JP2019048486A - Automatic driving device, method and program, and automatic driving vehicle - Google Patents

Abstract

To provide an automatic driving device which is capable of preventing a crew member from intervening in automatic operation of a vehicle with unnecessary manual operation.SOLUTION: In an automatic driving device 14, an experience level calculation part 30 calculates an experience level of a crew member relative to automatic driving. A margin level determination part 32 determines a margin level in automatic driving control on the basis of the experience level. A parameter setting part 34 sets a parameter in automatic driving control on the basis of the margin level.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic driving apparatus, method and program for performing automatic driving of a vehicle, and an automatic driving vehicle.

  2. Description of the Related Art Various automatic driving devices have been proposed for performing automatic driving of a vehicle by causing the vehicle to shift from a manual driving mode to an automatic driving mode in accordance with an instruction from the passenger while the passenger gets on the vehicle. reference).

JP, 2016-185745, A

  Since the optimum driving control is performed in the automatic driving by the automatic driving device, the driving control with a lower margin is performed as compared with the case where the vehicle is manually operated by the passenger. In addition, in an autonomous driving vehicle, even during automatic driving, a passenger can manually operate the vehicle.

  As described above, in automatic driving, driving control with a margin smaller than that of manual driving is performed, and manual operation of the vehicle by an occupant is possible. Therefore, optimal driving control is performed for an occupant who is not experienced in automatic driving. Despite being conducted, there is a fear that the automatic driving may be performed and unnecessary manual intervention may be performed.

  The present invention has been made in view of the above problems, and an object thereof is an automatic driving apparatus, method and program capable of preventing unnecessary manual operation intervention by a passenger in automatic driving of a vehicle, and automatic driving It is about providing a vehicle.

  The present invention adopts the following technical means in order to solve the above problems. The claims and the reference numerals in the parentheses described in this section are an example showing the correspondence with the specific means described in the embodiment described later as one embodiment, and the technical scope of the present invention is limited. It is not something to do.

  According to a first embodiment of the present invention, an experience degree calculation unit (30) for calculating an experience degree of a passenger for automatic driving, and a margin degree determination unit (32) for determining a margin degree in automatic driving control based on the experience degree. And a parameter setting unit (34; 54) configured to set a parameter in the automatic operation control based on the margin, and the automatic operation device (14; 50).

  According to a second embodiment of the present invention, in the second embodiment, an experience degree calculating step of calculating an experience degree of an occupant for automatic driving, a margin determining step of determining a margin in automatic driving control based on the experience, and And a parameter setting step of setting a parameter in the automatic driving control based on the automatic driving method.

  According to a third embodiment of the present invention, there is provided a computer comprising: an experience degree calculating function of calculating an experience degree of an occupant for automatic driving; a margin degree determining function of determining an allowance degree in automatic driving control based on the experience degree; It is an automatic operation program for realizing a parameter setting function which sets a parameter in automatic operation control based on a margin.

  The fourth embodiment of the present invention is an autonomous driving vehicle in which an inter-vehicle distance between the host vehicle and another vehicle in the autonomous driving decreases or the velocity of the host vehicle increases as the number of times of use of the autonomous driving increases. It is.

  According to the fifth embodiment of the present invention, a notification indicating that the degree of experience of the occupant with respect to automatic driving has increased or the degree of margin in automatic driving control has decreased with respect to the occupant as the number of times of use of the automatic driving increases. Is an autonomous driving vehicle that

  According to the present invention, it is possible to prevent unnecessary manual operation intervention by a passenger in automatic driving of a vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram which shows the autonomous driving vehicle of 1st Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS The flowchart which shows the automatic-operation method of 1st Embodiment of this invention. The schematic diagram which shows the automatic parking of 1st Embodiment of this invention by maximum closest approach distance. The schematic diagram which shows the automatic parking of 1st Embodiment of this invention by minimum closest approach distance. The schematic diagram which shows the notification step of 1st Embodiment of this invention. The block diagram which shows the autonomous driving vehicle of a 2nd embodiment of the present invention. The flowchart which shows the automatic-operation method of 2nd Embodiment of this invention. The schematic diagram which shows the vehicle line change of 2nd Embodiment of this invention by the largest offset distance. The schematic diagram which shows the vehicle line change of 2nd Embodiment of this invention by the minimum offset distance. The block diagram which shows the autonomous driving vehicle of a 3rd embodiment of the present invention. The flowchart which shows the allowance degree change step of 3rd Embodiment of this invention.

