JP2021178560A - Automatic operation control device - Google Patents

Abstract

To control confusion of a driver when an automatic driving mode is switched to a degeneration mode from a normal mode.SOLUTION: An automatic driving control device 1 includes: an automatic driving control part 11 for performing automatic driving control of a vehicle by an automatic driving mode having a normal mode and a degeneration mode of performing automatic driving whose function is restricted than the normal mode; a restriction state acquisition part 12 for acquiring a restriction state of the automatic driving by the degeneration mode when the automatic driving control part 11 switches the automatic driving mode to the degeneration mode from the normal mode; an alternate function acquisition part 14 for acquiring an alternate function alternative to the degeneration mode switched by the automatic driving control part 11 when the automatic driving control part 11 switches the automatic driving mode to the degeneration mode from the normal mode; and a display control part 15 for displaying the restriction state acquired by the restriction state acquisition part 12 and the alternate function acquired by the alternate function acquisition part 14.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic driving control device that automatically controls a vehicle by an automatic driving mode having a normal mode and a degenerate mode having more limited functions than the normal mode.

Patent Document 1 describes that when a failure occurs in switching from automatic operation to manual operation, a display regarding switching is performed earlier than usual.

Japanese Unexamined Patent Publication No. 2019-172180

By the way, in the automatic driving mode, when a vehicle failure or the like occurs while the vehicle is automatically controlled in the normal mode, the vehicle is automatically controlled by switching to the degenerate mode whose functions are limited compared to the normal mode. Can be considered. In such cases, the driver may be confused because he does not know what is happening.

Therefore, it is an object of the present invention to provide an automatic driving control device capable of suppressing the driver from being confused when the automatic driving mode is switched from the normal mode to the degenerate mode.

The automatic driving control device according to the present invention includes an automatic driving control unit that automatically controls the vehicle by an automatic driving mode having a normal mode and a retracted mode having more limited functions than the normal mode, and an automatic driving control unit. When the normal mode is switched to the contracted mode, the restricted state acquisition unit that acquires the restricted state of the automatic operation by the contracted mode and the automatic operation control unit are switched from the normal mode to the contracted mode. The alternative function acquisition unit that acquires the alternative function that can be replaced in the reduced mode, the restricted state acquired by the restricted state acquisition unit when the automatic operation control unit switches from the normal mode to the reduced mode, and the alternative function acquisition unit. It is provided with an acquired alternative function and a display control unit for displaying.

In this automatic operation control device, when the automatic operation control unit switches from the normal mode to the degenerate mode, the restricted state acquisition unit acquires the restricted state of automatic operation by the degenerate mode, and the alternative function acquisition unit can substitute from the degenerate mode. Get an alternative function. Then, the display control unit displays this restricted state and the alternative function. Therefore, the driver can grasp the current state of the vehicle and grasp what kind of alternative function is available by visually recognizing the restricted state and the alternative function displayed by the display control unit. Can be done. This can prevent the driver from being confused.

It also has an input device that can select the alternative function displayed by the display control unit, and an alternative function switching unit that switches the degenerate mode to the alternative function selected by the input device when the alternative function is selected by the input device. It is also good. In this automatic driving control device, when the driver selects an alternative function in the input device, the alternative function switching unit switches the degenerate mode to the alternative function. As a result, it is possible to switch to the driving state desired by the driver.

When the automatic operation control unit switches from the normal mode to the degenerate mode, the cause acquisition unit for acquiring the cause of switching to the degenerate mode is further provided, and the display control unit may also display the cause acquired by the cause acquisition unit. .. In this automatic operation control device, when the automatic operation control unit switches from the normal mode to the degenerate mode, the cause acquisition unit acquires the cause of switching to the degenerate mode. Then, the display control unit also displays this cause. Therefore, the driver can grasp the cause of switching to the degenerate mode, and can make a more appropriate judgment.

The alternative function acquisition unit may acquire the alternative function based on the cause acquired by the cause acquisition unit. In this automatic operation control device, since the alternative function acquisition unit acquires the alternative function from the degenerate mode based on the cause of switching to the degenerate mode, it is possible to acquire a more appropriate alternative function.

