JP2018158614A - Vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control device capable of appropriately notifying an occupant of current monitoring role information of vehicle driving in a vehicle capable of automatic driving. A vehicle control device (1) according to an embodiment is applied to a moving body capable of performing manual driving that requires a driving operation by a human and automatic driving that does not require a driving operation by a human. To. The vehicle control device includes a vehicle control ECU (10) capable of performing all controls related to acceleration, steering, and braking of the moving body, and a notification unit (24, 26) that notifies information corresponding to the automatic driving level. It has a notification control unit (20) that controls the notification unit, and a vehicle monitoring combination setting unit (12) that sets the moving body side as a driving monitoring unit. When the vehicle monitoring role setting unit (12) sets the driving monitoring role on the moving body moving body side, the notification control unit has the driving monitoring role on the moving body with respect to the notification unit. Notify information related to this. [Selection diagram] Fig. 1

Description

  The present invention relates to a vehicle control device.

  Conventionally, an image of a vehicle operation unit (for example, steering, pedal) and an image of a part of a person operating the vehicle operation unit (for example, hands and feet) are displayed on a monitor at the same time according to the automatic driving level and displayed. There is a technology for changing (for example, color, brightness, blinking) according to the automatic driving level. This makes it possible to intuitively understand that the action to be taken by the driver is a steering operation by hand, or a pedal operation by foot, by displaying according to the level of automatic driving. (For example, Patent Document 1).

By the way, the automatic driving levels (driving modes) currently under study are classified as follows.
Level 0: “Manual” A state where a human (driver) always performs all driving operations (operations related to acceleration, steering, and braking) Level 1: “Auxiliary” A state where the driving system performs either acceleration, steering, or braking Level 2: "Partial automation" State where the driving system performs multiple operations of acceleration, steering, and braking Level 3: "Conditional automation" The driving system performs all acceleration, steering, and braking. When it is difficult to continue automatic driving when the limit is exceeded, the driving system requests driving switching and the driver performs the corresponding action Level 4: “Advanced automation” Acceleration / steering / braking The driving system does everything, and the driving system keeps driving even in an emergency, and the vehicle is stopped in a safe place, automatically avoiding danger without relying on humans (drivers). State Level 5: “Fully automated” Driving is automated in all scenes, and no humans (drivers) are needed. Here, the driving system refers to information obtained from sensors, communications, etc., and determines the road environment. In response to the above, it means a mechanism that performs all or part of acceleration, steering, and braking of the automobile. The driving system includes a vehicle control device, various drive mechanisms of the vehicle controlled by the vehicle control device, various sensors provided in the vehicle, and the like. The driving supervisor is human at levels 0, 1, and 2, and is an operating system at levels 3, 4, and 5. Further, the supervisor means a subject that recognizes and determines the situation of the vehicle, executes a corresponding vehicle driving operation, and further performs a response to the trouble.

  When a self-driving car is actually driven on the road, the conventional technology can grasp from the display according to the automatic driving level to the action that the driver should take, but the person who monitors the vehicle currently running (ie, the driver) The driver himself cannot easily recognize whether he is in charge or the driving system. Therefore, there is a problem that the responsibility range of the driver in the currently traveling vehicle is unclear.

Japanese Patent Laying-Open No. 2015-182624

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle control device capable of appropriately notifying a passenger of current supervisor information of vehicle driving in a vehicle capable of automatic driving. For the purpose.

  According to the first aspect of the present invention, the vehicle control device (1) according to the embodiment can execute manual driving that requires a driving operation by a human and automatic driving that does not require a driving operation by a human. Applies to possible mobiles. The vehicle control device includes a vehicle control ECU (10) capable of performing all of the control relating to acceleration, steering, and braking of the moving body, a notification unit (24, 26) that performs information notification corresponding to an automatic driving level, A notification control unit (20) for controlling the notification unit; and a vehicle monitoring combination setting unit (12) for setting the mobile body side as a driving monitoring combination. When the vehicle monitoring combination setting unit (12) sets the driving monitoring combination to the mobile unit, the notification control unit has the driving monitoring unit in the mobile unit with respect to the notification unit. Notify related information.

  According to this configuration, the driver and the occupant can be appropriately made aware of the information on the current driving supervisor of the vehicle, that is, the information that the supervisor is in the driving system. Therefore, the driver and the occupant can get on the vehicle with peace of mind by confirming that the supervisor is in the driving system. In addition, if there is no information notification related to the fact that the supervisor is a driving system, it is easy to understand that the supervisor of the vehicle currently running is a human (the driver himself). Recognizing the degree of involvement in driving, this gives drivers and passengers a greater sense of security.

The block diagram which shows schematic structure of the vehicle control apparatus which concerns on 1st Embodiment. The figure which shows the alerting | reporting aspect list in 1st Embodiment. Flow chart showing the flow of processing according to the first embodiment The flowchart which shows the flow of the vehicle supervisor combination determination control process in 1st Embodiment. The flowchart which shows the flow of the alerting | reporting control processing in 1st Embodiment. The flowchart which shows the flow of the vehicle supervisor combination determination control process in 2nd Embodiment. The figure which shows the alerting | reporting aspect list in 2nd Embodiment.

  Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. In the following embodiments, common or related elements, or substantially the same elements, are denoted by the same reference numerals, and description thereof is omitted.

