Source: https://patents.google.com/patent/CN105988467B/en
Timestamp: 2020-01-29 01:36:57
Document Index: 15862152

Matched Legal Cases: ['art 17', 'art 14', 'art 15', 'art 14', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 15', 'art 17', 'art 15', 'art 15', 'art 15', 'art 15', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 14', 'art 14', 'art 15', 'art 14', 'art 15', 'art 17', 'art 14', 'art 17', 'art 15', 'art 17', 'art 14', 'art 17', 'art 15', 'art 12', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art 17', 'art, 14']

CN105988467B - Servomechanism - Google Patents
Servomechanism Download PDF
CN105988467B
CN105988467B CN201610147026.8A CN201610147026A CN105988467B CN 105988467 B CN105988467 B CN 105988467B CN 201610147026 A CN201610147026 A CN 201610147026A CN 105988467 B CN105988467 B CN 105988467B
CN201610147026.8A
CN105988467A (en
大冢康平
2015-03-23 Priority to JP2015-059185 priority Critical
2015-03-23 Priority to JP2015059185A priority patent/JP6304086B2/en
2016-03-15 Application filed by 丰田自动车株式会社 filed Critical 丰田自动车株式会社
2016-10-05 Publication of CN105988467A publication Critical patent/CN105988467A/en
2019-02-19 Publication of CN105988467B publication Critical patent/CN105988467B/en
The intervention amount that the present invention provides the driver behavior of driver for switching from a kind of from automatic Pilot to manual drive more meets the servomechanism of the environment around vehicle.The calculation part of servomechanism, calculated according to the environment around the vehicle recognized by Context awareness portion operated relative to the steering of driver, the operating quantity of any operation of accelerator operation and brake service is used to for automatic Pilot being switched to the manual drive switching threshold of manual drive.Thus, the environment around vehicle is met from automatic Pilot to the easy degree that manual drive switches.
The each side of the present invention is related to servomechanism.
Conventionally, there is known servomechanism as described in Patent Document 1, which executes itself The automatic Pilot of vehicle, and the steering operation of the driver of the vehicle during automatic Pilot, accelerator operation and In the case that any operation amount of brake service is scheduled threshold value or more, the automatic Pilot being carrying out is switched to manually It drives.
Patent document 1: No. 8670891 specifications of U.S. Patent No.
The environment of barrier around vehicle etc. is various.However, in above-mentioned conventional art, since basis is driven Automatic Pilot is respectively switched to manual drive without making by the operating quantity for the person of sailing, so for from automatic Pilot to manual drive The intervention amount of the driver behavior of the driver of switching does not meet the environment around vehicle sometimes, it is desirable to be improved.
Then, the present invention is to provide the driver behavior of the driver for switching from a kind of from automatic Pilot to manual drive Intervention amount more meets for the purpose of the servomechanism of the environment around vehicle.
One side of the invention is a kind of servomechanism, executes the automatic Pilot of vehicle, also, driving automatically The operating quantity of any operation of the steering operation of the driver of vehicle during sailing, accelerator operation and brake service In the case where more than manual drive switching threshold, the automatic Pilot being carrying out is switched to manual drive, wherein this is automatic Pilot instrument has: operating quantity acquisition unit, obtains the operating quantity during automatic Pilot；Context awareness portion identifies itself vehicle Environment around；Calculation part calculates manual drive switching threshold；And control unit, execution automatic Pilot, also, In the case that operating quantity is manual drive switching threshold or more, the automatic Pilot being carrying out is switched to manual drive, is calculated Portion calculates manual drive switching threshold according to the environment identified by Context awareness portion.
Another side of the invention is a kind of servomechanism, executes the automatic Pilot of vehicle and semi-automatic drives It sails, also, the steering operation of the driver of the vehicle during automatic Pilot, accelerator operation and brake service In the case that the operating quantity of any operation is the 1st threshold value or more, the automatic Pilot being carrying out is switched to semi-automatic driving, and And the steering operation of the driver of the vehicle during semi-automatic driving, accelerator operation and brake service are appointed In the case that the operating quantity of one operation is the 2nd threshold value or more, the semi-automatic driving being carrying out is switched to manual drive, In, which has: operating quantity acquisition unit, the operation during obtaining automatic Pilot and during semi-automatic driving Amount；Context awareness portion identifies the environment around vehicle；Calculation part calculates the 2nd of the 1st threshold value and 1 threshold value of Bi greatly Threshold value；And control unit, automatic Pilot and semi-automatic driving are executed, also, the operating quantity in automatic Pilot is the 1st threshold value In the case where above, the automatic Pilot being carrying out is switched to semi-automatic driving, moreover, the operating quantity in semi-automatic driving In the case where more than 2nd threshold value, the semi-automatic driving being carrying out is switched to manual drive, calculation part is known according to by environment Environment that other portion identifies calculates the 1st threshold value and the 2nd threshold value.
According to these structures, calculation part calculates use according to the environment around the vehicle identified by Context awareness portion Automatic Pilot is switched to the manual drive switching threshold of manual drive in the operating quantity that the steering for driver operates etc., In addition, calculating the operating quantity of steering operation for being directed to driver etc. and automatic Pilot being switched to the 1st of semi-automatic driving the Threshold value and semi-automatic driving is switched to the 2nd threshold of manual drive for operating quantity that the steering for driver operates etc. Value.Thus, the intervention amount of the driver behavior of the driver for switching from from automatic Pilot to manual drive more meets vehicle The environment of surrounding.
