Source: https://patents.google.com/patent/CN106103232B/en
Timestamp: 2020-01-21 15:01:47
Document Index: 569115224

Matched Legal Cases: ['art 30', 'art 30', 'art 110', 'art 30', 'art 30', 'art 30', 'art 30', 'art 30', 'art 110', 'art 110', 'art 110', 'art 30', 'art 30', 'art 30', 'art 30', 'art 30', 'art 30', 'art 1302', 'art\n40', 'art\n111', 'art\n206']

CN106103232B - Travel controlling system, on-vehicle display and drive-control system - Google Patents
Travel controlling system, on-vehicle display and drive-control system Download PDF
CN106103232B
CN106103232B CN201580014835.5A CN201580014835A CN106103232B CN 106103232 B CN106103232 B CN 106103232B CN 201580014835 A CN201580014835 A CN 201580014835A CN 106103232 B CN106103232 B CN 106103232B
CN201580014835.5A
CN106103232A (en
谷道太雪
2014-04-09 Priority to JP2014-079953 priority
2015-03-27 Application filed by 日立汽车系统株式会社 filed Critical 日立汽车系统株式会社
2016-11-09 Publication of CN106103232A publication Critical patent/CN106103232A/en
2019-03-15 Publication of CN106103232B publication Critical patent/CN106103232B/en
230000006399 behavior Effects 0 description 157
The present invention provides drive-control system (1).The drive-control system (1) includes the control device for vehicle (10) of the traveling of the above-mentioned vehicle of control (2) carried in vehicle (2) and is communicatively coupled with above-mentioned control device for vehicle (10) and is shown with picture, sound exports the on-vehicle display (20) to occupant's prompt information of above-mentioned vehicle (2), above-mentioned control device for vehicle (10) obtains the external environment identification information gone out with external environment sensor (50) and/or the outer communication identification of vehicle, the drive behavior content that above-mentioned vehicle (2) should take is determined based on said external Context awareness information, it is determined as the drive behavior reason for the reasons why determining above-mentioned drive behavior content, export the drive behavior reason of above-mentioned drive behavior content and above-mentioned determination, above-mentioned on-vehicle display (20) obtains above-mentioned vehicle-mounted control The drive behavior content and drive behavior reason of device (10) output processed, shown with picture, sound output notify above-mentioned drive behavior content and drive behavior reason, thus reduce vehicle (2) automatic ride control sense of discomfort caused by driver, occupant and uneasiness.
Travel controlling system, on-vehicle display and drive-control system
The present invention relates to travel controlling system, on-vehicle display and drive-control systems.
This application claims the Japanese patent application submitted the 2014-79953rd priority on April 9th, 2014, with reference to it Content and be introduced into the application.
The known situation that vehicle-surroundings are identified using the vehicle-mounted externals such as radar or video camera environmental sensor and control automatically The system of vehicle driving processed.In such system, when being controlled, there are driver, occupants cannot hold its control moment Purpose and the problem of do not feel good.In addition, existing cannot hold in the automatic Pilot control that system has the dominant right driven Vehicle implements a series of traveling controls with which kind of will, driver, occupant may feel the project of uneasiness.
About this point, Patent Document 1 discloses the barriers that vehicle-surroundings are shown in on-vehicle display The technology of the target trajectory of situation and vehicle.According to technology disclosed in Patent Document 1, by on-vehicle display etc. The situation for the barrier of vehicle-surroundings recognized and the target trajectory of this vehicle are prompted, driver, occupant can be made to learn it Running rail afterwards.
Patent document 1: Japanese Unexamined Patent Publication 2008-191781 bulletin
The invention technical task to be solved
But although can by show vehicle running rail so that driver, occupant is learnt after course changing control, Feed speed control cannot be showed, therefore there are still driver, occupants not to feel good for unpredictable feed speed control Project.In addition, running rail is after determining traveling control content as a result, cannot indicate which kind of purpose to determine a system based on Column traveling control, therefore still cannot still hold vehicle there are driver, occupant and be driven with which kind of will, may feel not The problem of peace.
Consider the above subject and other projects, it is an object of the present invention to reduce the automatic ride control of vehicle to driving Sense of discomfort caused by the person of sailing, occupant and uneasiness.
For solving the technical solution of technical task
To solve the above-mentioned problems, one embodiment of the present invention be carry in the car, for controlling above-mentioned vehicle The travel controlling system of traveling comprising: external environment identification information acquisition unit passes through the object from this outside vehicle of detection The external environment sensor of object receives information or obtains external rings by the information using communications reception outside vehicle from roadside Border identification information, wherein above-mentioned object includes barrier and other vehicles on traveling road；Drive behavior determination section, Based on from the received said external Context awareness information of said external Context awareness information acquiring section and this information of vehicles, determine The drive behavior content that this vehicle should be taken, wherein above-mentioned information of vehicles is position and the travel speed for including this vehicle Information；Drive behavior reason determining section is determined as decision from the received above-mentioned driving row of above-mentioned drive behavior determination section The drive behavior reason of the reasons why dynamic content；Drive behavior information output part exports above-mentioned drive behavior content and for this The drive behavior reason that drive behavior content determines；Drive behavior information acquiring section obtains drive behavior information, above-mentioned driving Action message is the information of drive behavior determining the traveling control content of the vehicle, indicating the vehicle, including selected The information of the reason of type and the selection drive behavior of drive behavior；With drive behavior information output part, have for showing Show the display unit of above-mentioned drive behavior information and is exported with sound in the audio output unit of content of above-mentioned drive behavior information At least one, prompts the type for the drive behavior for including in above-mentioned drive behavior information together with drive behavior reason.
In accordance with the invention it is possible to which mitigating driver, occupant does not accommodate uneasiness for what automatic ride control was felt.
Fig. 1 is the functional block diagram for indicating an example of the structure of drive-control system 1 of first embodiment of the invention.
Fig. 2 is the state transition diagram of the traveling control of the control device for vehicle 10 about first embodiment of the invention An example explanatory diagram.
Fig. 3 is the control sense of discomfort mode data that the control device for vehicle 10 of first embodiment of the invention is kept The explanatory diagram of an example of the data structure of collection 124.
Fig. 4 is the control event notification mode number that the on-vehicle display 20 of first embodiment of the invention is kept According to the explanatory diagram of an example of the data structure of collection 222.
Fig. 5 be first embodiment of the invention control device for vehicle 10 in execute traveling control processing process Explanatory diagram.
Fig. 6 is driving in the usual driving mode that executes in the control device for vehicle 10 of first embodiment of the invention Sail the explanatory diagram that action content determines the process of processing.
Fig. 7 is the row in the control device for vehicle 10 of first embodiment of the invention in the usual driving mode that executes Sail the explanatory diagram that control content determines the process of processing.
Fig. 8 shows execute in the control device for vehicle 10 of first embodiment of the invention and on-vehicle display 20 Traveling control information output processing process.
Fig. 9 is that the external environment identification information that the control device for vehicle 10 of first embodiment of the invention is exported disappears The explanatory diagram of an example of the format of breath.
Figure 10 is the sense of discomfort determination processing that executes in the control device for vehicle 10 of first embodiment of the invention The explanatory diagram of process.
Figure 11 is the lattice for the control event message that the control device for vehicle 10 of first embodiment of the invention is exported The explanatory diagram of an example of formula.
Figure 12 indicates that the HMI executed in the on-vehicle display 20 of first embodiment of the invention output content determines The process of processing.
Figure 13 be the movement for illustrating the drive-control system 1 of first embodiment of the invention, as specific field The explanatory diagram of the signal lamp intersection scene of an example of scape.
Figure 14 is the signal lamp intersection scene that the on-vehicle display 20 of first embodiment of the invention is realized In display methods an example explanatory diagram.
Figure 15 be the movement for illustrating the drive-control system 1 of first embodiment of the invention, as specific field The explanatory diagram of the change lane scene of an example of scape.
Figure 16 is aobvious in the change lane scene that the on-vehicle display 20 of first embodiment of the invention is realized Show the explanatory diagram of an example of method.
Figure 17 is the sense of discomfort determination processing that executes in the control device for vehicle 10 of second embodiment of the present invention The explanatory diagram of process.
Figure 18 is the control sense of discomfort pattern count that the control device for vehicle 10 of second embodiment of the present invention is kept According to the explanatory diagram of an example of the data structure of collection.
Figure 19 be the movement for illustrating the drive-control system 1 of third embodiment of the present invention, as specific field The explanatory diagram of the signal lamp intersection scene of an example of scape.
Figure 20 is the signal lamp intersection scene that the on-vehicle display 20 of third embodiment of the present invention is realized In display methods an example explanatory diagram.
Illustrate embodiments of the present invention referring to the drawings.
As shown in Figure 1, the drive-control system 1 of present embodiment is the row that vehicle 2 is carried, automatically controlled in vehicle 2 The some or all of system sailed, including control device for vehicle 10, on-vehicle display 20, wireless communication part 30, sheet Truck position positioning apparatus 40, external environment sensor group 50, vehicle sensors group 60, actuator group 70 etc..
Control device for vehicle 10 is, for example, ECU (Electronic Control Unit, the electronics control carried in vehicle 2 Unit processed) etc., there is processing unit, storage unit 120 and communication unit 130.In addition, the mode of control device for vehicle 10 is not special Limitation, such as advanced driving assistance system (the ADAS:Advanced Driver being also possible to for realizing vehicle 2 Assistance System) travel controlling system, also can integrate in the device of external environment sensor group 50, can also To be the external device (ED)s such as the smart phone that the user of vehicle 2 connect with vehicle network.
Processing unit is for example including CPU100 (Central Processing Unit: central processing unit) and RAM Memories such as (Random Access Memory, random access memory) etc. pass through the regulation saved in operation storage unit 120 Operation program, carry out realize control device for vehicle 10 function processing.
Storage unit 120 is for example including HDD (Hard Disk Drive, hard disk drive), flash memory, ROM (Read Only Memory, read-only memory) etc. storage devices, data set etc. needed for saving program that processing unit executes and realizing this system. It in present embodiment, specifically preserves: obtaining required various when the traveling control for determining vehicle 2 in storage unit 120 Information (peripheral path map, run routing information, this truck position information, external environment identification information, vehicle sensor information Deng) relevant information acquisition unit 101, integrated management is outside the vehicle that wireless communication part 30 and external environment sensor group 50 obtain The external environment identification information Synthesis Department 102 of object information speculates position of the group of objects on road-map outside this vehicle and vehicle The driving row of the map location estimating unit 103, the decision drive behavior to be taken of this vehicle such as left and right turn and change lane set Dynamic determination section 104 determines that the drive behavior reason of the reason of drive behavior determined in drive behavior determination section 104 object is true Determine portion 105, the traveling control determination section 106 for deciding to move to the traveling control to be taken with this vehicles such as acceleration and deceleration, determine traveling The traveling control reason determining section 107 of object, extraction driving row the reason of travelling control determined in control determination section 106 The reason of dynamic reason determining section 105, traveling control the information for the reason object that reason determining section 107 determines object information mentions What the drive behavior and traveling for taking portion 108, judgement drive behavior determination section 104 and traveling control determination section 106 to determine controlled Whether content will cause the control sense of discomfort determination unit 109 of sense of discomfort, to the drive behavior and row of external output and above-mentioned decision It sails and controls the traveling control information output part 110 of relevant information, to external output external environment identification information Synthesis Department 102 The equal program in the external environment identification information output section 111 of the external environment identification information of integrated management and peripheral path map Data set 121, this vehicle message data set 122, external identification information data set 123, control sense of discomfort mode data collection 124 etc..
The peripheral path map dataset 121 of control device for vehicle 10 is to determine drive behavior and traveling control The aggregate of required data relevant to the digital road map of road about 2 periphery of vehicle, the net for example including road Network structure, attribute (type, speed limit, direction of travel of road etc.), shape (the lane shape of road, shape of intersection etc.) With the information such as terrestrial reference (mark etc. in road sign, road surface).The peripheral path map dataset 121 in the present embodiment from On-vehicle display 20 obtains.The peripheral map information department 202 and vehicle 2 of on-vehicle display 20 are on map Position correspondingly sends the map datum of necessary peripheral path, vehicle by In-vehicle networking etc. to control device for vehicle 10 at any time The relevant information acquisition unit 101 of load control device 10 is configured to, in peripheral path map dataset and obtaining the data The map datum of the peripheral path of vehicle 2 is always saved in 121.In addition, the management method of peripheral path map dataset 121 is not The mode for needing to be limited to present embodiment record, can also pre-save whole map number in control device for vehicle 10 According to being also configured to receive via wireless communication machine 30 from the external of vehicle 2.