(First embodiment)
A first embodiment will be described with reference to FIGS. As shown in FIG. 1, a vehicle control device 1 mounted on a vehicle (moving body) includes a vehicle control ECU 10, an operation switch (hereinafter referred to as “SW”) 16, a travel control unit 18, a notification control unit 20, and reception. Machine (reception part) 22, indicator 24 (informing part, display device), and speaker 26 (informing part). The vehicle control ECU 10 includes a vehicle monitoring combination setting unit 12 and a vehicle monitoring combination determination unit 14. An operation SW 16 and a travel control unit 18 are connected to the vehicle control ECU 10 via an in-vehicle network 28. The vehicle control ECU 10, the travel control unit 18, and the notification control unit 20 are mainly configured by a microcomputer having a CPU, a storage unit such as a ROM and a RAM (not shown), an I / O, and the like.

  The vehicle control ECU 10 is a main ECU that controls running start control, running control, and running stop control of a vehicle (moving body), and mainly includes a microcomputer (not shown) such as a storage unit such as a CPU, a ROM and a RAM, and an I / O. It is configured as. In the vehicle control ECU 10, the CPU reads and executes various programs stored in the ROM, thereby realizing the functions of the vehicle supervisor combination setting unit 12, the vehicle supervisor combination determining unit 14, and the like. A receiver 22, a display 24, and a speaker 26 are connected to the notification control unit 20 via an in-vehicle network 28. The display 24 and the speaker 26 constitute an information notification unit. In this case, the driving system is constructed with the vehicle control device 1 as a main body.

  The vehicle control ECU 10 can continue the automatic driving beyond the limit of the driving system during the semi-automatic driving mode (hereinafter referred to as “first automatic driving mode”) that requires a part of the driving function of the driver. When it becomes difficult, a driving mode that requires driving by the driver (hereinafter referred to as “second automatic driving mode”), a fully automatic driving mode that does not require any driving operation by the driver (hereinafter referred to as “third automatic driving mode”). One of the operation modes) is set. These operation modes are set as defaults, for example, when an instruction from the occupant is given by the operation SW 16 or when the ignition power source is turned on. Each operation mode is stored in a storage unit (not shown) of the vehicle control ECU 10, and is appropriately read and executed by a CPU (not shown) of the vehicle control ECU 10.

  The vehicle control ECU 10 outputs the set operation mode to various travel control units 18 that control the vehicle travel. A plurality of travel control units 18 are set in the vehicle, and based on the operation modes input from the vehicle control ECU 10, various drive mechanisms (not shown) such as an accelerator, so that necessary vehicle travel control is executed for each operation mode are executed. Each travel control unit 18 shares control of the brake, steering wheel, engine, drive motor, and the like, and executes them in cooperation while transmitting information to each other. Thereby, the driving | running | working driving | running | working of a vehicle is started.

  From the control state of the vehicle control ECU 10, the vehicle supervisor combination setting unit 12 has a driver (ie, a human) or a vehicle supervisor (ie, a moving body side, that is, a driving system). Determine whether. The determination of the supervisor is performed periodically (for example, at intervals of 0.2 seconds). The vehicle control ECU 10 determines a vehicle driving monitoring role based on the determined result, and sets the monitoring role based on this determination. The supervisor means a subject that recognizes and determines the situation of the vehicle, executes a corresponding vehicle driving operation, and further performs a response to the trouble.

  For example, in the second automatic driving mode, when it is difficult to continue the automatic driving beyond the limit of the driving system, when the driving control shifts to the driver, the supervisor is determined to be the driver. . The vehicle supervisor combination setting unit 12 may have a different configuration from the vehicle control ECU 10. When the vehicle driving supervisor is a driver, for example, an operator in the base station becomes a vehicle driving supervisor by wirelessly communicating with a base station outside the vehicle via a communication means (not shown) mounted on the vehicle. Includes configuration.

  The vehicle supervisor combination determining unit 14 acquires the supervisor combination information set by the vehicle supervisor combination setting unit 12 and determines any of the determination information A, B, and C shown in FIG. 2 based on the acquired supervisor combination information. The determined determination information is output to the notification control unit 20. For example, the determination information A is transmitted when the automatic driving level is 0 to 2, the determination information B is transmitted when the automatic driving level is 3 to 5, and the determination information C is transmitted when the automatic driving level is 3. Note that the vehicle supervisor combination determining unit 14 may have a configuration different from that of the vehicle control ECU 10.

  The operation SW 16 is operated by a vehicle occupant, and the current operation mode can be notified from the display 24 or the speaker 26 by operating the operation SW 16. The operation SW 16 may be configured not only to be operable with fingers, but also to be capable of operation by voice input, for example.

  The notification control unit 20 includes a storage unit 21 that stores notification mode list information shown in FIG. The notification control unit 20 specifies the notification mode according to the determination result input from the vehicle supervisor combination determination unit 14 by referring to the notification mode list shown in FIG. Output to the speaker 26.

  The display 24 is, for example, a HUD (head-up display), a center display, or the like, and has a function of visually displaying the notification mode input by the notification control unit 20. The speaker 26 has a function of outputting the notification mode input by the notification control unit 20 by voice. The receiver 22 inputs information acquired by wireless communication to the notification control unit 20. The notification control unit 20 executes and controls the display of the input information on the display 24 and the sound output from the speaker 26. Here, the display 24 and the speaker 26 can also be referred to as notification means (notification unit). Examples of information received by the notification control unit 20 include various information such as peripheral facility information, current location address and area information, entertainment information, news, schedule, weather information, destination information, smartphone information, and the like. be able to.

