Source: https://patents.google.com/patent/JP6304086B2/en
Timestamp: 2020-02-19 13:48:41
Document Index: 349884212

Matched Legal Cases: ['art 18', 'art, 3', 'art, 13', 'art, 14', 'art, 15', 'art, 16', 'art, 17', 'art, 18', 'art, 100']

JP6304086B2 - Automatic driving device - Google Patents
JP6304086B2
JP6304086B2 JP2015059185A JP2015059185A JP6304086B2 JP 6304086 B2 JP6304086 B2 JP 6304086B2 JP 2015059185 A JP2015059185 A JP 2015059185A JP 2015059185 A JP2015059185 A JP 2015059185A JP 6304086 B2 JP6304086 B2 JP 6304086B2
JP2015059185A
JP2016175613A (en
2015-03-23 Application filed by トヨタ自動車株式会社 filed Critical トヨタ自動車株式会社
2015-03-23 Priority to JP2015059185A priority Critical patent/JP6304086B2/en
2016-10-06 Publication of JP2016175613A publication Critical patent/JP2016175613A/en
2018-04-04 Publication of JP6304086B2 publication Critical patent/JP6304086B2/en
Various aspects of the present invention relate to an automatic driving apparatus.
Conventionally, as described in Patent Document 1, automatic driving of the host vehicle is performed, and the operation amount of any of the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle during the automatic driving is predetermined. There is known an automatic driving device that switches a running automatic driving to a manual driving when the threshold is equal to or greater than a threshold value.
By the way, there are various environments such as obstacles around the host vehicle. However, in the above prior art, the automatic operation is uniformly switched to the manual operation according to the operation amount of the driver. Therefore, the amount of intervention of the driving operation by the driver for switching from the automatic operation to the manual operation is around the own vehicle. There are cases where it is not suitable for the environment, and improvements are desired.
Therefore, an object of the present invention is to provide an automatic driving apparatus in which the amount of intervention of a driving operation by a driver for switching from automatic driving to manual driving is more suitable for the environment around the host vehicle.
One aspect of the present invention is to execute automatic driving of the host vehicle and when the operation amount of any of the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle during the automatic driving is greater than or equal to the manual driving switching threshold. Is an automatic driving device that switches an automatic operation being performed to a manual operation, an operation amount acquisition unit that acquires an operation amount during the automatic operation, an environment recognition unit that recognizes the environment around the host vehicle, and a manual operation A calculation unit that calculates a switching threshold, and a control unit that executes automatic driving and, when the operation amount is equal to or greater than the manual driving switching threshold, switch the automatic driving being performed to manual driving, It is an automatic driving device that calculates a manual driving switching threshold according to the environment recognized by the environment recognition unit.
According to this configuration, the manual operation switching threshold value for switching the automatic operation to the manual operation with respect to the operation amount such as the steering operation of the driver by the calculation unit is set to the environment around the host vehicle recognized by the environment recognition unit. Calculated accordingly. For this reason, the intervention amount of the driving operation by the driver for switching from the automatic driving to the manual driving becomes more suitable for the environment around the host vehicle.
In this case, the environment recognition unit may recognize an obstacle around the host vehicle as the environment, and the calculation unit may calculate a lower manual driving switching threshold as the distance between the obstacle and the host vehicle is shorter.
According to this configuration, the closer to the obstacle and the host vehicle, the easier it is to switch from automatic driving to manual driving, and the ease of handling the obstacle is improved.
The environment recognition unit recognizes an obstacle around the host vehicle as an environment, and the calculation unit determines that the obstacle and the host vehicle are obstacles when the distance is the first distance and the obstacle is a pedestrian. A lower manual driving switching threshold may be calculated than when the distance from the host vehicle is the first distance and the obstacle is another vehicle.
According to this configuration, if the distance between the obstacle and the host vehicle is the same, it becomes easier to switch from automatic driving to manual driving when the obstacle is a pedestrian than when the obstacle is another vehicle. Ease of dealing with the person is improved.
The environment recognizing unit recognizes an obstacle around the host vehicle as the environment, and the calculating unit determines that the obstacle and the own vehicle have a second distance and the obstacle is a moving object. A lower manual driving switching threshold may be calculated than when the distance from the host vehicle is the second distance and the obstacle is a stationary object.
According to this configuration, if the obstacle is the same as the distance between the host vehicle and the obstacle, the obstacle is a moving object such as another vehicle or a pedestrian. It becomes easier to switch to driving, and the ease of dealing with moving objects is improved.
Further, the environment recognition unit may recognize the road width of the road on which the host vehicle travels as the environment, and the calculation unit may calculate a lower manual driving switching threshold as the road width is narrower.
Alternatively, the environment recognition unit recognizes the road width of the road on which the host vehicle travels as an environment, and the calculation unit, when the environment recognition unit does not recognize an obstacle, has a lower manual driving switching threshold value as the road width is narrower. May be calculated.