  A first embodiment of the present invention will be described with reference to FIGS. 1 to 5.

An outline of the automatic parking of this embodiment will be described.
In the automatic parking of this embodiment, in a state where the driver gets on the vehicle, the vehicle shifts from the manual driving mode to the automatic driving mode according to the instruction of the driver, and the automatic parking of the vehicle is performed. In accordance with the increase in the number of times of use of automatic parking by the driver, the degree of margin for automatic parking control is determined to be low, and the closest approach distance to adjacent parking vehicles in automatic parking control is set to a small value. A target parking path is generated based on the closest approach distance, and the vehicle is automatically parked according to the target parking path. The driver is informed of the number of times of use, the closest approach distance, and the degree of margin along with the target parking path.

An autonomous driving vehicle according to the present embodiment will be described with reference to FIG.
In the autonomous driving vehicle of the present embodiment, manual operation and automatic parking are possible, and manual operation of the vehicle is possible even during automatic parking.

  As shown in FIG. 1, the autonomous driving vehicle has the following various devices for performing manual operation of the vehicle. The autonomous driving vehicle has a manual operation device 10 for performing manual operation input. The manual operation device 10 is formed of a steering wheel, an accelerator, a brake, a clutch, and the like. The autonomous driving vehicle also has a vehicle drive device 12 that drives the vehicle according to a manual operation input to the manual operation device 10. The vehicle drive device 12 is formed of a steering device, a drive device, a braking device, a transmission, and the like.

  The autonomous driving vehicle has the following various input / output devices and an automatic parking device 14 for performing automatic parking of the vehicle.

  As an input device, the autonomous driving vehicle has a parking start button 16 for activating the automatic parking device 14 to shift the vehicle from the manual driving mode to the automatic driving mode and to start the automatic parking. The autonomous driving vehicle also has a driver information acquisition device 18 for acquiring driver information and an environmental information acquisition device 20 for acquiring surrounding environment information.

  As an output device, the vehicle drive device 12 drives the vehicle according to the control by the automatic parking device 14 in addition to the manual operation input to the manual operation device 10. The autonomous driving vehicle also has a human-machine interface device (hereinafter referred to as "HMI device") 22 as a notification unit for notifying the driver according to the control by the automatic parking device 14.

  The driver information recording unit 24 of the automatic parking device 14 has a function of recording the driver information of the driver who has driven the automatic driving vehicle before. The driver identification unit 26 has a function of identifying the driver by comparing the driver information acquired by the driver information acquisition device 18 with the driver information recorded in the driver information recording unit 24. .

  As a method of identifying the driver, face authentication, fingerprint authentication or the like is used. In the face authentication, an in-vehicle camera for capturing an image of the face of the driver by capturing an image of the inside of the vehicle as the driver information acquisition device 18 is used, and the driver identification unit 26 acquires the image data of the face of the acquired driver The driver is identified by matching it with the driver's face image data recorded. Further, in fingerprint authentication, a fingerprint recognition device is used as a driver information acquisition unit, which is disposed on the steering wheel and acquires fingerprint data of the driver, and the driver identification unit 26 records the fingerprint data and the acquired driver fingerprint data. The driver is identified by matching it with the fingerprint data of the driver. When the autonomous driving vehicle is a share car, the reservation person information or the driver information input by card input or manual input may be used as it is for recognition of the driver.

