JP2018114850A - Abnormality detection device - Google Patents

Abstract

Provided is a technique for detecting an abnormality even when automatic traveling is performed on various roads. A first receiving unit 330 is a control plan list generated in an automatic driving control apparatus 100 that controls automatic driving of a vehicle 1000, and is based on map information, travel regulation information, and obstacle information. Accept the control plan list generated in The road detail list generation unit 332 generates a road detail list of roads on which the vehicle 1000 is scheduled to travel based on the map information and the travel regulation information. The first detection unit 334 detects the occurrence of an abnormality by comparing the road detail list generated by the road detail list generation unit 332 with the control plan list received by the first reception unit 330. [Selection] Figure 2

Description

  The present invention relates to an abnormality detection technique, and more particularly to an abnormality detection device that detects an abnormality in automatic driving.

  In an electronic control device used for controlling a vehicle, a microcomputer executes various processes for controlling a controlled object. Abnormality may occur in the calculation by the microcomputer. Therefore, abnormality is determined for the output of important arithmetic processing that affects the vehicle behavior, and the occurrence of abnormal operation is prevented by executing fail-safe processing when it is determined that there is an abnormality. The Furthermore, in order to improve the accuracy of determination, a change in output is monitored (see, for example, Patent Document 1).

JP 2010-18150 A

  Control of the vehicle by the electronic control device is also performed for automatic driving. In control in automatic operation, a control signal is usually transmitted between control devices such as an ECU (Electronic Control Unit). At that time, the safety of the function is ensured by detecting the abnormality of the control signal. For example, an abnormality is detected when a control signal in automatic operation exceeds a predetermined range. The predetermined range is set so as to be narrower for a relatively slowly changing road such as an expressway. On the other hand, it is desirable to operate the abnormality detection normally for various roads such as general roads.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a technique for detecting an abnormality even when automatic traveling is performed on various roads.

  In order to solve the above problems, an abnormality detection device according to an aspect of the present invention is a control plan list generated in an automatic driving control device that controls automatic driving of a vehicle, and includes map information, travel regulation information, and a fault. A reception unit that receives a control plan list generated based on the object information, a generation unit that generates a road detail list of roads on which the vehicle is scheduled to travel based on the map information and the travel regulation information, And a detection unit that detects the occurrence of an abnormality by comparing the road detail list generated by the generation unit with the control plan received by the reception unit.

  Another embodiment of the present invention is also an abnormality detection device. This device is a control plan list generated in an automatic driving control device that controls automatic driving of a vehicle, and has a control plan list generated based on map information, travel regulation information, and obstacle information. Used in the detection unit for detecting the occurrence of abnormality according to whether or not the control content received in the reception unit is included in the normal range An adjustment unit that adjusts the width of the normal range based on the travel regulation information and the obstacle information.

  It should be noted that any combination of the above-described constituent elements and a conversion of the expression of the present invention between a method, an apparatus, a system, a recording medium, a computer program, etc. are also effective as an aspect of the present invention.

  According to the present invention, an abnormality can be detected even when automatic traveling is executed on various roads.

It is a figure which shows the structure of the vehicle used as the comparison object of an Example. It is a figure which shows the structure of the vehicle which concerns on an Example. It is a flowchart which shows the detection procedure by the abnormality detection apparatus of FIG. It is a flowchart which shows another detection procedure by the abnormality detection apparatus of FIG.

  An outline of the present invention will be given before a specific description of embodiments of the present invention. Embodiments of the present invention relate to an abnormality detection device that detects an abnormality in automatic driving control by an automatic driving control device mounted on a vehicle. The automatic driving control includes steering control, brake control, turn signal control, and the like. Here, steering control will be described as an example. Until now, abnormalities in automatic operation control have been detected by the steepness of the control. This is because the possibility of abnormal steering is high and the time until the abnormality causes an accident is short. Detection of such an abnormality due to the steepness of steering is appropriate when traveling on a highway.

  However, when traveling on a general road, steep steering can usually occur. Therefore, an abnormality cannot be detected only by the steepness of steering. On the other hand, assuming the driving of ordinary roads, if you set the range of steeper steering where abnormality should be detected, abnormalities may not be detected for abnormal steering when driving on highways, Ensuring safety is severe. Therefore, even when dynamic steering that is not performed during high-speed traveling is performed, detection of an abnormality that can ensure safety is required. Furthermore, since there is a possibility that a situation leading to an accident may occur immediately after the abnormal steering occurs, it is also required to detect the abnormality before the actual abnormal steering occurs.