According to these configurations, regardless of whether or not an obstacle has been recognized, it becomes easier to switch from automatic driving to manual driving as the road width is narrow, and the ease of handling when the road width is narrow improves.
The environment recognizing unit recognizes whether or not the own vehicle is traveling in an intersection or a parking lot as an environment based on the map information and the position information of the own vehicle. When it is recognized that the host vehicle is traveling at either an intersection or a parking lot, it is lower than when the environment recognition unit does not recognize that the host vehicle is traveling at either an intersection or a parking lot. A manual operation switching threshold value may be calculated.
Alternatively, the environment recognizing unit recognizes whether the host vehicle is traveling in an intersection or a parking lot as an environment based on the map information and the position information of the host vehicle, and the calculating unit If the environment recognition unit recognizes that the vehicle is traveling at either an intersection or a parking lot when the obstacle is not recognized, the environment recognition unit recognizes that the vehicle is either an intersection or a parking lot. A lower manual operation switching threshold may be calculated than when the vehicle is not recognized as traveling.
According to these configurations, regardless of whether or not an obstacle is recognized, when the vehicle is traveling at either an intersection or a parking lot, it is easy to switch from automatic driving to manual driving. Ease of handling is improved.
According to one aspect of the present invention, in an automatic driving device, an intervention amount of a driving operation by a driver for switching from automatic driving to manual driving can be adapted to the environment around the host vehicle.
It is a block diagram which shows the structure of the automatic driving apparatus which concerns on embodiment. It is a flowchart which shows operation | movement of the automatic driving device of FIG. It is a graph which shows the manual operation switching threshold value which changes in step shape with respect to the distance with an obstruction. It is a graph which shows the manual operation switching threshold value which changes linearly with respect to the distance with an obstruction. It is a graph which shows the manual operation switching threshold with respect to the distance with an obstruction, and the classification of an obstruction. It is a graph which shows the manual driving | operation switching threshold value in driving | running | working a parking lot. It is a graph which shows the manual operation switching threshold value in driving | running | working an intersection. It is a graph which shows the manual operation switching threshold with respect to a road width.
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the automatic driving device 100 is mounted on a host vehicle V such as a passenger car. The automatic driving apparatus 100 executes automatic driving of the host vehicle V. The automatic driving means that driving operations such as acceleration, deceleration and steering of the host vehicle V are performed without depending on the driving operation of the driver of the host vehicle V. The automatic driving device 100 according to the present embodiment executes automatic driving of the host vehicle V, and the operation amount of any of the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle V during the automatic driving is switched to manual driving. If it is equal to or greater than the threshold, the automatic operation being performed is switched to manual operation. The manual operation switching threshold is an operation amount used for determination for switching the automatic operation being executed to the manual operation with respect to any operation amount of the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle V. Is the threshold value.
As shown in FIG. 1, an automatic driving apparatus 100 includes an external sensor 1, a GPS (Global Positioning System) receiving unit 2, an internal sensor 3, a map database 4, a navigation system 5, an actuator 6, an HMI (Human Machine Interface) 7, Auxiliary equipment U and ECU10 are provided.
The camera is an imaging device that captures an external situation of the host vehicle V. The camera is provided on the back side of the windshield of the host vehicle V, for example. The camera may be a monocular camera or a stereo camera. The stereo camera has, for example, two imaging units arranged so as to reproduce binocular parallax. The imaging information of the stereo camera includes information in the depth direction. The camera outputs imaging information related to the external situation of the host vehicle V to the ECU 10. The camera may be an infrared camera as well as a visible light camera.
The radar detects obstacles outside the host vehicle V using radio waves. The radio wave is, for example, a millimeter wave. The radar transmits radio waves around the host vehicle V, receives radio waves reflected by the obstacles, and detects the obstacles. For example, the radar outputs the distance or direction to the obstacle as obstacle information regarding the obstacle. The radar outputs the detected obstacle information to the ECU 10. In addition, when performing sensor fusion, you may output the reception information of the reflected electromagnetic wave to ECU10.
The rider detects an obstacle outside the host vehicle V using light. The rider transmits light around the host vehicle V, receives the light reflected by the obstacle, measures the distance to the reflection point, and detects the obstacle. For example, the rider can output the distance or direction to the obstacle as the obstacle information. The rider outputs the detected obstacle information to the ECU 10. In addition, when performing sensor fusion, you may output the reception information of the reflected light to ECU10. The cameras, riders, and radars do not necessarily have to be provided in duplicate.
The GPS receiving unit 2 receives signals from three or more GPS satellites, and acquires position information indicating the position of the host vehicle V. The position information includes, for example, latitude and longitude. The GPS receiver 2 outputs the measured position information of the host vehicle V to the ECU 10. Instead of the GPS receiving unit 2, other means that can specify the latitude and longitude where the host vehicle V exists may be used.
