Source: https://patents.google.com/patent/CN105365823B/en
Timestamp: 2020-04-03 19:28:38
Document Index: 495536199

Matched Legal Cases: ['art；23', 'art 20', 'art 22', 'art 20', 'art 22', 'art 22', 'art 6', 'art 20', 'art 22', 'art 20', 'art 20', 'art 22']

CN105365823B - Controller of vehicle - Google Patents
Controller of vehicle Download PDF
CN105365823B
CN105365823B CN201510477902.9A CN201510477902A CN105365823B CN 105365823 B CN105365823 B CN 105365823B CN 201510477902 A CN201510477902 A CN 201510477902A CN 105365823 B CN105365823 B CN 105365823B
CN201510477902.9A
CN105365823A (en
2014-08-08 Priority to JP2014162277A priority Critical patent/JP6135618B2/en
2014-08-08 Priority to JP2014-162277 priority
2015-08-06 Application filed by 丰田自动车株式会社 filed Critical 丰田自动车株式会社
2016-03-02 Publication of CN105365823A publication Critical patent/CN105365823A/en
2017-11-21 Publication of CN105365823B publication Critical patent/CN105365823B/en
The present invention provides a kind of controller of vehicle that can suppress from the automatic running of vehicle to the inappropriate switching travelled manually.In the controller of vehicle that can switch over the automatic running of vehicle to the manual traveling realized by driver, based on driver status come the manual drive fitness (S16) of the driver during the automatic running of computing vehicle, it is more low by manual drive fitness, notification timing (S18) is set in a manner of notification timing is more early, automatic running is reported to driver in set notification timing and terminates (S20).
Controller of vehicle
The present invention relates to controller of vehicle.
In the past, as the device related to wagon control, for example, as it is known that just like Japanese Unexamined Patent Publication 9-161196 publications As described, the autonomous traveling of vehicle can be carried out, and switched to from autonomous traveling by the manual of driver's realization The device of the control process of traveling.The device enters when the predetermined area that vehicle travels manually relative to that should switch to is close Row promotes action of the driver to manual traveling switching.
Patent document 1：Japanese Unexamined Patent Publication 9-161196 publications
In said apparatus, it is possible to can not suitably promote to cut from independently travelling to the manual traveling realized by driver Change.For example, driver exists during the autonomous traveling of vehicle, according to waking state etc. can be changed into manual traveling at once Situation and situation about travelling manually can not be changed into, for the above situation, promote the notification timing to manual traveling switching to be Identical this point may not be suitable.
Therefore, in the art, it is expected exploitation can suitably be carried out according to the state of driver from vehicle from Controller of vehicle of the dynamic traveling to the notification of manual traveling switching.
That is, the controller of vehicle of an aspect of of the present present invention can be by the automatic running of vehicle to the hand realized by driver Dynamic traveling switches over, and is configured to possess：Driver state detecting portion, the driver status of its driver to the vehicle enter Row detection；Operational part, it is based on the driver status detected by the driver state detecting portion, vehicle described in computing Automatic running during driver manual drive fitness；And notification unit, it reaches set in advance in the vehicle Driver described in the forward direction of automatic running end place carries out automatic running and terminates to report, and the manual drive fitness is lower, Then the notification unit terminates to report in the more early timing progress automatic running.
According to the controller of vehicle, the manual drive fitness of driver is more low then to carry out automatic row in more early timing End notification is sailed, so as to which manual drive fitness is more low, can more increase from the notification that automatic running terminates to vehicle and reach certainly Time untill dynamic traveling end place.Thereby, it is possible to suitably report from the automatic running of vehicle to being realized by driver The switching travelled manually.
In addition, in the controller of vehicle, can also possess：Driver behavior test section, it drives to the driver Mode of operation is sailed to be detected；Driving operation state determination unit, it terminates to report by the notification unit progress automatic running After knowing, based on the driving operation state detected by the driver behavior test section, judge whether the driver is in Manual drive receives state；And vehicle travel control unit, it is being determined as described drive by the driving operation state determination unit The person of sailing is not in the case that manual drive receives state, changes the transport condition of the vehicle.In this case, carrying out certainly Driver is not in the case that manual drive receives state after the notification that dynamic traveling terminates, and changes the transport condition of vehicle, from And it can suppress to switch to the manual traveling realized by driver under inappropriate state.
In addition, in above-mentioned controller of vehicle, it can also be configured to, the vehicle travel control unit is by the driving Mode of operation determination unit is determined as that the driver is not in the case that manual drive receives state, makes the speed of the vehicle Reduce.In this case, driver is not in the situation that manual drive receives state after the notification that progress automatic running terminates Under, make the speed of vehicle reduce, so as to extend the time untill vehicle reaches automatic running end place, thus, it is possible to hold Change places and change to the manual traveling realized by driver.
In addition, in above-mentioned controller of vehicle, it can also be configured to, the vehicle travel control unit is by the driving Mode of operation determination unit is determined as that the driver is not in the case that manual drive receives state, making the vehicle parking. In this case, it is not in the case that manual drive receives state, making in driver after carrying out the notification that terminates of automatic running Vehicle parking, so as to suppress to driver it is improper in the state of manual traveling switching.