In this case, Context awareness portion can identify the barrier around vehicle as environment, barrier with from The distance of body vehicle is closer, then calculation part can calculate lower manual drive switching threshold.
According to this structure, barrier is closer at a distance from vehicle, then easier to cut from automatic Pilot to manual drive It changes, the easy degree for coping with barrier improves.
In addition, Context awareness portion can identify the barrier around vehicle as environment, calculation part can be in obstacle Object and vehicle distance are at a distance from barrier and vehicle for the 1st distance and in the case that barrier is pedestrian 1st distance and barrier be other vehicles in the case where compare, calculate lower manual drive switching threshold.
According to this structure, if barrier is identical at a distance from vehicle, with barrier be other vehicles the case where phase Than being easy to switch from automatic Pilot to manual drive in the case where barrier is pedestrian, coping with the easy degree of pedestrian It improves.
In addition, Context awareness portion can also identify the barrier around vehicle as environment, calculation part can hinder In the case that hindering at a distance from object and vehicle is the 2nd distance and barrier is motive objects, with barrier and vehicle away from It is compared with a distance from for the 2nd and the case where barrier is resting, calculates lower manual drive switching threshold.
According to this structure, if barrier is identical at a distance from vehicle, compared with the case where barrier is resting, It is easy to switch from automatic Pilot to manual drive in the case where barrier is the motive objects such as other vehicles or pedestrian, reply moves The easy degree of animal improves.
In addition, Context awareness portion can identify the road width for the road that vehicle is travelled as environment, road is had a lot of social connections Degree is narrower, then calculation part can calculate lower manual drive switching threshold.
According to this structure, unrelated with the presence or absence of the identification of barrier, road width is narrower, then it is easier from automatic Pilot to The easy degree of manual drive switching, the reply in the case that road width is narrow improves.
Alternatively, Context awareness portion can identify the road width for the road that vehicle is travelled as environment, in environment Identification part is unidentified in the case where barrier, and road width is narrower, then calculation part can calculate lower manual drive and cut Change threshold value.
According to this structure, Context awareness portion it is unidentified to barrier in the case where, road width is narrower, then it is easier from Automatic Pilot switches to manual drive, and the easy degree of the reply in the case that road width is narrow improves.
In addition, Context awareness portion can the location information based on cartographic information and vehicle, identification vehicle whether Traveling just is carried out as environment in either intersection and parking lot, and vehicle is being identified as by Context awareness portion In the case that either intersection and parking lot are travelled, handed over vehicle is not identified as by Context awareness portion The case where either cross road mouth and parking lot are travelled is compared, and calculation part can calculate lower manual drive switching threshold Value.
According to this structure, unrelated with the presence or absence of the identification of barrier, in vehicle just in intersection and parking lot Either one carries out when driving, being easy to switch from automatic Pilot to manual drive, the easy journey of the reply at intersection, parking lot Degree improves.
Alternatively, Context awareness portion can the location information based on cartographic information and vehicle, identification vehicle whether Traveling just, which is carried out, in either intersection and parking lot is used as environment, when not identifying barrier by Context awareness portion, In the case where being identified as vehicle by Context awareness portion and just being travelled in either intersection and parking lot, and not Vehicle is identified as by Context awareness portion just to compare the case where either intersection and parking lot are travelled, and is calculated Portion can calculate lower manual drive switching threshold.
According to this structure, Context awareness portion it is unidentified to barrier in the case where, in vehicle just in intersection It carries out when driving, being easy to switch from automatic Pilot to manual drive, answering at intersection, parking lot with either parking lot Pair easy degree improve.
One side according to the present invention is able to use and cuts in from automatic Pilot to manual drive in servomechanism The intervention amount of the driver behavior of the driver changed more meets the environment around vehicle.
Fig. 1 is the block diagram for showing the structure of servomechanism of embodiment.
Fig. 2 is the flow chart for showing the movement of servomechanism of Fig. 1.
Fig. 3 is the chart for showing the manual drive switching threshold relative to variation stepped at a distance from barrier.
Fig. 4 is shown relative to the chart of the manual drive switching threshold of linear change at a distance from barrier.
Fig. 5 is shown at a distance from barrier and the chart of the manual drive switching threshold of the classification of barrier.
Fig. 6 is the chart for showing the manual drive switching threshold in parking lot when driving.
Fig. 7 is the chart for showing the manual drive switching threshold in intersection when driving.
Fig. 8 is the chart for showing the manual drive switching threshold for road width.
Hereinafter, detailed description of embodiments of the present invention using attached drawing.As shown in Figure 1, servomechanism 100 are equipped on the vehicles such as passenger car V.The automatic Pilot of the execution of servomechanism 100 vehicle V.Automatic Pilot is Execute the driver behaviors such as the acceleration, deceleration and steering of vehicle V with referring to the driver behavior independent of driver.This implementation The automatic Pilot of the execution of the servomechanism 100 vehicle V of mode, also, the vehicle V during automatic Pilot The operating quantity of any operation of the steering operation of driver, accelerator operation and brake service is manual drive switching threshold In the case where above, the automatic Pilot being carrying out is switched to manual drive.Manual drive switching threshold is relative to itself The operating quantity of any operation of the steering operation of the driver of vehicle V, accelerator operation and brake service, for will The automatic Pilot of execution is switched to the threshold value of operating quantity used in the judgement of manual drive.