  The use history recording unit 28 has a function of recording, for each driver, a use history of automatic parking in a main driving vehicle. The usage count calculation unit 30 as the experience level calculation unit uses the automatic parking use history recorded in the usage history recording unit 28 for the driver identified by the driver identification unit 26 as the usage degree of automatic parking as the experience level Has a function to calculate The margin determination unit 32 has a function of determining the margin in automatic parking control based on the number of times of use calculated by the experience calculation unit 30. The closest distance setting unit 34 as a parameter setting unit has a function of setting the closest distance as an inter-vehicle distance to an adjacent parked vehicle as a parameter in the automatic parking control based on the margin determined by the margin determining unit 32. Have.

  The surrounding environment recognition unit 36 has a function of recognizing the surrounding environment of the autonomous driving vehicle based on the surrounding environment information acquired by the environment information acquisition device 20. In the present embodiment, in recognition of the surrounding environment, an in-vehicle camera for capturing image data of the surrounding environment is used as the environment information acquisition device 20 by capturing images of the front, rear, left and right of the vehicle. From the image data of the environment, the surrounding environment such as the parking slot and the position and range of other parked vehicles are recognized.

  The parking route generation unit 38 sets a target parking route for automatic parking based on the closest approach distance to the adjacent parked vehicle set by the closest approach distance setting unit 34 and the surrounding environment recognized by the surrounding environment recognition unit 36. Has a function to generate.

  The HMI control unit 40 as the notification control unit controls the HMI device 22 to provide the driver with the target parking path generated by the parking path generation unit 38 as well as the number of times of use calculated by the number of times of use calculation unit 30 The function has a function of performing notification based on the closest approach distance set by the closest approach distance setting unit 34 and the margin determined by the margin determination unit 32. As a notification method, screen output and sound output are used, and as the HMI device 22, a display device and a sound generation device are used.

  The drive control unit 42 has a function of controlling the vehicle drive device 12 and performing automatic parking of the automatically driven vehicle in accordance with the target parking path generated by the parking path generation unit 38.

  The safety determination unit 44 determines whether the target parking route is safe or not based on the surrounding environment recognized by the surrounding environment recognition unit 36 during automatic parking control, and determines that the target parking route is not safe. , And has a function of instructing the parking path generation unit 38 to change the target parking path.

The automatic driving method of the present embodiment will be described with reference to FIGS. 2 to 5.
As shown in FIG. 2, the automatic driving method according to the present embodiment includes the following steps.

Parking start button operation judgment step S11
It is determined whether the parking start button 16 of the autonomous driving vehicle is operated by the driver. When the parking start button 16 is operated, the process proceeds to the following steps to perform automatic parking. If the parking start button 16 is not operated, the determination is repeated.

Driver identification step S12
The driver information of the driver of the autonomous driving vehicle is acquired, and the acquired driver information is compared with the driver information recorded in the autonomous driving vehicle to identify the driver.

Usage history acquisition step S13
For the driver identified in the driver identification step S12, the usage history of automatic parking in the autonomous driving vehicle recorded in the autonomous driving vehicle is acquired.

Number of times of use calculation step S14
For the driver of the autonomous driving vehicle, the number of uses of the automatic parking in the autonomous driving vehicle is calculated based on the usage history of the automatic parking acquired in the usage history acquisition step S13.

Margin determination step S15
For the driver of the autonomous driving vehicle, the margin P [%] in the automatic parking control is determined from the number n of uses of the automatic parking calculated in the number-of-uses calculation step S14. In the present embodiment, as shown by the following equation (1), when the number of times of use n is equal to or less than the predetermined number of times of use N, the margin P is determined in inverse proportion to the number of times of use n If n exceeds the usage frequency N, the margin P is set to a constant lower limit regardless of the usage frequency n. As the number of times of habitation N, the number of times in which automatic parking is sufficiently experienced and the fear of automatic parking can be regarded as being completely wiped out is selected as appropriate. The number N of times of use can be set to, for example, 10 times.

Closest distance setting step S16
From the degree of margin determined in the degree of margin determination step S15, the closest approach distance to the adjacent parked vehicle in automatic parking is calculated. In the present embodiment, the closest approach distance s is calculated so as to be in direct proportion to the margin P between the predetermined maximum distance R and the minimum distance r, as shown in the equation (2). As the maximum distance R, the closest approach distance to the adjacent parked vehicle when a normal driver manually parks is selected as appropriate. On the other hand, as the minimum distance r, the closest approach distance to the adjacent parked vehicle in the case of performing optimal control by automatic parking control is appropriately selected. The maximum distance R and the minimum distance r are set to, for example, 75 cm and 35 cm, respectively.