In addition, in above-mentioned controller of vehicle, it can also be configured to, driver's described in the operational part computing is clear-headed Degree is used as the manual drive fitness, and the lucidity is lower, then the notification unit is carried out described automatic in more early timing Traveling terminates notification.In this case, terminate in regularly notification automatic running corresponding with the lucidity of driver, so as to Terminate in the timing notification automatic running that the waking state with driver matches.
And then in above-mentioned controller of vehicle, can also be configured to, storage part is also equipped with, the storage part storage is such as Lower data, the data are to fit the manual drive fitness carried out when the automatic running terminates notification with the manual drive Terminate time progress of the notification untill the driver turns into the suitable state of manual drive from the automatic running under response The data of association, the notification unit based on the manual drive fitness calculated by the operational part and are being stored in institute The timing of the data setting of storage part is stated, the automatic running is carried out and terminates to report.In this case, based on by the hand of driver Driving fitness is moved to set certainly as the data storage that the time untill the suitable state of manual drive is associated with driver Dynamic traveling terminates the timing of notification, so as to suitably carry out the automatic running from vehicle according to the characteristic of driver to by driving The notification of the switching for the manual traveling that the person of sailing realizes.
In accordance with the invention it is possible to provide it is a kind of can suitably be carried out according to the state of the driver of vehicle from automatic running to The controller of vehicle of the notification of the switching travelled manually.
Fig. 1 is the block diagram of the composition summary for the controller of vehicle for representing one embodiment of the present invention.
Fig. 2 be the handing-over in Fig. 1 controller of vehicle the time required to computing mapping explanation figure.
Fig. 3 is the explanation figure of the setting of the notification timing in Fig. 1 controller of vehicle.
Fig. 4 is the flow chart of the automatic ride control processing in the controller of vehicle for represent Fig. 1.
The explanation of reference
1 ... controller of vehicle；2 ... wagon control ECU；3 ... navigation system；4 ... object detection portions；5 ... driver's shapes State test section；6 ... driver behavior test sections；7 ... vehicle speed sensor；11 ... engine control sections；12 ... brake control sections；13… Steering control unit；14 ... HMI systems；20 ... vehicle location identification parts；21 ... driver state detecting portions；22 ... drive fitness Operational part；23 ... notification timing setting portions；24 ... notification control units；25 ... driving operation state determination units；26 ... traveling controls Portion.
Hereinafter, embodiments of the present invention are illustrated referring to the drawings.In addition, in the following description, for identical Or suitable key element mark identical reference, and the repetitive description thereof will be omitted.
Fig. 1 is the composition synoptic diagram of the controller of vehicle 1 of one embodiment of the present invention.Fig. 2 is controller of vehicle 1 Object detection action explanation figure.
As shown in figure 1, the controller of vehicle 1 of embodiments of the present invention is mounted in vehicle, make vehicle automatic running, And the device of the switching from the automatic running to the manual traveling realized by driver can be carried out.For example, controller of vehicle 1 By carrying out automatic ride control and automatic driving vehicle, so as to make its automatic running.In addition, the controller of vehicle 1 By stopping automatic ride control, automatic running under automatic Pilot can be carried out to manual under the manual drive of driver The switching of traveling.Here, automatic running refers to the meaning of the vehicle along travel automatic running, and it is included by controller of vehicle 1 traveling controls the traveling under the autonomous traveling realized, automatic Pilot.For example, in the automatic running, do not enter comprising driver Row driver behavior, make vehicle towards the situation of destination automatic running set in advance.Automatic running is not necessarily required to enter automatically Whole controls of driving, as long as driver is just contained in automatic running not as the traveling of the main body of driver behavior.Tool For body, the traveling under cruise control and/or Lane tracking control etc. belongs to automatic running.Traveling refers to driver to drive manually The traveling of the vehicle of the main body of operation is sailed, it secondarily enters comprising the traveling under manual drive, using manual drive to be basic Row drives the traveling of auxiliary control.Controller of vehicle 1 is led to by carrying out automatic ride control to vehicle to make its automatic running Cross stopping or release automatic ride control and cutting to the manual traveling under the manual drive of the driver of vehicle can be carried out Change.
Controller of vehicle 1 possesses wagon control ECU [Electronic Control Unit electronic control units] 2.Car Control ECU2 is the electronic control unit for the control for carrying out vehicle, with comprising CPU [in Central Processing Unit Central Processing Unit], [Random Access Memory are deposited at random by ROM [Read Only Memory read-only storages] and RAM Access to memory] computer formed for main body.
Wagon control ECU2 and navigation system 3, object detection portion 4, driver state detecting portion 5, driver behavior test section 6 And vehicle speed sensor 7 connects.In addition, wagon control ECU2 and engine control section 11, brake control section 12, steering control unit 13 and HMI system 14 connect.