This vehicle message data set 122 of control device for vehicle 10 be, for example, about this vehicle location information, can be via The aggregate of the data of the information of the driving status for indicating this vehicle that In-vehicle networking is obtained from vehicle sensors group 60 etc. etc..Separately Outside, the location information of this vehicle indicates the number of the geographical location information for indicating this vehicle obtained with this 40 location of truck position positioning apparatus The data about this truck position such as estimation result according to, map location estimating unit 103.
The external environment identification information data set 123 of control device for vehicle 10 is, for example, from external environment sensor group 50 2 periphery of vehicle of acquirement barrier (other vehicles, bicycle, pedestrian, dropping etc.) and characteristic body (road sign, white line, Terrestrial reference etc.) testing result, the information of the external environment about vehicle 2 obtained via wireless communication part 30 (believe by other vehicles Breath, signal information, traffic condition etc.) etc. about vehicle outside object information data aggregate.
The control sense of discomfort mode data collection 124 of control device for vehicle 10 is to indicate to think drive behavior or traveling control The aggregate of the data of mode that sense of discomfort can be caused to driver, occupant and selected.
Communication unit 130 is for example including meeting Ethernet (registered trademark, Ethernet) or CAN (Controller Area Network, controller area net road) etc. telecommunications metrics network interface card etc., based on the other devices carried in various agreements and vehicle 2 Carry out the transmitting and receiving of data.In addition, the connection type between the other devices carried in communication unit 130 and vehicle 2 does not limit The wired connection as Ethernet (registered trademark) is also possible to Bluetooth (registered trademark, bluetooth) and Wireless LAN The connection such as (Local Area Network, local area network) near radios.
On-vehicle display 20 is, for example, the display device etc. carried in vehicle 2, has processing unit, storage unit 220, leads to Letter portion 230, picture input and output portion 240 and sound input and output section 250.In addition, the mode of on-vehicle display 20 does not have Especially limitation, such as can be navigation device, be also possible to the user of vehicle 2 with outside smart phone that vehicle network is connect etc. Device.
Processing unit is for example including memories such as CPU200 and RAM etc., by moving as defined in storing in operation storage unit 220 Make program, carries out the processing for realizing the function of on-vehicle display 20.
Storage unit 220 saves program and realization that processing unit is run for example including storage devices such as HDD, flash memory, ROM Data set needed for this system etc..It in present embodiment, is specifically preserved in storage unit 220: determining that vehicle 2 will travel Or the processing of the driving path determination section 201, transmission control device for vehicle 10 in the path on the road-map of recommendation traveling The peripheral map information department 202 of the cartographic information on required 2 periphery of vehicle sends with above-mentioned control device for vehicle 10 The run routing information transmission unit 203 for the run routing information that driving path determination section 201 determines is obtained from vehicle-mounted control dress Set the traveling control information acquiring section 204 of the traveling control information of 10 outputs, based on what is obtained with traveling control information acquiring section The program and road-map-data collection 221 of the HMI output control unit 205 of traveling control information output picture and/or sound etc., Control event notification mode data collection 222, external environment identification information data set 223 etc..
The road-map-data collection 221 of on-vehicle display 20 is, for example, and includes the network structure of road, attribute (road Type, speed limit, the direction of travel on road etc.), shape (the lane shape of road, shape of intersection etc.) and terrestrial reference (road road sign Mark etc. in will, road surface) etc. the relevant data of digital road map of information aggregate.Not about the road as object The limitation in the region of road map, such as may include global road-map-data, can also only include and Europe or the U.S. Equal given areas or country relevant road-map-datas, can also the only road of the part on the position periphery including vehicle 2 Diagram data.In addition, road refers to the road that vehicle can travel in this specification, it is not limited to highway, also may include privately owned road Road also may include the travel in the facilities such as parking lot.
The control event notification mode data collection 222 of on-vehicle display 20 is to indicate to determine how to input by picture Output section 240, sound input and output section 250 notify the control event provided by control device for vehicle 10 to driver, occupant The aggregate of the data of the mode of information.
The external environment identification information data set 223 of on-vehicle display 20 is for example saved by control device for vehicle 10 External environment identification information after the synthesis of offer.
Communication unit 230 is for example including the network interface card etc. for meeting the telecommunications metrics such as Ethernet (registered trademark) or CAN, with vehicle The other devices carried in 2 carry out the transmitting and receiving of data based on various agreements.In addition, carried in communication unit 230 and vehicle 2 Connection type between other devices is not limited to wired connection as Ethernet (registered trademark), is also possible to Bluetooth (registered trademark) is connected near radios such as Wireless LAN.
Wireless communication part 30 is for example wireless over long distances with LTE (Long Term Evolution, long term evolution) etc. is met Telecommunications metrics or Wireless LAN, DSRC (Dedicated Short Range Communications, dedicated short-range communication) etc. The network interface card etc. of wireless near field communication specification, such as be configured to and the server of 1 or more assisting vehicle travel, 1 Or wireless communication part 30,1 or more that the more wayside units being arranged on road, 1 or more are mounted in other vehicles At least one of communication terminal (illustration omitted) that platform people are held etc. carries out data communication.
This truck position positioning apparatus 40 is to carry out location to the geographical location of vehicle 2, provide the device of the information, such as phase When in Global Navigation Satellite System (GNSS) reception device.This truck position positioning apparatus 40 be configured to merely provide based on from The location of the received radio signal of GNSS satellite is as a result, be also configured to the movement speed and traveling orientation using vehicle 2 Angle etc. can be repaired from the information that external environment sensor group 50 and vehicle sensors group 60 obtain to carry out position interpolation and error Just.
As long as being also possible in addition, this truck position positioning apparatus 40 carries out the device of location to the geographical location of vehicle 2 Device other than GNSS receiver.For example, this truck position positioning apparatus 40 can also obtain identification vehicle 2 from wayside unit just The road of traveling information and indicate that the information of position of vehicle 2 in the road (such as indicates and the starting point of the road The information of distance), location is carried out to the geographical location of vehicle 2 based on this.In addition, table acquired by this truck position positioning apparatus 40 Show the information of the position of vehicle 2, typically there is coordinate value as aftermentioned latitude and longitude, but as long as being to determine vehicle The information that 2 roads travelled are able to use, is also possible to information other than the above.For example, indicating the letter of the position of vehicle 2 Breath is also possible to the road and the information of the position on the road for indicating that vehicle 2 is travelling.
External environment sensor group 50 is a certain range of barrier (the other vehicles, voluntarily that can identify 2 periphery of vehicle Vehicle, pedestrian, dropping etc.) and characteristic body (road sign, white line, terrestrial reference etc.) sensor group, such as have camera system, thunder It reaches, laser radar, sonar etc..External environment sensor group 50 exports the obstacle on 2 periphery of vehicle detected on In-vehicle networking The information (such as relative distance away from vehicle 2 and relative angle etc.) of object and characteristic body, control device for vehicle 10 can pass through In-vehicle networking obtains above-mentioned output result.In addition, using 50 examinations barrier of external environment sensor group in present embodiment Processing with characteristic body exports untreated data but it is also possible to be external environment sensor group 50, uses control device for vehicle Other devices such as 10 carry out detection processing.
Vehicle sensors group 60 is state (such as travel speed, steering angle, the acceleration for the various parts for detecting vehicle 2 Operating quantity, operating quantity of brake etc.) device group, such as the quantity of state detected is regularly exported on the In-vehicle networkings such as CAN. The device connecting with In-vehicle networking including control device for vehicle 10 is configured to obtain the quantity of state of various parts.
Actuator group 70 is the device group of the controlling elements such as steering, brake, the acceleration of movement that control determines vehicle 2, structure It is exported as based on driver to the operation information of steering wheel, brake pedal, accelerator pedal etc. and from control device for vehicle 10 Target control value control vehicle 2 movement.
The relationship of " drive behavior " and " traveling control " in present embodiment is illustrated.In present embodiment " drive behavior " refers to which kind of purpose control vehicle indicates to drive main body (driver or drive-control system) is based on or wants How the action type of vehicle is controlled.Specifically there is " usually traveling " " left-hand rotation " " right-hand rotation " " change lane " " STOP " etc. to drive Action type.
In contrast, " the traveling control " in present embodiment refers to realize drive behavior this purpose and implement A series of characteristic actuators control type.Therefore, difference can be correspondingly considered with the drive behavior as object Traveling control type.For example, can be considered and " give it the gun as traveling control type when drive behavior is " usually traveling " Control " " Reduced Speed Now control " " stablizing traveling control " etc., unlike this, when drive behavior is " change lane ", as traveling " maintaining lanes control " " control of change lane traveling " etc. can be considered in control type.
On the basis of arriving at the destination this basic object, situation with road shape and at that time correspondingly judges to answer people Drive vehicle (i.e. control vehicle driving) with switching drive behavior at any time when taking what kind of drive behavior.Automated driving system Such drive-control system be it is also the same in the case where driving main body, process is to identify surrounding enviroment using sensor etc., is sentenced It is disconnected that kind of drive behavior should be taken, determine how traveling control is carried out to vehicle based on it.
Fig. 2 indicates an example of state transition diagram when drive-control system 1 implements the traveling control of vehicle 2.301~305 Corresponding to the state (state of drive behavior is expressed as " mode " below) of " drive behavior " in vehicle 2, the drive behavior State in include internal state (such as drive behavior when being " usually traveling " 311~313) correspond to the drive behavior In " traveling control ".
Usual driving mode 301 for example indicates the state of the drive behavior travelled along current road (road or lane). Stable traveling control 311 is defined in usual driving mode 301, Reduced Speed Now controls 312, give it the gun 313 this 3 rows of control Sail control type (state).Reduced Speed Now control 312 indicates the traveling state of a control for making vehicle deceleration, control 313 of giving it the gun Indicate the traveling state of a control for accelerating vehicle.Stablizing traveling control 311 indicates not being included in Reduced Speed Now control 312 and accelerate Institute in traveling control 313 is stateful.In usual driving mode 301, the situation of vehicle and running environment correspondingly switches this It advances on a little traveling roads state of a control Di Yan.As described above, " traveling control " expresses to realize accordingly in present embodiment Drive behavior purpose and characteristic content in a series of actuators control for implementing, in present embodiment, " Reduced Speed Now control The state that system " and " control of giving it the gun " are intended as characteristic " traveling control " is extracted.It is noted that not needing It is defined in traveling control type defined in present embodiment, the function that can be controlled with the traveling carried in vehicle 2 is correspondingly The arbitrary traveling control type of regulation.In addition, being also likewise, not needing to be defined in present embodiment about drive behavior type Drive behavior type, such as to usual driving mode can as " following driving mode " and " independent driving mode " with control Mode processed correspondingly sophisticated category, correspondingly can finely divide change lane mode as " passing mode " etc. with purpose Class can also define drive behavior type by other classification standards.
Right-hand rotation mode 302 is such as the state for the drive behavior for indicating right-hand rotation in intersection.It is defined in right-hand rotation mode 302 Stable traveling control 320 and stops this 2 travelings of control 321 and control type (state).Stablizing traveling control 320 is by right-hand rotation Running rail control steering angle and acceleration and deceleration state, stopping control 321 is because other barriers are present in the row of vehicle 2 It sails in track or intersects with running rail and stop, waiting until the barrier from or through the shape of the running rail of vehicle 2 State.Stop control 321 and for example waits the state of right-hand rotation corresponding to because other vehicles enter intersection from opposite lane.
Left-hand rotation mode 303 is such as the state for the drive behavior for indicating left-hand rotation in intersection.It is same with right-hand rotation mode 302 Sample, defines in left-hand rotation mode 303 to stablize traveling control 330 and stop this 2 travelings of control 331 and controls types.Left-hand rotation mode Stopping control 331 in 303 is for example passing through in the case where crossing before crossing corresponding to pedestrian or bicycle The state of stopping.
