starts to feel anxiety, along the route based on the operation of the operation unit by the experiment participant; and a map of the planned route of the self-driving vehicle to the destination.
  • the present invention is characterized in that a certain presentation start position is set, and when the automatic driving vehicle in which the user is riding reaches the presentation start position, the information presentation section starts presenting the anxiety reduction information.
  • a method for controlling an automated driving vehicle is a method for controlling an automated driving vehicle that includes a surrounding sensor that detects at least a state in front of the user in a traveling direction, an information presentation section that presents information to a user, and an operation section.
  • a presentation start position which is a position at which the information presentation unit is to start presenting the information, and causing the information presentation unit to start presenting the anxiety reduction information when the automated driving vehicle in which the user is riding reaches the presentation start position.
  • the user's anxiety can be sufficiently alleviated by presenting anxiety-reducing information at an appropriate position during automatic driving.
  • FIG. 1 is a block diagram schematically showing the configuration of an automatic driving vehicle according to Embodiment 1.
  • FIG. It is a schematic diagram showing an automatic driving wheelchair as an automatic driving vehicle which is automatically traveling.
  • FIG. 3 is a schematic diagram showing when the automated driving vehicle of FIG. 2 is passing through a recognition start position of an anxiety factor.
  • FIG. 2 is a schematic diagram illustrating an automated driving vehicle moving toward a destination after passing through a recognition start position of an anxiety element, a presentation start position of anxiety reduction information, an anxiety start position, and a passage start position and a passage end position of an anxiety element.
  • . 1 is a diagram illustrating an example of a hardware configuration of a control device for an automatic driving vehicle according to Embodiment 1.
  • FIG. 2 is a schematic plan view illustrating an example in which a self-driving vehicle follows a planned route, although the narrowness of the road is a cause for concern.
  • FIG. 2 is a schematic plan view illustrating an example in which an autonomous vehicle takes a detour route in which a narrow road width exists as an uneasy factor.
  • It is a figure showing example 1 of anxiety reduction information presented by an information presentation part of an automatic driving vehicle.
  • FIG. 7 is a schematic diagram illustrating an example in which a slope exists as an uneasy factor and the automatic driving vehicle according to Embodiment 2 avoids a planned route. It is a figure which shows the example 6 of the anxiety reduction information presented by the information presentation part of an automatic driving vehicle.
  • FIG. 7 is a flowchart showing the operation of the control device for the automatic driving vehicle according to Embodiment 2.
  • FIG. FIG. 12 is a schematic diagram illustrating an example in which the automatic driving vehicle according to Embodiment 3 follows a planned route, although there is a difference in level as an uneasy factor.
  • FIG. 12 is a schematic diagram showing an example in which the automatic driving vehicle according to Embodiment 3 avoids the planned route due to the presence of a step as an uneasy factor. It is a figure which shows the example 7 of anxiety reduction information presented by the information presentation part of an automatic driving vehicle.
  • 7 is a flowchart illustrating the operation of the control device for an automatic driving vehicle according to Embodiment 3.
  • FIG. 11 is a schematic diagram showing an example in which a user riding in an automatic driving vehicle according to a modification of the third embodiment recognizes unevenness.
  • FIG. FIG. 12 is a schematic plan view showing the operation of the automatic driving vehicle when a moving object as a cause of concern approaches the automatic driving vehicle according to Embodiment 4;
  • FIG. 12 is a schematic plan view showing the operation of the automatic driving vehicle when a moving object as a cause of concern approaches the automatic driving vehicle according to Embodiment 4;
  • It is a figure which shows the example 8 of anxiety reduction information presented by the information presentation part of an automatic driving vehicle.
  • 12 is a flowchart showing the operation of the control device for an automatic driving vehicle according to Embodiment 4. It is a figure which shows the example 9 of the anxiety reduction information presented by the information presentation part of an automatic driving vehicle.
  • FIG. 1 is a block diagram schematically showing the configuration of an automatic driving vehicle 1 according to the first embodiment.
  • FIG. 2 is a schematic diagram showing the self-driving wheelchair as the self-driving vehicle 1 during automatic driving
  • FIG. 3 is a schematic diagram showing when the self-driving vehicle 1 is passing the recognition start position P1 of the anxiety element 200. It is a diagram.
  • FIG. 4 shows the recognition start position P1 of the anxiety element 200, the presentation start position P2 of anxiety reduction information, the anxiety start position P3, which is the position where you start to feel anxiety, and the passage start position P4 and the passage end position P5 of the anxiety element 200.
  • 1 is a schematic diagram showing an automatic driving vehicle 1 moving toward a destination (namely, a destination).
  • the self-driving vehicle 1 is, for example, a self-driving wheelchair that automatically travels with a user (that is, a passenger) 90 in it.
  • the self-driving vehicle 1 is not limited to a wheelchair, and may be any other type of vehicle such as a car as long as it is a mobile body that has the function of automatically driving the user 90 in the vehicle.
  • the distance (P3-P4) from the anxiety start position P3 to the passing start position P4 is a distance determined based on the speed of the automatic driving vehicle 1 (that is, the vehicle speed), the anxiety factor 200, and the attributes of the user 90. .