Navigation system 3 is that the guiding for the driver for carrying out vehicle is drawn until reaching by the path of the destination of driver's setting Guiding systems.GPS receiving unit 3a of the navigation system 3 for example with the positional information for determining vehicle and it is stored with cartographic information Map data base 3b.GPS receiving unit 3a for example receives the signal from the gps satellite of more than three, so as to determine the position of vehicle Confidence ceases (such as Latitude-Longitude).The cartographic information of the map data base such as positional information comprising road, the species of road are believed The information etc. of breath, road shape.
The map letter of positional information and map data base of the navigation system 3 based on the GPS receiving unit 3a vehicles being measured to Breath, the travel and traveling lane that identification vehicle is travelled.Navigation system 3 to from the position of vehicle untill destination Path carries out computing, and driver is carried out by the output of the sound of display of the navigation with display and the loudspeaker from vehicle The guiding in the path.Navigation system 3 for example to wagon control ECU2 send the positional information of vehicle, vehicle travel (OK Sail track) information and vehicle path of navigation information.
Object detection portion 4 plays function as the test section that the object to vehicle periphery is detected, such as using sharp The equipment such as optical radar, millimetre-wave radar, ultrasonic radar, camera.In order to carry out the detection of the object of vehicle periphery, can combine Using the said equipment, their part can also be used.As camera, such as stereoscopic camera can be used.In addition, the camera It can be used for the white line recognition of travel.Object detection portion 4 exports detection information to wagon control ECU2.
Driver state detecting portion 5 is the sensor detected for the state of the driver to driving vehicle, such as Use the camera shot to driver.In the case of using camera, driver state detecting portion 5 can detect driving The state of member is as image information.Moreover, the image information can be based on, detect the waking state of driver and drive and concentrate State.Camera can by from just in face of driver shot in a manner of install, multiple cameras can also be used and from different angles Degree is shot to driver.
In addition, as driver state detecting portion 5, such as biology sensor can be used.In this case, driver's shape State test section 5 can detect the state of driver as heart rate information, brain wave information.Based on the heart rate information, Brain wave information, the waking state of driver can be detected.As biology sensor, wearable device can be used, such as make With the type of the ring for the finger for being installed on driver, the type of the wrist strap shape for the arm for being installed on driver, it is installed on driving The type of the headband shape on the head of member, the type of glasses shape on head for being installed on driver etc..Driver state detecting portion 5 will The detection information is exported to wagon control ECU2.
Driver behavior test section 6 is the test section detected to the driving operation state of driver, such as uses steering Sensor, accelerator pedal sensors, brake pedal sensor etc..Steering sensor to the steering operating state of driver or Person's steering operation SBR is detected, and it is for example touched using steering moment sensor, steering angle transducer or steering Sensor.The pressure of contact or gripping that steering touch sensor is disposed on steering wheel, that detection driver is to direction disk The sensor of power.As accelerator pedal sensors, for example, be disposed on vehicle accelerator pedal it is shaft portion, detection plus The sensor of the tread-on quantity (position of accelerator pedal) of fast device pedal.As brake pedal sensor, such as it is disposed on The sensor of part, detection brake pedal the tread-on quantity (position of brake pedal) of brake pedal.In addition, conduct The brake pedal sensor or the operating physical force (pressure of legpower, master cylinder to brake pedal according to brake pedal Power etc.) sensor that is detected.Driver behavior test section 6 exports detection signal to wagon control ECU2.
Vehicle speed sensor 7 is the sensor detected to the travel speed of vehicle, i.e. speed, such as is passed using wheel speed Sensor.
Engine control section 11 is the electronic control unit being controlled to the engine of vehicle.Engine control section 11 Such as the driving force of vehicle is controlled by controlling to the fuel feed of engine and air quantity delivered.In addition, engine control Portion 11 processed plays function as motor control part, the motor control in the case where vehicle is hybrid electric vehicle or electric automobile Portion processed is carried out as power source the control of motor that drives.Engine control section 11 is according to the control from wagon control ECU2 Signal controls vehicle M driving force.
Brake control section 12 is the electronic control unit being controlled to the brakes of vehicle.As brakes, example Brake fluid system can such as be used.Brake control section 12 by adjust to brake fluid system apply hydraulic pressure, come control to The brake force that the wheel of vehicle applies.Brake control section 12 is controlled to wheel according to the control signal from wagon control ECU2 Brake force.In addition, brake control section 12 in the case where vehicle possesses regeneration brake system, can also control Hydraulic braking system System and regeneration brake system both sides.
Steering control unit 13 is the electric boosting steering system [EPS to vehicle：Electric Power Steering] enter The electronic control unit of row control.Steering control unit 13 is by driving in electric boosting steering system to enter the steering moment of vehicle The servo-motor of row control, to control the steering moment of vehicle.Steering control unit 13 is according to the control from wagon control ECU2 Signal controls steering moment.