Change lane mode 304 for example indicates in the road of multilane drive behavior as change lane when driving State.It is defined in change lane mode 304 and maintains lanes control 340,341 this 2 travelings of change lane traveling control Control type.Usually before being transferred to the control of change lane, current lanes is maintained to change mesh until confirmation enters Mark lane safety.Lanes control 340 is maintained to indicate the state of a control.On the other hand, change lane traveling 341 indicates confirmation Enter the state of the safety in change target lane, the control for actually changing lane.Then, change lane is completed safely When, return to usual driving mode 301.
Car-parking model 305 for example indicates the state that vehicle 2 is parked in the drive behavior of determined location on parking lot or road. It is defined in car-parking model 305 and stablizes this 2 traveling control types of traveling control 350 and stopping control 351.Stablize traveling control 350 be by the state of running rail control steering angle and acceleration and deceleration for parking, and stopping control 351 is because of other barriers It is present in the running rail of vehicle 2 or intersects with running rail and stop, waiting until the barrier from or through vehicle 2 Running rail state.
For an example of the data structure of the control sense of discomfort mode data collection 124 of control device for vehicle 10, with Fig. 3 into Row explanation.
Control sense of discomfort mode data collection 124 indicates and there is a possibility that causing sense of discomfort to driver, occupant The aggregate of the data of the relevant information of control event.Control event in present embodiment, e.g. drive behavior content and The characteristic variation of traveling control content.This is equivalent to the state transfer in the state transition diagram of traveling control shown in Fig. 2 Event, the transfer of the mode level in Fig. 2 are equivalent to the variation of drive behavior content, and the state transfer of mode internal is equivalent to row Sail the variation of control content.
Drive behavior type 401 and traveling control type 402 indicate drive behavior relevant to the control event or traveling The type of control.When the control event indicates the variation of drive behavior content, saving in drive behavior type 401 indicates to turn The value for moving to which drive behavior mode saves the value (example of Fig. 3 for indicating to be not particularly limited in traveling control type 402 It is in son " Any (any) ").On the other hand, when the control event indicates the variation of traveling control content, in drive behavior kind The value that expression is the variation of the traveling control content about which drive behavior mode is saved in class 401, in traveling control kind The value for indicating to be transferred to which traveling state of a control is saved in class 402.For example, the first row in Fig. 3 is drive behavior mode It is transferred to the event of left-hand rotation, saves " left-hand rotation " in drive behavior type 401, saves " any " in traveling control type 402. In addition, the 9th row in such as Fig. 3 is to travel the state of control in usual driving mode to be transferred to the event of Reduced Speed Now, because This saves " usually traveling " in drive behavior type 401, saves " deceleration " in traveling control type 402.
The information for the reason of reason 403 is the state transfer about drive behavior or traveling control.As state transfer Reason, such as it is contemplated that stop vehicle, slow-moving vehicle, front vehicles, cross the reason of barrier about periphery such as pedestrian, The reason of bend, speed limit, signal lamp, congestion etc. are about road shape and rule, traffic behavior and reason set by user etc.. For example, the first row in Fig. 3 specifies " setting path " as the reason of being transferred to left-hand rotation mode, this is indicated in user or traveling Left-hand rotation mode is transferred to according to the left-hand rotation at the intersection is specified in the driving path to destination of control system setting Event.For example, the fourth line in Fig. 3 specifies " user is specified " as reason, this is indicated because via on-vehicle display 20 equal HMI (Human Machine Interface, man-machine interface) devices receive parking instruction from driver, occupant and turn Move to the event of car-parking model.For example, the 9th row in Fig. 3 indicates to be transferred to Reduced Speed Now control in usual driving mode The reason of state is signal lamp.
Peculiar condition 404 indicates the condition of the reason of being applicable in the entry 403.For example, the 9th row is setting " signal lamp " While as reason 403, sets " signal lamp state ≠ red " and be used as peculiar condition 404.That is, the entry of the 9th row is not applicable In all decelerations that signal lamp is reason, but the case where to be only applicable to signal lamp state not be red light.This is because because of red light And slow down and not will cause sense of discomfort, and slow down in green light and will cause sense of discomfort.Control device for vehicle 10 passes through the outer of vehicle 2 Portion's environmental sensor groups 50 etc. are converted to amber light from green light after a certain time from the state for the signal lamp that roadside obtains opposite Information and when being used, vehicle 2 can also slow down even if in green light.In addition, describing condition sheet here for simple Body, but actually can for example define the special conditional function of regulation and save the reference to the function.
Sense of discomfort level 405 is, for example, by driver, occupant for controlling type with drive behavior type 401, traveling 402, the value of the number of levels value for the sense of discomfort that control event as defined in reason 403 is experienced.The setting of sense of discomfort level can It is fixedly set with for statistical analysis in advance, can also make to drive by the HMI device via control device for vehicle 10 etc. The control of sense of discomfort is fed back and is learnt simultaneously dynamic and is changed for experiencing by the person of sailing, occupant.In present embodiment, sense of discomfort water It is flat to be classified as 4 grades (0~3), but as long as the level that can express sense of discomfort is just not particularly limited.
For an example of the data structure of the control event notification mode data collection 222 of on-vehicle display 20, Fig. 4 is used It is illustrated.
Control event notification mode data collection 222 is to indicate how defeated by picture input and output portion 240 and sound decision is Enter the data for the mode for controlling event information that output section 250 provides driver, occupant's notice from control device for vehicle 10 Aggregate.
Drive behavior type 411, traveling control type 412, reason 413 correspond respectively to control sense of discomfort mode data collection The 401~403 of 124.
Whether sound notification setting 414 is should with sound notification when having received control event information corresponding with the entry The setting of content.In present embodiment, such as save some value in " notice " " not notifying " " not specified "." notice " " no Notice " indicates that user clearly sets, and " notice " indicates to carry out sound notification, and " not notifying " indicates without sound notification.Separately Outside, " not specified " expression user and not yet explicitly setting.
Number 415 is notified to indicate to implement sound notification of the how many times about the entry.The notice number is used for sound notification The case where specifying 414 to be " not specified ", is not used in user and clearly sets the case where whether needing sound notification.
Then, illustrate the movement of drive-control system 1.Control device for vehicle 10 in drive-control system 1 executes base Make in the traveling control processing that the surrounding condition of vehicle 2 determines traveling control content and exports target control value to actuator group 70 Mainly to handle.
The process 450 of traveling control processing executed in the drive-control system 1 of present embodiment is indicated in Fig. 5.
The traveling of control device for vehicle 10 controls determination section 106 (step (S) 451) first after waiting the stipulated time, This vehicle information (step 452) is obtained from this vehicle message data set 122.The waiting stipulated time herein refers to waiting until row Sail the time that triggering is calculated of control content.The triggering for calculating traveling control content can be as implementing that at regular intervals The clocked flip of sample also can detecte the necessity for calculating traveling control content again and trigger on demand.It takes in step 452 This vehicle information obtained, location information, running condition information, run routing information for example including vehicle 2 etc..The position of vehicle 2 Information can be the information of the latitude, longitude that obtain from this truck position positioning apparatus 40, be also possible to road present in vehicle 2 Location information on the road-maps such as chain.The running condition information of vehicle 2 be, for example, direction of travel on traveling orientation or road, Speed, acceleration, braking state accelerate the information from acquirements such as vehicle sensors groups 60 such as aperture, gear box position.Vehicle 2 Run routing information be, for example, to go after the vehicle 2 determined with the driving path determination section 201 of on-vehicle display 20 Sail or recommend the relevant information in path on the road-map travelled.These this vehicle information are by control device for vehicle 10 Relevant information acquisition unit 101 is obtained via vehicle network etc. from external device (ED) appropriate etc., is stored in this vehicle message data set 122 In.For example, being the run routing information transmission unit 203 of on-vehicle display 20 with being illustrated for run routing information Run routing information, the relevant information acquisition unit 101 of control device for vehicle 10 are exported on In-vehicle networking via communication unit 230 The information is received, such process in this vehicle message data set 122 is stored in.
Then, in step 453, the traveling of control device for vehicle 10, which controls determination section 106 and identifies from external environment, to be believed It ceases data set 123 and obtains external environment identification information relevant to aftermentioned processing.In external Context awareness message data set 123 In, save by relevant information acquisition unit 101 suitably obtained from external environment sensor group 50, wireless communication part 30 etc. about vehicle The information of outer object information, it may for example comprise the testing result of the barrier on the periphery of vehicle 2 and characteristic body, via channel radio The information (other information of vehicles, signal information, traffic condition etc.) of the external environment about vehicle 2 etc. that letter portion 30 obtains.
When step 453 is completed, it is transferred to based on the information obtained in step 452 and step 453, determines that should be taken drives Sail the drive behavior content decision processing (S454) of action content.Drive behavior content decision handles the row for corresponding to deciding Fig. 2 Sail the processing of the state transfer between the mode in the state transition diagram of control.Therefore, drive behavior content determines the logic of processing According to correspondingly different in which drive behavior mode.
The specific example that processing is determined as drive behavior content, indicates the driving row under usual driving mode in Fig. 6 Dynamic content determines process flow 550.
The drive behavior determination section 104 of control device for vehicle 10 first confirms that whether user specifies mode (step 551).Drive-control system 1 is configured to driver, occupant is able to use the HMI device nominated bank of on-vehicle display 20 etc. The drive behavior that control system 1 should be taken is sailed, is Yes (YES) in step 551 when user specifies drive behavior.In this way, preceding Step 561 is proceeded to, drive behavior determination section 104 drives the mode that current drive behavior mode altering is that user specifies simultaneously It sails action reason determining section 105 and drive behavior decision reason is set as " user is specified ".Then, step 571, reason are advanced to Object information extraction portion 108 extracts object information relevant to the drive behavior of above-mentioned setting decision reason, ends processing. Herein, object, which corresponds in the external environment identification information obtained in the step 453 for travelling control process flow 450, includes Object.At this point, drive behavior determines the reason is that " user specified ", because especially there is no corresponding object, in object It is set as empty set in object information.
As user to the specified example of drive behavior, it may be considered that automatic stopping.Driver makes 2 automatic stopping of vehicle When, self-stopping instruction is issued to drive-control system 1 via the HMI of on-vehicle display 20 etc..Vehicle-mounted control dress It sets 10 and receives the instruction information via communication unit 130, mode designation information is set as " car-parking model ", is stored in storage unit In 120.In step 551, by referring to the mode designation information, drive behavior determination section 104 is recognized that user specifies and is stopped Vehicle mode, advances to step 561, carries out processing as described above.
Return step 551, in the case where user's not specified drive behavior (No (no) in step 551), in step 552 Whether confirmation vehicle 2 has been approached predetermined parking site.Predetermined parking site is, for example, to set in driving path in automatic Pilot etc. Fixed final or intermediate destination.At this time, if reach the judgement benchmark that the destination is step 552.Judge in step 552 When having been approached predetermined parking site, current drive behavior mode altering is to stop by drive behavior determination section 104 in step 562 Vehicle mode 305, while drive behavior decision reason is set as " setting path " by drive behavior reason determining section 105.Herein, In the case that " setting path " indicates to have predetermined driving path in automatic Pilot etc., driving row is determined according to the instruction Dynamic content.Whether reach predetermined parking site for example can according to the position of vehicle 2 and predetermined parking site on path away from It, can also be according to the anticipation arrival time to predetermined parking site whether in certain value from whether being judged below certain value Judged below.At the end of step 562, step 571 is advanced to, the extraction of reason object information extraction portion 108 is set with above-mentioned Fixed drive behavior determines the relevant object information of reason, ends processing.In this case, corresponding right because of not existing especially As object, so being set as empty set in object information.
Return step 552, in the case that vehicle 2 is unrelated with predetermined parking site (no in step 552), in step 553 Whether confirmation vehicle 2 arrived predetermined left-hand rotation place.It is same as the predetermined parking site of step 552, judge the traveling in setting Whether close to the place to be turned left of instruction in path, if it is (being in step 553), then by drive behavior mould in step 563 Formula is changed to left-hand rotation mode 303, while drive behavior decision reason is set as " setting path ", advances to step 571.