  In order to deal with these problems, the abnormality detection apparatus according to the present embodiment executes two types of abnormality detection processing. In the first abnormality detection process, abnormal steering is detected in advance by comparing the combination of the map information indicating the shape of the road scheduled to travel and the travel regulation information with the control plan for automatic driving. That is, it is determined whether or not the scheduled control is normal control before actual operation. As a result, an abnormality is detected before the vehicle behaves abnormally. In the second abnormality detection process, abnormal steering is detected in consideration of whether a sharp steering such as a right / left turn or a hairpin curve may occur. As a result, even with the same steep steering, an abnormality is detected on the highway and no abnormality is detected on the general road.

  Before describing the abnormality detection apparatus according to the present embodiment, an abnormality detection apparatus to be compared with the present embodiment will be described. FIG. 1 shows a configuration of a vehicle 900 to be compared with the embodiment. The vehicle 900 includes a map information storage unit 10, a position information acquisition unit 12, a travel regulation information storage unit 14, an obstacle information acquisition unit 16, an automatic driving control device 100, a vehicle drive system ECU 200, and an abnormality detection device 400. The automatic operation control apparatus 100 includes a control plan list generation unit 110 and an input / output IF unit 112.

  The map information storage unit 10 stores map information, for example, map information of ADAS (Advanced Driving Assistant System). The position information acquisition unit 12 measures the position, speed, traveling direction, and the like (hereinafter collectively referred to as “position information”) of the vehicle 900. The position is indicated by latitude and longitude. The position information acquisition unit 12 is, for example, a GNSS (Global Navigation Satellite System) receiver, but may be an autonomous navigation device such as a gyro sensor or a combination thereof.

  The travel regulation information storage unit 14 stores travel regulation information according to the Road Traffic Law. The travel regulation information is associated with the road in the map information stored in the map information storage unit 10. The map information storage unit 10 includes information such as the inner and outer peripheral positions of a road that can be driven, speed limits, temporary stop positions, change of course, prohibition of stopping, and one-way traffic.

  The obstacle information acquisition unit 16 acquires the position, size, moving speed, and moving direction of the obstacle as the obstacle information based on the measurement results obtained from a plurality of types of sensors. The plurality of types of sensors include sensors such as stereo cameras, LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), and millimeter wave radar. When these sensors are used, for example, an obstacle several tens of meters away is detected.

  The automatic driving control device 100 controls automatic driving of the vehicle 900. The control plan list generation unit 110 in the automatic operation control device 100 is connected to the map information storage unit 10, the position information acquisition unit 12, the travel regulation information storage unit 14, and the obstacle information acquisition unit 16, and map information and position information are respectively obtained from the map. , Get travel regulation information and obstacle information. The control plan list generation unit 110 extracts map information and travel regulation information around the vehicle 900 based on the position information. In addition, the control plan list generation unit 110 adds obstacle information to the extracted map information and travel regulation information, and generates a control schedule for automatic traveling of the vehicle 900 as a control plan list.

  The control plan list includes position information that is the position of the vehicle 900, a vehicle control rudder angle that is scheduled to be executed at that position, a running speed that is scheduled to be executed at that position, and a vehicle traveling direction that is scheduled to be executed at that position. A known technique may be used for deriving these, but along the road indicated in the map information, the vehicle control rudder angle and the traveling speed are set so as to avoid obstacles according to the travel regulation information on the road. The vehicle traveling direction is derived. Note that the control plan list generation unit 110 sequentially updates the control plan list as the vehicle 900 automatically travels. Obstacle information that is detected each time is updated by updating the control plan list.

  The input / output IF unit 112 receives a control plan list that is sequentially updated in the control plan list generation unit 110. The input / output IF unit 112 converts the control content shown in the control plan list into a format for output to the vehicle drive system ECU 200. The converted result is also called a control value, and the control value includes, for example, values corresponding to the steering angle and the speed instruction. The input / output IF unit 112 outputs the control value to the vehicle drive system ECU 200. Note that the automatic operation control device 100 and the vehicle drive system ECU 200 are connected by, for example, a CAN (Controller Area Network).

  The vehicle drive system ECU 200 controls the engine, brake, and steering of the vehicle 900 based on the control value input from the input / output IF unit 112. Since a known technique may be used for these controls, description thereof is omitted here. The vehicle drive system ECU 200 outputs the vehicle FB data, the tire angle, the steering angle, and the speed to the input / output IF unit 112 as a control result.