HMI system 14 is the interface for information to be exported, inputted between driver and controller of vehicle 1.HMI system 14 for example possess the display for output image information, the loudspeaker for exporting acoustic information, are inputted for driver Operation button or touch panel of operation etc..HMI system 14 can also identify the sound input of driver.HMI system 14 to Wagon control ECU2 exports signal corresponding with the operation of driver.HMI system 14 is according to the control from wagon control ECU2 Signal, from display or loudspeaker to driver's output information.
HMI system 14 carries out automatic row as before vehicle reaches automatic running end place set in advance to driver Sail the notification unit for terminating notification and play function.HMI system 14 receives to enter from wagon control ECU2 notification control signal Row notification acts, and the manual drive fitness of driver is lower, then carrying out automatic running in more early timing terminates to report.Separately Outside, HMI system 14 can also the manual drive fitness based on driver and by manual drive fitness with from automatic running Past data that time untill terminating notification and turning into the suitable state of manual drive to driver is associated and determining for setting When, carry out automatic running and terminate to report.This is regularly described in detail afterwards.
Wagon control ECU2 possesses vehicle location identification part 20, driver state detecting portion 21, drives fitness operational part 22nd, timing setting portion 23, notification control unit 24, driving operation state determination unit 25 and travel control unit 26 are reported.
Vehicle location identification part 20 identifies the position of the vehicle on map.For example, based on the vehicle inputted from navigation system 3 Whether position data identifies the vehicle location on map, judge vehicle close to the pre- spacing of end place away from automatic ride control From within.The judgement is the determination processing carried out in the case where vehicle is travelled with automatic ride control, is for judgement The no preparation needed from automatic running to manual traveling switching.Preset distance is used in advance in the distance of wagon control ECU2 settings Value.Traveling control end place is the place for the automatic ride control for terminating vehicle, such as is based upon into every trade The region of control is sailed to set, can also be set by the input of driver.In addition, in traveling control end place and vehicle Destination it is consistent in the case of, can be without from automatic running to the relevant treatment of the notification of manual traveling switching.
Driver state detecting portion 21 detects to the state of the driver of vehicle.For example, driver state detecting portion 21 detection informations based on driver state detecting portion 5, detect the waking state of driver and drive collected state at least One side.Specifically, the detection information of the heart rate information based on driver or brain wave information and to the clear of driver Awake state is detected.The waking state can also detect as the lucidity of driver.In addition, based on to driver's progress The detection information of image information obtained from shooting, detects the posture of driver, situation etc. is watched in direction of visual lines, front attentively, detects The driving collected state of driver drives SBR.The driving collected state and driving SBR can also conducts The driving concentration degree of driver detects.It is the degree that can be concentrated during driver behavior to drive concentration degree, such as is used as and drives The frequency or time scale that the person of sailing is watched attentively in front of traveling are higher, then driving concentration degree is detected as higher.On the other hand, drive The frequency or time scale that member sees toward side are higher, then driving concentration degree is detected as lower.Moved in addition, being operated in driver In situation of dynamic terminal etc., driving concentration degree is detected as low.
It is come computing based on the driver status detected by driver state detecting portion 21 to drive fitness operational part 22 The operational part of the manual drive fitness of driver during the automatic running of vehicle.For example, drive fitness operational part 22 Carry out computing manual drive fitness according to the lucidity or driving concentration degree of driver.Specifically, using by driver status The computing associated with manual drive fitness is mapped to carry out the computing of manual drive fitness.Manual drive fitness It is the adaptedness of the manual drive operation of driver, the state mutually fitted with manual drive, is then worth higher.It is manual for this For driving fitness, the lucidity of driver is higher, then computing is higher that the lucidity of driver is lower, then computing is more It is low.In addition, for manual drive fitness, the driving concentration degree of driver is higher, then computing is higher that driver's drives It is lower to sail concentration degree, then computing is lower.Alternatively, it is also possible to which the lucidity of driver or driving concentration degree directly are used as into hand It is dynamic to drive fitness.
Notification timing setting portion 23 is set in the automatic row of forward direction driver progress that vehicle reaches automatic running end place Sail the timing for terminating notification.That is, report timing setting portion 23 and be set in the forward direction that vehicle switches to manual traveling from automatic running Driver reports the timing that automatic running terminates.It is to be used to pass on automatic running control in advance to driver that automatic running, which terminates notification, The notification terminated is made, for example, due to from the travel of automatic ride control can be carried out to being not available for automatic ride control The notification that travel enters and passes on automatic ride control to terminate in advance to driver belongs to automatic running and terminates to report.According to The timing that manual drive fitness is reported to be set for automatic running to terminate.For example, setting notification timing so that manual drive Fitness is lower, then is reported in more early timing.Thus, in the relatively low situation of lucidity, manual drive preparation can not be carried out Situation is inferior, can lengthen the handover time to manual drive, can successfully carry out cutting from automatic running to what is travelled manually Change, suppression irrelevantly switches over.In addition, in the case where using the lucidity of driver as manual drive fitness, Setting notification timing so that the more low then timing of the lucidity is more early.In this case, the lucidity of driver is lower, Then automatic running is carried out in more early timing to terminate to report.