A database that registers the correspondence between the cause of switching from the normal mode to the degenerate mode and the alternative function may be further provided. In this automatic operation control device, the correspondence between the cause of switching from the normal mode to the degenerate mode and the alternative function is registered in the database, so the alternative function acquisition unit can refer to the database to quickly change the alternative function. Can be obtained.

According to the present invention, it is possible to prevent the driver from being confused when the automatic driving mode is switched from the normal mode to the degenerate mode.

It is a block block diagram of the handover notification device which concerns on embodiment. It is a schematic diagram which shows an example of a vehicle. It is a schematic diagram which shows an example of the state which a vehicle is traveling on a highway. It is a flowchart which shows an example of the processing operation of the handover notification device.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.

As shown in FIGS. 1 and 2, the automatic driving control device 1 according to the present embodiment is a device mounted on a vehicle 2 capable of automatic driving to perform automatic driving control of the vehicle 2. The automatic driving control device 1 includes a peripheral monitoring device 3, a vehicle monitoring device 4, a display device 5, an input device 6, and a control unit 7.

The peripheral monitoring device 3 is a device for acquiring the peripheral situation of the vehicle 2. As the peripheral monitoring device 3, for example, a camera 21, a millimeter wave radar 22, a lidar (RiDAR: Light Detection and Ranging) 23, a GPS (Global Positioning System) receiver 24, and the like can be used. The camera 21 is an image pickup device such as a CCD camera that images the surroundings of the vehicle 2. The camera 21 is attached to, for example, a position where the front of the vehicle 2 can be imaged, and images the lane in which the vehicle 2 travels, the lane marking that divides the lane, and the like. The millimeter wave radar 22 is a detection device that detects obstacles around the vehicle 2 by using millimeter waves. The millimeter wave radar 22 is attached to, for example, a position capable of transmitting millimeter waves in front of the vehicle 2 and detects an obstacle existing in front of the vehicle 2. The rider 23 is a detection device that detects an obstacle around the vehicle 2 by using infrared rays. The rider 23 is attached to, for example, a position capable of transmitting infrared rays in front of the vehicle 2 and detects a vehicle in front traveling in front of the vehicle 2. The GPS receiver 24 is a device that measures the position of the vehicle 2 (for example, the latitude and longitude of the vehicle 2) by receiving signals from three or more GPS satellites.

The vehicle monitoring device 4 is a device that monitors the state of the vehicle 2. The vehicle monitoring device 4 monitors the state of various devices mounted on the vehicle 2. The vehicle monitoring device 4 monitors, for example, the presence or absence of defects in each device (camera 21, millimeter wave radar 22, rider 23, GPS receiver 24, etc.) constituting the peripheral monitoring device 3. Defects include, for example, equipment failures as well as detection failures based on the surrounding environment. Examples of poor detection based on the surrounding environment include poor detection based on bad weather such as heavy fog, heavy rain, and snowstorm, and poor detection based on the road environment such as in tunnels and obstacles.

The display device 5 is a device for displaying various image (video) information to be notified to the driver. As the display device 5, for example, a touch panel type display can be used.

The input device 6 is a device for the driver to input various operation instructions. As the input device 6, for example, a touch panel type display that is also used as the display device 5 can be used. However, the input device 6 may be a device different from the display device 5.

The control unit 7 is an electronic control unit (ECU) having a CPU, ROM, RAM, and the like. The control unit 7 executes various controls by loading the program stored in the ROM into the RAM and executing the program in the CPU. The control unit 7 may be composed of a plurality of electronic control units, or may be composed of a single electronic control unit. Functionally, the control unit 7 includes an automatic operation control unit 11, a restricted state acquisition unit 12, a cause acquisition unit 13, an alternative function acquisition unit 14, a display control unit 15, and an alternative function switching unit 16. To prepare for. The automatic operation control unit 11, the restricted state acquisition unit 12, the cause acquisition unit 13, the alternative function acquisition unit 14, the display control unit 15, and the alternative function switching unit 16 may be composed of a plurality of electronic control units, and may simply be composed of a plurality of electronic control units. It may be composed of one electronic control unit.