The internal sensor 3 is a detector that detects information corresponding to the traveling state of the host vehicle V and an operation amount of any one of a steering operation, an accelerator operation, and a brake operation by the driver of the host vehicle V. The internal sensor 3 includes at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor in order to detect information according to the traveling state of the host vehicle V. The internal sensor 3 includes at least one of a steering sensor, an accelerator pedal sensor, and a brake pedal sensor in order to detect an operation amount.
The vehicle speed sensor is a detector that detects the speed of the host vehicle V. As the vehicle speed sensor, for example, a wheel speed sensor that is provided for a wheel of the host vehicle V or a drive shaft that rotates integrally with the wheel and detects the rotation speed of the wheel is used. The vehicle speed sensor outputs vehicle speed information (wheel speed information) including the speed of the host vehicle V to the ECU 10.
The acceleration sensor is a detector that detects the acceleration of the host vehicle V. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects acceleration in the longitudinal direction of the host vehicle V and a lateral acceleration sensor that detects lateral acceleration of the host vehicle V. The acceleration sensor outputs acceleration information including the acceleration of the host vehicle V to the ECU 10.
The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the host vehicle V. For example, a gyro sensor is used as the yaw rate sensor. The yaw rate sensor outputs yaw rate information including the yaw rate of the host vehicle V to the ECU 10.
The steering sensor is, for example, a detector that detects an operation amount of a steering operation on a steering wheel by a driver of the host vehicle. The operation amount detected by the steering sensor is, for example, the steering angle of the steering wheel or the steering torque with respect to the steering wheel. A steering sensor is provided with respect to the steering shaft of the own vehicle V, for example. The steering sensor outputs information including the steering angle of the steering wheel or the steering torque for the steering wheel to the ECU 10.
The accelerator pedal sensor is a detector that detects the amount of depression of the accelerator pedal, for example. The amount of depression of the accelerator pedal is, for example, the position of the accelerator pedal (pedal position) with a predetermined position as a reference. The predetermined position may be a fixed position or a position changed by a predetermined parameter. The accelerator pedal sensor is provided for the shaft portion of the accelerator pedal of the host vehicle V, for example. The accelerator pedal sensor outputs operation information corresponding to the amount of depression of the accelerator pedal to the ECU 10.
The brake pedal sensor is a detector that detects the amount of depression of the brake pedal, for example. The amount of depression of the brake pedal is, for example, the position of the brake pedal (pedal position) with a predetermined position as a reference. The predetermined position may be a fixed position or a position changed by a predetermined parameter. The brake pedal sensor is provided, for example, for the brake pedal portion. The brake pedal sensor may detect an operating force of the brake pedal (such as a pedaling force against the brake pedal or a master cylinder pressure). The brake pedal sensor outputs operation information corresponding to the depression amount or operation force of the brake pedal to the ECU 10.
The map database 4 is a database provided with map information. The map database 4 is formed, for example, in an HDD (Hard disk drive) mounted on the host vehicle V. The map information includes, for example, road position information, road shape information, and intersection and branch point position information. The road shape information includes, for example, a curve, a straight line type, a curve curvature, and the like. Furthermore, when the automatic driving device 100 uses position information of a shielding structure such as a building or a wall or SLAM (Simultaneous Localization and Mapping) technology, an output signal of the external sensor 1 may be included in the map information. . The map database 4 may be stored in a computer of a facility such as an information processing center that can communicate with the host vehicle V.
The navigation system 5 is a device that guides the driver of the host vehicle V to the destination set on the map by the driver of the host vehicle V. The navigation system 5 calculates the route traveled by the host vehicle V based on the position information of the host vehicle V measured by the GPS receiver 2 and the map information in the map database 4. The route may be, for example, a route that specifies a traveling lane in which the host vehicle V travels in a section of a plurality of lanes. For example, the navigation system 5 calculates a target route from the position of the host vehicle V to the destination, and notifies the driver of the target route by displaying the display and outputting sound from a speaker. For example, the navigation system 5 outputs information on the target route of the host vehicle V to the ECU 10. The navigation system 5 may use information stored in a computer of a facility such as an information processing center that can communicate with the host vehicle V. Alternatively, part of the processing performed by the navigation system 5 may be performed by a facility computer.
The actuator 6 is a device that executes traveling control of the host vehicle V. The actuator 6 includes at least a throttle actuator, a brake actuator, and a steering actuator. The throttle actuator controls the driving force of the host vehicle V by controlling the amount of air supplied to the engine (throttle opening) according to a control signal from the ECU 10. In the case where the host vehicle V is a hybrid vehicle or an electric vehicle, a control signal from the ECU 10 is input to a motor as a power source and the driving force is controlled without including a throttle actuator.