As shown in Figure 1, servomechanism 100 has external sensor 1, GPS (Global Positioning System: global positioning system) receiving unit 2, internal sensor 3, map data base 4, navigation system 5, actuator 6, HMI (Human Machine Interface: user interface) 7, ancillary equipment U and ECU10.
External sensor 1 is the peripheral information i.e. detection device of external condition for detecting vehicle V.External sensor 1 Including in camera, radar (Radar) and laser radar (LIDER:Laser Imaging Detection and Ranging) At least one party.
Camera is the capture apparatus for shooting the external condition of vehicle V.Camera is for example set to the front of vehicle V The back side of wind glass.Camera is also possible to stereoscopic camera either S.L.R.Stereoscopic camera is for example with to reproduce two Two shoot parts that the mode of parallax configures.It also include the information of depth direction in the photographing information of stereoscopic camera.Camera Photographing information relevant to the external condition of vehicle V is exported to ECU10.In addition, camera not only can be visible light phase Machine can also be infrared camera.
Radar detects the barrier of the outside of vehicle V using electric wave.Electric wave is, for example, millimeter wave.Radar to itself Electric wave is sent around vehicle V, and reception detects barrier by the electric wave that barrier reflects.Radar for example will be away from barrier Distance or direction are exported as obstacle information relevant to barrier.The obstacle information that radar will test is to ECU10 Output.In addition, the reception information of the electric wave after reflection can also be exported to ECU10 in the case where carrying out sensor fusion.
Laser radar detects the barrier of the outside of vehicle V using light.Laser radar is to around vehicle V Light is sent, and the distance away from reflection point is measured by the light that barrier reflects by reception, detects barrier.Laser radar is for example Can using away from barrier distance or direction export as obstacle information.The obstacle information that laser radar will test to ECU10 output.In addition, in the case where carrying out sensor fusion, it can also be defeated to ECU10 by the reception information of the light after reflection Out.In addition, camera, laser radar and radar must not necessarily repeat to have.
GPS receiving unit 2 receives signal from 3 or more GPS satellites, obtains the location information for indicating the position of vehicle V. Location information is for example including latitude and longitude.GPS receiving unit 2 is defeated to ECU10 by the location information of the vehicle V determined Out.In addition it is also possible to replace GPS receiving unit 2 and use other hands that can determine latitude locating for vehicle V and longitude Section.
Internal sensor 3 is the driver for detecting corresponding with the driving status of vehicle V information and vehicle V The detector of the operating quantity of any operation of steering operation, accelerator operation and brake service.In order to detect and itself vehicle The corresponding information of driving status of V, internal sensor 3 include vehicle speed sensor, acceleration transducer and yaw-rate sensing At least one party in device.In addition, in order to detect operating quantity, internal sensor 3 includes steering wheel sensor, accelerator pedal sensing At least one party in device and brake pedal sensor.
Vehicle speed sensor is to detect the detector of the speed of vehicle V.As vehicle speed sensor, such as using being set to The wheel speed sensing of the rotation speed of the detection wheel of the wheel of vehicle V or the drive shaft rotated integrally with wheel etc. Device.Vehicle speed sensor exports the vehicle speed information (wheel speed information) of the speed including vehicle V to ECU10.
Acceleration transducer is the detector for detecting the acceleration of vehicle V.Acceleration transducer is for example including detection The front and rear acceleration sensor of the acceleration in the front-back direction of vehicle V and the lateral lateral sensing of detection vehicle V Device.Acceleration transducer exports the acceleration information of the acceleration including vehicle V to ECU10.
Yaw rate sensor is the detection of the yaw-rate (angular velocity of rotation) for the vertical axis for detecting the center of gravity around vehicle V Device.As yaw rate sensor, such as use gyro sensor.Yaw rate sensor is by the yaw-rate including vehicle V Yaw-rate information to ECU10 export.
Steering wheel sensor is, for example, the inspection for the operating quantity that the driver of detection vehicle operates the steering of steering wheel Survey device.Steering wheel sensor operating quantity detected is, for example, the steering angle of steering wheel or the steering torque to steering wheel.Side The steering wheel shaft of vehicle V is for example set to disk sensor.Steering wheel sensor by include steering wheel steering angle or The information of the steering torque of steering wheel is exported to ECU10.
Accelerator pedal sensors are, for example, to detect the detector of the tread-on quantity of accelerator pedal.Accelerator pedal is trampled Amount is, for example, the position (pedal position) of the accelerator pedal on the basis of predetermined position.Predetermined position is either constant position It sets, is also possible to the position changed according to scheduled parameter.Accelerator pedal sensors are for example set to adding for vehicle V The shaft portion of fast device pedal.Accelerator pedal sensors by with the tread-on quantity corresponding operation information of accelerator pedal to ECU10 Output.
Brake pedal sensor is, for example, the detector for detecting the tread-on quantity of brake pedal.Brake pedal is trampled Amount is, for example, the position (pedal position) of the brake pedal on the basis of predetermined position.Predetermined position is either constant position It sets, is also possible to the position changed according to scheduled parameter.Brake pedal sensor is for example set to brake pedal Shaft portion.Brake pedal sensor also can detecte the operating force of brake pedal (to the legpower of brake pedal, master cylinder Pressure etc.).Brake pedal sensor will be defeated to ECU10 with the tread-on quantity of brake pedal or operating force corresponding operation information Out.