Peripheral environment recognition step S17
The surrounding environment information of the autonomous driving vehicle is acquired, and the peripheral environment of the autonomous driving vehicle is recognized from the acquired surrounding environment information. In the present embodiment, from the image data of the surrounding environment, the surrounding environment such as the parking slot and the position and range of the other parked vehicle is recognized.

Parking path generation step S18
A target parking path is generated based on the closest approach distance calculated in the closest approach distance setting step S16 and the surrounding environment of the autonomous driving vehicle recognized in the surrounding environment recognition step S17. For example, as shown in FIGS. 3A and 3B, when the closest approach distance is the maximum distance R, the own vehicle X needs to be separated from the adjacent parked vehicle Y by the maximum distance R or more in the automatic parking. Because of this, the target parking path is likely to include a large turnaround. On the other hand, as shown in FIG. 4, when the closest approach distance is the minimum distance r, it is possible for the own vehicle X to approach the adjacent parked vehicle Y up to the minimum distance r in automatic parking. The path is likely to be one that does not include turnarounds.

Notification step S19
When performing automatic parking of the automatically driven vehicle, the number of times of use calculated in the number of times of use calculation step S14, the closest approach distance setting step S16, together with the target parking path generated in the parking path generation step S18, for the driver. A notification is performed based on the closest distance calculated in the above step and the margin determined in the margin determination step S15.

  In the present embodiment, screen output and audio output are used for notification to the driver. In the screen output, as shown in FIG. 5, the target parking path is indicated by a curved arrow V, and the closest approach distance is the closest approach distance centered on the closest approach point to the own vehicle X in the adjacent parked vehicle Y. It is displayed by a circular area W which is a radius. In the voice output, the driver is notified of contents that can be intuitively grasped based on the number of times of use, the closest approach distance, the margin, and the target parking path.

  For example, FIG. 5A shows the case where the number of times the driver uses automatic parking is zero, the margin in automatic parking control is 100%, and the closest approach distance is 75 cm. The target parking route is to include a large turnaround. In voice output, voice output is performed, "Because parking assist is used for the first time, parked with a large enough turn, without getting close to the surrounding parked vehicle very much".

  FIG. 5B shows the case where the driver uses the automatic parking 5 times, the automatic parking control has a margin of 50%, and the closest approach distance is 55 cm. The parking path includes a small turnaround. For voice output, "Because parking assist has been used several times, we will make a small turn back and park with a certain margin, approaching the parked vehicle in the vicinity than the previous time," and perform voice output .

  FIG. 5C shows the case where the number of times the driver uses automatic parking is 10 times, the margin in automatic parking control is 0%, and the closest approach distance is 35 cm. The parking route does not include turnaround. In voice output, "Because parking assist is already fully used, voice will be parked without turning around without getting enough close to surrounding parked vehicles," Make an output.

Automatic parking step S20
In accordance with the target parking path generated in the parking path generation step S18, the autonomous driving vehicle is controlled to perform automatic parking.

Automatic parking completion judgment step S21
Determine if automatic parking is complete. If it is determined that the automatic parking has been completed, the automatic parking method is ended. If it is determined that the automatic parking has not been completed, the process proceeds to safety determination step S22.

Safety judgment step S22
The surrounding environment information of the autonomous driving vehicle is acquired, the peripheral environment of the autonomous driving vehicle is recognized from the acquired peripheral environment information, and it is determined whether the target parking route is safe based on the recognized peripheral environment. If it is determined that the target parking path is safe, the process returns to the automatic parking step S20, and the automatic parking is continued. On the other hand, when it is determined that the target parking path is not safe, the processing returns to the parking path generation step S18, the target parking path is corrected to be safe, and the automatic parking is continued.