Specifically, as shown in Fig. 2 using the computing for being associated manual drive fitness with handing-over required time Mapping, the time required to being joined based on manual drive fitness come computing.It is from automatic running to manual traveling the time required to handing-over Handing-over required for time.In other words, it is to terminate to driver to turn into after reporting from progress automatic running the time required to handing-over Manual drive is adapted to the time untill state.Therefore, computing mapping turns into manual drive fitness when reporting and the hand The dynamic time for terminating to report untill driver turns into the suitable state of manual drive from automatic running driven under fitness is carried out The mapping of association.Computing mapping is for example stored in notification timing setting portion 23.In addition, manual drive is adapted to state to mean Driver can adapt to the state of manual drive, be that manual drive receives state.Therefore, by being driven manually with determining whether to turn into Sail and receive the processing of state identical to determine whether to turn into the suitable state of manual drive.
Report timing setting portion 23 as by under the manual drive fitness and the manual drive fitness when reporting from Enter after automatic running terminates notification the time required to driver is as the time untill the suitable state of manual drive, i.e. handing-over Association of having gone plays function come the storage part stored.As shown in Fig. 2 with needed for the more big then handing-over of manual drive fitness Time shorter mode sets computing mapping.Can also be based on the handing-over under manual drive fitness and the manual drive fitness The past data of required time maps to set the computing.For example, it is also possible to manual drive fitness and the manual drive are fitted Store with being associated the time required to handing-over under response and be used as past data, set based on the past data shown in Fig. 2 Computing mapping.In this case, manual drive fitness can be based on accurately to estimate handing-over required time, Neng Gou More suitably timing carries out the notification that automatic running terminates.In addition, the computing the time required to handing-over is not limited to use computing The computing of mapping, operation table, arithmetic expression etc. can also be used to carry out.Alternatively, it is also possible to be classified other computing manual drive fitness, The time required to being classified other computing handing-over, so as to divide grade setting notification timing.For example, it is also possible to kilter and defective mode The two grades judge manual drive fitness, and fixed with two grade setting handing-over required times and notification correspondingly When.In this case, notification timing can be set rapidly.
Notification timing setting portion 23 sets notification timing using the handing-over required time calculated.For example, needed for handing-over Time more it is long then will notification timing setting must be more early.Thereby, it is possible to report timing progress corresponding with manual drive fitness Automatic running terminates to report.As the setting of specific notification timing, as shown in figure 3, first, based on terminating ground away from automatic running The distance of point carrys out the computing handing-over deadline with speed, is set the time required to subtracting handing-over from the handing-over deadline as notification The time or moment of timing.
In addition, the setting of notification timing is not limited to, using required time is joined come situation about setting, to use Distance needed for handing-over is set.For example, it is also possible to be configured to, manual drive fitness is more low, and distance needed for handing-over is set to It is longer, reported before automatic running end place is reached with the place at a distance of the place of distance needed for handing-over.
Notification control unit 24 will report control signal and export to the HMI system 14 as notification unit and carry out notification control. Control signal is reported in the timing output set by notification timing setting portion 23.
Driving operation state determination unit 25 is judged whether driver receives state in manual drive.For example, drive Mode of operation determination unit 25 is sailed after automatic running is carried out by HMI system 14 and terminates notification, based on being examined by driver behavior test section 6 The driving operation state measured, judge whether driver receives state in manual drive.Specifically, driver behavior Test section 6 in the case of detecting driver to the contact of steering wheel, detect trampled accelerator pedal in the case of or Person detects trampled brake pedal in the case of, be determined as that driver is in manual drive and receives state.On the other hand, drive Sail operation detection part 6 and contact steering wheel, be not detected by and trampled accelerator pedal and be not detected by being not detected by driver In the case of having trampled brake pedal, it is determined as that driver is not in manual drive and receives state.
Travel control unit 26 is the vehicle travel control unit for the automatic ride control for carrying out vehicle.For example, travel control unit 26 identify travel and barrier based on the detection information in object detection portion 4, and are controlled to engine control section 11, braking Portion 12 processed and the output control signal of steering control unit 13, make the automatic row of vehicle so as to which side avoiding obstacles edge travel Sail.The automatic ride control, which can be used as, drives auxiliary control to carry out, and automatic Pilot can also be used as to control to carry out.Separately Outside, travel control unit 26 is during automatic ride control, after automatic running is carried out by HMI system 14 and terminates notification, by driving Sail mode of operation determination unit 25 and be determined as that driver is not in the case that manual drive receives state, carrying out traveling control to become The transport condition of more vehicle.For example, travel control unit 26 carries out deceleration control, or carry out vehicle and stop control.
In addition, above-mentioned vehicle location identification part 20, driver state detecting portion 21, driving fitness operational part 22, notification Timing setting portion 23, notification control unit 24, driving operation state determination unit 25, travel control unit 26 are by wagon control ECU2 Import the software for realizing respective function or program and form.Alternatively, it is also possible to pass through each electronic control unit point Do not form some or all in them.
Next, action and the control method for vehicle of the controller of vehicle 1 of explanation present embodiment.