<Description of operation>
Next, operation | movement of the vehicle control apparatus 1 is demonstrated using a flowchart. As shown in FIG. 3, when the ignition is turned on, the vehicle control ECU 10 sets, for example, an operation mode set as a default operation mode in advance when the vehicle power is turned on (S10). As the operation mode, for example, any one of the above-described level 2 to level 5 operation modes is set. Alternatively, the automatic operation level when the ignition was turned off last time is stored in a storage unit (not shown), and the stored automatic operation level (operation mode) is set at the timing when the ignition is turned on this time. It may be. Information on the set automatic driving level may be notified to the driver by notifying means (both or either of the display 24 and the speaker 26). Next, the vehicle control ECU 10 starts traveling of the vehicle in the set operation mode (S11).

  Next, the vehicle supervisor combination determination unit 14 executes vehicle supervisor combination determination control for determining a supervisor in the driving mode set by the vehicle supervisor combination setting unit 12 (S12). The vehicle supervisor combination determining unit 14 acquires the vehicle supervisor combination information from the vehicle supervisor combination setting unit 12, determines the determination information A, B, or C shown in FIG. 2 based on the acquired supervisor combination information, and performs notification control. To the unit 20. The determination information A indicates that the driver is the supervisor. The determination information B indicates that the supervisor is in the driving system. The determination information C indicates that a driving operation by the driver himself is necessary. The determination information B and the notification mode corresponding thereto are information indicating that the supervisor is the driving system, that is, information relating to the driving supervisor being the driving system of the moving body.

  Next, the notification control unit 20 executes notification control for controlling notification by the display 24 and the speaker 26 (S13). In the notification control, the notification control unit 20 identifies the notification mode corresponding to the input determination information from the notification mode list stored in the storage unit 21, and outputs the notification information from the display 24 and the speaker 26 (S13). In FIG. 2, the driver mark display and the vehicle mark display can be displayed on the display 24, and the symbol can be lit on the display 24, or an indicator composed of, for example, an LED (not shown) can be lit.

  Next, the vehicle control ECU 10 ends the process when the vehicle stops (S14: YES), and returns to step S12 when the vehicle does not stop (S14: NO), and determines the vehicle supervisor combination. The processing from the control (S12) is repeatedly executed. Here, when the vehicle stops running (S14: YES) and the ignition is turned off after the processing is finished, the immediately preceding automatic driving level (driving mode) is stored in the storage unit (not shown), and the next ignition is turned on. Then, it may be set as an automatic driving level when starting the vehicle driving.

  Next, the flow in the vehicle supervisor combination determination control process (S12 in FIG. 3) will be described with reference to FIG. The vehicle supervisor combination determination control is executed by the vehicle supervisor combination determination unit 14. As shown in FIG. 4, in the vehicle monitoring combination determination control process, first, the vehicle monitoring combination determination unit 14 determines whether or not a predetermined time (for example, 0.1 second) has elapsed (S21). If the predetermined time has not elapsed (S21: No), step S21 is executed again. When the predetermined time has elapsed (S21: YES), the vehicle monitoring combination determination unit 14 determines whether or not the vehicle driving monitoring combination is a driver (S22). When the monitoring combination is a driver (S22: YES), the vehicle monitoring combination determination unit 14 outputs the determination information A of FIG. 2 to the notification control unit 20 (S23), and returns.

  If the vehicle driving supervisor is not a driver (S22: NO), the vehicle supervisor determining unit 14 determines whether or not the driver's operation is unnecessary (S24). When it is determined that the driver operation is unnecessary (S24: YES), the vehicle supervisor combination determining unit 14 outputs the determination information B of FIG. 2 to the notification control unit 20 (S25), and returns. When it is determined that the driver operation is not necessary, that is, when it is determined that the driver's operation is necessary (S24: NO), the vehicle supervisor determining unit 14 notifies the determination information C of FIG. (S26) and return.

  When it is determined in step S22 that determines whether or not the monitoring combination is a driver, when it is determined that the driving system is set as the monitoring combination (S22: NO), the period from this determination until the driving system is set as the monitoring combination. In addition, information indicating that the driving system will soon become a supervisor may be notified from the display 24 and / or the speaker 26.

  Further, in step S22 for determining whether or not the monitoring combination is a driver, when it is determined that the driver is set as the monitoring combination (S22: YES), the period from this determination until the driver is set as the monitoring combination. In addition, information indicating that the driver will soon become a supervisor may be notified from the display 24 and / or the speaker 26.

  Further, the step (S21) of determining whether or not a predetermined time has elapsed can be omitted. In this case, after the start of traveling, the process proceeds to a step (S22) for determining whether or not the supervisor is a driver. In the above example, the vehicle supervisor combination determination process is executed after the start of traveling. Instead, the vehicle supervisor combination determination process is started by an ON operation of the operation SW 16 by the occupant. You may do it.

  Next, the flow in the notification control process (S13 in FIG. 3) will be described with reference to FIG. The notification control is executed by the notification control unit 20. In the notification control process, the notification mode to be notified is determined based on the notification mode list of FIG. 2, and the determined inversion information is output to the display 24 and / or the speaker 26.

  As shown in FIG. 5, in the notification control process, determination information is first input from the vehicle supervisor combination determining unit 14 to the notification control unit 20 (S31). Next, the notification control unit 20 determines whether or not the input determination information is determination information A (S32). When the input determination information is the determination information A (S32: YES), the notification mode corresponding to the determination information A in the notification mode list of FIG. 2 is output (S33), and the process returns.