  The following effects can be obtained from the autonomous driving vehicle and method of the present embodiment.

  In the automatic driving vehicle and method of the present embodiment, the degree of margin of automatic parking control is determined from the number of times of use of automatic parking in the driver's automatic driving vehicle, and the closest degree to the adjacent parking vehicle in automatic parking control is determined from the determined degree of margin. A distance is set, a target parking path is generated based on the set closest approach distance, and the automatically driven vehicle is automatically parked according to the generated target parking path. Here, even if the driver's experience of automatic parking is inexperienced, the driver's own vehicle becomes the adjacent parking vehicle when the adjacent parking vehicle is sufficiently approached in the automatic parking as compared with the case of the manual parking. There is a sense of apprehension that contact may occur and unnecessary manual intervention by the driver may be performed. On the other hand, in the present embodiment, as the driver's experience with automatic parking deepens and anxiety about automatic parking decreases, the closest approach distance to the adjacent parked vehicle in automatic parking gradually decreases. For this reason, it is possible to prevent unnecessary manual operation intervention by the driver without the driver having anxious feeling that the host vehicle is in contact with the adjacent parked vehicle.

  Further, the driver is notified on the basis of the experience level, the closest approach distance, and the margin along with the target parking path. As a result, the driver can recognize in advance the manner of automatic parking, and the driver's anxiety for automatic parking can be further reduced, thus making it possible to more reliably prevent unnecessary manual intervention by the driver. It has become. In particular, in the present embodiment, the content of notification to the driver is not intuitively notified on the basis of the experience level, the closest approach distance, and the margin level, but is intuitively grasped based on the experience level, the maximum approach distance, and the margin level. As a result of the notification, it is possible to reliably wipe out the driver's anxiety about automatic parking.

  In the automatic driving vehicle and method of this embodiment, the closest approach distance to the adjacent parked vehicle in the automatic parking control is set according to the margin, but according to the margin, the automatic driving vehicle in the automatic parking control The speed may also be set. Here, even though the driver's experience of automatic parking is inexperienced, compared with manual parking, when an automatically driven vehicle moves at high speed in automatic parking, it feels uneasy that it may be too fast. The driver may perform unnecessary manual intervention. On the other hand, according to the increase in the number of times of use of automatic parking by the driver, the margin of automatic parking control is determined to be low, and the speed of the autonomous driving vehicle in automatic parking control is set to successively larger values. The driver does not feel uneasy about being too fast, and it is possible to prevent unnecessary manual intervention by the driver. When setting the speed of the autonomous driving vehicle in the automatic parking control, the driver may be notified of the speed in advance.

  Further, in the autonomous driving vehicle and method of the present embodiment, the adjacent parked vehicle is described as an example of the avoidance target in the automatic parking control, but in addition to the adjacent parked vehicle, other obstacles such as building outer wall, fence, guardrail, etc. Automatic parking control may be performed with an object as an avoidance object.

  A second embodiment of the present invention will be described with reference to FIGS. 6 to 9.

The vehicle line change of this embodiment is outlined.
In the car line change of this embodiment, the margin of the car line change control is determined to be low according to the increase in the number of times the driver uses the car line change, and the offset distance in the car line change control is set to a small value. The offset distance is the distance in the front-rear direction between the lane change destination adjacent lane and the vehicle behind it when the vehicle starts lane change. A target lane change path is generated based on the offset distance, and the vehicle is relined according to the target lane change path. The driver is informed of the number of times of use, the offset distance, and the degree of margin along with the target lane change route.

The autonomous driving vehicle of the present embodiment will be described with reference to FIG.
Hereinafter, the description of the configuration common to the first embodiment will be omitted.
The autonomous driving vehicle has various input / output devices and an automobile line changing device 50 for changing the vehicle line of the vehicle.

  As an input device, the autonomous driving vehicle has a lane change start button 52 for activating the automobile line changing device 50 to shift the vehicle from the manual operation mode to the automatic operation mode and to start the automobile line change.