Fig. 4 is the flow chart of the vehicle traveling control process for the controller of vehicle 1 for representing present embodiment.Vehicle travels Control process is to perform the processing that is carried out during automatic ride control, including the control process of the automatic running of vehicle and end Processing during automatic ride control.For example, vehicle traveling control process is carried out by wagon control ECU2, it is anti-with the predetermined cycle It is multiple to perform.
Such as Fig. 4 step S10 (hreinafter referred to as " S10 ".Other steps S is also identical.) shown in, first, enter driving Position identifying processing.Vehicle location identifying processing is the processing for the position for identifying the vehicle on map, such as by vehicle location Identification part 20 performs.For example, the vehicle relative to map datum is identified according to the vehicle position data inputted from navigation system 3 Position.
Then, move to S12 processing, judge vehicle traveling-position whether with automatic running end place at a distance of pre- spacing From within.The determination processing is to be used to determine whether to need from automatic running to hand because terminating driving auxiliary or automatic Pilot The processing of the preparation of dynamic traveling switching, such as carried out by vehicle location identification part 20.
It is determined as that the traveling-position of vehicle is not in the end place of automatic ride control at a predetermined distance in S12 Within in the case of, continue automatic ride control (S14).That is, side considers the detection information in object detection portion 4, Bian Conghang Control unit 26 is sailed to engine control section 11, brake control section 12 and steering control unit 13 suitably output control signal.By This, vehicle side avoiding obstacles edge travel automatic running.
On the other hand, it is determined as the traveling-position of vehicle and the end place of automatic ride control at a distance of predetermined in S12 In the case of within distance, the calculation process (S16) of manual drive fitness is carried out.The calculation process is the automatic row of computing vehicle The processing of the manual drive fitness of driver during sailing, is carried out by driving fitness operational part 22.For example, according to by driving The driver status that member's state detecting section 21 detects, the manual drive fitness of computing driver.Detected in driver status , can also will be above-mentioned in the case that portion 21 is able to detect that the lucidity of driver or drives concentration degree as driver status Lucidity or driving concentration degree are used as manual drive fitness.As described above, manual drive fitness is the manual of driver The adaptedness of driver behavior, it is more to be in the state mutually fitted with manual drive then higher value.
Then, S18 processing is moved to, carries out reporting timing setting processing.Notification timing setting processing is set at vehicle The forward direction driver for reaching automatic running end place carries out the processing that automatic running terminates the timing of notification.Carry out automatic running The timing for terminating notification is set according to manual drive fitness, such as then turns into more early timing so that manual drive fitness is more low Mode set notification timing.Specifically, as shown in Fig. 2 being carried out using by manual drive fitness and handing-over required time The computing mapping of association, the time required to being joined based on manual drive fitness come computing.It is from automatic row the time required to handing-over The time needed for the handing-over of manual drive is driven towards, is to terminate to fit as manual drive to driver after reporting from progress automatic running Time untill conjunction state.Moreover, as shown in figure 3, joined based on the distance away from automatic running end place and speed come computing Deadline, time or moment of the computing as notification timing are carried out the time required to subtracting handing-over from the handing-over deadline, will be transported The timing that the notification timing setting calculated is reported to carry out automatic running to terminate.
The notification timing setting processing in, when computing join the time required to when, can also use fitted based on manual drive The past data the time required to handing-over under response and the manual drive fitness maps come the computing set.For example, it is also possible to The real data the time required to handing-over under the manual drive fitness of memory of driving person and the manual drive fitness, by the reality Border data are reflected in computing and map and it is updated or is learnt, the time required to carrying out computing handing-over using computing mapping, setting Notification timing.In this case, the time required to can be according to the manual drive adaptive character of driver accurately computing handing-over, Notification timing can more suitably be set.
In addition, when timing is reported in setting, whether notification timing can also properly be judged, in notification timing In the case of inappropriate, the setting notification timing again after speed adjustment is carried out.For example, in the transport condition of current vehicle In, the time untill vehicle reaches automatic running end place is calculated, the time required to union handing-over, automatic row is reached in vehicle In the case that time untill sailing end place is the time more than handing-over required time, it is determined as that notification timing is suitable. On the other hand, vehicle reach automatic running end place untill time be not handing-over the time required to more than time situation Under, it is determined as that notification timing is inappropriate.In that case, it is possible to driven before vehicle reaches automatic running end place The person of sailing does not receive state as manual drive.
In this case, it is determined as that notification timing is inappropriate, carries out the deceleration processing of vehicle.The deceleration processing be into The processing for the traveling control that fleet vehicles slow down, such as carried out by travel control unit 26.By making vehicle deceleration, vehicle reaches certainly Time untill dynamic traveling end place increases, and the time untill can making vehicle arrival automatic running end place turns into handing-over Time more than required time.Moreover, after deceleration processing is completed, under transport condition after deceleration, vehicle arrival is calculated Time untill automatic running end place, the time required to computing handing-over, untill confirming that vehicle reaches automatic running end place Time whether be handing-over the time required to more than time, come judge notification timing it is whether suitable.Here, reached in vehicle automatic In the case that time untill traveling end place is the time more than handing-over required time, it is determined as that notification timing is suitable , it is the notification timing for being actually used in notification by the notification timing setting.Reported in addition it is also possible to which repeated multiple times progress is such The whether suitable judgement of timing and deceleration processing.Closed alternatively, it is also possible to carry out notification timing before timing is reported in setting Judgement and the deceleration processing whether fitted.