In the case that vehicle 2 is unrelated with predetermined left-hand rotation place in step 553, step 554 is advanced to, for the predetermined right side Turn place similarly to be handled.In addition, in step 554, in the case that vehicle 2 is unrelated with predetermined right-hand rotation place, advancing to Step 555, predetermined change lane place is similarly handled.
Then, step 556 is advanced to, is confirmed on the same lane in front with the presence or absence of parking vehicle.Such as it can be based on The external environment identification information data set 123 obtained from wireless communication part 30 or external environment sensor group 50, by confirming it Whether its vehicle stops on the traveling lane of vehicle 2 and determines whether that there are parking vehicles.In addition, herein, even if parking vehicle On same lane, but the parking vehicle only a fraction is stretched out, and vehicle 2 without problem passes through on same lane In the case where, it is not considered as that parking vehicle is present on same lane.If there is parking vehicle, then by drive behavior mode altering For change lane mode 304, while drive behavior decision reason is set as " parking vehicle ", advances to step 571.In step In 571, referring to external environment identification information data set 123, the information of the parking vehicle is extracted.
Step 557 is advanced to, confirms same vehicle there is no in the case where parking vehicle on same lane in step 556 It whether there is slow-moving vehicle on road.It can be in the same manner as step 556, by from 123 reference of external environment identification information data set The vehicle of traveling ahead and its data of surrounding enviroment on the same lane of vehicle 2 are confirmed whether exist relative to traveling ring Border (speed limit, the degree of crowding of road, traffic rules etc.) with the vehicle run at a low speed more than necessity (beyond necessary degree) and Judge whether there is slow-moving vehicle.It is then that mode 304 is changed in lane by drive behavior mode altering if there is slow-moving vehicle, Drive behavior decision reason is set as " slow-moving vehicle " simultaneously, advances to step 571.In step 571, referring to external environment Identification information data set 123 extracts the information of the slow-moving vehicle.
In step 557, in the case where slow-moving vehicle is not present on same lane, step 580 is advanced to, is gone driving Dynamic model formula is set as usual driving mode 301.That is, drive behavior mode is not changed in this expression.Then, in the processing of step 580 After the completion, process is ended processing.
As it appears from the above, drive behavior content determines that process flow 550 is patrolling for the state transfer of judgement drive behavior mode Collect tree.Therefore, in the example of fig. 6, an example of the state branching decision of usual driving mode 301 is shown, but is being removed certainly There is also different logic trees in drive behavior mode other than this.In addition, the state branching decision of usually driving mode 301 It is not limited to drive behavior content and determines content shown in process flow 550, logic tree can be arbitrary.Wherein, in this implementation In mode, drive behavior content determines that characteristic part is to be determined as in state branching decision in process flow 550 The things (step 561~567) of its reason, the information (step 571) this point for extracting the object.
The traveling for returning to Fig. 5 controls process flow 450.When the drive behavior content of step 454 determines that processing terminate, then It executes traveling control content decision and handles (step 455).Traveling control content decision processing is determined based on drive behavior content The drive behavior mode determined in (step 454) is handled, the processing of traveling control content is determined, corresponds to deciding the traveling of Fig. 2 The processing of the state transfer of mode internal in the state transition diagram of control.Therefore, traveling control content determines the logic of processing According to correspondingly different in which drive behavior mode.
The specific example that processing is determined as traveling control content, indicates the traveling control in usual driving mode in Fig. 7 Content processed determines an example of process flow 600.
The step of traveling control determination section 106 of control device for vehicle 10 is primarily based on traveling control process flow 450 452 and step 453 in this vehicle information and external environment identification information that obtain, calculate target track (step 601).Target track Calculating, such as implement in the way of being recorded in patent document 1.Then, it is based on calculated target track in step 601, Target steering angle and target vehicle speed are calculated (respectively in step 602 and step 603).In well known travel controlling system, calculate Control target value in these actuator groups 70 and terminate to travel control processing, but present embodiment is characterized in that including judging The logic of the state change of traveling control later.
In step 604 and step 605, in judgment step 603 calculated target vehicle speed compared to current vehicle speed whether More than small α (variable) or big α or more.(it is in step 604 in the case where target vehicle speed α or more small compared to current vehicle speed It is), it indicates that vehicle 2 slows down, next traveling state of a control is set as " Reduced Speed Now " (step 606).This is equivalent to Fig. 2's The Reduced Speed Now state 311 of usual driving mode 301 in state transition diagram.On the other hand, target vehicle speed is compared to working as front truck In the case where fast big α or more (being yes in step 605), indicates that vehicle 2 accelerates, next traveling state of a control is set as " adding Speed traveling " (step 607).This is equivalent to the state 312 of giving it the gun of the usual driving mode 301 in the state transition diagram of Fig. 2. In the case that target vehicle speed is in the range of ± α compared to current vehicle speed (being no in step 605), next traveling is controlled State is set as " stablizing traveling " (step 608).Wherein, variable α can be certain value, can also for example current vehicle speed more it is big then α value obtains bigger wait and correspondingly changes with the value of current vehicle speed, can also be with road attribute and the barrier on periphery, weather, energy Degree of opinion situation etc. correspondingly changes.
When determining next traveling state of a control, traveling control determination section 106 in step 609 with current traveling State of a control is compared, and whether confirmation traveling state of a control changes.In the case where variation, traveling control reason determining section 107 The main reason for the reason of determining traveling state of a control variation determines target vehicle speed, and then referring to external environment identification information number Information (the step 610) of the object as main cause is extracted according to collection 123.Although not recorded in process flow 600, In step 603 target vehicle speed be, for example, in driving path or target track barrier (such as other vehicles, pedestrian, Dropping etc.), road shape (such as bend, intersection, confluence, shunt, having a lot of social connections narrows), traffic rules (such as signal Lamp, speed limit etc.) evaluation speed appropriate, it is integrated and is calculated.At this point, the main reason for determining target vehicle speed, energy Enough extracted and being compared to calculated target vehicle speed and result calculated for each object object obtains.For example, Assuming that there are the signal lamps of other vehicles (front vehicles) and intersection on the driving path of speed limit 50km/h.For other It is the feelings of 30km/h that the calculated best speed of vehicle, which is 50km/h, best speed calculated for the signal lamp of intersection, Under condition, minimum 30km/h becomes target vehicle speed.At this point, the main reason for signal lamp of intersection is decision target vehicle speed, Therefore the reason of " signal lamp " is as traveling state of a control variation is extracted in step 610, extracts the information conduct of the signal lamp Object information.In addition, describing the reason of redefining traveling state of a control variation in step 610 in process flow 600 Process, but can also as described above in target vehicle speed calculation processing (step 603) in advance extract determine target vehicle speed master Reason is wanted, in step 610 referring to it, to improve treatment effeciency.
In present embodiments, acceleration and deceleration are only conceived to for the traveling state of a control of usual driving mode and are defined, Therefore without the variation of record direction of rotation.But the present invention is not limited to the state changes in acceleration and deceleration direction, can also newly define About the traveling state of a control of direction of rotation, the processing stream of the state change including confirming direction of rotation in the same manner as target vehicle speed Journey.
As it appears from the above, traveling control content determines that process flow 600 is to calculate target control value and detection Fig. 2 The processing of the variation for the traveling state of a control that state transition diagram defines.Therefore, in the example of Fig. 7, usual driving mode is shown Traveling control content in 301 determines an example of processing, but internal the driving in addition to this with different traveling state of a controls Sailing action model naturally becomes different traveling control content decision process flows.On the other hand, because calculate target control value, It is constant to detect general frame as the variation of the traveling state of a control under the drive behavior mode, so omitting other driving rows Traveling control content under dynamic model formula determines the record of process flow.
The traveling for returning to Fig. 5 controls process flow 450.At the end of traveling control content decision processing (step 455), traveling It controls information output part 110 and passes through vehicle network etc. to calculated mesh in 70 sending step 455 of actuator group from communication unit 130 Mark controlling value.Later, actuator group 70 is achieved in vehicle 2 according to the movement of received target control value suitable control vehicle 2 Traveling control.
Then, it is transferred to the traveling control information output processing of step 457.Illustrated at traveling control information output with Fig. 8 Manage an example of process 650.
In traveling control information output processing, control device for vehicle 10 exports kept external environment identification information With control event information this 2 kinds of information when control event.The former is in order to which the devices such as on-vehicle display 20 are held at any time The information of automobile exterior state and send every time, unlike this, the latter be for user notify control event information information, only It is sent when control event occurs.
Firstly, the external environment identification information output section 111 of control device for vehicle 10 is in step 681, from external rings External environment identification information relevant to traveling control is extracted in border identification information data set 123.It is relevant to traveling control outer Portion's Context awareness information refers to and for example determines judging in processing and traveling control content decision processing in drive behavior content Used in external environment identification information.Alternatively, being also possible to the object identified in the range of away from 2 certain distance of vehicle letter Breath, is also possible to the object information identified that there is a possibility that intersect with the driving path of vehicle 2.
Then, external environment identification information output section 111 is based on the associated external Context awareness information extracted in step 681 Generate external environment identification information message 671, the message (step 682) generated from communication unit 130 to outputs such as In-vehicle networkings.
Fig. 9 is the format for the external environment identification information message 671 that the control device for vehicle 10 of present embodiment is sent The explanatory diagram of 720 an example.But the diagram for head information about communication protocol being omitted etc..
External environment identification information message 671 includes the physical quantities 721 and object for indicating the quantity for the object to be sent The corresponding ID722 of quantity, type 723, location information 724, attribute information 725 etc..Above-mentioned various information can be as shown control Event message format processed is used as 1 message to send like that, can also be divided into any number of message and send.
ID722 is the identifier for uniquely determining the object identified.
Type 723 is the identifier for determining the type of object, e.g. " vehicle " " pedestrian " " signal lamp " etc..
Location information 724 includes the data for indicating the location information of object.Location information can be the letter of latitude, longitude Breath, be also possible to the relative position of vehicle 2 (such as relative distance and relative direction to object), with being also possible to road On figure position (such as chain or node ID and relative position relative to the reference point).In addition, in location information 763, It also may include the information such as speed and moving direction.
Attribute information 725 is the data set for indicating the distinctive state of each object.For example, object is the feelings of " signal lamp " Under condition, including the current state of the signal lamp (red light, green light etc.) and switching moment (becoming green light etc. after 5 seconds) hereafter etc..
The external environment identification information message 671 that control device for vehicle 10 exports in step 682, such as by vehicle-mounted Transmission of network is to on-vehicle display 20.The external environment identification information acquisition unit 206 of on-vehicle display 20, which receives, to be passed The external environment identification information message 671 sent, analyzes message according to external environment identification information message format 720, Obtain various information (steps 691).Then, external environment identification information acquisition unit 206 is known based on the associated external environment of acquirement Other information updates 223 (step 692) of external environment identification information data set.
By handling above, the output of first time external environment identification information, which is handled, to be completed.Then, it is transferred to control event The output of information is handled.
The traveling control information output part 110 of control device for vehicle 10 is confirmed first in step 651 at traveling control Manage process 450 drive behavior content decision processing (step 454) and traveling control content decision processing (step 455) in whether Control event has occurred.Control event includes the variation of drive behavior mode or the variation for travelling state of a control.It does not control In the case where event processed (being no in step 651), terminate without any processing.(step in the case where control event has occurred It is yes in rapid 651), advance to sense of discomfort determination processing (step 653).
Illustrate an example of sense of discomfort determination processing process 700 with Figure 10.The control sense of discomfort of control device for vehicle 10 is sentenced Determine the control event information (step 701) that portion 109 obtains generation first.Controlling event information specifically includes drive behavior mould Formula travels the state transferring content of state of a control, the reason of control event extracted when the control event occurs etc..