  • the automated driving vehicle 1 includes a surrounding sensor 20 that detects at least the state ahead in the driving direction M, an information presentation section 30 that presents information to the user 90, and an operation section 40 that outputs input information U based on user operations. It has a control device 10.
  • the automatic driving vehicle 1 also includes a drive unit 70 that drives wheels 71 and a steering wheel 72, a speed sensor 74, and a GPS (Global Positioning System) 51 as a positioning system.
  • the automated driving vehicle 1 may include a state grasping sensor 60 that detects the state of a person riding in the automated driving vehicle 1 (i.e., a user, a subject, or an experiment participant), and a storage device 50.
  • the automatic driving vehicle 1 may include a wireless communication device connectable to an external network.
  • the surrounding sensor 20 includes, for example, a front camera 21 as an imaging device and a laser radar 22.
  • the surrounding sensor 20 may include either a front camera 21 or a laser radar 22.
  • the laser radar 22 is also called LiDAR (Light Detection and Ranging).
  • the surrounding sensor 20 may be any other type of sensor as long as it can detect surrounding objects including those in front of the automated driving vehicle 1.
  • the information presentation unit 30 includes, for example, a display device 31 such as a liquid crystal display, a speaker 32 as an audio output device, a vibration device 33 that vibrates a chair 73 on which the user 90 is seated, and an LED (light emitting diode) lamp. It has an indicator lamp 34.
  • the information presentation unit 30 does not need to have all of the display device 31, the speaker 32, the vibration device 33, and the display lamp 34, and may just have one or more of them.
  • the operation unit 40 includes, for example, a touch panel, a keyboard, operation buttons, an operation lever, a voice input device capable of voice input, and the like, but it is sufficient to have one or more of these.
  • the operation unit 40 is a touch panel that accepts touch operations with a finger
  • the display device 31 and the operation unit 40 are integrally configured.
  • the information presentation section 30 and the operation section 40 are also called HMI (Human Machine Interface).
  • the drive unit 70 includes, for example, a motor that rotates the wheels 71, a motor that drives the steering wheel 72, and a drive circuit that controls the rotation of these motors.
  • Speed sensor 74 detects the traveling speed of automatic driving vehicle 1 .
  • the GPS 51 is a system that measures the position of the automatic driving vehicle 1.
  • the system for measuring the position of the automated driving vehicle 1 is not limited to GPS, and may be other types of positioning systems.
  • the storage device 50 stores various information.
  • the storage device 50 may be an external device provided in a server or the like on a network that can communicate via a communication device.
  • the storage device 50 stores, for example, road information R such as a map and road attributes, vehicle information V such as the driving ability and vehicle width (subawachi, size) of the automatic driving vehicle 1, surrounding detection information D by the surrounding sensor 20, and information collected by the collection unit 11.
  • the condition grasping sensor 60 includes, for example, one or more of a face photographing camera, a whole body photographing camera, a center of gravity sway meter, a seat sensor, a tactile sensor, a pressure sensor, and other sensors for physiological measurement.
  • the face photographing camera is a sensor for detecting the line of sight or facial expression, or both, of the person riding in the automatic driving vehicle 1.
  • the whole body camera is a sensor for detecting the posture and behavior of the person riding in the automatic driving vehicle 1.
  • the center of gravity sway meter is a sensor that measures the sway of the center of gravity of a person riding in the automated driving vehicle 1.
  • the seat sensor is a sensor placed on the seat of the automated driving vehicle 1 to detect the posture of the person sitting on the seat.
  • the physiological measurement sensor is, for example, a sensor that detects biological information such as heartbeat, pulse, and skin potential of a person riding in the automatic driving vehicle 1.
  • the user can also self-report anxiety (for example, manually input) from the operation unit 40, and in this case, the operation unit 40 functions as the state grasping sensor 60.
  • the user's anxiety state may be automatically determined based on the detection signal of the state grasping sensor 60.
  • the face photographing camera serving as the state grasping sensor 60 is, for example, an imaging device that photographs the face of the user 90.
  • the face photographing camera serving as the state grasping sensor 60 photographs at least the eyes 91 of the user 90 .
  • the control unit 12 can detect the line of sight 92 of the user 90.
  • the line of sight 92 is represented by a straight line connecting the eyes 91 of the user 90 to the anxiety element 200 as the object being viewed.
  • a known technique for example, the technique described in Patent Document 2 shown below.
  • the control device 10 has a collection section 11 that collects information, and a control section 12 that controls the operation of the entire device based on the collected information.
  • Control device 10 is, for example, a computer.
  • the collection unit 11 is located in front of an anxiety element 200 that makes the experiment participant feel anxious, in the middle of the route automatically traveled by the automated driving vehicle 1 in which the experiment participant who is acting as a substitute for the user is riding, and
  • the anxiety start position P3 which is the position where the experiment participant starts to feel anxiety about the anxiety element 200, is determined by a route based on at least one of the operation of the operation unit 40 by the experiment participant and the state detection signal output from the state grasping sensor 60. (or depending on the route or for each route) in advance.