  If it is not determination information A in step S32 (S32: NO), the notification control unit 20 determines whether or not the input determination information is determination information B (S34). When the input determination information is the determination information B (S34: YES), the notification mode corresponding to the determination information B in the notification mode list of FIG. 2 is output (S35), and the process returns.

  When it is not determination information B in step S34 (S34: NO), the notification control unit 20 determines that the input determination information is determination information C, and corresponds to the determination information C in the notification mode list of FIG. The notification mode is output (S36), and the process returns.

  The contents of the notification mode notified from the display device 24 and the speaker 26 are as follows.

(Notification mode corresponding to determination information A)
In this case, the vehicle control device 1 notifies that the driver has a vehicle monitoring role.
A-1: A mark indicating a driver (hereinafter referred to as “driver mark”) is displayed on the display 24.
A-2: A symbol (for example, LED display) installed at a position visible by the driver is turned on.
A-3: For example, a voice saying “Please monitor the driving by humans” is generated. Here, the “human” portion may be replaced with “you”, for example, or if the driver's name is registered in advance, the voice replaced with the “name” may be uttered. By doing so, it can be expected that the notification will be easier to understand for the driver.

  These notification modes A-1, 2, and 3 may be displayed alone or uttered in combination, either alone or in combination. Moreover, you may comprise so that the audio | voice alert | report from the speaker 26 may be performed whenever operation SW16 is operated.

(Notification mode corresponding to determination information B)
In this case, the vehicle control device 1 notifies that the vehicle supervisor is a vehicle (that is, a driving system).
B-1: A mark indicating a car (hereinafter referred to as “car mark”) is displayed on the display 24.
B-2: A symbol (for example, LED display) installed at a position visible by the driver is turned off.
B-3: For example, a voice saying “The driving system is monitoring driving” is uttered.
These notification modes B-1, 2, 3 may be displayed or uttered individually or in combination. In this case, since the driving supervisor is the driving system, the driver basically does not need to perform driving operation of the vehicle. Therefore, since operations other than driving operations are possible during driving, what the driver can do at that time, for example, operations other than driving that can be done in the car, such as operation of mobile terminals such as smart phones, reading, dialogue with passengers, etc. May be displayed or audio output.

  In this case, considering that the driving supervisor is the driving system, the driver may perform a driving operation and have some influence on the automatic driving. In order to avoid this, precautions that prohibit the operation of various operation devices (steering wheel, accelerator, brake, headlight switch, wiper switch, direction indicator, etc.) related to vehicle running may be displayed or voiced. . If these are notified, the driver can be surely recognized that the driving operation is unnecessary, and can feel safe because the driver can understand that the vehicle travels without any problem even if the driver does not perform the driving operation. Also in this case, the voice notification from the speaker 26 can be configured to be executed every time the operation SW 16 is operated.

(Notification mode corresponding to determination information C)
In this case, the vehicle control device 1 notifies that the driving operation of the driver is necessary.
C-1: A driver mark is displayed on the display 24.
C-2: A symbol (for example, LED display) installed at a position visible by the driver is turned on.
C-3: For example, a voice “Please drive” is uttered.

  These notification modes B-1, 2, 3 may be displayed or uttered individually or in combination. The sound notification from the speaker 26 can be configured to be executed every time the operation SW 16 is operated. The vehicle driving supervisor in this case is the driving system, but the notification mode corresponding to the determination information C is a notification when the automatic continuation becomes difficult due to exceeding the limit of the driving system during the automatic driving mode. When the notification is made, the driver can recognize that it is necessary to immediately perform the driving operation, so that the driver can prepare for driving without delay. This is particularly effective when urgent.

  The first embodiment can be modified as follows. In FIG. 3, when the vehicle supervisor combination determining unit 14 determines that the driver operation is unnecessary (S24: YES), that is, when the driver operation is unnecessary in the automatic operation mode, the driver performs driving of the vehicle. Since there is no need, it is possible to perform actions other than driving while riding. Therefore, it is convenient for the driver if information that assists the action other than driving can be provided to the driver. Therefore, for example, the receiver 22 shown in FIG. 1 can acquire various information from outside the vehicle and notify the driver of this.

  The reception information acquired by the receiver 22 includes current peripheral facility information, current location address and area information, entertainment information, news, weather information, and information on a destination when a destination is set in advance. Etc. In addition, the mobile terminal such as a smart phone owned by the driver and the receiver 22 may communicate with each other so that the driver schedule information, mail information, and the like can be displayed on the display 24.

  As described above, according to the vehicle control apparatus 1 according to the first embodiment, information about the current monitoring role of the host vehicle, that is, information about whether the monitoring role is a driver or a driving system. Can be appropriately recognized by the driver and the occupant, so that the driver and the occupant can get on the vehicle with peace of mind.

In addition, since the notification mode of the notification mode list shown in FIG. 2 is notified by the notification unit by the display 24 and the speaker 26, the driver and the occupant can thereby feel more secure because the driver's involvement in driving can be recognized. Is obtained.
Also, since the notification mode shown in FIG. 2 is notified by the notification unit by the display 24 and the speaker 26, the setting is foretold from the previous stage when the driving system is actually set as a driving supervisor. Therefore, since the action to be taken by the driver can be understood in advance, more comfortable driving can be performed.

Even in the automatic driving mode, when a driving operation by the driver is required, a notification to that effect is given. Therefore, the driver can recognize that he / she needs to perform a driving operation, and can make preparations for smooth driving.
In addition, since the current vehicle status is notified from the notification unit by the operation of the operation SW 16, it becomes possible to grasp the current monitoring role at a timing that the occupant wants to know, which is convenient for the occupant.