Then, referring to the drive behavior type 401 of control sense of discomfort mode data collection 124, traveling control type 402, original Because of 403, it is confirmed whether the corresponding entry (step 702) for having about the control event.There are (steps in the case where corresponding entry It is yes in 702), the horizontal (step 703) of the sense of discomfort that the value of corresponding sense of discomfort level 405 is set as the control event.Separately It on the one hand, is 0 (no sense of discomfort) by sense of discomfort level set in the case where corresponding entry being not present.By handling knot above Beam sense of discomfort determination processing.
The traveling control information for returning to Fig. 8 exports process flow 650.Then, traveling control information output part 110 confirms not The sense of discomfort level determined in suitable sense determination processing (step 652) whether more than defined threshold value (step 653).Sense of discomfort water Flat (no in step 653) in the case where being lower than defined threshold value terminates without any processing.Sense of discomfort level is defined It (is) control event message 670 to be generated based on the control event information, from communication unit in step 653 in the case where more than threshold value Message (the step 654) that the outputs such as 130 pairs of In-vehicle networkings generate.
By being judged whether to need to export control event information according to sense of discomfort level, it is able to suppress and sends unwanted letter The case where breath, occurs.In present embodiment, as described later, the control event information based on output, via on-vehicle display The content and its reason of 20 prompt control events, if prompted including unwanted information, driver, occupant can feel To be sick of.Then, a possibility that causing sense of discomfort higher control event is exported and being limited, driving can be reduced Member, bored sense of the occupant to the information alert in on-vehicle display 20.In addition, horizontal as the sense of discomfort in step 653 Threshold value, such as can as " sense of discomfort level be 2 or more " etc. so the fixed threshold value of setting, can also be according to situation dynamic change More threshold value.Alternatively, being also configured to that threshold value can be changed, it whether defeated adjust driver etc. can by HMI device Out.
Figure 11 is the one of the format 750 for the control event message 670 that the control device for vehicle 10 of present embodiment is sent The explanatory diagram of example.But the diagram for head information about communication protocol being omitted etc..
Controlling event message 670 includes control event 751, drive behavior type 752, traveling control type 753, control Business reasons 754 processed, control event object object ID755, sense of discomfort level 756 etc..Above-mentioned various information can be as shown control Event message format processed is used as 1 message to send like that, can also be divided into any number of message and send.
Control event 751 is control event caused by drive behavior patterns of change or traveling control for identification Control event caused by state change, such as it is expressed as " drive behavior variation " " traveling control variation " respectively.
Drive behavior type 752 is the type of the drive behavior mode after control event occurs.Controlling event 751 is In the case where " drive behavior variation ", drive behavior type 752 indicates to cause the drive behavior mode of the control event.Another party Face indicates merely current drive behavior mode in the case that control event 751 is " traveling control variation ".
Traveling control type 753 is the type of the traveling state of a control after control event occurs.Controlling event 751 is In the case where " traveling control variation ", traveling control type 753 indicates to cause the traveling state of a control of the control event.Another party Face indicates merely current traveling state of a control in the case that control event 751 is " drive behavior variation ".
Controlling business reasons 754 includes information the reason of causing the control event.Control including being equivalent to Fig. 3 is uncomfortable Feel the value of the reason 403 in mode data collection 124.
The identifier of the corresponding object of the reason of control business reasons object ID755 is and causes control event.Control Business reasons object ID755 processed corresponds to the ID722 for including in external environment identification information message 671, can be according to this Details (type, location information, attribute information etc.) of the ID755 referring to the object.In the example of Figure 11, only to include original It because the form of the ID of object is recorded, but also may include details relevant to the reason object.In addition, control Business reasons object ID755 processed also may include the ID of multiple objects.At this point, for example, by using control business reasons are stored in The information (not showing) of the quantity for the object ID for including before object ID755, continuously configures corresponding object ID's Form.
Sense of discomfort level 756 indicates the sense of discomfort water to the control event determined in sense of discomfort determination processing process 700 It is flat.
The traveling control information for returning to Fig. 8 exports process flow 650.The traveling control information of control device for vehicle 10 is defeated When the processing of step 654 is completed, the processing with 20 side of on-vehicle display independently terminates traveling control information in portion 110 out Output processing returns to the traveling control process flow 450 of Fig. 5.
In the traveling control process flow 450 of Fig. 5, when traveling control information output processing (step 457) is completed, return again It returns step 451 and same processing is repeated.By identifying this vehicle and outside to be repeated compared with short cycle (such as 50ms) The situation (step 452,453) of environment, based on the recognition result determine drive behavior and traveling control content (step 456), Traveling control content based on decision exports target control value to actuator group 70, leads to as needed to on-vehicle display 20 A series of processing as control information are sailed in knowing and doing, be can be realized drive-control system 1 and are controlled the traveling of vehicle 2.
The traveling control information for returning to Fig. 8 exports process flow 650.Control device for vehicle 10 exports in step 654 Control event message 670, such as on-vehicle display 20 is sent to by In-vehicle networking.The row of on-vehicle display 20 It sails control information acquiring section 204 and receives the control event message 670 that transmission comes, according to control event message format 750 to message It is analyzed, obtains various information (steps 661).Then, the HMI output control unit 205 of on-vehicle display 20 carries out HMI Content decision processing is exported, determines the content (step exported to picture input and output portion 240 and sound input and output section 250 662)。
Illustrate that HMI output content determines an example of the process flow 800 of processing with Figure 12.Firstly, on-vehicle display 20 HMI output control unit 205 confirms whether the sense of discomfort level of received control event is judging whether that sound should be carried out More than the threshold value of output (step 801).In the case where insufficient threshold value (being no in step 801), step 805 is advanced to, then really Sense of discomfort level is recognized whether more than the threshold value for judging whether that picture output should be carried out.Then, insufficient picture exports threshold value In the case of (being no in step 805), advance to step 809, output form be set as "None", is ended processing.For picture it is defeated Out it is more than threshold value in the case where, advance to step 808, output form be set as to " only showing ", is ended processing.
Return step 801 advances to step 802, referring to control in the case that sense of discomfort level is more than sound output threshold value Event notification mode data collection 222 processed confirms whether the sound notification setting 404 about the control event is " not notifying ".For In the case where " not notifying " (being yes in step 802), indicate that user is set as without sound notification, therefore output form is set It is set to " only showing " (step 808), ends processing.In the case where other than " not notifying " (being no in step 802), similarly really Recognize whether sound notification setting 404 is " notice ", output form is then set as " sound+aobvious if it is (being yes in step 803) Show " (step 804), it ends processing.If not (being no in step 803), then referring to control event notification mode data collection 222, confirm whether the notice number 405 about the control event has been more than defined threshold value N (step 806), if it exceeds then Output form is set as " only showing " (step 808), is ended processing.On the other hand, if notice number 405 is less than threshold Output form is set as " sound+display " (step 804), at end then to the notice number 405 plus 1 (step 807) by value Reason.
In present embodiment, the sound output for controlling event information and picture output are judged according to sense of discomfort level, it is special It is not that (highest level is 3 in this example) exports without sound when sense of discomfort level is not high.This is because carrying out sound output When, it is explicitly to notify user, so depending on necessity for a user, the original for causing to be sick of more by force sense can be become Cause.Therefore, lower control event information horizontal for sense of discomfort, does not use sound, but only shows on picture, or not Any output is carried out, is thus mitigated to bored sense caused by user security risk.Alternatively, it is also possible to be configured to fill by vehicle-mounted display Set the sense of discomfort level 405 of the 20 change control sense of discomfort mode data collection 124 of picture input and output portion 240.If using this The structure of sample then can be realized the mode drop for will not substantially not feel good according to the habit of occupant and the difference of feeling Self-defining operation as low corresponding sense of discomfort level 405.
In addition, in step 806 according to the notice number of the control event to determine whether sound is needed to export, this be for Reduce the bored sense that user feels due to same notice is repeated.User repeatedly receives gradually learn when similarly notifying It practises, but still every time if progress sound notification, user can be fed up with.Then, if it exceeds defined number may refrain from Thus sound notification reduces the bored sense of user.In addition, describing and being pressed down using notice this index of number in present embodiment Make the mode of excessive sound notification, but it is also contemplated that time shaft and use this index of frequency of notification (for example, if notice Frequency is more than defined threshold value then without sound notification etc.).In addition, such as the sound for controlling event notification mode data collection 222 Shown in " notice " " not the notifying " of notice setting 404, the on-vehicle display 20 in present embodiment also has via picture The function that input and output portion 240 and sound input and output section 250 are set for user.On-vehicle display 20 can be used Setting screen is clearly set for user, can also be more than specified value in the notice number of the control event in step 807 Stage, via picture input and output portion 240 or sound input and output section 250 to user be confirmed whether to need sound export and into Row is specified.Sound notification itself can be prevented alternatively, it is also possible to be configured to user.
The traveling control information for returning to Fig. 8 exports process flow 650.The HMI output content of step 662 determines that processing is completed When, HMI output control is executed according to the output form that it is determined and handles (step 663).For example, having selected " sound in step 662 In the case where the output form of sound+display ", with 240 display control event information of picture input and output portion, and voice input is used Output section 250 carries out sound notification.Selected " only show " as output form in the case where, with picture input and output portion 240 Display control event information does not implement sound output.In the case that output form is "None", without any place in present treatment It manages and terminates.About the reminding method of specific control event information, it is described further below with concrete example.HMI output has been handled Cheng Shi, the traveling control information output process flow in on-vehicle display 20 terminate.
The movement of drive-control system 1 in concrete scene is illustrated.Figure 13 indicates vehicle 901 in the (limit of road 931 Fast 40km/h) on to 930 straight line of signal lamp intersection advance scene (signal lamp intersection scene 900).With The front of the vehicle 901 of 40km/h traveling, other vehicles 902 are travelled with 40km/h.It is opposite with the driving path of vehicle 901 The color of signal lamp 912 of intersection 930 be " green ", be can by situation.On the other hand, signal lamp 912 is in 5 Become the situation (913) of red light after second.Assuming that vehicle 901 and intersection 930 are at a distance, become in signal lamp 912 Cannot be by intersection 930, in contrast before red light, vehicle 902 is close enough with intersection 930 and can pass through.? Near signal lamp intersection 930, it is provided with the wayside unit 911 of road inter-vehicle communication, the defined network of wayside unit 911 It is connect with signal lamp 912.Wayside unit 911 is relevant from the signal switching of the acquirement of signal lamp 912 to the state of color and hereafter Signal information sends above-mentioned signal information with road inter-vehicle communication is equal to vehicle 901 according to the message format of regulation.
In such scene in the case where being driven by people vehicle 901, it is contemplated that do not slow down when signal lamp is green light, depend on 930 can be also post moved towards the intersection in situation.Then, it when signal lamp 912 becomes amber light, touches on the brake and is a significant slowdown. This is because people cannot learn hereafter how signal lamp 912 can switch, but the color state control based on signal lamp 912 at that time The traveling of vehicle 2.
On the other hand, drive-control system 1 can obtain the handover information of signal lamp 912 from wayside unit 911, learn letter Signal lamp 912 becomes red light after 5 seconds, therefore vehicle 901 is made gradually to slow down from the state of 912 green light of signal lamp, Neng Goufang It is only a significant slowdown and waste of fuel caused by unwanted acceleration.It, can but for the driver of vehicle 901, occupant The information learnt is green light, thus the deceleration of vehicle 901 be it is unnatural, there is a possibility that not feeling good.Then, this embodiment party In formula, the reason of slowing down, is notified to driver, occupant by on-vehicle display 20, is achieved in the mitigation of sense of discomfort.
Illustrate a series of process of processing by the process flow of Fig. 5.In signal lamp intersection scene 900, firstly, In the external environment identification information obtained in step 453, the information including other vehicles 902 and signal lamp 912.Other vehicles The recognition result or wireless communication part 30 that 902 information is the external environments sensor such as stereo camera group 50 are by vehicle workshop Communicate the information or its synthesis result obtained.The information of signal lamp 912 is that wireless communication part 30 uses road inter-vehicle communication from roadside What device 911 obtained.
Then, drive behavior content is determined in step 454.In signal lamp intersection scene 900, it is contemplated that vehicle 900 advance in 930 straight line of intersection, therefore drive behavior mode corresponds to usual driving mode 301, according to the processing of Fig. 6 Process is not suitable for the condition of step 551~557, therefore keeps usual driving mode, does not change (step 580) especially.