  • the anxiety start position P3 the situation is not such that it is possible to make a confident judgment that the position of the anxiety element cannot be passed or that the position of the anxiety element can be passed, but the occupant of the automatic driving vehicle 1 can pass through the position of the anxiety element.
  • the collection unit 11 functions as an anxiety determination unit that determines, through the operations of the experiment participants, a position where the occupant of the automatic driving vehicle 1 has a feeling of anxiety that it is unclear whether or not it is possible to pass through the position of the anxiety factor. It has the following functions.
  • the collection unit 11 is located at a position in front of an anxiety factor 200 that makes the experiment participant feel anxious in the middle of the autonomous driving route of the automated driving vehicle 1 on which the experiment participant is riding.
  • the recognition start position P1 which is the position at which the presence of the anxiety element 200 starts to be visually recognized, is determined based on, for example, at least one of the operation of the operation unit 40 by the experiment participant and the state detection signal output from the state grasping sensor 60. The information may be collected in advance for each route.
  • the recognition start position P1 and the anxiety start position P3 are different positions, but if the recognition start position P1 is equal to the anxiety start position P3 (that is, immediately after visually recognizing the anxiety element 200, the anxiety ). Experiment participants are different from users.
  • experiment participants have the same gender as the user who uses the automatic driving vehicle 1, the same generation as the user, or similar attributes such as having similar appearance or preferences to the user. Note that the experiment participant may be the user himself/herself.
  • the control unit 12 includes road information R including a map of the planned route of the automated driving vehicle 1 to the destination and road attributes of the road 80 on the planned route, and vehicle information including the driving ability and vehicle width W1 of the automated driving vehicle 1.
  • the operation of the automatic driving vehicle 1 is controlled based on the detection information D, the surrounding detection information D output from the surrounding sensor 20, and the anxiety starting position P3.
  • control unit 12 sets a presentation start position P2, which is a position at which the information presentation unit 30 starts presenting the anxiety reduction information, before the anxiety start position P3 on the route where the user 90 rides and automatically travels.
  • the distance (P2-P3) from the presentation start position P2 to the anxiety start position P3 is determined by the recognition time, which is the time required for the user 90 who viewed the anxiety reduction information to recognize the content of the anxiety reduction information, and the recognition time. It is determined based on the total time including the buffer time to provide a margin and the speed of the automatic driving vehicle 1.
  • the recognition start position P1, the presentation start position P2, and the anxiety start position P3 correspond to time, so if the speed of the automated driving vehicle 1 is constant, the recognition start position P1, the presentation start position
  • the position P2 and the anxiety start position P3 may be regarded as the recognition start time, the presentation start time, and the anxiety start time, respectively.
  • the control unit 12 is located between the recognition start position P1 and the anxiety start position P3, which are the positions at which the experiment participant begins to visually recognize the presence of the anxiety element 200, or at the same position as the recognition start position P1.
  • the control unit 12 causes the information presentation unit 30 to start presenting the anxiety reduction information when the automated driving vehicle 1 in which the user 90 is riding reaches the presentation start position P2.
  • the presentation start position P2 may be calculated in advance based on the anxiety start position P3 and stored in a storage device that can be used by the automatic driving vehicle 1.
  • control unit 12 determines that an anxiety factor exists when the user 90 continues to gaze for a predetermined reference time or more based on the face image photographed by the face photographing camera serving as the state grasping sensor 60. You may judge.
  • FIG. 5 is a diagram showing an example of the hardware configuration of the control device 10 of the automatic driving vehicle 1 according to the first embodiment.
  • the control device 10 is a device that can implement the control method according to the first embodiment.
  • the control device 10 includes a processor 101 such as a CPU (Central Processing Unit), a memory 102 that is a volatile storage device, and a hard disk drive (HDD) or solid state drive (SSD). It has a nonvolatile storage device 103 and an interface 104.
  • the memory 102 is, for example, a semiconductor memory such as a RAM (Random Access Memory).
  • Nonvolatile storage device 103 may be the same as storage device 50 shown in FIG.
  • Each function of the control device 10 is realized by, for example, a processing circuit.
  • the processing circuitry may be dedicated hardware or may be a processor 101 executing a program stored in memory 102.
  • the processor 101 may be any one of a processing device, an arithmetic device, a microprocessor, a microcomputer, and a DSP (Digital Signal Processor).
  • the processing circuit is dedicated hardware, the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Arra), etc. y ), or a combination of any of these.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Arra
  • the control program for the automatic driving vehicle 1 is realized by software, firmware, or a combination of software and firmware.
  • the control program is installed in the control device 10 via a network or from a recording medium.
  • Software and firmware are written as programs and stored in memory 102.
  • the processor 101 realizes the functions of each section shown in FIG. 1 by reading and executing a control program stored in the memory 102.
  • management server 100 may be partially implemented using dedicated hardware and partially implemented using software or firmware.
  • the processing circuit can implement each of the above-mentioned functions using hardware, software, firmware, or any combination thereof.
  • FIG. 6 is a schematic plan view illustrating an example in which the automatic driving vehicle 1 follows the planned route 80a, although there is a narrow road width as an uneasy factor 201.