  Abnormality detection apparatus 400 receives a control value from input / output IF unit 112 and a control result from vehicle drive system ECU 200. Control values and control results are collectively referred to as control contents. The abnormality detection device 400 determines whether or not at least one of the control value and the control result is included in the normal range. When included in the normal range, the abnormality detection device 400 does not detect the occurrence of abnormality. On the other hand, when not included in the normal range, the abnormality detection device 400 detects the occurrence of the abnormality. For example, when the steering angle in the control result is not included in the normal range, the abnormality detection device 400 detects the occurrence of the abnormality. When detecting the occurrence of an abnormality, abnormality detection device 400 notifies vehicle drive system ECU 200 of the occurrence of the abnormality. When notified of the occurrence of an abnormality, the vehicle drive system ECU 200 warns the user of the occurrence of the abnormality and switches the automatic operation to the manual operation. Note that the automatic operation control device 100 may perform switching from automatic operation to manual operation and warning of occurrence of an abnormality to the user.

  Since such an abnormality detection device 400 detects an abnormality based on the control content, there is a possibility that abnormal steering is performed when an abnormality is detected. For this reason, it is required to detect the abnormality even earlier. Moreover, the normal range suitable for a highway differs from the normal range suitable for a general road. For example, for steering such as a steering angle, the former is narrower than the latter. Therefore, a normal range setting suitable for both is required.

  FIG. 2 shows a configuration of the vehicle 1000 according to the embodiment. The vehicle 1000 includes a map information storage unit 10, a position information acquisition unit 12, a travel regulation information storage unit 14, an obstacle information acquisition unit 16, an automatic driving control device 100, a vehicle drive system ECU 200, and an abnormality detection device 300. The abnormality detection device 300 includes a prediction control monitoring unit 310 and an actual control monitoring unit 320. The prediction control monitoring unit 310 includes a first receiving unit 330, a road detail list generation unit 332, and a first detection unit 334, and performs actual control. The monitoring unit 320 includes a second reception unit 340, an adjustment unit 342, and a second detection unit 344. The first detection unit 334 includes an extraction unit 336 and a comparison unit 338.

  The map information storage unit 10, the position information acquisition unit 12, the travel regulation information storage unit 14, the obstacle information acquisition unit 16, the automatic driving control device 100, and the vehicle drive system ECU 200 are the same as those in FIG. Omitted. The first reception unit 330 receives a control plan list that is sequentially updated in the control plan list generation unit 110.

  The road detail list generation unit 332 is connected to the map information storage unit 10, the position information acquisition unit 12, and the travel regulation information storage unit 14, and acquires map information, position information, and travel regulation information from each. The road detail list generation unit 332 extracts map information and travel regulation information around the vehicle 1000 based on the position information. Further, the road detail list generation unit 332 generates information for each predetermined interval on the road on which the vehicle 1000 is scheduled to travel as a road detail list based on the map information and the travel regulation information.

  This can occur at each point based on the extracted road angle characteristics by prefetching the map information to extract the road angle characteristics such as the degree of curvature and the intersection angle with respect to the points at predetermined intervals on the road to be traveled. This corresponds to grasping the right and left steering angles. Therefore, the grasped steering angle range is included in the road detail list as a vehicle travel allowance vector during the outer periphery / inner periphery travel on the travel path. Further, the road detail list may include a braking force required for deceleration to a required stop position, a change action start limit point when a course is changed, and the like.

  The first detection unit 334 detects the occurrence of an abnormality by comparing the road detail list generated by the road detail list generation unit 332 with the control plan list received by the first reception unit 330. Specifically, the extraction unit 336 extracts the contents of points corresponding to the information in the control plan list from the road detail list. For example, when the information in the control plan list indicates information up to 50 meters ahead of the automatic driving control apparatus 100, the content up to about 50 meters ahead is extracted from the road detailed list.

  The comparison unit 338 compares the content extracted by the extraction unit with the content of the control plan list. This is equivalent to comparing the contents of the road detail list with the contents of the control plan list at the same point or close points. If the difference between the two is equal to or less than the threshold value, the comparison unit 338 does not detect the occurrence of an abnormality. This is equivalent to the fact that the contents of the control plan list are compared with the characteristics of the road to be driven and a normal steering angle is output. On the other hand, if the difference between the two is greater than the threshold value, the comparison unit 338 detects the occurrence of an abnormality.