  The use history recording unit 28 has a function of recording, for each driver, the use history of the change of the automobile line in the autonomous driving vehicle. The number of times of use calculation unit 30 as the experience degree calculation unit calculates the car line change as the experience degree from the use history of the car line change recorded in the use history recording unit 28 for the driver identified by the driver identification unit 26. It has a function to calculate the number of times of use. The margin determination unit 32 has a function of determining the margin in the automobile line change control based on the number of times of use calculated by the usage count calculation unit 30. The offset distance setting unit 54 as a parameter setting unit has a function of setting the offset distance as a parameter in the vehicle line change control based on the margin determined by the margin determining unit 32.

  Regarding recognition of the surrounding environment by the surrounding environment recognition unit 36, in the present embodiment, in addition to the on-vehicle camera, a millimeter wave radar for detecting the traveling state of the traveling vehicle is used as the environment information acquisition device 20. 36 recognizes the surrounding environment such as the position, the range, the position, the range, and the speed of the traveling vehicle from the acquired image data of the surrounding environment and the detected traveling condition of the traveling vehicle.

  The lane change route generation unit 56 has a function of generating a target lane change route of the vehicle line change based on the offset distance set by the offset distance setting unit 54 and the surrounding environment recognized by the surrounding environment recognition unit 36. Have.

  The HMI control unit 40 controls the HMI device 22 to provide the driver with the target lane change route generated by the lane change route generation unit 56, the number of times of use calculated by the number of times of use calculation unit 30, and the offset distance It has a function of performing notification based on the offset distance set by the setting unit and the margin determined by the margin determining unit 32.

  The drive control unit 42 has a function of controlling the vehicle drive device 12 to change the vehicle line of the automatically driven vehicle in accordance with the target lane change route generated by the lane change route generation unit 56.

  The safety determination unit 44 determines whether or not the target lane change route is safe based on the surrounding environment recognized by the surrounding environment recognition unit 36 during the automobile line change control, and determines that the target lane change route is not safe. In this case, it has a function of instructing the lane change path generation unit 56 to change the target lane change path.

The automatic driving method of the present embodiment will be described with reference to FIGS. 7 to 9.
In the following, description of steps common to the first embodiment will be omitted.
As shown in FIG. 9, the automatic driving method of the present embodiment includes the following steps.

Lane change start button operation determination step S41
It is determined whether the lane change start button 52 of the autonomous driving vehicle is operated by the driver. When the lane change start button 52 is operated, the process proceeds to the following steps to change the automobile line. If the lane change start button 52 is not operated, the determination is repeated.

Usage history acquisition step S43
Regarding the driver identified in the driver identification step S42, the usage history of the change of the automobile line in the autonomous driving vehicle recorded in the autonomous driving vehicle is acquired.

Number of times of use calculation step S44
For the driver of the autonomous driving vehicle, based on the usage history of the automotive line change acquired in the usage history acquisition step S43, the number of times of use of the automobile line change in the autonomous driving vehicle is calculated.

Offset distance setting step S46
From the degree of margin determined in the degree of margin determination step S45, the offset distance in changing the automobile line is set. In the present embodiment, the offset distance k is set so as to be in direct proportion to the margin P between the predetermined maximum distance L and the minimum distance l, as shown in the equation (3). As the maximum distance L, an offset distance when a normal driver performs manual lane change is appropriately selected. On the other hand, as the minimum distance l, an offset distance in the case of performing optimum control in the vehicle line change control is appropriately selected. The maximum distance L and the minimum distance l are set to, for example, 7.0 m and 5.0 m, respectively.

Peripheral environment recognition step S47
In the present embodiment, from the acquired image data of the surrounding environment and the detected traveling condition of the traveling vehicle, the surrounding environment such as the position of the lane, the range, the position of the traveling vehicle, the range, and the speed is recognized.