The brake actuator controls the brake system according to a control signal from the ECU 10 and controls the braking force applied to the wheels of the host vehicle V. As the brake system, for example, a hydraulic brake system can be used. The steering actuator controls driving of an assist motor that controls steering torque in the electric power steering system in accordance with a control signal from the ECU 10. Thus, the steering actuator controls the steering torque of the host vehicle V.
The HMI 7 is an interface for outputting and inputting information between an occupant (including a driver) of the host vehicle V and the automatic driving apparatus 100. The HMI 7 includes, for example, a display panel for displaying image information to the occupant, a speaker for audio output, an operation button for the occupant to perform an input operation, or a touch panel. The HMI 7 may output information to the occupant using a wirelessly connected portable information terminal, or may accept an input operation by the occupant using the portable information terminal.
The ECU 10 controls automatic driving of the host vehicle V. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The ECU 10 includes an operation amount acquisition unit 11, an environment recognition unit 12, a travel plan generation unit 16, a calculation unit 17, and a control unit 18. In the ECU 10, a program stored in the ROM is loaded into the RAM and executed by the CPU, thereby executing control of each unit such as the operation amount acquisition unit 11 described above. The ECU 10 may be composed of a plurality of electronic control units.
Based on the information acquired by the internal sensor 3, the operation amount acquisition unit 11 acquires the operation amounts of the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle during the automatic driving. The operation amount is, for example, the steering angle of the steering wheel, the steering torque with respect to the steering wheel, the depression amount of the accelerator pedal, the depression amount of the brake pedal, the operation force of the brake pedal, and the like. Alternatively, the operation amount may be a duration of a state where the steering angle of the steering wheel, the steering torque with respect to the steering wheel, the depression amount of the accelerator pedal, the depression amount of the brake pedal, the operation force of the brake pedal, and the like are equal to or greater than a set threshold. .
The environment recognition unit 12 recognizes the environment around the host vehicle V based on information acquired by the external sensor 1, the GPS reception unit 2, and the map database 4. The environment recognition unit 12 includes an obstacle recognition unit 13, a road width recognition unit 14, and a facility recognition unit 15. The obstacle recognition unit 13 recognizes an obstacle around the host vehicle V as an environment around the host vehicle V based on the information acquired by the external sensor 1. Examples of obstacles recognized by the obstacle recognition unit 13 include moving objects such as pedestrians, other vehicles, motorcycles, and bicycles, road lane boundaries (white lines, yellow lines), curbs, guardrails, poles, and centers. Includes stationary objects such as dividers, buildings and trees. The obstacle recognition unit 13 acquires information on the distance between the obstacle and the host vehicle V, the position of the obstacle, the relative speed of the obstacle with respect to the host vehicle V, and the type of the obstacle. The types of obstacles include pedestrians, other vehicles, moving objects, stationary objects, and the like.
The road width recognition unit 14 recognizes the road width of the road on which the host vehicle V travels as the environment around the host vehicle V based on the information acquired by the external sensor 1, the GPS receiving unit 2, and the map database 4. Based on the map information acquired by the map database 4 and the position information of the host vehicle V acquired by the GPS receiver 2, the facility recognition unit 15 determines that the host vehicle V is an intersection and a parking lot as an environment around the host vehicle V. It recognizes whether it is driving any one of. Based on the map information and the position information of the own vehicle V, the facility recognition unit 15 travels as an environment around the own vehicle V, such as a school road, a childcare facility neighborhood, a school neighborhood, a park neighborhood, etc. It may be recognized whether or not.
The travel plan generation unit 16 is based on the target route calculated by the navigation system 5, information on obstacles around the host vehicle V recognized by the environment recognition unit 12, and map information acquired from the map database 4. A travel plan for the vehicle V is generated. The travel plan is a trajectory along which the host vehicle V travels on the target route. The travel plan includes, for example, the speed, acceleration, deceleration, direction, steering angle, and the like of the host vehicle V at each time. The travel plan generation unit 16 generates a travel plan such that the host vehicle V travels on a target route that satisfies standards such as safety, legal compliance, and travel efficiency. Further, the travel plan generation unit 16 generates a travel plan for the host vehicle V so as to avoid contact with the obstacle based on the situation of the obstacles around the host vehicle V.
The calculation unit 17 calculates a manual operation switching threshold according to the environment around the host vehicle V recognized by the environment recognition unit 12. As will be described later, when the obstacle is recognized by the obstacle recognition unit 13 of the environment recognition unit 12, the calculation unit 17 switches the manual operation according to the distance between the obstacle and the vehicle and the type of the obstacle. Calculate the threshold. When the obstacle recognition unit 13 of the environment recognition unit 12 has not recognized the obstacle, the calculation unit 17 can calculate the road width of the road on which the host vehicle V travels, the parking lot on which the host vehicle V travels, and the like. A manual operation switching threshold is calculated according to the type of facility. As will be described later, the ECU 10 stores a function of a manual operation switching threshold value corresponding to the environment around the host vehicle V.