  This corresponds to the first abnormality detection process described above. When the occurrence of an abnormality is detected, the comparison unit 338 notifies the vehicle drive system ECU 200 of the occurrence of the abnormality. When notified of the occurrence of an abnormality, the vehicle drive system ECU 200 warns the user of the occurrence of the abnormality and switches the automatic operation to the manual operation. Note that the automatic operation control device 100 may perform switching from automatic operation to manual operation and warning of occurrence of an abnormality to the user.

  The second receiving unit 340 inputs the control value from the input / output IF unit 112 and the control result from the vehicle drive system ECU 200. As described above, since the control value and the control result are collectively referred to as the control content, it can be said that the second receiving unit 340 receives the control content of the vehicle 1000 based on the control plan list.

  The adjustment unit 342 is connected to the position information acquisition unit 12, the travel regulation information storage unit 14, and the obstacle information acquisition unit 16, and acquires position information, travel regulation information, and obstacle information from each. The adjustment unit 342 extracts travel restriction information around the vehicle 900 based on the position information. The adjustment unit 342 adjusts the width of the normal range based on the travel regulation information and the obstacle information. For example, when it is predicted that the vehicle will continue straight based on the travel regulation information and the obstacle information, the adjustment unit 342 narrows the normal range. Further, based on the travel regulation information and the obstacle information, the adjustment unit 342 widens the normal range when steep steering is expected to avoid an obstacle or when a right or left turn is expected.

  The second detection unit 344 detects the occurrence of an abnormality depending on whether the control content received by the second reception unit 340 is included in the normal range adjusted by the adjustment unit 342. When included in the normal range, the second detection unit 344 does not detect the occurrence of abnormality. On the other hand, when not included in the normal range, the second detection unit 344 detects the occurrence of abnormality. This corresponds to the second abnormality detection process described above. When detecting the occurrence of an abnormality, second detection unit 344 notifies vehicle drive system ECU 200 of the occurrence of the abnormality. When notified of the occurrence of an abnormality, the vehicle drive system ECU 200 warns the user of the occurrence of the abnormality and switches the automatic operation to the manual operation. Note that the automatic operation control device 100 may perform switching from automatic operation to manual operation and warning of occurrence of an abnormality to the user.

  This configuration can be realized in terms of hardware by a CPU, memory, or other LSI of any computer, and in terms of software, it can be realized by a program loaded in the memory, but here it is realized by their cooperation. Draw functional blocks. Accordingly, those skilled in the art will understand that these functional blocks can be realized in various forms only by hardware, or by a combination of hardware and software.

  The operation of the abnormality detection apparatus 300 having the above configuration will be described. FIG. 3 is a flowchart showing a detection procedure by the abnormality detection device 300. The first receiving unit 330 receives the control plan list (S10). The road detail list generation unit 332 generates a road detail list (S12). When these differences are larger than the threshold value (Y in S14), the first detection unit 334 detects the occurrence of an abnormality (S16). If these differences are not greater than the threshold value (N in S14), the process is terminated.

  FIG. 4 is a flowchart showing another detection procedure performed by the abnormality detection apparatus 300. The 2nd reception part 340 receives the control content (S50). The adjustment unit 342 adjusts the normal range (S52). When the control content is not included in the normal range (N in S54), the second detection unit 344 detects the occurrence of an abnormality (S56). If the control content is included in the normal range (Y in S54), the process is terminated.

  According to the present embodiment, the occurrence of an abnormality is detected by comparing the road detail list with the control plan list, so that the detection can be accelerated. In addition, since the abnormality is detected earlier, it is possible to suppress the occurrence of abnormal steering immediately after the abnormality is detected. In addition, since abnormal steering is suppressed from occurring immediately after an abnormality is detected, the abnormality can be detected even when automatic traveling is performed on various roads. Further, since the contents of the portion included in the control plan list in the road detail list are extracted and used for comparison, the comparison can be executed accurately.

  Moreover, since the width of the normal range is adjusted based on the travel regulation information and the obstacle information, it is possible to detect an abnormality while reflecting the travel situation. Further, since the width of the normal range is adjusted based on the travel regulation information and the obstacle information, the normal range can be narrowed when traveling on a slowly changing road such as an expressway. In addition, since the normal range is narrowed when traveling on a slowly changing road such as an expressway, safety can be ensured. In addition, since the width of the normal range is adjusted based on the travel regulation information and the obstacle information, the normal range can be widened when traveling on a rapidly changing road such as a general road. Further, since the normal range is widened when traveling on a road that changes sharply such as a general road, erroneous detection of an abnormality can be prevented. In addition, since the abnormality is detected while reflecting the traveling state, the abnormality can be detected even when the automatic traveling is executed on various roads.