Map data base 4 is the database for having cartographic information.Map data base 4, which is for example formed in, is equipped on vehicle In the HDD (Hard disk drive: hard disk drive) of V.Location information, road shape of the cartographic information for example including road Information, intersection and branch crossing location information.The information of road shape for example including bend, straight line portion classification, The curvature etc. of bend.In turn, in servomechanism 100 using the location information of the shielding structures object such as building or wall or In the case where SLAM (Simultaneous Localization and Mapping: positioning and map structuring immediately) technology, Can make cartographic information includes the output signal of external sensor 1.In addition, map data base 4 also can store can with from In the computers of facilities such as the information processing centre that body vehicle V is communicated.
Navigation system 5 is set on map until by the driver of vehicle V to the driver of vehicle V Destination until guidance device.Location information of the navigation system 5 based on the vehicle V determined by GPS receiving unit 2 With the cartographic information of map data base 4, the path to be travelled vehicle V is calculated.Path for example can be in multiple lanes The path for the traveling lane that vehicle V to be travelled is determined in section.Navigation system 5 is for example calculated from vehicle V's Position carries out target road to driver by the voice output of the display of display and loudspeaker to the destination path of destination The notification of diameter.Navigation system 5 for example exports the information of the destination path of vehicle V to ECU10.In addition, navigation system 5 The information in the computers of facilities such as the information processing centre that is stored in and can be communicated with vehicle V can be used.Or Person, a part processing carried out by navigation system 5 can also be carried out by the computer of facility.
Actuator 6 is the device for executing the traveling control of vehicle V.Actuator 6 includes at least throttle actuator, system Dynamic actuator and steering actuator.Throttle actuator is controlled according to the control signal from ECU10 supplies engine Air supply amount (throttle opening), to control the driving force of vehicle V.In addition, being that mixing is dynamic in vehicle V Do not include throttle actuator in the case where power vehicle or electric car, inputs the control from ECU10 to the motor as power source Signal processed controls the driving force.
Brake actuator controls braking system according to the control signal from ECU10, to control to vehicle V's The brake force that wheel assigns.As braking system, brake fluid system can be used for example.Steering actuator is according to coming from The control signal of ECU10 controls the driving of servo-motor in electric boosting steering system to turning to torque and being controlled.By This, steering actuator controls the steering torque of vehicle V.
HMI7 is for carrying out information between the occupant of vehicle V (including driver) and servomechanism 100 Output and input interface.HMI7 for example have for occupant show image information display pannel, for voice it is defeated Loudspeaker out and operation button or the touch panel etc. for carrying out input operation for occupant.HMI7 both can use wirelessly The portable information terminal of connection also to can use occupant's output information the input operation that portable information terminal accepts occupant.
Ancillary equipment U is usually the equipment that can be operated by the driver of vehicle V.Ancillary equipment U is to be not included in cause The general name of the equipment of dynamic device 6.Ancillary equipment U herein is for example including blinker, headlamp, rain brush etc..
The automatic Pilot of ECU10 control vehicle V.ECU10 be with CPU [Central Processing Unit: Central processing unit], ROM [Read Only Memory: read-only memory], RAM [Random Access Memory: random Access memory] etc. electronic control unit.There is ECU10 operating quantity acquisition unit 11, Context awareness portion 12, traveling plan to generate Portion 16, calculation part 17 and control unit 18.In ECU10, by the way that the program for being stored in ROM is loaded into RAM and is held by CPU Row, to execute the control of each sections such as aforesaid operations amount acquisition unit 11.ECU10 can also be made of multiple electronic control units.
Operating quantity acquisition unit 11 obtains the vehicle during automatic Pilot based on the information obtained by internal sensor 3 The steering operation of driver, accelerator operation and brake service operating quantity.Operating quantity is, for example, the steering of steering wheel Angle, to the steering torque of steering wheel, the tread-on quantity of accelerator pedal, the tread-on quantity of brake pedal and the behaviour of brake pedal Make power etc..Alternatively, operating quantity is also possible to the steering angle of steering wheel, tramples to the steering torque of steering wheel, accelerator pedal Amount, the tread-on quantity of brake pedal and brake pedal operating force etc. for the state more than threshold value of setting it is lasting when Between.
Known based on the information obtained by external sensor 1, GPS receiving unit 2 and map data base 4 in Context awareness portion 12 Environment around other vehicle V.Context awareness portion 12 has obstacle recognition portion 13, road width identification part 14 and facility Identification part 15.Obstacle recognition portion 13 identifies the barrier around vehicle V based on the information obtained by external sensor 1 As the environment around vehicle V.As the barrier that obstacle recognition portion 13 is identified, for example including pedestrian, other The motive objects such as vehicle, automatic two-wheeled cycle and bicycle, the lane line (white line, yellow line) of road, kerbstone, guardrail, road cone, The restings such as central strip, building and trees.Obstacle recognition portion 13 obtain about barrier and vehicle V away from From, the position of barrier, barrier relative to the relative velocity of vehicle V and the information of the classification of barrier.Barrier Classification include pedestrian, other vehicles, motive objects and resting etc..
Road width identification part 14 is based on the letter obtained by external sensor 1, GPS receiving unit 2 and map data base 4 Breath, the road width for the road that identification vehicle V is travelled is as the environment around vehicle V.15 base of facility identification part In the location information of the cartographic information obtained by map data base 4 and the vehicle V obtained by GPS receiving unit 2, itself is identified Whether vehicle V is just carrying out traveling as the environment around vehicle V in either intersection and parking lot.Facility identification Portion 15 can also the location information based on cartographic information and vehicle V, identification vehicle V whether going up the ways for education, children Traveling is carried out near child-care facility, near school area and park etc. as the environment around vehicle V.