After S18 notification timing setting processing is completed, notification processing (S20) is carried out.Notification processing is the report in setting Know the processing that timing terminates to driver's notification automatic running, such as carried out by notification control unit 24.From notification control unit 24 to The output notification control signal of HMI system 14, HMI system 14 carry out notification action.Notification action is for example carried out by voice output. Specifically, the output " traveling that closes to an end control.", " after several minutes terminate drive auxiliary." or " manual drive please be carry out Prepare." etc. voice.In addition, as long as the voice content of notification is it will be appreciated that automatic ride control terminates or needs to drive manually The content for the preparation sailed, can be content other than the above.
In addition, notification action can be display in display, alternatively, it is also possible to be that instruction traveling control terminates, driven Auxiliary terminates or what driving prepared lights display or flickering display.Alternatively, it is also possible to by the vibration of steering wheel, seat etc. to Driver is reported.The manual drive fitness of driver is lower, then carries out the notification processing in more early timing.Thus, Manual drive fitness is lower, then can more increase the arrival automatic running end place from the notification that automatic running terminates to vehicle Untill time, can suppress irrelevantly to carry out from automatic running to the switching travelled manually.
Then, processing moves to S22, and whether the manual drive mode of operation of driver is properly judged.The judgement is After the scheduled time for the notification that automatic running terminates, the place that manual drive receives state and judged whether is in driver Reason.The scheduled time is used in advance in the time of wagon control ECU2 settings.Manual drive receives state and refers to that driver can fit Answer the state of manual drive.For example, in the determination processing, based on the driver behavior shape detected by driver behavior test section 6 State, judge whether driver receives state in manual drive.Specifically, using driver behavior test section 6, examining Driver is measured to contact the situation of steering wheel, detect the situation for having trampled accelerator pedal or detect and trampled braking In the case of device pedal, it is determined as that driver is in manual drive and receives state, the manual drive operation of driver is suitable. On the other hand, in driver behavior test section 6, the situation of driver's contact steering wheel is being not detected by, is being not detected by and tramples The situation of accelerator pedal and in the case of being not detected by and having trampled brake pedal, is determined as that driver is not in manually Driving receives state, and the manual drive operation of driver is inappropriate.
Be determined as in S22 driver be not in manual drive receive state, the manual drive of driver operation it is improper In the case of, slow down stops control process (S24).It is to make the place of vehicle deceleration or parking to slow down and stop control process Reason, such as carried out by travel control unit 26.Specifically, the add time the time required to handing-over is calculated, is calculated for forming this The speed adjustment amount of add time, vehicle is set to carry out Reduced Speed Now according to the speed adjustment amount.Thus, vehicle reaches automatic row The time lengthening untill end place is sailed, therefore driver turns into the possibility raising that manual drive receives state, can suppress Irrelevantly carry out from automatic running to the switching travelled manually.
Even if in addition, it is being judged as making vehicle deceleration also can not make driving before vehicle reaches automatic running end place In the case that member receives state as manual drive, stop the traveling of vehicle.Thereby, it is possible to suppress the inappropriate of driver Under state to the switching travelled manually.After the deceleration stopping control process for completing S24, terminate a series of control process.This Outside, in the case of having carried out deceleration processing in S24 deceleration stopping control process, S22 can be returned to and judges to drive again Whether member in manual drive receives state, can also return to S20 and carry out notification processing again.
Be determined as in S22 driver be in manual drive receive state, the manual drive of driver operation be suitable In the case of, it is judged as being suitably carried out from automatic running to the switching travelled manually, is controlled end processing (S26). Control end processing is to terminate the processing of automatic ride control.After the processing for completing the S26, terminate a series of control process.
In addition, in Fig. 4 vehicle traveling control process, at the judgement for the manual drive mode of operation for omitting S22 Reason and S24 deceleration stop the situation of control process.In this case, by the manual drive fitness of driver more it is low then Automatic running is carried out in more early timing to terminate to report, and can suitably be reported and be realized from the automatic running of vehicle to by driver Manual traveling switching.
As described above, according to the controller of vehicle 1 of present embodiment, terminated by the automatic running in vehicle When, the manual drive fitness of driver is more low, and carrying out automatic running in more early timing terminates to report, and manual drive adapts to Degree is more low, and the time untill the notification that automatic running terminates to vehicle reaches automatic running end place can be made longer.By This, can be suitably carried out the notification of the switching from the automatic running of vehicle to the manual traveling realized by driver, can press down Make inappropriate switching from the automatic running of vehicle to the manual traveling realized by driver.
