JP2019156345A - Vehicle evaluation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce man-hours required for evaluation and conforming work of a vehicle to be automatically driven. SOLUTION: A plurality of sensors 31 provided in a vehicle 11, an automatic driving control unit 21 for outputting an operation command for automatic driving, and a first calculation unit 22 for controlling a vehicle of a vehicle model on a simulator. , A vehicle evaluation system including a second calculation unit 23 that outputs a correction value to the automatic driving control unit 21, and the automatic driving control unit 21 is based on the information acquired by the sensor 31. An operation command is output to the first calculation unit 22, the first calculation unit 22 calculates the behavior of the vehicle model on the simulator according to the input operation command, and the second calculation unit 23 calculates the behavior of the vehicle model. , The correction value for correcting the operation command is calculated from the behavior of the vehicle model calculated by the first calculation unit 22 and the actual behavior of the vehicle 11, and is output to the automatic driving control unit 21. [Selection diagram] Fig. 1

Description

  The present invention relates to a vehicle evaluation system that evaluates both human driving and automatic driving.

  In recent years, vehicles that can select both human driving and automatic driving have been developed. When developing such a vehicle, evaluation and adaptation work for making it easy for humans to drive occurs. In order to develop a vehicle in which both human driving and automatic driving can be selected, it is necessary to perform two evaluations and matching: evaluation and adaptation by human driving and evaluation and adaptation by automatic driving control.

  Conventionally, as a technology in such a field, there is JP-A-2003-211999. In this publication, vehicle data, driving operation data, and environmental data are acquired while the driving control device is in a driving state according to the driver's preference. Then, by performing multiple regression analysis, the control target value is changed and operation control is realized.

JP 2003-211999 A

  However, the above-described operation control apparatus uses a statistical analysis means based on multiple regression analysis to determine a target value for vehicle control. However, the target value of vehicle control determined by such statistical analysis means may be unintended by the driver. When such a target value for vehicle control is set, the target value may not be achieved due to control overshoot or the like. That is, since the control according to the set target cannot be executed, the operation of the vehicle is not executed as scheduled. Therefore, there is a demand to link the control target value with the actual behavior of the vehicle and set the target value so that the vehicle control target can be reliably achieved.

Further, when performing the evaluation and the conforming work a plurality of times, it is necessary to perform the evaluation man-hours as many times as the evaluation and the conforming work that has been performed.
The present invention provides a vehicle evaluation system that reduces the number of man-hours required for the evaluation and adaptation of a vehicle that performs automatic driving.

A vehicle evaluation system according to the present invention includes a plurality of sensors provided in a vehicle, an automatic driving control unit that outputs an operation command for automatic driving, and a first calculation for performing vehicle control of a vehicle model on a simulator. And a second calculation unit that outputs a correction value to the automatic driving control unit, wherein the automatic driving control unit is based on information acquired by the sensor. The operation command is output to the first calculation unit, and the first calculation unit calculates the behavior of the vehicle model on the simulator according to the input operation command, and the second calculation unit Calculates a correction value for correcting the operation command from the behavior of the vehicle model calculated by the first calculation unit and the actual behavior of the vehicle, and outputs the correction value to the control unit for automatic driving.
Thereby, the command value of automatic driving control can be corrected using the behavior of the actual vehicle as the target value.

  Thereby, the man-hour concerning evaluation of the vehicle which performs an automatic driving | operation, and an adaptation work can be reduced.

It is a figure showing the composition of the evaluation system of vehicles. It is a figure which shows the operation | movement flowchart of the evaluation system at the time of normal driving | running | working. It is a figure which shows the operation | movement flowchart of the evaluation system at the time of brake operation. It is a figure which shows the implementation image at the time of correcting brake control.

  Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the vehicle evaluation system 1 includes a vehicle 11 and an evaluation adaptation device 12.

  The evaluation adaptation device 12 includes an automatic driving control unit 21 that can output an operation command for automatic driving, a first calculation unit 22 that controls a vehicle model on a simulator, and an automatic driving control unit 21. And a second calculation unit 23 that outputs a correction value.