  • FIG. 7 is a schematic plan view illustrating an example in which a narrow road width exists as an uneasy factor 201, and the automatic driving vehicle 1 follows a detour route 80b.
  • the control unit 12 acquires the passable road width (W80a in FIG. 6, W80c in FIG. 7) on the planned route 80a as the anxiety factor 201 from the road information R, the surrounding detection information D, or both, and calculates the road width and vehicle width. W1, and operates based on the result of this determination.
  • the control unit 12 determines that the planned route 80a can be passed, for example, when the road width W80a on the planned route 80a is wider than the vehicle width W1 by a predetermined margin value Wa or more. That is, as shown in FIG. 6, the control unit 12 determines that the planned route 80a can be passed if W1 ⁇ W80a and (W80a-W1) ⁇ Wa.
  • the margin value Wa is not limited to a fixed value, and may be a value that changes depending on the vehicle speed and road attributes (for example, the slope of the road, the road surface condition, or both of these). For example, the higher the vehicle speed, the larger the allowance value Wa changes.
  • the larger the slope of the road (the slope in the left-right direction), the larger the margin value Wa changes. Furthermore, the margin value Wa changes to become larger as the road surface condition worsens. Furthermore, the larger the difference in level of the road, the larger the margin value Wa changes. Furthermore, the greater the road gradient (inclination in the direction of travel), the greater the margin value Wa.
  • the control unit 12 determines that the planned route 80a cannot be passed. judge. That is, as shown in FIG. 7, when W1 ⁇ W80c, the control unit 12 determines that the planned route 80a is impossible to pass, and changes the planned route to the detour route 80b. In other words, the control unit 12 determines whether the automated driving vehicle 1 can pass the position of the anxious element 201 based on the road width W80 and the vehicle width W1, and determines whether the autonomous vehicle 1 can pass the position of the anxious element 201. If it is determined that it is possible, the planned route is changed so as to bypass the position of the anxious element 201.
  • the control unit 12 presents anxiety-reducing information at a preset presentation start position P2 in each case of changing the planned route and not changing the planned route.
  • FIG. 8 is a diagram showing an example 1 of anxiety reduction information presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • FIG. 8 shows an example of anxiety reduction information (display image and Examples of alert sounds and voice guidance) are shown. In this example, a message such as "The road will become narrow. Please do not put your hands out," along with voice guidance and a warning display (a graphic indicating prohibited user actions) are shown.
  • FIG. 9 is a diagram illustrating a second example of anxiety reduction information presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • FIG. 9 shows an example of anxiety reduction information (display image and Examples of alert sounds and voice guidance) are shown.
  • the message ⁇ The road is getting narrow. Please do not put your hands out.'' is displayed, along with audio guidance, a warning display (a graphic indicating prohibited actions for the user), and a message indicating how the road is getting narrower.
  • a graphic superimposed on the anxiety element 201 is displayed.
  • FIG. 10 is a diagram showing example 3 of anxiety reduction information presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • FIG. 10 shows an example of anxiety reduction information (display image and Examples of alert sounds and voice guidance) are shown.
  • the message ⁇ The road is getting narrow. Please do not put your hands out.'', audio guidance, a warning display (a graphic indicating the preferred posture that the user should take), and the location where the road is narrowing are displayed.
  • a figure in which a mark (check mark) shown is superimposed on the anxiety element 201 is displayed.
  • FIG. 11 is a diagram showing example 4 of anxiety reduction information presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • FIG. 11 shows an example of anxiety-reducing information (display image and warning Examples of alarm sounds and voice guidance) are shown.
  • the message "The road is too narrow to enter. The route will be changed.” is displayed, voice guidance, a warning display (a figure indicating the preferred posture that the user should take), and a warning that the user cannot enter the position of the anxiety element 201 are displayed.
  • FIG. 12 is a diagram showing a detour route selection screen presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • the anxiety factor 201 is a narrow road width, and the automated driving vehicle 1 can follow the planned route, but the user's operation (here, an operation of touching the triangle mark on the touch panel) causes the automatic driving vehicle 1 to take a detour
  • the figure shows an example of anxiety-reducing information (an example of a display image, a warning sound, and an audio guidance) in the case of proceeding along a right-turning route. In this example, the message "The road will become narrow. Please do not put your hands out.”, audio guidance, a warning display (a graphic indicating prohibited user actions), and a warning that intrusion is not possible at the location of the anxiety element 201 are displayed.
  • FIG. 12 shows an example of anxiety-reducing information (an example of a display image, a warning sound, and an audio guidance) in the case of proceeding along a right-turning route.
  • the message "The road will become narrow. Please do
  • FIG. 13 is a diagram showing example 5 of anxiety reduction information presented by the information presentation unit 30 after the detour route (right turn) is selected on the screen of FIG. 12.
  • FIG. 13 shows an example of anxiety reduction information (an example of a display image, a warning sound, and an audio guidance) when the automatic driving vehicle 1 proceeds on the detour after the detour (right turn) is selected.