The automatic driving control unit 11 performs automatic driving control of the vehicle 2 in a predetermined automatic driving mode based on the peripheral condition of the vehicle 2 acquired by the peripheral monitoring device 3. For example, the automatic driving control unit 11 automatically drives the vehicle 2 from the start point to the end point of the automatic driving route in a preset automatic driving route. The automatic driving is an automatic driving mode in which steering control, accelerator control, brake control, and the like of the vehicle 2 are performed regardless of the driving operation of the driver. The automatic operation mode has a normal mode and a degenerate mode with more limited functions than the normal mode. The normal mode is an automatic operation mode in which normal automatic operation is performed. The degenerate mode is an automatic operation mode in which the functions are limited as compared with the normal mode. The fact that the functions are more restricted than in the normal mode means that at least one of various functions of automatic driving is restricted, for example, the traveling speed, the lane in which the vehicle travels, the lane change, etc. are restricted. To say. That is, in the degenerate mode, for example, a mode in which automatic driving is performed at a driving speed lower than that in the normal mode, a mode in which automatic driving is performed in which only the driving lane is driven, a mode in which lane changes are made less than in the normal mode, or a lane change is performed. There is a mode to perform automatic operation without it.

When the automatic driving control unit 11 determines that the automatic driving control in the normal mode is difficult when the vehicle 2 is automatically driven in the normal mode, the function of limiting by the degenerate mode, that is, the limitation of the degenerate mode Select a state to switch the automatic operation mode from normal mode to degenerate mode.

Examples of cases where automatic driving control in the normal mode is difficult include, for example, the case where the vehicle monitoring device 4 detects any crisis defect. Specifically, when the vehicle monitoring device 4 detects a defect in the camera 21, the vehicle monitoring device 4 detects a defect in the millimeter wave radar 22, the vehicle monitoring device 4 detects a defect in the rider 23, or the vehicle. The case where the monitoring device 4 detects a malfunction of the GPS receiver 24 and the like can be mentioned.

Then, for example, when the vehicle monitoring device 4 detects a defect in the camera 21, the automatic driving control unit 11 selects the traveling speed and the lane change as a function of limiting by the degenerate mode. That is, in this case, the automatic driving control unit 11 switches to the degenerate mode in which the driving speed is lower than that in the normal mode and the driver is requested to perform the steering operation without changing lanes. Further, when the vehicle monitoring device 4 detects a defect of the millimeter wave radar 22, the automatic driving control unit 11 selects as a function of limiting the traveling speed and the lane change by the degenerate mode. That is, in this case, the automatic driving control unit 11 switches to the degenerate mode in which the traveling speed is lower than that in the normal mode and the automatic driving is performed without changing the lane. Further, when the vehicle monitoring device 4 detects a defect of the rider 23, the automatic driving control unit 11 selects as a function of limiting the traveling speed by the degenerate mode. That is, in this case, the automatic driving control unit 11 switches to the degenerate mode in which the automatic driving is performed at a traveling speed lower than that in the normal mode. Further, when the vehicle monitoring device 4 detects a malfunction of the GPS receiver 24, the automatic driving control unit 11 selects as a function of limiting the traveling speed by the degenerate mode. That is, in this case, the automatic driving control unit 11 switches to the degenerate mode in which the automatic driving at a traveling speed lower than the normal mode is performed. Then, the automatic driving control unit 11 performs automatic driving control of the vehicle 2 in the switched degenerate mode.

The restricted state acquisition unit 12 acquires the restricted state of automatic operation by the degenerate mode when the automatic operation control unit 11 switches from the normal mode to the degenerate mode. The restricted state acquisition unit 12 acquires, for example, the restricted state of automatic operation by the degenerate mode from the automatic operation control unit 11 at the timing when the automatic operation control unit 11 switches from the normal mode to the degenerate mode. The timing for acquiring the restricted state of automatic operation in the degenerate mode may be before the automatic operation control unit 11 switches from the normal mode to the degenerate mode, and the automatic operation control unit 11 switches from the normal mode to the degenerate mode. It may be later.