The control unit 18 automatically controls the travel of the host vehicle V based on the travel plan generated by the travel plan generation unit 16. The control unit 18 outputs a control signal corresponding to the travel plan to the actuator 6. Thereby, the control part 18 controls driving | running | working of the own vehicle V so that the automatic driving | operation of the own vehicle V is performed according to a travel plan. In addition, when the operation amount acquired by the operation amount acquisition unit 11 is equal to or greater than the manual operation switching threshold calculated by the calculation unit 17, the control unit 18 switches the automatic operation being performed to manual operation.
Next, processing executed by the automatic driving apparatus 100 will be described. As shown in FIG. 2, the control unit 18 of the ECU 10 executes the automatic driving of the host vehicle V based on the travel plan generated by the travel plan generation unit 16 (S1). At the start of automatic driving, for example, when the ignition of the host vehicle V is turned on, the control unit 18 automatically drives based on the environment around the host vehicle V recognized by the external sensor 1 and the environment recognition unit 12 of the ECU 10. Judge whether it is possible. When automatic driving is possible, the control unit 18 notifies the passenger that automatic driving is possible by the HMI 7. When the occupant performs a predetermined input operation on the HMI 7, the automatic driving device 100 starts automatic driving. The operation amount acquisition unit 11 of the ECU 10 acquires an operation amount of any one of a steering operation, an accelerator operation, and a brake operation by the driver of the host vehicle V during automatic driving (S2).
The environment recognition unit 12 recognizes the environment around the host vehicle V (S3). When the obstacle recognition unit 13 of the environment recognition unit 12 recognizes an obstacle around the host vehicle V as the environment around the host vehicle V (S4), the calculation unit 17 performs manual driving according to the obstacle. A switching threshold is calculated (S5).
Hereinafter, calculation of the manual operation switching threshold according to the obstacle by the calculation unit 17 will be described. In the ECU 10, for example, a function of a manual operation switching threshold value with respect to the distance between the obstacle and the host vehicle V as shown in FIG. In the example of FIG. 3, when the distance between the obstacle and the host vehicle V exceeds 2, the calculation unit 17 calculates a manual operation switching threshold Th 0 that is a reference value of the manual operation switching threshold. On the other hand, when the distance between the obstacle and the host vehicle V is 2 or less, the calculation unit 17 calculates a manual operation switching threshold Th 1 lower than Th 0 .
Further, the ECU 10 may store a function of a manual operation switching threshold with respect to the distance between the obstacle and the host vehicle V as shown in FIG. In the example of FIG. 4, when the distance between the obstacle and the host vehicle V exceeds 3, the calculation unit 17 calculates a manual operation switching threshold Th 0 that is a reference value for the manual operation switching threshold. When the distance between the obstacle and the vehicle V is 1 or less, the calculation unit 17 calculates a manual operation switching threshold Th 1 lower than Th 0 . When the distance between the obstacle and the host vehicle V is 3 or less and exceeds 1, the calculation unit 17 performs manual operation when the distance is 3 as the distance between the obstacle and the host vehicle V decreases. A manual operation switching threshold that linearly decreases from the operation switching threshold Th 0 to the manual operation switching threshold Th 1 when the distance is 1 is calculated.
Further, as shown in FIG. 5, the ECU 10 may store a function of a manual operation switching threshold value with respect to the distance between the obstacle and the host vehicle V according to the type of the obstacle. In the example of FIG. 5, when the distance between the obstacle and the host vehicle V exceeds 3, regardless of the type of the obstacle, the calculation unit 17 is the reference value of the manual operation switching threshold value. The manual operation switching threshold Th 0 is calculated. 3 to 5, the unit of distance can be, for example, meters [m]. When the driver's operation amount is a steering operation, the unit of the manual driving switching threshold Th 0 is, for example, The degree of the steering angle can be set to [°].
When the distance between the obstacle and the host vehicle V is 3 or less and exceeds 1, and the obstacle is a stationary object such as a white line or a guardrail, the calculation unit 17 performs manual operation when the distance is 3. A manual operation switching threshold that linearly decreases from the switching threshold Th 0 to the manual operation switching threshold Th 1 when the distance is 1 is calculated. When the distance between the obstacle and the host vehicle V is 3 or less and exceeds 1, and the obstacle is another vehicle, the calculation unit 17 calculates the manual operation switching threshold Th 0 when the distance is 3. A manual operation switching threshold that linearly decreases to a manual operation switching threshold Th 2 lower than Th 1 when the distance is 1 is calculated. When the distance between the obstacle and the host vehicle V is 3 or less and exceeds 1, and the obstacle is a pedestrian, the calculating unit 17 calculates the manual operation switching threshold Th 0 when the distance is 3. A manual operation switching threshold value linearly decreasing to a manual operation switching threshold value Th 3 lower than Th 2 when the distance is 1 is calculated. When the distance between the obstacle and the host vehicle V is 1 or less, the calculation unit 17 calculates the manual operation switching threshold Th 1 when the obstacle is a stationary object, and the obstacle is another vehicle. calculates a manual operation switching threshold Th 2, if the obstacle is a pedestrian calculating a manual operation switching threshold Th 3.