  The vehicle 11 is a vehicle that is driven by a driver. A plurality of sensors 31 are arranged in the vehicle 11. The sensor 31 acquires information necessary for automatic driving. For example, the sensor 31 may be a camera that captures an environment outside a running vehicle, a millimeter wave radar, or the like. The sensor 31 outputs the acquired information to the automatic operation control unit 21 as a sensor signal. For example, the vehicle 11 is provided with a wireless transmitter, and outputs a sensor signal to the automatic operation control unit 21 wirelessly. In addition, the vehicle 11 outputs information on the actual behavior acquired by the sensor 31 to the second calculation unit 23.

  The automatic operation control unit 21 is, for example, an ECU (engine control unit), and is a microcontroller that performs overall control when performing engine operation control using an electrical auxiliary device. More specifically, the automatic driving control unit 21 determines the behavior of the vehicle 11 in the automatic driving based on the sensor information input from the sensor 31. The automatic operation control unit 21 outputs an operation command for performing the determined behavior to the first calculation unit 22. In addition, when the correction value is input from the second calculation unit 23, the automatic driving control unit 21 corrects the behavior of the vehicle 11 according to the correction value, and issues a corrected operation command to the first operation command. To the calculation unit 22.

  The first calculation unit 22 is a microcomputer for vehicle model calculation. Specifically, the first calculation unit 22 simulates the behavior of the vehicle model on the simulator in accordance with the operation command input from the automatic driving control unit 21. The first calculation unit 22 outputs information on the behavior of the vehicle model derived by the simulation to the second calculation unit 23.

  The second calculation unit 23 is a microcomputer that corrects the behavior of the vehicle model. Specifically, the second calculation unit 23 compares the behavior of the vehicle model simulated by the first calculation unit 22 with the actual behavior of the vehicle 11 acquired by the sensor 31, and corrects the correction value. Is calculated. In addition, the second calculation unit 23 outputs the calculated correction value to the automatic operation control unit 21.

  Here, the operation of the vehicle evaluation system 1 will be described. 2 and 3 are operation flowcharts of the vehicle evaluation system 1. Specifically, FIG. 2 is a flowchart of normal internal processing, and FIG. 3 is a flowchart of internal processing when a brake operation is performed. First, the flow of normal internal processing shown in FIG. 2 will be described.

  In the vehicle 11, a sensor signal necessary for automatic driving is acquired using the sensor 31 (step S1). The sensor signal acquired by the vehicle 11 is output to the automatic operation control unit 21 and the second calculation unit 23.

  The automatic driving control unit 21 generates a vehicle operation command based on the input sensor signal of the sensor 31. Moreover, the control part 21 for automatic driving | operation outputs the operation command of the produced | generated vehicle to the 1st calculating part 22 (step S2).

  The first computing unit 22 simulates the behavior of the vehicle model in accordance with the input vehicle operation command (step S3). The first calculation unit 22 outputs the behavior of the vehicle model calculated on the simulation to the second calculation unit 23.

  The second calculation unit 23 compares the actual behavior of the vehicle 11 acquired from the sensor signal of the sensor 31 with the behavior of the vehicle model calculated by the first calculation unit 22 and calculates the difference. Then, the second calculation unit 23 calculates the control variable so as to reduce the difference between the behavior of the vehicle model and the target actual vehicle behavior, and uses the calculation result as a correction value to determine the control unit 21 for automatic driving. (Step S4).

  The control unit 21 for automatic operation generates a new operation command by correcting the control variable in consideration of the correction value input from the second calculation unit 23 (step S5).

  Next, an internal process when the brake operation is performed in the vehicle 11 shown in FIG. 3 will be described.

  In the vehicle 11, a sensor signal necessary for automatic driving is acquired using the sensor 31 (step S11). The sensor signal acquired by the vehicle 11 is output to the automatic operation control unit 21 and the second calculation unit 23.

  The automatic driving control unit 21 generates an operation command related to the brake operation of the vehicle based on the input sensor signal of the sensor 31. Moreover, the control part 21 for automatic driving | operation outputs the operation command of the produced | generated vehicle to the 1st calculating part 22 (step S12).