  The outline of one embodiment of the present invention is as follows. An abnormality detection device according to an aspect of the present invention is a control plan list generated in an automatic driving control device that controls automatic driving of a vehicle, and is generated based on map information, travel regulation information, and obstacle information. Receiving a control plan list to be generated, a generation unit for generating a road detail list of roads on which the vehicle is scheduled to travel based on the map information and the travel regulation information, and a road detail list generated by the generation unit And a detection unit that detects the occurrence of an abnormality by comparing the control plan list received by the reception unit.

  According to this aspect, since the occurrence of an abnormality is detected by comparing the road detail list with the control plan list, the detection can be accelerated.

  The detecting unit extracts the content of the part included in the control plan list received by the receiving unit from the road detail list generated by the generating unit, the content extracted by the extracting unit, and received by the receiving unit You may provide the comparison part which compares the content of a control plan list | wrist. In this case, since the contents of the portion included in the control plan list in the road detail list are extracted and used for comparison, the comparison can be performed accurately.

  Another embodiment of the present invention is also an abnormality detection device. This device is a control plan list generated in an automatic driving control device that controls automatic driving of a vehicle, and has a control plan list generated based on map information, travel regulation information, and obstacle information. Used in the detection unit for detecting the occurrence of abnormality according to whether or not the control content received in the reception unit is included in the normal range An adjustment unit that adjusts the width of the normal range based on the travel regulation information and the obstacle information.

  According to this aspect, since the width of the normal range is adjusted based on the travel regulation information and the obstacle information, it is possible to detect an abnormality while reflecting the travel state.

  In the above, this invention was demonstrated based on the Example. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to each of those constituent elements or combinations of processing processes, and such modifications are also within the scope of the present invention. .

  DESCRIPTION OF SYMBOLS 10 Map information memory | storage part, 12 Position information acquisition part, 14 Travel control information memory | storage part, 16 Obstacle information acquisition part, 100 Automatic driving control apparatus, 110 Control plan list generation part, 112 Input / output IF part, 200 Vehicle drive system ECU , 300 abnormality detection device, 310 prediction control monitoring unit, 320 actual control monitoring unit, 330 first reception unit, 332 road detailed list generation unit, 334 first detection unit, 336 extraction unit, 338 comparison unit, 340 second reception unit 342 adjustment unit, 344 second detection unit, 1000 vehicle.

Claims (5)

A control plan list generated in an automatic driving control device that controls automatic driving of a vehicle, and a reception unit that receives a control plan list generated based on map information, travel regulation information, and obstacle information;
A generating unit that generates a road detail list of roads on which the vehicle is scheduled to travel based on the map information and the travel regulation information;
A detection unit that detects the occurrence of an abnormality by comparing the road detail list generated in the generation unit with the control plan list received in the reception unit;
An abnormality detection device comprising: The detector is
Of the road detail list generated in the generation unit, an extraction unit that extracts the content of the part included in the control plan list received in the reception unit;
The abnormality detection device according to claim 1, further comprising: a comparison unit that compares the content extracted by the extraction unit with the content of the control plan list received by the reception unit. This is a control plan list generated in an automatic driving control device that controls automatic driving of a vehicle, and based on a control plan list generated based on map information, travel regulation information, and obstacle information. A reception unit for receiving the control content of the vehicle;
A detection unit that detects the occurrence of an abnormality according to whether the control content received in the reception unit is included in a normal range;
An adjustment unit that adjusts the width of a normal range used in the detection unit based on travel regulation information and obstacle information;
An abnormality detection device comprising: A control plan list generated in an automatic driving control device that controls automatic driving of a vehicle, and receiving a control plan list generated based on map information, travel regulation information, and obstacle information;
Generating a road detail list of roads on which the vehicle is scheduled to travel based on the map information and the travel regulation information;
A program for causing a computer to execute a step of detecting the occurrence of an abnormality by comparing a generated road detail list with an accepted control plan. This is a control plan list generated in an automatic driving control device that controls automatic driving of a vehicle, and based on a control plan list generated based on map information, travel regulation information, and obstacle information. Receiving the control details of the vehicle;
Adjusting the normal range based on the travel regulation information and the obstacle information;
A program for causing a computer to execute the step of detecting the occurrence of an abnormality depending on whether or not the accepted control content is included in the adjusted normal range.

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