That is, when the distance between the obstacle and the host vehicle V is 3 or less and the obstacle is a pedestrian, the calculation unit 17 calculates the distance (first distance) between the same obstacle and the host vehicle V. Thus, a manual operation switching threshold value lower than the manual operation switching threshold value when the obstacle is another vehicle is calculated. Further, when the distance between the obstacle and the own vehicle V is 3 or less and the obstacle is a moving object such as a pedestrian or another vehicle, the calculation unit 17 calculates the distance between the same obstacle and the own vehicle V. For (second distance), a manual operation switching threshold value lower than the manual operation switching threshold value when the obstacle is a stationary object such as a white line or a guard rail is calculated.
As shown in FIG. 2, the obstacle recognition unit 13 does not recognize an obstacle around the host vehicle V as the environment around the host vehicle V (S4), and the facility recognition unit of the environment recognition unit 12 15, when the vehicle V is recognized to be traveling at either the intersection or the parking lot (S 6), the calculation unit 17 manually operates according to the intersection or the parking lot recognized by the facility recognition unit 15. An operation switching threshold is calculated (S7). The facility recognizing unit 15 detects, for example, that the host vehicle V is traveling at an intersection, detects blinking of a traffic light using the external sensor 1, or information acquired by the GPS receiving unit 2 and the map database 4. Can be recognized. Further, the facility recognition unit 15 detects that the own vehicle V is traveling in the parking lot by detecting the “P” mark of the parking lot by the external sensor 1 or by acquiring the GPS reception unit 2 and the map database 4. Can be recognized by the information.
As shown in FIG. 2, the obstacle recognition unit 13 does not recognize an obstacle around the host vehicle V as the environment around the host vehicle V (S4), and the facility recognition unit of the environment recognition unit 12 15, if the vehicle V is not recognized as traveling at either an intersection or a parking lot (S 6), the calculation unit 17 calculates the road width recognized by the road width recognition unit 14 of the environment recognition unit 12. The manual operation switching threshold value is calculated based on (S8).
In the ECU 10, for example, a function of a manual operation switching threshold for a parking lot as shown in FIG. 6 is stored. In the example of FIG. 6, before the own vehicle V enters the parking lot and after passing through the parking lot, the calculation unit 17 calculates a manual driving switching threshold Th 0 that is a reference value of the manual driving switching threshold. On the other hand, when the host vehicle V is traveling in the parking lot, the calculation unit 17 calculates a manual operation switching threshold value Th p lower than Th 0 .
Alternatively, the ECU 10 stores, for example, a function of a manual operation switching threshold for an intersection as shown in FIG. In the example of FIG. 7, before the predetermined time when the host vehicle V enters the intersection or after the predetermined time when the host vehicle passes the intersection, the calculation unit 17 performs the manual operation switching threshold Th 0 that is the reference value of the manual operation switching threshold. Calculate When the host vehicle V is traveling in an intersection, the calculation unit 17 calculates a manual operation switching threshold Th c lower than Th 0 .
The time from the predetermined time before the host vehicle V enters the intersection until the host vehicle V enters the intersection is linear from the manual operation switching threshold Th 0 to the manual operation switching threshold Th c as the vehicle approaches the intersection. The manual operation switching threshold value that decreases automatically is calculated. The time until the predetermined time elapses after the host vehicle V passes the intersection, the calculation unit 17 increases manually from the manual operation switching threshold Th c to the manual operation switching threshold Th 0 as the distance from the intersection increases. Calculate the operation switching threshold. Similarly, the calculation unit 17 can calculate the manual operation switching threshold when the host vehicle V is traveling on a school road, near a childcare facility, near a school, near a park, or the like.
In the ECU 10, for example, a function of a manual operation switching threshold with respect to the road width as shown in FIG. 8 is stored. In the example of FIG. 8, when the road width exceeds the normal width, the calculation unit 17 calculates a manual operation switching threshold Th 0 that is a reference value for the manual operation switching threshold. When the road width is the minimum width through which the host vehicle V can pass, the calculation unit 17 calculates a manual operation switching threshold Th min that is the minimum value of the manual operation switching threshold. When the road width is equal to or less than the normal width and exceeds the minimum width, the calculation unit 17 manually adjusts the manual operation when the road width is the minimum width from the manual operation switching threshold Th 0 when the road width is the normal width. A manual operation switching threshold that linearly decreases to the operation switching threshold Th min is calculated. The calculation unit 17 calculates the manual operation switching threshold Th 0 based on the vehicle width of the host vehicle V registered in advance in the ECU 10 and the general road width registered in advance in the ECU 10 or the map database 4. Also good. In FIG. 8, the unit of the road width can be meter [m], and when the operation amount of the driver is a steering operation, the unit of the manual driving switching threshold Th 0 indicates, for example, a steering angle. The degree [°] can be set.