  • anxiety reduction information an example of a display image, a warning sound, and an audio guidance
  • voice guidance a caution display (a figure indicating a detour route), and a figure indicating that the detour route is a right turn are displayed.
  • one of the multiple detour routes is selected by the user 90's operation using the operation unit 40 (touch panel in the examples of FIGS. 12 and 13). can be selected.
  • FIG. 14 is a flowchart showing the operation of the control device 10 of the automatic driving vehicle 1 according to the first embodiment.
  • the collection unit 11 of the control device 10 collects the anxiety starting position P3 based on the operation of the operation unit 40 by the experiment participant during the automatic driving of the automatic driving vehicle 1 in which the experiment participant is riding. , is stored in the storage device 50 (step S101 in FIG. 14).
  • the collection unit 11 collects the positions indicated by representative values such as the average, median, maximum, and minimum of the distance (or time) from the anxiety element, for example.
  • the anxiety starting position is set as P3.
  • the control unit 12 of the control device 10 starts automatic driving of the automatic driving vehicle 1 in which the user 90 is riding (step S102 in FIG. 14).
  • the automated driving vehicle 1 in which the user 90 rides has the same shape and function (same model) as the automated driving vehicle in which the experiment participant rides. It does not have to be physically identical to the self-driving vehicle.
  • the automated driving vehicle in which the experiment participant rides is the same or similar model to the automated driving vehicle 1 in which the user 90 rides, and the anxiety starting position P3 collected by the collection unit 11 and determined in step S101 is It is sufficient that the information is available.
  • control unit 12 determines whether to proceed along the planned route 80a or the detour route 80b based on the vehicle width W1 (vehicle information V) and the road widths W80a and W80c (road information R or surrounding detection information D). That is, it is determined whether or not to proceed along the planned route 80a (step S103 in FIG. 14).
  • step S104 when the automatic driving vehicle 1 proceeds to the planned route 80a (step S104 in FIG. 14), the control unit 12 moves from FIG.
  • the presentation of anxiety reduction information as shown in any one of 10 is started (step S105).
  • step S104 the control unit 12 sets the presentation start position P2 determined based on the anxiety start position P3 as shown in FIG.
  • the presentation of anxiety-reducing information is started (step S106).
  • the presentation of the anxiety reduction information is started from the presentation start position P2 determined based on the anxiety start position P3, the operation of the automated driving vehicle 1 changes. Presentation of anxiety-reducing information can be started even during a period in which there is no change in the physiological index and the physiological index hardly changes. Therefore, the effect of reducing anxiety for the user 90 can be enhanced.
  • the presentation start position P2 which is the disclosure position for the presentation of anxiety-reducing information, is determined based on the information collected in advance based on the reports of the experiment participants, unnecessary It is possible to reduce the amount of information presented.
  • the user 90 is in a situation where he or she feels anxious, such as, "Will the self-driving wheelchair be able to pass through the route ahead in the direction of travel due to the automatic driving of the self-driving vehicle in which the user 90 is riding?" This may occur.
  • the self-driving vehicle 1 of the first embodiment provides information to reduce the anxiety of the user 90 at a presentation start position P2 before the anxiety start position P3, which is the position where the user 90 feels anxious. User 90 may be notified.
  • Embodiment 2 an example will be described in which the anxiety factor is a slope as a road surface condition on the planned route.
  • FIGS. 1 and 5 are also referred to.
  • FIG. 15 is a schematic diagram illustrating an example in which the automatic driving vehicle 1 according to the second embodiment follows a planned route, although there is a slope as an uneasy factor 202.
  • FIG. 16 is a schematic diagram illustrating an example in which a slope exists as an uneasy factor 202 and the automatic driving vehicle 1 according to the second embodiment avoids the planned route (that is, proceeds to another route).
  • the control unit 12 determines whether the automatic driving vehicle 1 can pass through the slope as the anxiety factor 202 based on the road surface condition and the driving ability (here, slope climbing ability), and If it is determined that the slope is impossible to pass, the planned route is changed to bypass the position of the anxiety element 202, and at the presentation start position P2 (FIG. 4), the information presentation unit indicates that the slope is impossible to pass. 30 performs processing for presenting to the user.
  • the inclination angle ⁇ 2 of the slope is larger than the inclination angle ⁇ r at which the vehicle can travel, which is indicated by the travel ability.
  • the control unit 12 causes the information presentation unit 30 to present information indicating that the planned route will be changed.
  • the angle is taken as an example, things that influence the slope climbing ability, such as the user's weight and running speed, may be set as a plurality of parameters that influence the slope climbing ability.
  • the configuration of the second embodiment is the same as that of the first embodiment.
  • the control unit 12 determines that the slope is passable based on the road surface condition and the driving ability, the control unit 12 does not change the planned route.
  • the inclination angle ⁇ 1 of the slope is less than or equal to the inclination angle ⁇ r at which the vehicle can travel, which is indicated by the driving ability.
  • the control unit 12 acquires the inclination angle ⁇ 1 of the slope as the anxiety factor 202 from the road information R or the surrounding detection information D, and calculates the road surface condition (here, the inclination of the slope) and the driving ability of the automatic driving vehicle 1.