The cause acquisition unit 13 acquires the cause of switching to the degenerate mode when the automatic operation control unit 11 switches from the normal mode to the degenerate mode. The cause acquisition unit 13 acquires, for example, the cause of switching from the automatic operation control unit 11 to the degenerate mode at the timing when the automatic operation control unit 11 switches from the normal mode to the degenerate mode. The timing for acquiring the cause of switching to the degenerate mode may be before the automatic operation control unit 11 switches from the normal mode to the degenerate mode, or after the automatic operation control unit 11 switches from the normal mode to the degenerate mode. There may be.

The alternative function acquisition unit 14 acquires an alternative function of the degenerate mode switched by the automatic operation control unit 11 when the automatic operation control unit 11 switches from the normal mode to the degenerate mode. The number of alternative functions to be acquired may be one or a plurality. That is, the alternative function acquisition unit 14 acquires one or a plurality of alternative functions that can be alternatives to the degenerate mode switched by the automatic operation control unit 11. The alternative function acquisition unit 14 acquires the alternative function at the timing when the automatic operation control unit 11 switches from the normal mode to the degenerate mode, for example. The timing of acquiring the alternative function may be before the automatic operation control unit 11 switches from the normal mode to the degenerate mode, or may be after the automatic operation control unit 11 switches from the normal mode to the degenerate mode. .. Examples of the alternative function include automatic driving control by a degenerate mode different from the degenerate mode switched by the automatic driving control unit 11, driving support control such as follow-up running control and lane keeping control, and manual driving. Examples of the automatic driving control by the degenerate mode different from the degenerate mode switched by the automatic driving control unit 11 include automatic driving control for stopping the vehicle 2 on the shoulder of the road, automatic driving control for guiding the vehicle 2 to a nearby service area, and the like. Can be mentioned.

Then, the alternative function acquisition unit 14 acquires the alternative function based on the cause acquired by the cause acquisition unit 13. At this time, the automatic operation control device 1 includes a database 8 in which the correspondence between the cause of switching from the normal mode to the degenerate mode and the alternative function is registered, and the alternative function acquisition unit 14 can refer to the database 8. , You may get an alternative function. The "cause of switching from the normal mode to the degenerate mode" registered in the database 8 is a plurality of causes that may be acquired by the cause acquisition unit 13. Further, the "alternative function" registered in the database 8 is one or a plurality of alternative functions to be acquired by the alternative function acquisition unit 14.

The display control unit 15 is performing automatic operation in the degenerate mode when the automatic operation control unit 11 switches from the normal mode to the degenerate mode, the restricted state acquired by the restricted state acquisition unit 12, and the cause acquisition unit 13. The acquired cause, the alternative function acquired by the alternative function acquisition unit 14, and the like are displayed on the display device 5.

For example, as shown in FIG. 3, the display device 5 is provided with a mode display area 31, a restricted state display area 32, a cause display area 33, an alternative function display area 34, and a vehicle model display area 35. Has been done.

The mode display area 31 is an area for displaying that automatic operation is being performed in the degenerate mode. In the mode display area 31, a character image such as "during the degenerate mode" is displayed as the automatic operation is performed in the degenerate mode. When the automatic driving control unit 11 performs automatic driving control in the normal mode, the image of "automatic driving" may be displayed in the mode display area 31.

The restricted state display area 32 is an area for displaying the restricted state acquired by the restricted state acquisition unit 12. In the restricted state display area 32, character images such as "low-speed traveling restriction" and "lane change restriction" are displayed as the restricted state acquired by the restricted state acquisition unit 12.

The cause display area 33 is an area for displaying the cause acquired by the cause acquisition unit 13. In the cause display area 33, character images such as "rider abnormality", "camera abnormality", "GPS abnormality", and "sensor abnormality" are displayed as the cause acquired by the cause acquisition unit 13.

The alternative function display area 34 is an area for displaying the alternative function acquired by the alternative function acquisition unit 14. In the alternative function display area 34, as alternative functions acquired by the alternative function acquisition unit 14, for example, character images such as "manual operation switching", "following driving control, lane keep control", and "road shoulder stop" are displayed. .. In the alternative function display area 34, a character image such as "continue degenerate mode" that continues the degenerate mode may be displayed together with the alternative function or instead of the alternative function.