As shown in FIG. 2, when the operation amount is equal to or greater than the manual operation switching threshold (S9), the control unit 18 switches the automatic operation being executed to the manual operation (S10). On the other hand, when the operation amount is less than the manual operation switching threshold (S9), the control unit 18 continues the automatic operation being executed.
According to the present embodiment, the calculation unit 17 detects the vehicle V that has been recognized by the environment recognition unit 12 as the manual operation switching threshold for switching the automatic operation to the manual operation with respect to the operation amount such as the steering operation of the driver. Calculated according to the surrounding environment. For this reason, the intervention amount of the driving operation by the driver for switching from automatic driving to manual driving is adapted to the environment around the host vehicle.
Further, as the distance between the obstacle and the host vehicle V is shorter, it becomes easier to switch from automatic driving to manual driving, and the ease of dealing with the obstacle is improved. Also, when the obstacle is either another vehicle or a pedestrian, if the distance between the obstacle and the vehicle is the same, the case where the obstacle is a pedestrian is changed from automatic driving to manual driving. It becomes easy to switch, and the ease of dealing with pedestrians improves. If the obstacle is either a stationary object or a moving object and the distance between the obstacle and the host vehicle is the same, the case where the obstacle is a moving object is changed from automatic driving to manual driving. It becomes easy to switch, and the ease of dealing with moving objects is improved.
Further, according to the present embodiment, regardless of whether or not an obstacle is recognized, as the road width is narrower, it is easier to switch from automatic driving to manual driving, and the ease of handling when the road width is narrow is improved. Also, regardless of whether or not an obstacle is recognized, when the host vehicle V is traveling at either an intersection or a parking lot, it is easy to switch from automatic driving to manual driving, and it is easy to handle at the intersection or parking lot. Will improve.
As mentioned above, although embodiment of this invention was described, this invention is implemented in various forms, without being limited to the said embodiment. For example, the environment recognizing unit 12 recognizes the weather, the light amount, etc. even when the obstacles described above are not recognized as the environment around the host vehicle V, and the calculating unit 17 has a worse weather and a lower light amount. A low manual operation switching threshold may be calculated.
The environment recognition unit 12 includes all of the obstacle recognition unit 13, the road width recognition unit 14, and the facility recognition unit 15, and does not have to execute all the processes in FIG. Any one or a plurality of configurations of the obstacle recognition unit 13, the road width recognition unit 14, and the facility recognition unit 15 may be omitted. When the road width recognition unit 14 and the facility recognition unit 15 are omitted from the environment recognition unit 12, the calculation unit 17 may execute only the processes of S4 and S5. When the obstacle recognition unit 13 and the road width recognition unit 14 are omitted from the environment recognition unit 12, the calculation unit 17 performs only the processing of S6 and S7 after the processing of S3, and the processing of S8 is performed. It is not necessary to execute. When the obstacle recognition unit 13 and the facility recognition unit 15 are omitted from the environment recognition unit 12, the calculation unit 17 executes only the process of S8 after the process of S3, and executes the processes of S4 to S7. You don't have to.
When the road width recognition unit 14 is omitted from the environment recognition unit 12, the calculation unit 17 executes only the processing of S6 and S7 when no obstacle is recognized in the processing of S4. The process may not be executed. When the facility recognizing unit 15 is omitted from the environment recognizing unit 12, the calculating unit 17 executes only the process of S8 when the obstacle is not recognized in the process of S4, and the processes of S6 and S7. Does not have to be executed. When the obstacle recognizing unit 13 is omitted from the environment recognizing unit 12, the calculating unit 17 executes only the processes of S6 to 8 after the process of S3, and does not execute the processes of S4 and S5. Also good.
Further, when the environment recognition unit 12 includes the obstacle recognition unit 13, the obstacle recognition unit 13 recognizes only the distance between the obstacle and the host vehicle V and the type of the obstacle, and calculates the calculation unit 17. May calculate the manual operation switching threshold according to only one of the distance between the obstacle and the host vehicle V and the type of the obstacle. When the obstacle recognition unit 13 recognizes the type of the obstacle and the calculation unit 17 calculates the manual operation switching threshold according to the type of the obstacle, the obstacle recognition unit 13 determines that the obstacle is a pedestrian. Or the other vehicle and only whether the obstacle is a moving object or a stationary object, the calculation unit 17 determines whether the obstacle is a pedestrian or another vehicle, The manual operation switching threshold may be calculated only according to whether the obstacle is a moving object or a stationary object.