  • the information presenting unit 30 presents that it is possible to pass through the slope at the presentation start position P2 (FIG. 4).
  • FIGS. 15 and 16 show an example in which the slope is an uphill slope, the same determination is made when the slope is a downhill slope.
  • FIG. 17 is a diagram showing example 6 of anxiety reduction information presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • the anxiety factor 202 is an uphill slope (that is, an upward slope), but the inclination angle ⁇ 1 of this slope is less than the inclination angle ⁇ r at which the automatic driving vehicle 1 can travel with the driving ability
  • the automatic driving vehicle 1 1 shows an example of anxiety-reducing information (an example of a display image, a warning sound, and an audio guidance) when the vehicle 1 follows the planned route.
  • anxiety-reducing information an example of a display image, a warning sound, and an audio guidance
  • “We can climb the slope. Please rest assured.” is expressed in English as "We can climb the slope. Please rest assured.” Please do not put your hands out. '', voice guidance, and a warning display (a graphic indicating a prohibited user action).
  • FIG. 18 is a flowchart showing the operation of the control device 10 of the automatic driving vehicle 1 according to the second embodiment.
  • steps that are the same as those shown in FIG. 14 are given the same reference numerals as those shown in FIG.
  • the control unit 12 determines the planned route based on the driving ability (vehicle information V) and the inclination angle of the slope (road information R or surrounding detection information D). This differs from the first embodiment (in which the automatic driving vehicle determines based on the road width and vehicle width) in that it determines whether to proceed to a detour or to proceed to a detour.
  • the operation in FIG. 18 is the same as that in FIG. 14.
  • the presentation of the anxiety reduction information is started from the presentation start position P2 determined based on the anxiety start position P3, the operation of the automated driving vehicle 1 changes. Presentation of anxiety-reducing information can be started even during a period in which there is no change in the physiological index and the physiological index hardly changes. Therefore, the effect of reducing anxiety for the user 90 can be enhanced.
  • the presentation start position P2 which is the disclosure position for the presentation of anxiety-reducing information, is determined based on the information collected in advance based on the reports of the experiment participants, unnecessary It is possible to reduce the amount of information presented.
  • Embodiment 3 In Embodiment 3, an example will be described in which the anxiety factor is a difference in level as a road surface condition on a planned route.
  • FIGS. 1 and 5 are also referred to.
  • FIG. 19 is a schematic diagram illustrating an example in which the automatic driving vehicle 1 according to the third embodiment follows the planned route, although there is a step as an uneasy factor 203.
  • FIG. 20 is a schematic diagram illustrating an example in which a level difference exists as an uneasy factor 203 and the automatic driving vehicle 1 according to the third embodiment avoids the planned route (that is, proceeds to another route).
  • the control unit 12 determines whether the automatic driving vehicle 1 can pass the level difference as the anxiety factor 203 based on the road surface condition and the driving ability, and determines whether the automatic driving vehicle 1 can pass the level difference as the anxiety factor 203. If determined, the planned route is changed to bypass the position of the anxiety element 203, and at the presentation start position P2 (FIG. 4), the information presentation unit 30 presents to the user that the step cannot be passed. Process. When it is determined that the vehicle cannot pass, for example, as shown in FIG. 20, the height H2 of the step is larger than the height Hr of the step that can be run, which is indicated by the running ability. At this time, the control unit 12 causes the information presentation unit 30 to present information indicating that the planned route will be changed. Other than this point, the configuration of the third embodiment is the same as that of the first embodiment.
  • the control unit 12 does not change the planned route if it is determined that the bump can be passed based on the road surface condition and the driving ability.
  • the height H1 of the step is less than or equal to the height Hr of a step that can be run as indicated by the running ability.
  • the control unit 12 acquires the height H1 of the step as the anxiety factor 203 from the road information R, the surrounding detection information D, or both, and compares the road surface condition (here, the height of the step) with the autonomous driving vehicle.
  • the information presentation unit 30 presents that the step can be passed at the presentation start position P2 (FIG. 4).
  • FIGS. 19 and 20 show an example in which the level difference is a rising level difference, the same determination is made when the level difference is a falling level difference.
  • FIG. 21 is a diagram showing example 7 of anxiety reduction information presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • the anxiety factor 203 is a falling step, but the height of this step is less than the height at which the automatic driving vehicle 1 can travel with its driving ability, and the automatic driving vehicle 1 follows the planned route.
  • shows an example of anxiety reduction information (example of display image, alert sound, and voice guidance). In this example, a message "Going down the steps. Please hold on to the handrail.”, voice guidance, and a warning display (a graphic that calls for the user's attention) are shown.
  • FIG. 22 is a flowchart showing the operation of the control device 10 of the automatic driving vehicle 1 according to the third embodiment.
  • steps that are the same as those shown in FIG. 14 are given the same reference numerals as those shown in FIG.
  • the control unit 12 determines the planned route based on the driving ability (vehicle information V) and the height of the step (road information R or surrounding detection information D).
  • This embodiment differs from the first embodiment in that it is determined whether to proceed along a detour route or a detour route.
  • the operation in FIG. 22 is the same as that in FIG. 14.