  The first computing unit 22 simulates the brake behavior of the vehicle model according to the input operation command for the brake operation of the vehicle (step S13). The first calculation unit 22 outputs the brake behavior of the vehicle model calculated on the simulation to the second calculation unit 23.

  The second calculation unit 23 compares the actual brake behavior of the vehicle 11 acquired from the sensor signal of the sensor 31 with the brake behavior of the vehicle model calculated by the first calculation unit 22, and calculates the difference. To do. Then, the second calculation unit 23 calculates the control variable so as to reduce the difference between the brake behavior of the vehicle model and the target actual vehicle brake behavior, and uses the calculation result as a correction value to perform automatic driving. To the control unit 21 (step S14).

  The control unit 21 for automatic driving generates a new operation command in consideration of the brake correction value input from the second calculation unit 23 (step S15).

  FIG. 4 shows an example of an implementation image when the brake control is corrected by the correction value.

  In FIG. 4, the operation command by the automatic driving control unit 21 generated from the sensor signal is deviated from the vehicle behavior of the actually measured vehicle 11. More specifically, compared to the actual start timing of the brake, the operation command from the automatic operation control unit 21 causes the start timing of the brake to be late and the deceleration by the brake to be abrupt.

  Here, the second calculation unit 23 calculates the correction value, and outputs the correction value to the control unit 21 for automatic driving, whereby the brake control is corrected. As a result, the automatic operation control unit 21 advances the brake start timing and moderates the degree of deceleration based on the brake correction value. In this way, the operation command can be corrected so that the deceleration state in the automatic operation control is close to the state when the actual driver decelerates by applying the brake.

  As described above, the vehicle evaluation system 1 can correct the command value of the automatic driving control using the behavior of the actual vehicle as the target value. Thereby, for example, a command value for automatic driving control can be set in accordance with actual vehicle control by a test driver. In addition, since both driving by a person and automatic driving can be realized by a single driving, driving evaluation can be executed simultaneously for these driving states. Therefore, it is possible to reduce the man-hours required for the adaptation and evaluation, and to reduce the cost.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  For example, in the above, the case where the vehicle evaluation system 1 is used when performing normal driving and braking operation has been described, but the present invention is not limited thereto, and the same method can be used in various driving environments.

  In addition, for example, in the evaluation adaptation device 12, the automatic operation control unit 21, the first calculation unit 22, and the second calculation unit 23 are described as being independent controllers and computers, but the present invention is not limited thereto. Instead, a single computer that collectively executes a plurality of functions of these components may be used. Conversely, a larger number of computers may be used for distributed processing of one of these functions.

  The sensor information output by the sensor 31 has been described as being output to the automatic operation control unit 21 and the second calculation unit 23, but is sent to the automatic operation control unit 21 and the second calculation unit 23. The information to be obtained may not be the information having the same attribute. For example, information that is sent to the automatic operation control unit 21 but not sent to the second calculation unit 23, or conversely, is sent to the second calculation unit 23 but is sent to the automatic operation control unit 21. Some information may not be available. The information on the behavior of the vehicle sent by the second calculation unit 23 is not limited to that acquired by the sensor 31 mounted on the vehicle, and information acquired by other means may be used.

DESCRIPTION OF SYMBOLS 1 Vehicle evaluation system 11 Vehicle 12 Evaluation adaptation apparatus 21 Control part 22 for automatic driving 1st calculating part 23 2nd calculating part 31 Sensor

Claims (1)

A plurality of sensors provided in the vehicle;
An automatic operation control unit that outputs an operation command for automatic operation;
A first arithmetic unit for controlling the vehicle model on the simulator;
A vehicle evaluation system comprising: a second calculation unit that outputs a correction value to the automatic driving control unit;
The automatic operation control unit outputs an operation command to the first calculation unit based on the information acquired by the sensor,
The first calculation unit calculates the behavior of the vehicle model on the simulator according to the input operation command,
The second calculation unit calculates a correction value for correcting the operation command from the behavior of the vehicle model calculated by the first calculation unit and the actual behavior of the vehicle, and controls the automatic driving Output to the
Vehicle evaluation system.

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