Traveling plan generating unit 16 is based on identifying by the calculated destination path of navigation system 5, with by Context awareness portion 12 The relevant information of barrier around vehicle V out and the cartographic information from the acquirement of map data base 4, generate itself vehicle The traveling plan of V.Traveling plan is the track that vehicle V advances in destination path.Traveling plan for example including it is each when Speed, acceleration, deceleration, direction and the rudder angle of vehicle V at quarter etc..Traveling plan generating unit 16 generates on target road On diameter vehicle V met safely, comply with the rules, the traveling plan of the traveling of benchmark such as running efficiency.In turn, traveling meter Situation of the generating unit 16 based on the barrier around vehicle V is drawn, generates itself vehicle to avoid the mode with bar contact The traveling plan of V.
Calculation part 17 is cut according to the environment around the vehicle V identified by Context awareness portion 12 to calculate manual drive Change threshold value.As described later, when recognizing barrier by the obstacle recognition portion 13 in Context awareness portion 12, calculation part 17 is according to barrier Hinder object at a distance from vehicle and the classification of barrier calculates manual drive switching threshold.In addition, not by Context awareness When the obstacle recognition portion 13 in portion 12 recognizes barrier, calculation part 17 is had a lot of social connections according to the road of the vehicle V road travelled The classifications of the facilities such as degree, the parking lot that is travelled vehicle V calculates manual drive switching threshold.As described later, in ECU10 In be stored with the function of manual drive switching threshold corresponding with the environment around vehicle V.
Control unit 18 automatically controls the traveling of vehicle V based on the traveling plan generated by traveling plan generating unit 16. Control unit 18 corresponding with traveling plan will control signal and export to actuator 6.Control unit 18 along traveling plan as a result, to hold The mode of the automatic Pilot of row vehicle V controls the traveling of vehicle V.In addition, being obtained by operating quantity acquisition unit 11 Operating quantity be by the case where more than the calculated manual drive switching threshold of calculation part 17, control unit 18 will be carrying out from Dynamic driving is switched to manual drive.
Then, the processing executed by servomechanism 100 is illustrated.As shown in Fig. 2, the control unit 18 of ECU10 Based on the traveling plan traveling generated of generating unit 16 plan, the automatic Pilot (S1) of vehicle V is executed.In addition, automatic When driving beginning, for example, after the ignition switch of vehicle V, based on the environment knowledge by external sensor 1 and ECU10 The environment around vehicle V that other portion 12 identifies, control unit 18 judge whether to be able to carry out automatic Pilot.It is being able to carry out In the case where automatic Pilot, control unit 18 is able to carry out automatic Pilot to occupant's notification using HMI7.Occupant carries out HMI7 pre- Fixed input operation, servomechanism 100 starts automatic Pilot as a result,.The operating quantity acquisition unit 11 of ECU10 obtains drives automatically The operation of any operation of the steering operation of the driver of vehicle V during sailing, accelerator operation and brake service It measures (S2).
Context awareness portion 12 identifies the environment (S3) around vehicle V.In the obstacle recognition portion in Context awareness portion 12 13 as the barrier around the Context awareness around vehicle V to vehicle V in the case where (S4), 17 basis of calculation part The barrier calculates manual drive switching threshold (S5).
Hereinafter, being illustrated to the calculating for the manual drive switching threshold corresponding with barrier that calculation part 17 carries out.? It is for example stored in ECU10 as shown in figure 3 for manual drive switching threshold of the barrier at a distance from vehicle V Function.In the example in figure 3, in the case where barrier has been more than 2 at a distance from vehicle V, calculation part 17 is calculated The manual drive switching threshold Th of a reference value as manual drive switching threshold0.On the other hand, in barrier and vehicle The distance of V is in 2 situations below, and calculation part 17, which calculates, compares Th0Low manual drive switching threshold Th1。
In addition, also can store in ECU10 it is as shown in Figure 4 for barrier at a distance from vehicle V Manual drive switching threshold function.In the example in fig. 4, the case where it has been more than 3 that barrier is at a distance from vehicle V Under, calculation part 17 is calculated as the manual drive switching threshold Th of a reference value of manual drive switching threshold0.Barrier with The distance of vehicle V is in 1 situation below, and calculation part 17, which calculates, compares Th0Low manual drive switching threshold Th1.Hindering In the case where hindering object to be 3 or less at a distance from vehicle V and be more than 1, calculation part 17 is calculated with barrier and itself The distance of vehicle V reduce and from distance be 3 when manual drive switching threshold Th0It is linear to reduce driving when extremely distance is 1 manually Sail switching threshold Th1Manual drive switching threshold.
In turn, in ECU10, it also can store and as shown in Figure 5 corresponding with the type of barrier be directed to barrier Hinder the function of manual drive switching threshold of the object at a distance from vehicle V.In the example of fig. 5, in barrier and itself vehicle In the case that the distance of V has been more than 3, regardless of the type of barrier, calculation part 17 is all calculated as manual drive and cuts Change the manual drive switching threshold Th of a reference value of threshold value0.In addition, the unit of distance for example can be set in Fig. 3~Fig. 5 Rice [m], in the case where the operating quantity of driver is steering operation, manual drive switching threshold Th0Unit can for example set For the degree [°] for indicating rudder angle.