  • the presentation of the anxiety reduction information is started from the presentation start position P2 determined based on the anxiety start position P3, the operation of the automated driving vehicle 1 changes. Presentation of anxiety-reducing information can be started even during a period in which there is no change in the physiological index and the physiological index hardly changes. Therefore, the effect of reducing anxiety for the user 90 can be enhanced.
  • the presentation start position P2 which is the disclosure position for the presentation of anxiety-reducing information, is determined based on the information collected in advance based on the reports of the experiment participants, unnecessary It is possible to reduce the amount of information presented.
  • FIG. 23 shows a modification of the third embodiment.
  • FIG. 23 is a schematic diagram showing an example in which a user riding in the automated driving vehicle 1 recognizes unevenness (that is, an uneven surface that is not flat) as an anxiety factor 204.
  • the control unit 12 determines whether the road with the unevenness is passable based on the height or depth of the unevenness (i.e., the size of the unevenness). Since the presentation start position P2, which is the disclosure position for the presentation of anxiety-reducing information, is determined based on the information collected based on the declarations of the experiment participants, The presentation of unnecessary information can be reduced.
  • the control unit 12 controls the state of the unpaved surface (for example, a grassy area, a swamp, a wetland, etc.). determine whether a road with unpaved surfaces is passable or not, and present anxiety-reducing information based on the information collected based on the declarations of the experiment participants. Since the presentation start position P2, which is the disclosure position of , is determined, it is possible to reduce the presentation of unnecessary information at positions where presentation is unnecessary.
  • Embodiment 4 an example will be described in which the anxiety factor is a moving object approaching the autonomous vehicle on the scheduled route.
  • FIGS. 1 and 5 are also referred to.
  • FIGS. 24 and 25 are schematic plan views showing the operation of the automatic driving vehicle 1 when a moving object as the anxiety factor 205 approaches the automatic driving vehicle 1 according to the fourth embodiment.
  • the control unit 12 controls automatic driving of the automatic driving vehicle 1 based on the size, speed, and distance to the moving object (surrounding detection information D) approaching toward the automatic driving vehicle 1. Adjust.
  • the moving object is detected based on the surrounding detection information D of the surrounding sensor 20.
  • the moving object is, for example, a pedestrian, a bicycle, a car, or the like.
  • the automated driving vehicle 1 moves the driving position of the automated driving vehicle 1 closer to the side strip of the road so as to move away from the lane in which the moving object is traveling.
  • the control unit 12 causes the information presentation unit 30 to present to the user 90 that the moving object as the anxiety factor 205 has been recognized and that the planned travel route has been changed to a position on the side of the road. You can.
  • control unit 12 determines that the object of gaze that the user 90 continues to gaze at for a predetermined reference time or more is the anxiety factor 205 based on the face image photographed by the face photographing camera serving as the state grasping sensor 60. If it is determined that the gaze target is a moving object based on the surrounding detection information D of the surrounding sensor 20, the planned route is changed to move away from the position of the anxiety element 203, and the At the starting position P2 (FIG. 4), the information presentation unit 30 performs a process for presenting to the user that they will pass a moving object.
  • control unit 12 may control the information presentation unit 30 so that the faster the speed of the moving object is, the higher the degree of emphasis on the display form of information regarding the moving object.
  • Increasing the degree of emphasis of the display format includes, for example, in the display device 31, displaying in larger characters, displaying in a more conspicuous color, blinking the display, increasing the brightness of the display, and the like.
  • Increasing the degree of emphasis of the display form means, for example, outputting a louder sound or outputting a repeated sound from the speaker 32.
  • Increasing the degree of emphasis of the display form includes, for example, applying larger vibrations, repeatedly applying vibrations, etc. in the vibration device 33.
  • Increasing the degree of emphasis of the display format means, for example, displaying the display lamp 34 brighter, displaying it in a more conspicuous color, or blinking.
  • the degree of emphasis of the display form may be increased by combining two or more display forms of the display device 31, the speaker 32, the vibration device 33, and the display lamp 34.
  • the collection unit 11 allows the experiment participant to operate the operation unit 40 between the recognition start position P1 and the anxiety element while the automated driving vehicle 1 in which the experiment participant is riding is traveling automatically.
  • the control unit 12 may collect the degree of anxiety intensity input from the user, and the control unit 12 may increase the degree of emphasis of the display form of the information presented to the information presentation unit 30 as the degree of anxiety intensity increases.
  • control unit 12 may increase the degree of emphasis on the display form of information regarding the moving object as the size of the moving object becomes larger. Further, the control unit 12 may increase the degree of emphasis on the display form of information regarding the approaching moving object as the distance to the moving object is shorter.
  • the configuration of the fourth embodiment is the same as that of the first embodiment.
  • FIG. 26 is a diagram showing example 8 of anxiety reduction information presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • FIG. 26 shows anxiety reduction information in the case where the anxiety factor 204 is a pedestrian as a moving object, but he is walking on the side of the road that does not affect the travel of the automatic driving vehicle 1, and the automatic driving vehicle 1 follows the planned route.