  In addition, since the HUD having a display area on the front window of the vehicle is used as the display device 24, the notification information is displayed in the visual recognition direction when the driver takes the driving posture. Information recognition is possible. Furthermore, since the speaker 26 is also provided as a notification unit, information notification can be performed by voice, and information can be more reliably notified to the driver and the occupant.

(Second Embodiment)
Next, the vehicle control device 1 according to the second embodiment will be described with reference to FIGS. 6 and 7. The second embodiment differs from the first embodiment as follows.

  In the first embodiment, in the vehicle monitoring combination determination control (S12 in FIG. 3) executed by the vehicle monitoring combination determination unit 14, a step of determining whether or not the vehicle driving monitoring combination is a driver (S22 in FIG. 4). After executing the process, the determination information A, B, C is specified, the notification mode corresponding to this is specified, and the display 24 and the speaker 26 are notified. In 2nd Embodiment, it alert | reports the alerting | reporting aspect corresponding to automatic driving level 0-5 instead of this. Hereinafter, parts different from the first embodiment will be described. In the second embodiment, the notification control unit 20 includes a storage unit 21 that stores notification mode list information illustrated in FIG. 7.

  As shown in FIG. 6, after passing through step S21, the vehicle supervisor determining unit 14 determines whether or not the vehicle driving supervisor is a driver (S22), and the vehicle driving supervisor is a driver. (S22: YES), it is determined whether or not the automatic driving level in the driving system is “0” (S43). When the automatic driving level is “0” (S43: YES), as shown in FIG. 7, determination information D corresponding to the automatic driving level “0” is output to the notification control unit 20 (S44), and the process returns. . When the automatic driving level is not “0” (S43: NO), it is determined whether or not the automatic driving level is “1” (S45). When the automatic driving level is “1”, the vehicle supervisor determining unit 14 outputs determination information E corresponding to the automatic driving level “1” to the notification control unit 20 as shown in FIG. 7 (S46), Return. When the automatic driving level is not “1” (S45: NO), the vehicle supervisor combination determining unit 14 outputs the determination information F corresponding to the automatic driving level “2” to the notification control unit 20 (S47), and returns. .

  In step S22, when the vehicle driving supervisor is not a driver, that is, when the supervisor is a driving system (S22: NO), the vehicle supervisor determining unit 14 determines whether or not an operation by the driver is unnecessary. (S48). When the operation by the driver is unnecessary (S48: YES), it is determined whether or not the automatic driving level in the driving system is “3” (S49). When the automatic driving level is “3” (S49: YES), as shown in FIG. 7, determination information G corresponding to the automatic driving level “3” is output to the notification control unit 20 (S50), and the process returns. .

  When the driving level is not “3” (S49: NO), the vehicle monitoring combination determining unit 14 determines that the automatic driving level is “4” or “5”, and as shown in FIG. The determination information H corresponding to “4” or “5” is output to the notification control unit 20 (S51), and the process returns. In step S48, when the operation by the driver is not necessary (S48: NO), the vehicle supervisor combination determination unit 14 has the automatic driving level “3”, the vehicle state exceeds the limit of control by the driving system, and the automatic It is determined that this is a case where it is difficult to continue driving, and as shown in FIG. 7, determination information I is output to the notification control unit 20 (S52), and the process returns.

  After the steps S44, S46, S47, S50, S51, and S52, in the notification control process (S12), the notification modes corresponding to the automatic operation levels 0 to 5 in the notification mode list shown in FIG. And / or is notified from the speaker 26.

  As shown in FIG. 7, the contents notified from the display 24 and the speaker 26 are as follows.

(Notification mode corresponding to determination information D)
Here, the notification control unit 20 notifies the notification unit that all driving operations are performed by humans and that the supervisor is a driver.
D-1: For example, the driver mark is displayed on the display 24.
D-2: For example, a symbol (for example, LED display) installed at a position visible by the driver is turned on.
D-3: For example, the voices “Please do all driving by humans” and “Please monitor driving by humans” are generated. Here, the “human” portion may be replaced with “you”, for example, or if the driver's name is registered in advance, the voice replaced with the “name” may be uttered. By doing so, it can be expected that the notification will be easier to understand for the driver.

  These notification modes D-1, 2, and 3 may be displayed alone or may be displayed or uttered in combination. Further, the sound notification from the speaker 26 may be executed every time the operation SW 16 is turned on.

(Notification mode corresponding to determination information E)
Here, the notification control unit 20 notifies the notification unit that the driving system performs a part of the driving operation and that the supervisor is a driver.

E-1: For example, the driver mark is displayed on the display 24.
E-2: For example, a symbol (for example, LED display) installed at a position visible by the driver is turned on.
E-3: For example, the utterance that “the driving system performs any one of the accelerator operation, the steering wheel operation, and the brake operation” and the voice that “a human should monitor driving” are uttered. Here, the “driving system” part can be replaced with a “car”. By doing so, it can be expected that the notification will be easier to understand for the driver. In addition, the “human” portion may be replaced with “you”, for example, or if the driver's name is registered in advance, the voice replaced with the “name” may be uttered. By doing so, it can be expected that the notification will be easier to understand for the driver.

  These notification modes E-1, 2, and 3 may be displayed alone or may be displayed or uttered in combination. Moreover, you may comprise so that the audio | voice alert | report from the speaker 26 may be performed whenever operation SW16 is operated.