If for example, no matter how the degree of manual drive fitness terminates to report in identical timing progress automatic running without exception Know, then in the case of in the low state of manual drive fitness, it is possible to vehicle reach automatic running end place it Preceding driver does not receive state as manual drive.On the other hand, in the controller of vehicle 1 of present embodiment, pass through Manual drive fitness is more low, and carrying out automatic running in more early timing terminates to report, in the low situation of manual drive fitness Under, it can increase as the time for the state that can carry out manual drive, the automatic running from vehicle can be suppressed to by driver The inappropriate switching for the manual traveling realized.
In addition, in the controller of vehicle 1 of present embodiment, driver is not after the notification that automatic running terminates is carried out In the case that manual drive receives state, by changing the transport condition of vehicle, it can suppress in the state of improper Switch to the manual traveling realized by driver.In addition, in the controller of vehicle 1 of present embodiment, carrying out automatically Driver after the notification terminated is travelled to be not in the case that manual drive receives state, can by reducing the speed of vehicle Extend the time untill vehicle reaches automatic running end place, easily can turn to the manual traveling realized by driver Become.In addition, in the controller of vehicle 1 of present embodiment, driver is not in after the notification that progress automatic running terminates In the case that manual drive receives state, by making vehicle parking, can suppress to driver it is improper in the state of hand The switching of dynamic traveling.
In addition, in the controller of vehicle 1 of present embodiment, by regularly being reported corresponding with the lucidity of driver Know that automatic running terminates, the timing notification automatic running that can be matched in the waking state with driver terminates, can be suitable Ground carries out the notification of the switching from the automatic running of vehicle to the manual traveling realized by driver.
Also, in the controller of vehicle 1 of present embodiment, based on by the manual drive fitness of driver with drive The manual drive that turns into of member is adapted to the data storage that is associated of time untill state to terminate to report to set automatic running Timing, it is manual to being realized by driver from the automatic running of vehicle so as to be suitably carried out according to the characteristic of driver The notification of the switching of traveling.
In addition, in above-mentioned embodiment, an embodiment of the controller of vehicle of the present invention is illustrated, this hair Bright controller of vehicle is not limited to the content described in above-mentioned embodiment.The controller of vehicle of the present invention can also be with The mode for not changing the main idea described in each claim deforms to the controller of vehicle of above-mentioned embodiment, or will It is applied in the case of other.
1. a kind of controller of vehicle, vehicle automatic running is made by automatic ride control, and can be by the automatic of the vehicle Travel and switched over to the manual traveling realized by driver, possessed：
Driver state detecting portion, the driver status of its driver to the vehicle detect；
Operational part, it is based on the driver status detected by the driver state detecting portion, vehicle described in computing The manual drive fitness of the driver during automatic running；And
Notification unit, it reaches driver described in the forward direction of automatic running end place set in advance in the vehicle and carried out automatically Traveling terminates notification,
The manual drive fitness is lower, then the notification unit terminates to report in the more early timing progress automatic running.
2. controller of vehicle according to claim 1, possesses：
Driver behavior test section, its driving operation state to the driver detect；
Driving operation state determination unit, it is after being carried out the automatic running by the notification unit and terminating notification, based on by institute The driving operation state that driver behavior test section detects is stated, judges whether the driver in manual drive receives shape State；And
Vehicle travel control unit, it is being determined as that the driver is not in manual drive by the driving operation state determination unit In the case of receiving state, the transport condition of the vehicle is changed.
3. controller of vehicle according to claim 2,
The vehicle travel control unit, it is being determined as that the driver is not in driving manually by the driving operation state determination unit Sail in the case of receiving state, make the speed of the vehicle reduce.
4. controller of vehicle according to claim 2,
The vehicle travel control unit, it is being determined as that the driver is not in driving manually by the driving operation state determination unit Sail in the case of receiving state, make the vehicle parking.
5. according to controller of vehicle according to any one of claims 1 to 4,
The lucidity of driver described in the operational part computing as the manual drive fitness,
The lucidity is lower, then the notification unit terminates to report in the more early timing progress automatic running.
6. according to controller of vehicle according to any one of claims 1 to 4,
Storage part is also equipped with, the storage part stores following data, and the data are when will carry out the automatic running to terminate notification The manual drive fitness and the manual drive fitness under terminate notification to the driver from the automatic running It is adapted to the data that the time untill state is associated as manual drive,
The notification unit, based on the manual drive fitness that is calculated by the operational part and it is being stored in the storage part Data setting timing, carry out the automatic running and terminate to report.
7. controller of vehicle according to claim 5,
CN201510477902.9A 2014-08-08 2015-08-06 Controller of vehicle CN105365823B (en)
JP2014162277A JP6135618B2 (en) 2014-08-08 2014-08-08 Vehicle control device
JP2014-162277 2014-08-08
CN105365823A CN105365823A (en) 2016-03-02
CN105365823B true CN105365823B (en) 2017-11-21
ID=53879354
CN201510477902.9A CN105365823B (en) 2014-08-08 2015-08-06 Controller of vehicle
US (2) US9606536B2 (en)
EP (1) EP2982565B1 (en)
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