Then, it is transferred to traveling control content decision processing (step 455).Because carrying out the row of usual driving mode 301 Control content decision processing is sailed, so by the process flow of Fig. 7.What is considered when calculating target vehicle speed in step 603 is capable Sail speed limit (40km/h), the front vehicles 902, signal lamp 912 of road.It is the upper limit for speed limit when calculating separately best speed 40km/h travels front vehicles 902 respectively with 40km/h, therefore is before and after 40km/h (being changed according to vehicle headway). Unlike this, because signal lamp 912 becomes red light after 5 seconds, gone out according to the relation derivation of the distance to the intersection Intersection 930 cannot be passed through.Therefore, the traveling control determination section 106 of control device for vehicle 10 is implemented in intersection 930 The control of stopping, best speed are the values (such as 20km/h) much smaller than 40km/h.These calculated results synthesis is calculated When target vehicle speed, minimum value is end value, therefore target vehicle speed=20km/h, if the α of step 604 is 5km/h, traveling control State processed becomes " Reduced Speed Now " this result (step 606).In step 609, it is believed that before this not when decelerating, Step 610 is advanced to, as the reason of changes export " signal lamp " of traveling state of a control, as object sending out signals lamp 912 (ID=912).
Fig. 5 is returned, after exporting target control value to actuator group 70 in step 456, is transferred to the traveling control of Fig. 8 Information exports process flow 650.In step 651, because traveling state of a control variation is " Reduced Speed Now " being Yes (YES), Execute sense of discomfort determination processing (step 652).In the sense of discomfort determination processing process 700 of Figure 10, in a step 702 referring to figure It is 3 corresponding to the entry of the 9th row, therefore by sense of discomfort level set if 3 control sense of discomfort mode data collection 124.It connects , it is assumed that when threshold value in step 653=2, horizontal (=the 3) >=threshold value (=2) of sense of discomfort of event is controlled, step is advanced to 654, output control event message 670.
The data for including in the control event message 670 of output are illustrated.To the control setting " row of event 751 Sail control variation ", to the setting of drive behavior type 752 " usually traveling ", " Reduced Speed Now " is set to traveling control type 753, " signal lamp " is set to control business reasons 754, " 3 " are set to sense of discomfort level 756.About control business reasons object letter Breath 755 saves " 912 " in ID761, saves " signal lamp " in type 762, and expression and letter are saved in location information 763 The information (such as node ID etc.) of number 912 relevant intersections 930, and then signal lamp 912 is saved in attribute information 764 Details.The attribute information 764 of signal lamp 912 (is vehicle signal in this scene for example including the type of signal lamp 912 Lamp), the information such as state (being green light in this scene) and switching moment (being amber light, red light etc. after 5 seconds after 3 seconds in this scene).
Fig. 8 is returned to, on-vehicle display 20 obtains the control event of the output of control device for vehicle 10 in step 661 Message 670, the HMI output content for executing Figure 12 determine processing 662.In the process flow 800 of Figure 12, because of the control event Sense of discomfort level be 3, so advancing to step 802 from step 801 first.It is logical referring to the control event of Fig. 4 in step 802 Know mode data collection 222, in the 6th row there are corresponding control event, sound notification setting 404 is " notice ", therefore via step Rapid 803 reach step 804, and output form is determined as " sound+display ".Then, content is determined based on these, export in HMI In control processing 663, to picture input and output portion 240 and the output control event information of sound input and output section 250.
An example that the picture of the on-vehicle display 20 in signal lamp intersection scene 900 is shown is indicated with Figure 14. In present embodiment, in picture input and output portion 240, including drive behavior display section 1001, control event notice are aobvious Show portion 1002, navigation information display unit 1003, running rail information display section 1004 etc..
Drive behavior display section 1001 is the display unit for indicating current drive behavior mode.Because signal lamp intersects The drive behavior mode of crossing scene 900 is usual driving mode, so describing " usual driving mode ".About display side Method, there is no limit as long as being expressed in a manner of it can learn drive behavior content, such as can be driven with schematically showing The icon of action model is expressed.
Control event notice display unit 1002 is the display unit for notifying the content and its reason of control event.E.g. " because The text that < controls form as event content > " is executed for < control business reasons >.Signal lamp intersection scene It is to be controlled by the Reduced Speed Now of reason of signal lamp, therefore describe " because cannot be believed by front in 900 control event Signal lamp and slow down ".In this example, the part for being equivalent to < control business reasons > is not merely " signal lamp ", but is replaced into " no Front signal light can be passed through " as words and phrases.This is to notify user in order to be more readily understood, specifically, can pass through The mode that words and phrases corresponding with control business reasons are kept in on-vehicle display 20 is notifying display unit with control event It is converted when 1002 display to cope with.In addition, the expression about control event notice display unit 1002, as long as being capable of table It is just not particularly limited up to control event content and its reason, the icon table for the content and its reason for indicating control event can be used It reaches.In addition, because the display unit prompts user when control event has occurred, it is possible to pass through certain time after the display Display is eliminated afterwards, can also be continuously display until travelling state of a control variation next time, being in addition also possible to can be by driver It is eliminated by panel operation etc..
Navigation information display unit 1003 is the road-map for showing 901 periphery of this vehicle, indicates position of the vehicle 2 on map The display unit for setting (1011) and driving path (1016) is equivalent to the display picture of general navigation system.In present embodiment, Show the driving path on road-map, while when control event has occurred, the corresponding position on map is highlighted work The object of the reason of for the control event.The control business reasons of signal lamp intersection scene 900 are the intersections in Figure 13 The signal lamp 912 at crossing 930, therefore in corresponding intersection 1014 on the map of navigation information display unit 1003 Position is highlighted the state (green light) (the 1012 of Figure 14) of signal lamp 912.It is highlighted by the corresponding position on map The object of the reason, user can readily recognize the letter in the real world according to the relativeness with this truck position 1011 The position of signal lamp.In addition, the red light for the reason of not showing instead of as Reduced Speed Now, is specially shown as the shape at the moment herein State, that is, green light, to make the readily identified reason object in the real world of user.On the other hand, be the reason of Reduced Speed Now By being switched to red light before intersection 1014 (intersection 930 of Figure 13).In order to make user learn the information, as letter Numbers 1012 attribute information, at the time of the prompt of the form as 1015 is switched to red light.By indicate be switched to red light when It carves, user can learn at once according to the relationship at a distance from intersection 1014 cannot be by the intersection 1014.In this way, The form that can be identified in the visual field with user is highlighted the position of reason object on map, and individual as needed Ground prompt imply that control event the reason of attribute information, thus user can readily recognize object in the real world Object, while the reason of can easily hold control event.
Running rail information display section 1004 is to indicate the external environment identification information near this vehicle and indicate this vehicle The display unit of running rail near.Vehicle 1021 indicates that this vehicle 901, vehicle 1022 indicate to use external environment sensor group Other vehicles 902 that 50 and wireless communication part 30 etc. are identified.The running rail of the expression vehicle 1021 of arrow 1023.Signal lamp is handed over In cross road mouth scene 900,901 straight line of this vehicle is advanced, therefore running rail is the shape along lane.
It is handled by above series of, in signal lamp intersection scene 900, drive-control system 1 is being implemented to slow down User is notified that cannot slow down due to the signal lamp by the intersection in front, so as to reduce use when control The discomfort that family is felt because slowing down control.
Then, the movement of the drive-control system 1 in another concrete scene is illustrated.Figure 15 is indicated in linear rows In access road 1110 (speed limit 60km/h), vehicle 1101 will change vehicle to avoid the slow-moving vehicle 1102 (30km/h) in front The scene (change lane scene 1110) in road.There are other vehicles 1103 and other vehicles 1104 travelling in fast, this When in the situation that cannot be overtaken other vehicles.
Process is in the case where being driven by people vehicle 1101 in such scene: remaining above the slow-moving vehicle in front Consciousness and wait until can change lane to fast, change at the time of other vehicles 1103 etc. are by judging to be able to carry out More lane.
On the other hand, in the case where for automated driving system, it cannot learn drive with which kind of consciousness from people.Cause This, people is perceiving front there are wanting to overtake other vehicles when slow-moving vehicle, unlike this, in automated driving system, in practical execution Before the control of change lane, people cannot learn that system is wanted to overtake other vehicles.That is, it is pre- to learn whether automated driving system is resorted to The drive behavior of phase, therefore a possibility that do not feel good there are driver, occupant.Then, in present embodiment, by vehicle-mounted Display device 20 notifies driver, occupant the consciousness of the change lane of drive-control system 1, realizes the reduction of sense of discomfort.
Illustrate a series of process of processing by the process flow of Fig. 5.In change lane scene 1100, firstly, in step In the external environment identification information obtained in 453, the information including other vehicles 1102~1104.Other vehicles 1102~1104 Information, be that recognition result or the wireless communication part 30 of the external environments sensor such as stereo camera group 50 are logical with vehicle workshop Believe the information or its synthesis result obtained.
Then, drive behavior content is determined in step 454.Assuming that drive behavior mode at this time is on same lane The usual driving mode of traveling.According to the process flow of Fig. 6, it is suitble to the condition of step 557, therefore advances to step 567, will drives It sails action model and is changed to " change lane ", drive behavior decision reason is set as " front slow-moving vehicle ".In addition, in the case where connecing In the step 571 come, the information of other vehicles 1102 is extracted as object information.
Then, it is transferred to traveling control content decision processing (step 455).Because in step 454 by drive behavior mould Formula is determined as " change lane ", so being the traveling control content decision processing of change lane mode.As change lane mode 304 traveling controls type, defines maintain lanes control 340 and change lane traveling control 341 as shown in Figure 2.It is right It is not recorded in detail in process flow, process flow, which is deferred to, keeps current lane traveling to enter change target lane until confirmation The maintenance lanes control 340 of safety, makes traveling state of a control be transferred to change lane at the time of confirmed safety Traveling control, is transferred to the control of actual change lane.In change lane scene 1100, because there are other vehicles 1103, It is dangerous into fast, therefore calculation basis maintains the target track of lanes control 340, calculates steering angle and speed Control target value.In addition, the variation of the traveling state of a control in change lane mode, depending on to change target could be entered The judgement in lane, driver, occupant can also define as long as it can learn the consciousness of change lane of drive-control system 1. Therefore not will cause sense of discomfort, thus can also not know as usual driving mode travel state of a control reason of changes and its Object.This is also same for right-hand rotation mode 302, left-hand rotation mode 303, car-parking model 305 etc..
Fig. 5 is returned, after exporting target control value to actuator group 70 in step 456, is transferred to the traveling control of Fig. 8 Information exports process flow 650.In step 651, because drive behavior mode becomes " change lane mould from " usual driving mode " Formula " is so be Yes (YES), execution sense of discomfort determination processing (step 652).In the sense of discomfort determination processing process 700 of Figure 10, It is in a step 702 referring to the control sense of discomfort mode data collection 124 of Fig. 3, then corresponding with the entry of the 6th row, therefore by sense of discomfort Level set is 3.Then, it is assumed that when threshold value in step 653=2, control event horizontal (=the 3) >=threshold value of sense of discomfort (= 2) step 654, output control event message 670, are advanced to.
The data for including in the control event message 670 of output are illustrated.The control setting of event 751 " is driven Sail action variation ", " change lane " is set to drive behavior type 752, " lane row is maintained to the traveling control setting of type 753 Sail ", " slow-moving vehicle " is set to control business reasons 754, " 3 " are set to sense of discomfort level 756.About control business reasons pair As object information 755, " 1102 " are saved in ID761, " other vehicles " is saved in type 762, is saved in location information 763 The location information (such as latitude, longitude etc.) of other vehicles 1102, and then other vehicles 1102 are saved in attribute information 764 Details.The information such as travel speed of the attribute information 764 of other vehicles 1102 for example including other vehicles 1102.
Fig. 8 is returned to, on-vehicle display 20 obtains the control event of the output of control device for vehicle 10 in step 661 Message 670, the HMI output content for executing Figure 12 determine processing 662.It is same as signal lamp intersection scene 900, because uncomfortable Sense level is 3, so output form is determined as " sound+display ".Then, content is determined based on these, export and control in HMI In processing 663, to picture input and output portion 240 and the output control event information of sound input and output section 250.