Barrier at a distance from vehicle V for 3 or less and be more than 1 and barrier be the restings such as white line, guardrail In the case where, manual drive switching threshold Th when calculation part 17 is calculated from distance as 30It is linear to reduce when extremely distance is 1 Manual drive switching threshold Th1Manual drive switching threshold.It is 3 or less at a distance from vehicle V in barrier and is more than 1 and in the case that barrier is other vehicles, calculation part 17 calculate from distance be 3 when manual drive switching threshold Th0 The linear ratio Th reduced when extremely distance is 11Low manual drive switching threshold Th2Manual drive switching threshold.Barrier with The distance of vehicle V is 3 or less and has been more than 1 and in the case that barrier is pedestrian, and calculation part 17 is calculated from distance Manual drive switching threshold Th when being 30The linear ratio Th reduced when extremely distance is 12Low manual drive switching threshold Th3's Manual drive switching threshold.For in 1 situation below at a distance from the barrier with vehicle V, if barrier is resting, Calculation part 17 calculates manual drive switching threshold Th1If barrier is other vehicles, calculation part 17 calculates manual drive Switching threshold Th2If barrier is pedestrian, calculation part 17 calculates manual drive switching threshold Th3。
That is, in the case where barrier is 3 or less at a distance from vehicle V and barrier is pedestrian, needle To identical barrier at a distance from vehicle V (the 1st distance), calculation part 17 calculate be than barrier other vehicles feelings The low manual drive switching threshold of manual drive switching threshold under condition.In addition, being 3 at a distance from vehicle V in barrier Below and in the case that barrier is the motive objects such as pedestrian or other vehicles, for identical barrier and vehicle V Distance (the 2nd distance), calculation part 17 calculate the switching of the manual drive in the case where being the restings such as white line, guardrail than barrier The low manual drive switching threshold of threshold value.
As shown in Fig. 2, in obstacle recognition portion 13 as the environment around vehicle V unidentified to vehicle V weeks In the case where the barrier enclosed (S4), intersecting if being identified as vehicle V by the facility identification part 15 in Context awareness portion 12 Either crossing and parking lot are travelled (S6), then calculation part 17 is calculated intersects with what is recognized by facility identification part 15 The corresponding manual drive switching threshold (S7) in crossing or parking lot.In addition, facility identification part 15 for example can be by utilizing outside Sensor 1 detects the flashing of traffic lights to identify that vehicle V is just being travelled in intersection, or can be by being connect by GPS The information that receipts portion 2 and map data base 4 obtain identifies that vehicle V is just being travelled in intersection.In addition, facility identification part 15 can identify that vehicle V is just being travelled in parking lot by detecting " P " label in parking lot using external sensor 1, Or it can identify vehicle V just in parking lot row by the information obtained by GPS receiving unit 2 and map data base 4 It sails.
As shown in Fig. 2, in obstacle recognition portion 13 as the environment around vehicle V unidentified to vehicle V weeks In the case where the barrier enclosed (S4), handed over if not being identified as vehicle V by the facility identification part 15 in Context awareness portion 12 Either cross road mouth and parking lot are travelled (S6), then calculation part 17 is based on the road width identification by Context awareness portion 12 The road width that portion 14 recognizes calculates manual drive switching threshold (S8).
The function of the manual drive switching threshold for parking lot as shown in Figure 6 is for example stored in ECU10. In the example of fig. 6, before vehicle V enters parking lot and by the way that after parking lot, calculation part 17 is calculated as hand The manual drive switching threshold Th of the dynamic a reference value for driving switching threshold0.On the other hand, in vehicle V just in parking lot When driving, calculation part 17, which calculates, compares Th0Low manual drive switching threshold Thp。
Alternatively, being for example stored with the manual drive switching threshold for intersection as shown in Figure 7 in ECU10 Function.In the example of Fig. 7, before vehicle V enters the predetermined time before intersection or vehicle passes through friendship After predetermined time after cross road mouth, calculation part 17 is calculated as the manual drive switching of a reference value of manual drive switching threshold Threshold value Th0.Vehicle V just in intersection when driving, calculation part 17, which calculates, compares Th0Low manual drive switches threshold Value Thc。
Before the predetermined time before vehicle V enters intersection until vehicle V enters intersection In time, calculation part 17 is calculated with close to intersection and from manual drive switching threshold Th0It is linear to reduce to driving manually Sail switching threshold ThcManual drive switching threshold.Passing through intersection until by the predetermined time from vehicle V In time, calculation part 17 is calculated with far from intersection and from manual drive switching threshold ThcIt is linearly increasing to drive manually Sail switching threshold Th0Manual drive switching threshold.Calculation part 17 can calculate vehicle V in the same way and go to school Manual drive switching threshold near road, child care facility, near school area and park etc. when driving.
The letter of the manual drive switching threshold for road width as shown in Figure 8 is for example stored in ECU10 Number.In the example of fig. 8, in the case where road width has been more than bandpass, calculation part 17 is calculated as manual drive The manual drive switching threshold Th of a reference value of switching threshold0.Road width be vehicle V can by minimum widith In the case where, calculation part 17 is calculated as the manual drive switching threshold Th of the minimum value of manual drive switching thresholdmin.? In the case that road width is bandpass or less and has been more than minimum widith, calculation part 17 is calculated as road width narrows And manual drive switching threshold Th when from bandpass0Manual drive switching threshold Th when linear reduction to minimum widithmin Manual drive switching threshold.In addition, calculation part 17 can also vehicle width based on the vehicle V pre-registered in ECU10, The common road width pre-registered in ECU10 or map data base 4, to calculate manual drive switching threshold Th0.Separately Outside, in fig. 8, the unit of road width can be set to rice [m], in the case where the operating quantity of driver is steering operation, hand It is dynamic to drive switching threshold Th0Unit for example can be set to indicate rudder angle degree [°].