In addition, the control unit 18 is one of automatic driving for controlling the traveling of the host vehicle V using the traveling plan generated by the traveling plan generating unit 16, steering operation, accelerator operation, and braking operation by the driver of the own vehicle. Based on both the operation amount and the travel plan generated by the travel plan generation unit 16, the operation amount of any one of the semi-automatic driving for traveling the host vehicle V and the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle is automatically determined. The manual driving to be reflected in the traveling of the vehicle V may be switched based on the operation amount of any of the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle V. In this case, when the operation amount of any one of the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle V during the automatic driving is equal to or greater than the first threshold value, the control unit 18 performs the automatic driving being executed. Is switched to semi-manual operation, and if the operation amount of any one of the steering operation, the accelerator operation, and the brake operation by the driver of the host vehicle V during the semi-automatic operation is greater than or equal to the second threshold value, the operation is executed. Switch semi-automatic operation to manual operation. The calculation unit 17 can calculate the first threshold and the second threshold described above in the same manner as the manual operation switching threshold described above.
DESCRIPTION OF SYMBOLS 1 ... External sensor, 2 ... GPS receiving part, 3 ... Internal sensor, 4 ... Map database, 5 ... Navigation system, 6 ... Actuator, 7 ... HMI, U ... Auxiliary equipment, 10 ... ECU, 11 ... Manipulation amount acquisition part, DESCRIPTION OF SYMBOLS 12 ... Environment recognition part, 13 ... Obstacle recognition part, 14 ... Road width recognition part, 15 ... Facility recognition part, 16 ... Travel plan production | generation part, 17 ... Calculation part, 18 ... Control part, 100 ... Automatic driving device, V ... your vehicle.
While executing automatic driving of the host vehicle, if the operation amount of any of the steering operation, accelerator operation and brake operation by the driver of the host vehicle during the automatic driving is equal to or greater than the manual driving switching threshold An automatic driving device that switches the automatic driving to manual driving,
An operation amount acquisition unit for acquiring the operation amount during the automatic operation;
An environment recognition unit for recognizing an environment around the vehicle;
A calculation unit for calculating the manual operation switching threshold;
When performing the automatic operation and the operation amount is equal to or greater than the manual operation switching threshold, a control unit that switches the automatic operation being performed to manual operation;
The environment recognition unit recognizes an obstacle around the vehicle as the environment,
The said calculating part is an automatic driving device which calculates the said manual driving switching threshold value, so that the distance of the said obstacle and the said own vehicle is near .
When the distance between the obstacle and the host vehicle is a first distance and the obstacle is a pedestrian, the distance between the obstacle and the host vehicle is the first distance, and An automatic driving apparatus that calculates the manual driving switching threshold value lower than that when the obstacle is another vehicle .
When the distance between the obstacle and the host vehicle is a second distance and the obstacle is a moving object, the distance between the obstacle and the host vehicle is the second distance, and An automatic driving device that calculates the manual driving switching threshold value lower than that in a case where an obstacle is a stationary object .
The environment recognition unit recognizes a road width of the road on which the host vehicle travels as the environment,
The said calculating part is an automatic driving device which calculates the said manual driving switching threshold value, so that the said road width is narrow .
The environment recognition unit recognizes whether the host vehicle is traveling in an intersection or a parking lot as the environment based on map information and position information of the host vehicle.
If the environment recognition unit recognizes that the host vehicle is traveling in an intersection or a parking lot, the calculation unit determines whether the host vehicle is in an intersection or a parking lot. An automatic driving device that calculates the manual driving switching threshold value lower than that in a case where it is not recognized that the vehicle is running .
The calculation unit calculates the manual operation switching threshold value that is lower as the distance between the obstacle and the host vehicle is shorter, and the distance between the obstacle and the host vehicle is a first distance, and the obstacle is a pedestrian. In this case, the automatic driving apparatus calculates the manual driving switching threshold value that is lower than the case where the distance between the obstacle and the host vehicle is the first distance and the obstacle is another vehicle .
The calculation unit calculates the manual operation switching threshold which is lower as the distance between the obstacle and the host vehicle is closer, and the distance between the obstacle and the host vehicle is a second distance, and the obstacle is a moving object. If it is, the automatic driving device calculates the manual operation switching threshold value that is lower than the distance between the obstacle and the host vehicle is the second distance and the obstacle is a stationary object .
The said calculation part calculates the said manual driving | operation switching threshold value, so that the said road width is narrow, when the said environment recognition part has not recognized the said obstacle, The any one of Claims 1-3, 6 and 7 The automatic driving device according to item.
When the environment recognizing unit recognizes that the vehicle is traveling either an intersection or a parking lot when the environment recognizing unit does not recognize the obstacle, Any one of Claims 1-3 and 6-8 which calculates the said manual driving switching threshold value lower than the case where it is not recognized by the environment recognition part that the said own vehicle is drive | working either an intersection or a parking lot. The automatic driving device according to item 1.
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