The vehicle model display area 35 is an area for displaying the model of the vehicle 2 in order to show the state related to the automatic driving of the vehicle 2 in an easy-to-understand manner. In the vehicle model display area 35, for example, in addition to the model of the vehicle 2, the model of each device of the vehicle 2 that may cause the switch from the normal mode to the degenerate mode is also displayed. Examples of the model of each device include a model of the camera 21, a model of the millimeter wave radar 22, a model of the rider 23, a model of the GPS receiver 24, and the like. Then, in the vehicle model display area 35, the model corresponding to the device that caused the switch from the normal mode to the degenerate mode is highlighted. For example, in the example shown in FIG. 3, the model of the rider 23 is marked with a cross.

The input device 6 can select an alternative function displayed by the display control unit 15. As described above, when the input device 6 is a touch panel type display that is also used as the display device 5, the touch panel sensor provided in the alternative function display area 34 of the display device 5 is the input device 6.

When the alternative function is selected by the input device 6, the alternative function switching unit 16 switches the degenerate mode to the alternative function selected by the input device 6. That is, one or a plurality of alternative functions are displayed in the alternative function display area 34 of the display device 5, and any alternative function displayed in the alternative function display area 34 of the display device 5 by the input device 6 is selected by the driver. Then, the alternative function switching unit 16 switches the degenerate mode to the alternative function selected by the input device 6. The automatic operation control unit 11 may perform the processing by the alternative function switching unit 16. In this case, the alternative function switching unit 16 may not be provided.

For example, when the alternative function selected by the input device 6 is the automatic operation control by the degenerate mode different from the degenerate mode switched by the automatic operation control unit 11, the alternative function switching unit 16 tells the automatic operation control unit 11. Automatic operation control is performed by this degenerate mode. Further, when the alternative function selected by the input device 6 is driving support control such as follow-up driving control or lane keeping control, the automatic driving control by the automatic driving control unit 11 is temporarily terminated to drive support control (not shown). Have the unit perform driving support control such as follow-up driving control and lane keeping control. The automatic driving control unit 11 may perform driving support control such as follow-up driving control and lane keeping control. When the alternative function selected by the input device 6 is manual operation, the alternative function switching unit 16 causes the automatic operation control unit 11 to end the automatic operation control.

Next, an example of the processing operation of the automatic operation control device 1 will be described with reference to FIG.

First, the automatic driving control device 1 determines whether or not automatic driving is performed in the normal mode by the automatic driving control unit 11 (step S1). When the automatic operation control unit 11 determines that the automatic operation is not performed in the normal mode (step S1: NO), the automatic operation control device 1 temporarily ends the process. When the automatic operation control unit 11 determines that the automatic operation is performed in the normal mode (step S1: YES), the automatic operation control device 1 determines whether or not the automatic operation control in the normal mode is difficult. (Step S2). When it is determined that the automatic operation control in the normal mode is not difficult (step S2: NO), the automatic operation control device 1 temporarily ends the process.

When it is determined that the automatic operation control in the normal mode is difficult (step S2: YES), the automatic operation control device 1 switches the automatic operation mode from the normal mode to the degenerate mode (step S3). Further, the automatic operation control device 1 acquires the restricted state of the automatic operation in the degenerate mode by the restricted state acquisition unit 12 (step S4), and acquires the cause of switching to the degenerate mode by the cause acquisition unit 13 (step S5). The alternative function acquisition unit 14 acquires an alternative function that can be substituted (step S6). The order of steps S3 to S6 is not particularly limited, and the order may be different from the above, or some or all of them may be performed at the same time.

Then, the automatic operation control device 1 is automatically operated by the display control unit 15 in the degenerate mode, the restricted state acquired by the restricted state acquisition unit 12, the cause acquired by the cause acquisition unit 13, and the alternative function acquisition unit. The alternative function or the like acquired by 14 is displayed on the display device 5 (step S7).

Next, the automatic operation control device 1 determines whether or not an alternative function has been selected from the input device 6 (step S8). When the alternative function is not selected from the input device 6 (step S8: NO), the automatic operation control device 1 temporarily ends the process. When the alternative function is selected from the input device 6 (step S8: YES), the automatic operation control device 1 switches the degenerate mode to the alternative function selected from the input device 6 by the alternative function switching unit 16 (step S9). ). Then, the automatic operation control device 1 temporarily ends the process.