An example that the picture of the on-vehicle display 20 in change lane scene 1100 is shown is indicated with Figure 16.
It is same when the structure of picture input and output portion 240 is with signal lamp intersection scene 900, including drive behavior mode Display unit 1151, control event notify display unit 1152, navigation information display unit 1153, running rail information display section 1154 Deng.
Drive behavior mode in the control event of change lane scene 1100 is change lane mode, therefore is gone driving " change lane mode " is described in dynamic display section 1151.In addition, < control business reasons > is " slow-moving vehicle ", < control Event content > processed is change lane, therefore is expressed as in control event notice display unit 1152 " in order to avoid front low speed Vehicle and consider change lane ".Wherein, it is not " change lane " but " considering change lane ", is because of traveling state of a control It is " maintaining lanes ", so the control of change lane has not yet been reached.Because the control event is the change of drive behavior content Caused by change, so purpose does not notify traveling control content, notice drive-control system 1 wants which kind of driving carried out Consciousness.If the traveling state of a control of change lane mode is transferred to " change lane traveling ", event notice display unit is controlled 1152 for example by " in order to avoid front slow-moving vehicle and change lane " in a manner of, with notice travel control content based on carry out Expression.In addition, the control event such as Figure 16 notifies shown in the display example of display unit 1152, the mode of drive behavior has changed But in the case where specifically executing which kind of traveling control (in operation) still under consideration, can use flashes the display of the display unit Etc. various display modes.
In traveling orbit information display unit 1154, with signal lamp intersection scene 900 the case where is same, indicates this vehicle External environment identification information near and the running rail near this vehicle.Vehicle 1171 indicates this vehicle 1101, vehicle 1172~1174 respectively indicate other vehicles 1102 for being identified with external environment sensor group 50 and wireless communication part 30 etc.~ 1104。
Firstly, characteristic be, the low speed for the reason of using dotted line 1182 to surround and being highlighted with as the control event The corresponding vehicle 1172 of vehicle 1102.In signal lamp intersection scene 900, control is highlighted in navigation information display unit side Business reasons processed, but need to allow users to readily recognize slow-moving vehicle 1102 in real world with lane-level Rank display position relationship, therefore more preferably traveling 1154 side of orbit information display unit be emphasized display.In addition, can also To be in the form of both navigation information display unit 1153 and running rail information display section 1154 are emphasized display.Separately Outside, method is highlighted shown in Figure 16 is an example, can be arbitrary the method for being highlighted, such as can change corresponding vehicle Color, its flashing can also be made, display can also be amplified.
Another characteristic point is to indicate the running rail 1180 of vehicle 1171, and the change considered is shown with dotted line The running rail 1181 in more lane.This is with following meanings: visually drive-control system 1 being notified to have the meaning of change lane Know, and indicates the change lane target planned under the situation that change lane is capable of in two sides.Show it is because should using dotted line Moment is still in the stage for considering change lane, and not up to actual traveling control.If the traveling control of change lane mode State processed is transferred to " change lane traveling ", then eliminates (removal) current running rail 1180, and solid line shows change lane Running rail 1181.
It is handled by above series of, in change lane scene 1100, drive-control system 1 is being transferred to actual change Before more lane control, reason (slow-moving vehicle) and the consciousness also are notified to user in the consciousness with change lane, by This can make to expect that the user for avoiding slow-moving vehicle feels to feel at ease.
As described above, according to the present embodiment, the control device for vehicle 10 of vehicle 2 is true in drive behavior content change Fixed its determines reason and its object and exports these information to outside.Then, on-vehicle display 20 is based on these outputs Information prompts user the drive behavior content and its reason of drive-control system 1.User can hold traveling control as a result, System 1 because which kind of reason to carry out or carry out which kind of driving, can reduce user because cannot predict automatic Pilot into The movement of capable vehicle 2 and feel uneasy.
In addition, according to the present embodiment, the control device for vehicle 10 of vehicle 2 determines it when traveling controls content change It determines reason and its object and these information is exported to outside.Then, on-vehicle display 20 is based on these output informations, The traveling control content and its reason of drive-control system 1 are prompted user.User can hold drive-control system 1 as a result, Because which kind of control will be implemented or implemented to which kind of reason, reason of the user because cannot instantaneously learn traveling control can be reduced By and the sense of discomfort felt.
In addition, according to the present embodiment, the control device for vehicle 10 of vehicle 2 controls drive behavior content and traveling Whether the variation of content and its combination of reason, evaluation user can not feel good, correspondingly judge whether with its degree to outside Output.The information that thereby, it is possible to exclude not notify value reduces user and is fed up with because of excessive notice.Equally, vehicle Correspondingly, judgement is only shown with picture to be notified the degree of 2 on-vehicle display 20 and sense of discomfort, or with sound one It is same to be notified.This indicates correspondingly adjust the level for reminding user with the different degree of information, has and reduces user because excessively The effect for notifying and being fed up with.
In the first embodiment, in order to determine the water of sense of discomfort that the variation to drive behavior and traveling control is felt Flat, control device for vehicle 10 preserves the combination die of the control event and its reason that indicate there is a possibility that causing sense of discomfort The control sense of discomfort mode data collection 124 of formula.In this second embodiment, illustrate to be determined to control sense of discomfort with different modes An example.
Sense of discomfort determination processing process 1200 is indicated in Figure 17.This is equivalent to the step of Fig. 8 in second embodiment 652 sense of discomfort determination processing.
Control device for vehicle 10 obtain control event information after (step 1201), confirm the control event whether by Drive behavior variation causes (step 1202).It is in situation caused by drive behavior changes, (most for 3 by sense of discomfort level set Big value) (step 1206), it ends processing.This expression is about the control event setup that drive behavior changes must be to external defeated Out.
It on the other hand, is not (step in situation caused by being changed by traveling control caused by being changed as drive behavior It is no in 1202), firstly, determining the information source of reason object according to the control event information obtained in step 1201 (step 1203).Herein, information source refers to which kind of means identifying reason object with.For example, corresponding to external environment Video camera, radar, wireless communication of wireless communication part 30 for including in sensor group 50 etc..Additionally, there are multiple reason objects In the case where the information source of object itself, exclude that the information source for determining the information used when control event cannot be obtained.For example, In the signal lamp intersection scene 900 of first embodiment, the state of signal lamp also can be with taking the photograph other than wireless communication Camera identification, but for determining that the information of control event is the information of the switching moment of signal lamp, it cannot be identified with video camera.This When, only wireless communication corresponds to information source.
People is perceived by practical with eye viewing automobile exterior state, and the drive behavior of vehicle is judged based on the perception.With This is different, and drive-control system 1 can also the imperceptible information of acquisitor.It determines to drive row based on the information that people can perceive When dynamic content and traveling control content, the discomfort that people feels the content is less.On the other hand, it is based on the imperceptible information of people Drive behavior content and traveling control content a possibility that causing sense of discomfort it is higher.Then, according to the information of reason object The type in source and other peculiar conditions, judge whether it is the information that user can perceive, and determine sense of discomfort level.It is specific and Speech instead of the control sense of discomfort mode data collection 124 of first embodiment, controls shown in 8 referring to Fig.1 in step 1204 Sense of discomfort mode data collection 1300 come determine sense of discomfort level.
Control sense of discomfort mode data collection 1300 is that the information source of reason object and the expression of peculiar condition are caused Sense of discomfort degree data aggregate.The means of identification of the expression reason object of information source category 1301.Peculiar item Part 1302 indicates the environmental condition for changing sense of discomfort level 1303 in information source category 1301.1303 table of sense of discomfort level Show the degree for the sense of discomfort that may cause when corresponding information source category 1301 is combined with peculiar condition 1302.Such as, it is seen that Light video camera is roughly the same with perception means of the people to automobile exterior state, therefore is 0 by sense of discomfort level set.For example, millimeter wave Radar has the feature for the barrier for being able to detect a distant place.The eyesight of people cannot perceive a distant place, therefore at a distance from object Correspondingly change setting sense of discomfort is horizontal.In addition, such as infrared camera, which has, is also able to detect the spy of barrier at night Sign.But the eyesight of people is unable to perceptive object object in the dark, therefore sets sense of discomfort water by other than night and night to change It is flat.Or, it is possible to have the mechanism (such as illuminance transducer) of the brightness outside identification vehicle, it is uncomfortable with its horizontal correspondingly change Sense is horizontal.In addition, Figure 18 is an example, relative distance, the brightness outside vehicle, day can be set for arbitrary information source category The low arbitrary condition of height of gas, visibility.Alternatively, it is also possible to the external environment sensor with vehicle setting method correspondingly It is horizontal to distinguish adjustment sense of discomfort.For example, can be using front video camera and rear video camera as different information source categories.
Multiple information source titles can also be used in reason object.At this point, in step 1203, for each information source, Control sense of discomfort mode data collection 1300 is respectively referred to, determines that corresponding sense of discomfort is horizontal.For example, it is assumed that the front of front 100m Vehicle is that reason object respectively may be used in the case where detecting the front vehicles with visible light camera and millimetre-wave radar The sense of discomfort level of light-exposed video camera is determined as 0 (the first row), the sense of discomfort level of millimetre-wave radar is determined as 2 (thirds Row).
Then, in following step 1205, for 1 or more the determining horizontally selected minimum value of sense of discomfort, setting It is horizontal for the sense of discomfort of the control event, terminate present treatment.
As described above, according to the present embodiment, the control device for vehicle 10 of vehicle 2 is according to as traveling control content The object for determining reason is identified with which kind of means, and whether evaluation user can not feel good, and judgement according to its degree is It is no that outside is exported.It is notified thereby, it is possible to be limited in based on the control content that the imperceptible information of people is implemented, it can User is reduced to be fed up with because excessively notifying.
In first embodiment and second embodiment, it illustrates using the variation of drive behavior and driving status as contract Machine notifies the example of the mode of its content and reason.On the other hand, the case where no drive behavior is with the variation controlled is travelled Under, the case where not feeling good there is also user.In present embodiment, illustrate to have with drive behavior and traveling control unchanged unrelated There is the situation for a possibility that causing sense of discomfort to user in ground, detection, to an example of the means of user's notice.
In present embodiment, in traveling control content decision processing, calculate (corresponding when target steering angle and target vehicle speed In the step 602 and step 603) of Fig. 7, the processing whether confirmation user can not feel good is carried out for the calculated result.
It is illustrated by taking target vehicle speed calculation processing as an example.As described in the first embodiment, about target vehicle speed, for row Sail barrier (such as other vehicles, pedestrian, dropping etc.) in path or target track, road shape (such as bend, intersects Crossing, confluence, shunt, having a lot of social connections narrows), traffic rules (such as signal lamp, speed limit etc.) evaluate suitable speed respectively, to it It integrates and is calculated.In present embodiment, calculates first embodiment and use all external environment identification information meters like that The optimal target vehicle speed that calculates and exclude the imperceptible external environment identification information of user and calculated target vehicle speed This 2 kinds of speeds.Then, calculated 2 kinds of target vehicle speeds are compared, there are significant difference in the case where be judged as to Cause a possibility that sense of discomfort higher in family.This is because the calculated result of 2 kinds of target vehicle speeds has differences, it is meant that traveling control (the target of the latter when the control content (corresponding to the former target vehicle speed) of system 1 processed and user perceive automobile exterior state and drive Speed) it has differences.In addition, the imperceptible external environment identification information of user, such as can enumerate and be only capable of with wireless communication The switching moment of obtained signal lamp or the traffic condition (congestion etc. in front of bend) at dead angle etc..It is imperceptible to user outer The identification of portion's Context awareness information, can be by pre-saving the list of corresponding information category (switching moment etc. of signal lamp) And compare and judged, can also as the control sense of discomfort mode data collection 1300 introduced in second embodiment basis Information source category and peculiar condition are judged.
Judge that a possibility that traveling control content causes sense of discomfort to user is higher if as discussed above, even if then travelling State of a control does not change, and also exports as control event information to on-vehicle display 20.On-vehicle display 20 connects When receiving the information, according to mode same as first embodiment, is shown as needed with picture and/or sound output is to user Notice.