  • Example (example of display image, alert sound, and voice guidance) is shown. In this example, a display and audio guidance are shown that say "Pedestrians are coming from the left. Please be careful.”
  • FIG. 27 is a flowchart showing the operation of the control device 10 of the automatic driving vehicle 1 according to the fourth embodiment.
  • steps that are the same as those shown in FIG. 14 are given the same reference numerals as those shown in FIG.
  • the control unit 12 determines the size, speed, and distance of a moving object (surrounding detection information D) approaching toward the automatic driving vehicle 1. Based on one or more of the points, the automatic driving of the automatic driving vehicle 1 is adjusted and the detour route is changed to a different lane among the plurality of lanes (i.e., a change in the road width direction of the driving lane). This is different from the first embodiment in this point.
  • the operation in FIG. 27 is similar to that in FIG. 14.
  • FIG. 28 is a diagram showing example 9 of anxiety reduction information presented by the information presentation unit 30 of the automatic driving vehicle 1.
  • FIG. 28 shows an example of anxiety-reducing information (display image and alert sound example of voice guidance). In this example, the message "There is a person in the shadows. Please be careful.” and audio guidance are shown.
  • the control unit can also perform the processing shown in FIG. 27 in this case.
  • the presentation of the anxiety reduction information is started based on the anxiety start position P3, the period when the behavior of the automatic driving vehicle 1 does not change, and the physiological index Presentation of anxiety-reducing information can be started even during a period when there is little change in anxiety. Therefore, the effect of reducing anxiety for the user 90 can be enhanced.
  • the presentation start position P2 which is the disclosure position for the presentation of anxiety-reducing information, is determined based on the information collected in advance based on the reports of the experiment participants, unnecessary It is possible to reduce the amount of information presented.
  • control unit 12 controls the control unit 12 when the surrounding sensor 20 detects no people around the automatic driving vehicle 1 (for example, when no people are detected within a range specified by a predetermined distance).
  • the information presentation unit 30 may be caused to present the information by voice, and if a person is detected around the automatic driving vehicle 1 by the surrounding sensor 20, the information presentation unit 30 may be caused to present the information by vibration. .
  • the user 90 of the automated driving vehicle declares the intensity of anxiety (i.e., the degree of anxiety) at a place where he or she feels anxious when automatically driving to the destination (for example, from the operation unit). input).
  • the control unit 12 may have a learning function that records position information and anxiety intensity in the storage device 50.
  • the control unit 12 may change the timing and presentation method of presenting the anxiety-reducing information to the user 90 by referring to the model that is the learned information during the next automatic driving.
  • 1 automatic driving vehicle 10 control device, 11 collection unit, 12 control unit, 20 surrounding sensor, 21 front camera, 22 laser radar, 30 information presentation unit, 31 display device, 32 speaker, 33 vibration device, 34 display lamp, 40 operation unit, 50 storage device, 51 GPS, 60 status grasp sensor, 70 drive unit, 71 wheels, 72 steering, 73 chair, 74 speed sensor, 80 road, 80a planned route, 80b detour route, 80c object, 90 user, 91 eyes, 92 line of sight, 101 processor, 102 memory, 103 non-volatile storage device, 104 interface, 200-205 anxiety factors.

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PCT/JP2022/028220 2022-07-20 2022-07-20 自動運転車両、制御装置、制御方法、及び制御プログラム Ceased WO2024018563A1 (ja)

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DE112022007560.0T DE112022007560T5 (de) 2022-07-20 2022-07-20 Autonom fahrendes fahrzeug, steuerungseinrichtung, steuerungsverfahren und steuerungsprogramm
CN202280098136.3A CN119547125A (zh) 2022-07-20 2022-07-20 自动驾驶车辆、控制装置、控制方法以及控制程序
PCT/JP2022/028220 WO2024018563A1 (ja) 2022-07-20 2022-07-20 自動運転車両、制御装置、制御方法、及び制御プログラム
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JP2012118011A (ja) * 2010-12-03 2012-06-21 Fujitsu Ten Ltd 情報処理装置、車載装置、および、情報処理方法
JP2018064639A (ja) * 2016-10-17 2018-04-26 住友電気工業株式会社 情報提供装置、当該情報提供装置を備える移動補助装置、情報を提供するための方法、および、当該方法をコンピュータに実行させるためのプログラム
JP2019215254A (ja) * 2018-06-13 2019-12-19 アイシン・エィ・ダブリュ株式会社 移動案内装置及びコンピュータプログラム
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JP2000292185A (ja) * 1999-04-07 2000-10-20 Toyota Motor Corp 経路案内装置
JP2012118011A (ja) * 2010-12-03 2012-06-21 Fujitsu Ten Ltd 情報処理装置、車載装置、および、情報処理方法
JP2018064639A (ja) * 2016-10-17 2018-04-26 住友電気工業株式会社 情報提供装置、当該情報提供装置を備える移動補助装置、情報を提供するための方法、および、当該方法をコンピュータに実行させるためのプログラム
JP2019215254A (ja) * 2018-06-13 2019-12-19 アイシン・エィ・ダブリュ株式会社 移動案内装置及びコンピュータプログラム
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