As described above, in the automatic operation control device 1 according to the present embodiment, when the automatic operation control unit 11 switches from the normal mode to the degenerate mode, the restricted state acquisition unit 12 acquires the restricted state of the automatic operation in the degenerate mode. At the same time, the alternative function acquisition unit 14 acquires the alternative function. Then, the display control unit 15 displays this restricted state and the alternative function. Therefore, the driver can grasp the current state of the vehicle 2 and grasp what kind of alternative function is available by visually recognizing the restricted state and the alternative function displayed by the display control unit 15. can do. This can prevent the driver from being confused.

Further, in the automatic driving control device 1, when the driver selects an alternative function in the input device 6, the alternative function switching unit 16 switches the degenerate mode to the alternative function. As a result, it is possible to switch to the driving state desired by the driver.

Further, in the automatic operation control device 1, when the automatic operation control unit 11 switches from the normal mode to the degenerate mode, the cause acquisition unit 13 acquires the cause of switching to the degenerate mode. Then, the display control unit 15 also displays this cause. Therefore, the driver can grasp the cause of switching to the degenerate mode, and can make a more appropriate judgment.

Further, in the automatic operation control device 1, since the alternative function acquisition unit 14 acquires the alternative function based on the cause of switching to the degenerate mode, it is possible to acquire a more appropriate alternative function.

Further, in the automatic operation control device 1, the correspondence relationship between the cause of switching from the normal mode to the degenerate mode and the alternative function is registered in the database 8, so that the alternative function acquisition unit 14 can refer to the database 8. You can get the alternative function more quickly.

Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and the present invention may be modified or applied to other objects without changing the gist described in each claim. good.

For example, in the above embodiment, the alternative function switching unit has been described as switching to the alternative function, but the switching to the alternative function may be performed by a device different from the automatic operation control device. Further, in the above embodiment, the cause of switching to the degenerate mode is also described, but the cause of switching to the degenerate mode may not be displayed.

1 ... Automatic driving control device, 2 ... Vehicle, 3 ... Peripheral monitoring device, 4 ... Vehicle monitoring device, 5 ... Display device, 6 ... Input device, 7 ... Control unit, 8 ... Database, 11 ... Automatic driving control unit, 12 ... Restricted state acquisition unit, 13 ... Cause acquisition unit, 14 ... Alternative function acquisition unit, 15 ... Display control unit, 16 ... Alternative function switching unit, 21 ... Camera, 22 ... Millimeter wave radar, 23 ... Rider, 24 ... GPS reception Machine, 31 ... Mode display area, 32 ... Restricted state display area, 33 ... Cause display area, 34 ... Alternative function display area, 35 ... Vehicle model display area.

Claims (5)

An automatic driving control unit that automatically controls the vehicle by an automatic driving mode having a normal mode and a degenerate mode having more limited functions than the normal mode.
When the automatic operation control unit switches from the normal mode to the degenerate mode, the restricted state acquisition unit that acquires the restricted state of the automatic operation by the degenerate mode, and the restricted state acquisition unit.
An alternative function acquisition unit that acquires a substitutable alternative function of the degenerate mode switched by the automatic operation control unit when the automatic operation control unit switches from the normal mode to the degenerate mode.
Display control that displays the restricted state acquired by the restricted state acquisition unit and the alternative function acquired by the alternative function acquisition unit when the automatic operation control unit switches from the normal mode to the degenerate mode. With a department,
Automatic operation control device. An input device that can select the alternative function displayed by the display control unit, and
Further, an alternative function switching unit for switching the degenerate mode to the alternative function selected by the input device when the alternative function is selected by the input device is provided.
The automatic operation control device according to claim 1. Further, a cause acquisition unit for acquiring the cause of switching to the degenerate mode when the automatic operation control unit switches from the normal mode to the degenerate mode is provided.
The display control unit also displays the cause acquired by the cause acquisition unit.
The automatic operation control device according to claim 1 or 2. The alternative function acquisition unit acquires the alternative function based on the cause acquired by the cause acquisition unit.
The automatic operation control device according to claim 3. Further provided is a database in which the correspondence between the cause of switching from the normal mode to the degenerate mode and the alternative function is registered.
The automatic operation control device according to claim 4.

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