As shown in Fig. 2, in the case where operating quantity is manual drive switching threshold or more (S9), control unit 18 will held Capable automatic Pilot is switched to manual drive (S10).On the other hand, in the case where operating quantity is less than manual drive switching threshold (S9), control unit 18 continues the automatic Pilot being carrying out.
According to the present embodiment, calculation part 17 is according to the environment around the vehicle V recognized by Context awareness portion 12 To calculate the operating quantity of steering operation relative to driver etc. for automatic Pilot to be switched to the manual drive of manual drive Switching threshold.Thus, the intervention amount of the driver behavior of the driver for switching from from automatic Pilot to manual drive meets itself The environment of vehicle periphery.
In addition, barrier is closer at a distance from vehicle V, then it is easier to switch from automatic Pilot to manual drive, it answers The easy degree of barrier is more improved.In addition, in the case where barrier is either other vehicles and pedestrian, if barrier Hinder object identical at a distance from vehicle, is then easy to switch from automatic Pilot to manual drive when barrier is pedestrian, answer The easy degree of pedestrian is improved.In addition, in the case where barrier is either resting and motive objects, if barrier With identical at a distance from vehicle, then easy when barrier is motive objects to switch from automatic Pilot to manual drive, reply shifting The easy degree of animal improves.
In addition, according to the present embodiment, unrelated with the presence or absence of the identification of barrier, road width is narrower, then it is easier from Automatic Pilot switches to manual drive, and the easy degree of the reply in the case that road width is narrow improves.In addition, with barrier The presence or absence of identification is unrelated, just when driving, be easy from driving automatically in either intersection and parking lot in vehicle V Manual drive switching is driven towards, the easy degree of the reply at intersection, parking lot improves.
More than, although embodiments of the present invention are illustrated, the present invention is not limited to the above embodiments, can Implemented in the form of various.For example, it can be even if Context awareness portion 12 is as the ring around vehicle V In the case where above-mentioned barrier of border nonrecognition etc., also weather, light quantity etc. are identified, calculation part 17 calculate weather it is poorer, The more low then lower manual drive switching threshold of light quantity.
Know in addition, Context awareness portion 12 can both have obstacle recognition portion 13, road width identification part 14 and facility Other portion 15 is all handled without executing the whole of Fig. 2, and obstacle recognition portion can also be omitted for example from Context awareness portion 12 13, any structure or multiple structures of road width identification part 14 and facility identification part 15.It is saved from Context awareness portion 12 Slightly in the case where road width identification part 14 and facility identification part 15, calculation part 17 can also only execute the processing of S4 and S5.Separately Outside, in the case where omitting obstacle recognition portion 13 and road width identification part 14 from Context awareness portion 12, calculation part 17 The processing that S6 and S7 can be only executed after the processing of S3, the processing without executing S8.In addition, from Context awareness portion 12 In the case where omitting obstacle recognition portion 13 and facility identification part 15, calculation part 17 can also only execute S8 after the processing of S3 Processing, without execute S4~S7 processing.
In addition, not knowing in the processing of S4 in the case where omitting road width identification part 14 from Context awareness portion 12 When being clipped to barrier, calculation part 17 can also only execute the processing of S6 and S7, the processing without executing S8.In addition, from environment In the case where omitting facility identification part 15 in identification part 12, in the processing of S4 it is unidentified to barrier when, calculation part 17 can also Processing only to execute the processing of S8, without executing S6 and S7.In addition, omitting obstacle recognition portion from Context awareness portion 12 In the case where 13, calculation part 17 can also only execute the processing of S6~8 after the processing of S3, the place without executing S4 and S5 Reason.
In turn, in the case where Context awareness portion 12 has obstacle recognition portion 13, it is also possible to obstacle recognition portion 13 Only cognitive disorders object is at a distance from vehicle V and either the type of barrier, calculation part 17 according only to barrier with from Either the distance of body vehicle V and the type of barrier calculate manual drive switching threshold.In addition, in obstacle recognition portion In the case that type, the calculation part 17 of 13 cognitive disorders objects calculate manual drive switching threshold according to the type of barrier, It can be, only cognitive disorders object is pedestrian or other vehicles and barrier is motive objects or quiet in obstacle recognition portion 13 Only either object, calculation part 17 according only to barrier is pedestrian or other vehicles and barrier is motive objects or quiet Only either object calculates manual drive switching threshold.
In addition, control unit 18 can also be based on steering operation, accelerator operation and the braking of the driver of vehicle V The operating quantity of any operation of device operation controls vehicle V to the traveling plan for using traveling plan generating unit 16 to generate The automatic Pilot of traveling, the steering operation of driver based on vehicle, accelerator operation and brake service appoint The both sides for the traveling plan that the operating quantity and traveling plan generating unit 16 of one operation generate are semi-automatic travel vehicle V Drive and make the behaviour of any operation of the steering operation of driver of vehicle, accelerator operation and brake service The manual drive for being reflected in the traveling of vehicle V as amount switches over.In this case, itself vehicle during automatic Pilot The operating quantity of any operation of the steering operation of the driver of V, accelerator operation and brake service is the 1st threshold value or more In the case where, the automatic Pilot being carrying out is switched to semi-manual driving by control unit 18, itself during semi-automatic driving The operating quantity of any operation of the steering operation of the driver of vehicle V, accelerator operation and brake service is than the 1st threshold value In the case where more than the 2nd big threshold value, the semi-automatic driving being carrying out is switched to manual drive by control unit 18.Calculation part 17 Above-mentioned 1st threshold value and the 2nd threshold value can be calculated in the same manner as above-mentioned manual drive switching threshold.