It is illustrated below with specific scene.Figure 19 is the color for making signal lamp 912 in signal lamp intersection 900 Switching is changed to red → green scene (signal lamp intersection scene 1400) from green → red.That is, the color of signal lamp 1412 exists It is " red " at this time, is in intransitable situation.On the other hand, signal lamp 1412 is switched to green light after 5 seconds, which passes through Wayside unit 911 notifies this vehicle 901 with road inter-vehicle communication.In addition, signal lamp 1412 is in red light phase, thus with its phase The speed of other vehicles 902 is set as 10km/h with answering, the speed of this vehicle 901 is set as 30km/h.
In the signal lamp intersection scene 1400, what is considered when calculating target vehicle speed is the speed limit of travel (40km/h), front vehicles 902, signal lamp 1412.It is upper limit 40km/h for speed limit when calculating separately best speed.Front Vehicle 902 is travelled with 10km/h, it is assumed that vehicle headway is enough, and 30km/h or so is calculated.Signal lamp 1412 is red at this moment Lamp, but become green light after 5 seconds, therefore derive and can directly pass through if moving towards the intersection 930 with current speed, most Good speed is 30km/h.When calculating target vehicle speed to these calculated results synthesis, minimum value is end value, therefore target Speed=30km/h.This is optimal target vehicle speed.On the other hand, exclude the imperceptible external environment identification information of user into When row considers, the information of the switching moment about signal lamp cannot be used, therefore about signal lamp 1412 only for example with camera shooting The information of the color for the signal lamp that machine etc. identifies.At this point, judgement should be in crossroad because signal lamp 1412 is red light Stop before mouth 930, best speed is the value (such as 15km/h) much smaller than 30km/h.Herein, to the calculating knot of 2 target vehicle speeds When fruit is compared, it is known that larger difference occur.That is, the control content of drive-control system 1 and user perceive automobile exterior state simultaneously A possibility that the case where driving is different, this expression causes sense of discomfort to user are higher.Caused by sense of discomfort degree, such as basis The difference degree of 2 target vehicle speeds and set.It is " 3 " by sense of discomfort level set in this example.
Therefore, control device for vehicle 10 exports the relevant information to on-vehicle display 20.Specifically, for example by According to control event message format 750, setting " traveling control variation " (but because does not have actually in control event 751 Change, so other types can also be defined), " usual driving mode " is set in drive behavior type 752, is controlled in traveling Setting " stablizing traveling " in production of hybrid seeds class 753, sets " signal lamp " in control business reasons 754, sets in sense of discomfort level 756 Fixed " 3 ".About control business reasons object information 755, " 1412 " are saved in ID761, " signal is saved in type 762 Lamp " saves the information (such as node ID etc.) for indicating intersection 930 relevant to signal lamp 1412 in location information 763, And then the details of signal lamp 1412 are saved in attribute information 764.The attribute information 764 of signal lamp 1412, for example including Type (being signal lamp for vehicle in this scene), the state (being red light in this scene), switching moment (this scene of signal lamp 912 In to become green light etc. after 5 seconds) etc. information.
The picture for the on-vehicle display 20 being shown in FIG. 20 in signal lamp intersection scene 1400 show one Example.Picture structure and display content are roughly the same with the picture of signal lamp intersection scene 900 display example diagram 14.Inside have compared with What is changed greatly is control event notice display unit 1502, because < control business reasons > corresponds to " signal lamp ", < controls thing Part content > corresponds to " stablizing traveling ", so being expressed as " because can usually be travelled by front signal light ".
As described above, the control device for vehicle 10 of vehicle 2 is calculating target steering angle and target carriage according to the present embodiment When fast, for the calculated result for using all external environment identification informations to obtain and the information for speculating that user can perceive is used only Obtained calculated result is compared, and thus judges whether user can not feel good for control content.The sense of discomfort determines Determine control content circulation per treatment in implement, therefore have can with control content variation independently, detect to deposit The effect of state of a control a possibility that causing sense of discomfort to user.In addition, because based on actual external environment identification letter Breath is judged, so also coping with influence caused by the environmental change that the visual field is blocked etc. by barrier or weather etc..
In addition, embodiments described above is an example, the invention is not limited thereto.That is, can be realized various applications, respectively Kind embodiment is included within the scope of the invention.
For example, being realized vehicle-mounted in above embodiment by using the operation program of processor and RAM operating provisions It is managed everywhere in control device and on-vehicle display, but also can be as needed with individual hardware realization.In addition, above-mentioned In embodiment, by control device for vehicle, on-vehicle display, wireless communication part, this truck position positioning apparatus, external rings Border sensor group, vehicle sensors group, actuator group are recorded as an other device, but also can be as needed by arbitrary 2 A combination of the above is realized.
Above-mentioned each processing realizes the movement journey of each processing when the operation program by processor operating provisions is realized The information such as sequence, table, file can be stored in nonvolatile semiconductor memory, hard disk drive, SSD (Solid State Drive, solid-state hard drive) etc. the non-provisional number that can read of the computers such as storage devices or IC card, SD card, DVD According in storage medium.
In addition, illustrated in attached drawing illustrate embodiment needed for control line and information wire, not illustrate using this hair All control lines and information wire for including in bright actual product.Actually it is also assumed that nearly all structure all mutually interconnects It connects.
1: drive-control system
10: control device for vehicle
20: on-vehicle display
30: wireless communication part
40: this truck position positioning apparatus
50: external environment sensor group
60: vehicle sensors group
70: actuator group
100: the CPU of control device for vehicle 10
101: relevant information acquisition unit
102: external environment identification information Synthesis Department
103: map location estimating unit
104: drive behavior determination section
105: drive behavior reason determining section
106: traveling control determination section
107: traveling control reason determining section
108: reason object information extraction portion
109: control sense of discomfort determination unit
110: traveling control information output part
111: external environment identification information output section
120: the storage unit of control device for vehicle 10
121: peripheral path map dataset
122: this vehicle message data set
123: external environment identification information data set
124: control sense of discomfort mode data collection
130: the communication unit of control device for vehicle 10
200: the CPU of on-vehicle display 20
201: driving path determination section
202: peripheral map information department
203: run routing information transmission unit
204: traveling control information acquiring section
205: traveling control information output part
206: external environment identification information acquisition unit
220: the storage unit of on-vehicle display 20
221: road-map-data collection
222: control event notification mode data collection
223: external environment identification information data set
230: the communication unit of on-vehicle display 20
240: the picture input and output portion of on-vehicle display 20
250: the sound input and output section of on-vehicle display 20.
1. a kind of carrying in the car, the travel controlling system of traveling for controlling the vehicle, which is characterized in that packet It includes:
External environment identification information acquisition unit, by being received from the external environment sensor for the object for detecting this outside vehicle Information and by using information of the communications reception from roadside outside vehicle, to obtain external environment identification information, wherein described Object includes barrier and other vehicles on traveling road；
Drive behavior determination section is believed based on identifying from the received external environment of the external environment identification information acquisition unit Breath and this information of vehicles, determine the drive behavior content that this vehicle should be taken, wherein described information of vehicles is include The position of vehicle and the information of travel speed；
Drive behavior reason determining section is determined as decision out of the drive behavior determination section the received drive behavior The drive behavior reason of the reasons why appearance；With
Drive behavior information output part, the driving row for exporting the drive behavior content and being determined for the drive behavior content Dynamic reason,
Further include: traveling control content determination section, being determined based on the drive behavior determined in the drive behavior determination section should The traveling of vehicle controls content；
Traveling control reason determining section is determined as the traveling control reason for the reasons why determining the traveling control content；
Traveling control information output part, the traveling control reason for exporting the traveling control content and determining；With
Traveling control sense of discomfort determination unit, for it is described traveling control content and it is described traveling control reason combination or The combination of the drive behavior and the traveling control reason judges that the traveling controls whether that the occupant of the vehicle can be caused Sense of discomfort,
Combination for the traveling control content and the traveling control reason, and as the sense of discomfort caused by occupant The sense of discomfort index of index kept in association, for the sense of discomfort target setting as whether exporting based on this not The output judgment threshold of a reference value of the information of suitable sense, the traveling control sense of discomfort determination unit and are being judged as that the sense of discomfort refers to In the case that mark is more than the threshold value, the traveling control information output part is made to export institute traveling control content and determined State traveling control reason.
2. travel controlling system as described in claim 1, it is characterised in that:
Including drive behavior reason object information extraction portion, from the external rings associated with the drive behavior reason In the identification information of border, the information about reason object for including in the external environment identification information is extracted, wherein the reason Object is the object as the drive behavior reason,
The drive behavior information output part also exports the information about the reason object.
3. travel controlling system as described in claim 1, it is characterised in that:
Reason object information extraction portion is controlled including traveling, from the external rings associated with traveling control reason In the identification information of border, the information about reason object for including in the external environment identification information is extracted, wherein the reason Object is the object as the traveling control reason,
The traveling control information output part also exports information relevant to traveling control reason object.
4. travel controlling system as described in claim 1, it is characterised in that:
Including controlling sense of discomfort pattern information, the row in the presence of a possibility that causing sense of discomfort to the occupant of the vehicle is had recorded The combined information of control content and traveling control reason is sailed,
The traveling control sense of discomfort determination unit judges that the traveling controls whether meeting pair referring to the control sense of discomfort pattern information The occupant of the vehicle causes sense of discomfort.
5. travel controlling system as described in claim 1, it is characterised in that:
Traveling control sense of discomfort determination unit in the case where detecting the traveling control content change, be based on as this The acquirement source category of the traveling control associated external environment identification information of reason of the reason of changes of traveling control content Judgement traveling control sense of discomfort.
6. travel controlling system as described in claim 1, it is characterised in that:
Traveling control sense of discomfort determination unit is not in the case where detecting that the traveling controls content change, based on thinking Judge to travel in the presence of the variation of the external environment identification information chosen a possibility that causing sense of discomfort to occupant Control sense of discomfort.
7. it is a kind of be mounted in it is in the vehicle with travel controlling system according to any one of claims 1 to 6, for this The on-vehicle display of occupant's prompt information of vehicle characterized by comprising
Drive behavior information acquiring section, obtains drive behavior information, and the drive behavior information is to determine the traveling of the vehicle The information of drive behavior controlling content, indicating the vehicle, type and the selection driving including selected drive behavior The information of the reason of action；With
Drive behavior information output part has the display unit for showing the drive behavior information and described in being exported with sound At least one of the audio output unit of content of drive behavior information, prompts the drive behavior together with drive behavior reason The type for the drive behavior for including in information,
Sound and/or picture output are judged whether to according to the sense of discomfort index.
8. on-vehicle display as claimed in claim 7, it is characterised in that:
The drive behavior information includes the drive behavior reason pair about object associated with the drive behavior reason As object information,
The drive behavior information output part exports the information about object associated with the drive behavior reason together.
9. on-vehicle display as claimed in claim 7, it is characterised in that:
The row of information as the traveling control content for indicating to determine based on drive behavior relevant to the drive behavior information Control information is sailed to be associated in together with traveling control reason the reason of controlling information as the traveling,
The drive behavior information output part exports information relevant to traveling control reason together.
10. on-vehicle display as claimed in claim 9, it is characterised in that:
Information about object the reason of becoming traveling control is associated in together with traveling control reason,
The drive behavior information output part exports the information of object relevant to the traveling control reason together.
11. on-vehicle display as claimed in claim 7, it is characterised in that:
The drive behavior information output part is being judged as that the output times of the drive behavior information have been more than the feelings of stated number Under condition, prevent to export the drive behavior information.
12. a kind of carrying in the car, the drive-control system of traveling for controlling the vehicle, which is characterized in that packet It includes:
External environment identification information acquisition unit passes through this vehicle from detection including barrier and other vehicles on traveling road The external environment sensor of the object of outside receives information or by from roadside including row using communications reception outside vehicle Access road could advance, about travel speed limitation information information, to obtain the outside including received information Context awareness information；
Drive behavior reason determining section is determined as decision out of the drive behavior determination section the received drive behavior The drive behavior reason of the reasons why appearance；
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