(Notification mode corresponding to determination information F)
Here, the notification control unit 20 notifies the notification unit that the driving system performs a plurality of driving operations and that the supervisor is a driver.

F-1: For example, the driver mark is displayed on the display 24.
F-2: For example, a symbol (for example, LED display) installed at a position visible by the driver is turned on.
F-3: For example, the utterance that “the driving system performs any one of the accelerator operation, the steering wheel operation, and the brake operation” and the voice that “human beings should monitor the driving” are uttered. Here, the “driving system” part can be replaced with a “car”. By doing so, it can be expected that the notification will be easier to understand for the driver. In addition, the “human” portion may be replaced with “you”, for example, or if the driver's name is registered in advance, the voice replaced with the “name” may be uttered. By doing so, it can be expected that the notification will be easier to understand for the driver.

  These notification modes E-1, 2, and 3 may be displayed alone or may be displayed or uttered in combination. Moreover, you may comprise so that the audio | voice alert | report from the speaker 26 may be performed whenever operation SW16 is operated.

(Notification mode corresponding to determination information G)
Here, the notification control unit 20 notifies the notification unit that the driving system performs all driving operations, that the supervisor is the driving system, and that the driver may drive.

G-1: For example, the vehicle mark is displayed on the display 24.
G-2: For example, a symbol (for example, LED display) installed at a position visible by the driver is turned off.
G-3: For example, the voice of “the driving system is driving and monitoring” and the voice of “a human needs to drive if requested by the driving system” are generated. Here, the “driving system” part can be replaced with a “car”. By doing so, it can be expected that the notification will be easier to understand for the driver. In addition, the “human” portion may be replaced with “you”, for example, or if the driver's name is registered in advance, the voice replaced with the “name” may be uttered. By doing so, it can be expected that the notification will be easier to understand for the driver. The notification control unit 20 executes control for notifying the request when a condition for switching from driving control by the driving system to driving control by a human is satisfied.

  These G-1, 2, and 3 notification modes may be used alone or in combination or displayed or uttered. In this case, since the driving supervisor is the driving system, the driver basically does not need to perform driving operation of the vehicle. Therefore, since operations other than driving operations are possible during driving, what the driver can do at that time, for example, operations other than driving that can be done in the car, such as operation of mobile terminals such as smart phones, reading, dialogue with passengers, etc. May be displayed or audio output.

  In this case, considering that the driving supervisor is the driving system, the driver may perform a driving operation and have some influence on the automatic driving. In order to avoid this, precautions that prohibit the operation of various operation devices (steering wheel, accelerator, brake, headlight switch, wiper switch, direction indicator, etc.) related to vehicle running may be displayed or voiced. . If these are notified, the driver can be surely recognized that the driving operation is unnecessary, and can feel safe because the driver can understand that the vehicle travels without any problem even if the driver does not perform the driving operation. Also in this case, the voice notification from the speaker 26 can be configured to be executed every time the operation SW 16 is operated.

  However, if an emergency is required such as an emergency such as a vehicle failure, and the driving system determines that it is difficult to continue automatic driving when the vehicle condition exceeds the limit of the driving system, The driving system requests the driver to switch driving. For this reason, the driver can prepare for the driving operation immediately when the driving switching request is received from the driving system.

(Notification mode corresponding to determination information H)
Here, the notification control unit 20 notifies the notification unit that the driving system performs all driving operations, and that the supervisor is the driving system. You may alert | report that a driver does not drive operation.

H-1: For example, the vehicle mark is displayed on the display 24.
H-2: For example, a symbol (for example, LED display) installed at a position visible by the driver is turned off.
H-3: For example, a voice saying “The driving system is driving and monitoring” is generated. Here, the “driving system” part can be replaced with a “car”. By doing so, it can be expected that the notification will be easier to understand for the driver.

  These notification modes of H-1, 2, 3 may be displayed or uttered individually or in combination. In this case, the driver does not need to drive at all, because the driving system completely monitors the driving, including in an emergency. Therefore, since operations other than driving operations are possible during driving, what the driver can do at that time, for example, operations other than driving that can be done in the car, such as operation of mobile terminals such as smart phones, reading, dialogue with passengers, etc. May be displayed or audio output.

  In this case, considering that the driving supervisor is the driving system, the driver may perform a driving operation and have some influence on the automatic driving. In order to avoid this, precautions that prohibit the operation of various operation devices (steering wheel, accelerator, brake, headlight switch, wiper switch, direction indicator, etc.) related to vehicle running may be displayed or voiced. . If these are notified, the driver can be surely recognized that the driving operation is unnecessary, and can feel safe because the driver can understand that the vehicle travels without any problem even if the driver does not perform the driving operation. Also in this case, the voice notification from the speaker 26 can be configured to be executed every time the operation SW 16 is operated.

(Notification mode corresponding to determination information I)
Here, the notification control unit 20 notifies the notification unit that the driving operation by the driver is necessary. For example, in the case of the level 3 automatic driving mode, it is assumed that the driving system requests a driving operation by the driver when automatic continuation becomes difficult because the driving system limit is exceeded. The notification control unit 20 executes control for notifying the request when a condition for switching from driving control by the driving system to driving control by a human is satisfied.

I-1: For example, the driver mark is displayed on the display 24.
I-2: For example, a symbol (for example, LED display) installed at a position visible by the driver is turned on.
I-3: For example, a voice “Please drive” is uttered.
These notification modes I-1, 2, and 3 may be displayed individually or individually or may be displayed or uttered. Moreover, you may comprise so that the audio | voice alert | report from the speaker 26 may be performed whenever operation SW16 is operated.