1 ... external sensor, 2 ... GPS receiving units, 3 ... internal sensors, 4 ... map data bases, 5 ... navigation system, 6 ... actuators, 7 ... HMI, U ... ancillary equipment, 10 ... ECU, 11 ... operating quantity acquisition units, 12 ... Context awareness portions, 13 ... obstacles Object identification part, 14 ... road width identification parts, 15 ... facility identification parts, 16 ... traveling plan generating units, 17 ... calculation parts, 18 ... Control unit, 100 ... servomechanisms, V ... vehicle.
1. a kind of servomechanism executes the automatic Pilot of vehicle, also, during the automatic Pilot described in from The operating quantity of any operation of the steering operation of the driver of body vehicle, accelerator operation and brake service is manual drive In the case where more than switching threshold, the automatic Pilot being carrying out is switched to manual drive, wherein
The servomechanism has:
Operating quantity acquisition unit, the operating quantity during obtaining the automatic Pilot；
Context awareness portion identifies the environment around the vehicle；
Calculation part calculates the manual drive switching threshold；And
Control unit executes the automatic Pilot, also, in the feelings that the operating quantity is the manual drive switching threshold or more Under condition, the automatic Pilot being carrying out is switched to manual drive,
The calculation part calculates the manual drive switching threshold according to the environment identified by the Context awareness portion Value,
The Context awareness portion identify the barrier around the vehicle as the environment,
The barrier is closer at a distance from the vehicle, then the calculation part calculates the lower manual drive and cuts Change threshold value.
2. a kind of servomechanism executes the automatic Pilot and semi-automatic driving of vehicle, also, in the automatic Pilot The operation of any operation of the steering operation of the driver of the vehicle of period, accelerator operation and brake service In the case that amount is the 1st threshold value or more, the automatic Pilot being carrying out is switched to semi-automatic driving, moreover, described Any of the steering operation of the driver of the vehicle during semi-automatic driving, accelerator operation and brake service In the case that the operating quantity of operation is the 2nd threshold value or more, the semi-automatic driving being carrying out is switched to manual drive, In,
Operating quantity acquisition unit, the operating quantity during obtaining the automatic Pilot and during the semi-automatic driving；
Calculation part calculates the 1st threshold value and 2nd threshold value bigger than the 1st threshold value；And
Control unit executes the automatic Pilot and the semi-automatic driving, also, the operating quantity in the automatic Pilot is In the case where more than 1st threshold value, the automatic Pilot being carrying out is switched to the semi-automatic driving, moreover, In the case that operating quantity in the semi-automatic driving is the 2nd threshold value or more, the semi-automatic driving that will be carrying out It is switched to the manual drive,
The calculation part calculates the 1st threshold value and the described 2nd according to the environment identified by the Context awareness portion Threshold value.
3. servomechanism according to claim 1 or 2,
The calculation part, in the barrier be the 1st distance at a distance from the vehicle and the barrier is pedestrian In the case where, it is the 1st distance at a distance from the vehicle with the barrier and the barrier is other vehicles The case where compare, calculate the lower manual drive switching threshold.
4. servomechanism according to claim 1 or 2,
The calculation part, in the barrier be the 2nd distance at a distance from the vehicle and the barrier is motive objects In the case where, it is the 2nd distance at a distance from the vehicle with the barrier and the barrier is resting Situation is compared, and the lower manual drive switching threshold is calculated.
5. servomechanism according to claim 1 or 2,
The Context awareness portion identify the road width of the road that the vehicle is travelled as the environment,
The road width is narrower, then the calculation part calculates the lower manual drive switching threshold.
6. servomechanism according to claim 1,
The Context awareness portion it is unidentified to the barrier in the case where, the road width is narrower, then the calculation part Calculate the lower manual drive switching threshold.
7. servomechanism according to claim 1 or 2,
Whether the Context awareness portion, the location information based on cartographic information and the vehicle, identify the vehicle Traveling just, which is carried out, in either intersection and parking lot is used as the environment,
The calculation part is being identified as the vehicle just in any of intersection and parking lot by the Context awareness portion In the case that Fang Jinhang is travelled, and the vehicle is not identified as just in intersection and parking lot by the Context awareness portion Either the case where being travelled compare, calculate the lower manual drive switching threshold.
8. servomechanism according to claim 1,
The calculation part is identified when not identifying the barrier by the Context awareness portion by the Context awareness portion It is the vehicle just in the case where either intersection and parking lot are travelled, and not by the Context awareness Portion is identified as the vehicle and just compares the case where either intersection and parking lot are travelled, and calculates lower The manual drive switching threshold.
CN201610147026.8A 2015-03-23 2016-03-15 Servomechanism CN105988467B (en)
JP2015-059185 2015-03-23
JP2015059185A JP6304086B2 (en) 2015-03-23 2015-03-23 Automatic driving device
CN105988467A CN105988467A (en) 2016-10-05
CN105988467B true CN105988467B (en) 2019-02-19
ID=55650188
CN201610147026.8A CN105988467B (en) 2015-03-23 2016-03-15 Servomechanism
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