  In this case, the driving supervisor is the driving system, but as described above, a notification is issued when it becomes difficult to continue automatically beyond the limit of the driving system during the automatic driving mode. As soon as the notification is made, the driver can recognize that it is necessary to perform the driving operation, so that it is possible to prepare for the driving operation without delay.

  As described above, according to the second embodiment, the same effect as that of the first embodiment is obtained. In addition, since the notification of the contents corresponding to the current automatic driving level is made in more detail, the driver can recognize the driving system and the driving participation ratio of the driver (which one needs to perform the driving operation). As described above, since the degree of the driver's relationship with the driving of the current vehicle (the driver's responsibility for driving) becomes clear, the driver can feel more secure. Further, in the fully automatic driving mode (that is, the driving mode according to the level 4 and 5), it is notified that no operation by the driver is required, so that the occupant is completely aware of the current vehicle situation. You can recognize that you are in a fully automatic driving mode that is not needed, and you can enjoy driving more safely and comfortably.

  Although the vehicle which the vehicle control apparatus 1 which concerns on the said 1st Embodiment and 2nd Embodiment carries out driving control was demonstrated supposing that it is a motor vehicle, there is no intent to limit to this. For example, it can be applied to all moving objects such as motorcycles, ships, airplanes, and helicopters.

  Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments and structures. The present disclosure includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more or less, are within the scope and spirit of the present disclosure.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle control apparatus, 10 ... Vehicle control ECU, 12 ... Vehicle supervisor combination setting part, 14 ... Vehicle supervisor combination determination part, 16 ... Operation switch, 18 ... Travel control part, 20 ... Notification control part, 24 ... Indicator ( Notification unit, display device), 26 ... speaker (notification unit)

Claims (28)

A vehicle control device (1) applied to a moving body capable of executing manual driving that requires human driving and automatic driving that does not require human driving,
A vehicle control ECU (10) capable of performing control related to acceleration, steering, and braking of the moving body;
A notification unit (24, 26) for performing information notification corresponding to the automatic driving level;
A notification control unit (20) for controlling the notification unit;
A vehicle supervisor combination setting unit (12) for setting the mobile body side as a supervisor of driving,
When the vehicle monitoring combination setting unit (12) sets the driving monitoring combination to the moving body, the notification control unit has the driving monitoring combination to the moving body. A vehicle control device that executes control for notifying related information. The first driving mode, which is a semi-automatic driving mode that requires a part of the driving operation of the moving body by a human, and the driving mode in which it is difficult to continue the automatic driving during the automatic driving mode and the driving operation by the human is required. In a vehicle control device applied to a moving body capable of operation control in a second operation mode,
A vehicle control ECU capable of performing all or part of the control relating to acceleration, steering, and braking of the moving body;
A notification unit for performing information notification;
A notification control unit for controlling the notification unit;
When the moving body travels in the first driving mode, a human is set as a driving monitoring role, and when the moving body travels in the second driving mode, the moving body side is set as a driving monitoring role. A vehicle supervisor combination setting unit,
When the vehicle supervisor combination setting unit has set the mobile body side as a driving supervisor, the notification control unit is informed to the notification unit that the driving supervisor is in the mobile. The vehicle control apparatus which performs control which alert | reports. The first driving mode, which is a semi-automatic driving mode that requires a part of the driving operation of the moving body by a human, and the driving mode in which it is difficult to continue the automatic driving during the automatic driving mode and the driving operation by the human is required In a vehicle control device applied to a moving body capable of operation control in a second operation mode,
A vehicle control ECU capable of executing all or part of the control relating to acceleration, steering, and braking of the moving body;
A notification unit for performing information notification;
A notification control unit for controlling the notification unit;
When the moving body travels in the first driving mode, a human is set as a driving monitoring role, and when the moving body travels in the second driving mode, the moving body side is set as a driving monitoring role. A vehicle supervisor combination setting unit,
Based on the setting of the vehicle supervisor combination setting unit, the notification control unit provides the notification unit with information corresponding to each case depending on whether the driving supervisor is on a person or the mobile object side. A vehicle control device that executes control for notification. During operation control in the second operation mode, when the switching condition to the first operation mode is satisfied, the operation mode is switched to the first operation mode,
4. The vehicle according to claim 2, wherein during the driving control in the second driving mode, the notification control unit performs control for notifying the notifying unit of information related to a driving operation required in the first driving mode. 5. Control device.   When the vehicle supervisor combination setting unit decides to set the moving body side as a supervisor, the notification control unit sends the notification unit to the notification unit during the period from the determination until the mobile body side is set as the supervisor. 5. The vehicle control device according to any one of claims 1 to 4, wherein control for notifying information that the moving body side will soon become a supervisor is executed.   When the vehicle supervisor combination setting unit decides to set the moving body side as a supervisor, the notification control unit immediately notifies the notification unit before the mobile unit side is set as the supervisor. When the control for notifying the mobile body side of information to be a supervisor is executed and the vehicle supervisor combination setting unit decides to set the person as a supervisor, until the person is set as the supervisor from the determination. 4. The vehicle control device according to claim 2, wherein control for notifying information that a human will soon become a supervisor is executed during the period.   When the driving supervisor is set on the moving body side by the vehicle supervisor combination setting unit, when the condition for switching to manual driving is satisfied, the notification control unit performs a human driving operation on the notification unit. The vehicle control device according to claim 1, wherein control is performed to notify that it is necessary. The mobile body is capable of operation control in a third operation mode, which is a fully automatic operation mode that does not require any human operation.
When the mobile body travels in the third driving mode, the vehicle monitoring combination setting unit monitors the driving with respect to the notification unit when the mobile body side is set as a driving monitoring combination. The vehicle control according to any one of claims 1 to 6, wherein a control for notifying information related to the fact that the winning combination is on the mobile body side and a control for notifying that no human operation is required are executed. apparatus.   The vehicle control device according to any one of claims 1 to 8, wherein the notification control unit executes control for periodically performing information notification regarding a driving supervisor in a predetermined time interval with respect to the notification unit.   The vehicle control device according to any one of claims 1 to 8, wherein the notification control unit executes control for the notification unit to constantly perform information notification related to a driving supervisor when the mobile body is traveling. Furthermore, it has a switch (16) that can be turned on and off by the operation of the passenger,
The vehicle control device according to any one of claims 1 to 9, wherein when the switch is turned on, the notification control unit performs control to perform information notification on the notification unit.   The vehicle control device according to any one of claims 1 to 11, wherein the notification unit is a display device (24) that displays information in a display area.   The vehicle control device according to claim 12, wherein the display device is a head-up display (24), and the information notification is performed by displaying information in a display area of the head-up display.   The vehicle control device according to any one of claims 1 to 11, wherein the notification unit is a speaker (26), and the information notification is performed by voice. Furthermore, it has a receiving unit (22) for receiving external information not related to driving operation by wireless communication,
When the vehicle supervisor combination setting unit sets the mobile object side as a supervisor for driving, the notification control unit performs control to notify the notification unit of external information received by the reception unit. The vehicle control device according to any one of claims 1 to 14. In the vehicle control device (1) applied to a moving body capable of operation control with automatic operation levels 0 to 5,
A vehicle control ECU (10) capable of performing all or part of the control relating to acceleration, steering, and braking of the moving body;
A notification unit (24, 26) for performing information notification;
A notification control unit (20) for controlling the notification unit;
When the mobile body travels in the level 0 to 2 driving mode, a human is set as a driving supervisor. When the mobile body travels in the level 3 to 5 driving mode, the mobile body is set as the driving supervisor. A vehicle supervisor combination setting unit (12) that
The notification control unit is configured to notify the notification unit of information related to the fact that the driving supervisor is a human when the vehicle supervisor setting unit sets the person as a driving supervisor. The vehicle control apparatus which performs control which alert | reports the information relevant to the monitoring supervisor of a driving | operation being in the mobile body side, when the said vehicle supervisor combination setting part has set the mobile body side as the supervisor.   If the condition for switching to the driving mode that requires a human driving operation is established during the driving control at level 3, the notification control unit notifies the notification unit to request the driving operation by a human. The vehicle control device according to claim 16, which executes control.   When the vehicle supervisor combination setting unit decides to set the moving body side as a supervisor, the notification control unit immediately drives the notification unit from the determination until the driving system is set as the supervisor. The vehicle control device according to claim 16 or 17, wherein control for notifying information indicating that the system serves as a supervisor is executed.   When the notification control unit determines that the vehicle monitoring combination setting unit sets the moving object side as a monitoring combination with respect to the notification unit, between the determination and setting the moving object side as a monitoring combination, Soon after executing the control to notify the information that the previous moving body will be a supervisor, and when the vehicle supervisor combination setting unit decides to set the person as a supervisor, the person is set as the supervisor from the decision. The vehicle control device according to any one of claims 16 to 18, wherein control for notifying information that a human will soon become a supervisor is executed.   When the vehicle monitoring combination setting unit 12 sets the driving monitoring combination on the moving body side with respect to the notification unit and the switching condition to manual operation is satisfied, the notification control unit The vehicle control device according to any one of claims 16 to 19, wherein control is performed to notify that the driving operation is required. The mobile body is capable of driving control according to level 4 or 5, which is a fully automatic driving mode that does not require any driving operation by humans,
When the vehicle monitoring combination setting unit sets the moving body as a driving monitoring combination when the moving body travels with driving control according to level 4 or 5, the notification control unit The vehicle control device according to any one of claims 16 to 20, which executes control for notifying information relating to the presence of a supervisor on the mobile body side and that no human operation is required.   The vehicle control device according to any one of claims 16 to 21, wherein the notification control unit executes control for periodically performing information notification regarding a driving supervisor in a predetermined time interval with respect to the notification unit.   The vehicle control device according to any one of claims 16 to 22, wherein the notification control unit performs control for the notification unit to perform information notification related to a driving supervisor at all times while the moving body is traveling. Furthermore, it has a switch (16) that can be turned on and off by the operation of the passenger,
The vehicle control device according to any one of claims 16 to 23, wherein when the switch is turned on, the notification control unit executes control for performing information notification on the notification unit.   The vehicle control device according to any one of claims 16 to 24, wherein the notification unit is a display device (24) that displays information in a display area.   The vehicle control device according to any one of claims 16 to 25, wherein the display device is a head-up display (24), and information notification is performed by displaying information in a display area of the head-up display.   The vehicle control device according to any one of claims 16 to 24, wherein the notification unit is a speaker (26), and the information notification is performed by voice. Furthermore, it has a receiving unit (22) for receiving external information not related to driving operation by wireless communication,
When the vehicle supervisor combination setting unit sets the mobile object side as a supervisor for driving, the notification control unit performs control to notify the notification unit of external information received by the reception unit. The vehicle control device according to any one of claims 16 to 27.

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