Lane change route generation step S48
A target lane change route is generated based on the offset distance calculated in the offset distance setting step S46 and the surrounding environment of the autonomous driving vehicle recognized in the surrounding environment recognition step S47. For example, as shown in FIG. 8, when the offset distance is the maximum distance L, when the host vehicle X starts the lane change, the fore-and-aft direction between the lane change destination adjacent lane and the following vehicle Z The target lane change route is generated such that the distance of L is the maximum distance L. On the other hand, as shown in FIG. 9, when the offset distance is the minimum distance l, when the host vehicle X starts the lane change, the fore-and-aft direction between the lane change destination adjacent lane and the following vehicle Z The target lane change route is generated such that the distance of is the minimum distance l.

Notification step S49
When changing the automobile line of the autonomous driving vehicle, the driver is required to set the number of times of use and offset distance calculated in the number of times of use calculation step S44 together with the target lane change path generated in the lane change path generation step S48. A notice based on the offset distance set in step S46 and the margin determined in step S45 is performed.

Line change step S50
According to the target lane change route generated in the lane change route generation step S48, the autonomous driving vehicle is controlled to change the automobile line.

Car line change completion judgment step S51
It is determined whether the change of the motor line is completed. If it is determined that the automobile line change is completed, the automatic driving method is ended. If it is determined that the automobile line change has not been completed, the process proceeds to a safety determination step S52.

Safety judgment step S52
The peripheral environment information of the autonomous driving vehicle is acquired, the peripheral environment of the autonomous driving vehicle is recognized from the acquired peripheral environment information, and it is determined whether the target lane change route is safe or not based on the recognized peripheral environment. If it is determined that the target lane change route is safe, the process returns to the automobile line change step S50, and the automobile line change is continued. On the other hand, when it is determined that the target lane change route is not safe, the process returns to the lane change route generation step S48, and the target lane change route is corrected to be safe.

The following effects can be obtained from the autonomous driving vehicle and method of the present embodiment.
In the automatically driven vehicle and method of the present embodiment, the degree of allowance of the automobile line change control is determined from the number of times of use of the automobile line change in the driver's automatically driven vehicle, and the offset distance in the automobile line change control is set from the determined margin. Then, the target lane change route is generated based on the set offset distance, and the autonomous driving vehicle is subjected to the vehicle line change in accordance with the generated target lane change route. Here, even if the driver's inexperienced driver's line change is inexperienced, compared to the case of a manual lane change, in the case where the vehicle line change is sufficiently close to the vehicle behind the adjacent lane to which the lane change is made, The driver feels uneasy that the driver's own vehicle will come in contact with the following vehicle, which may cause unnecessary manual intervention by the driver. On the other hand, in the present embodiment, as the driver's experience with the change of the vehicle line deepens and the anxiety for the change of the vehicle line decreases, the offset distance in the change of the vehicle line gradually decreases. For this reason, it is possible to prevent unnecessary manual operation intervention by the driver without the driver being uneasy that the driver's own vehicle will come in contact with the following vehicle.

  A third embodiment of the present invention will be described with reference to FIGS. 10 and 11.

An outline of the automatic parking of this embodiment will be described.
In the automatic parking of the present embodiment, when the automatic driving vehicle is to be used for the first time in the automatic driving vehicle, the margin input determined based on the number of uses of the automatic parking is the driver's change input with the margin as the upper limit. It is possible to change based on. In addition, when the use of automatic parking in the automatic driving vehicle is the second and subsequent times, the margin determined based on the number of times of use of automatic parking is the driving during the previous automatic parking with the margin as the upper limit. It is made to change suitably based on the behavior of the person.

The autonomous driving vehicle of the present embodiment will be described with reference to FIG.
Hereinafter, the description of the configuration common to the first embodiment will be omitted.

  The autonomous driving vehicle has a change input device 60 for performing change input of the margin. When the number of times of use of the automatic parking calculated by the number-of-uses calculation unit 30 is 0, the margin change unit 62 sets the margin determined by the margin determination unit 32 as the upper limit of the margin. It has a function of changing according to the change input of the margin from the change input device 60. As a method of inputting the margin, a switch type capable of selecting any one of the upper limit value and the lower limit value, a sliding type capable of selecting an arbitrary value between the upper limit value and the lower limit value, or the like is used.

  The behavior recognition unit 64 has a function of recognizing the behavior of the driver in the automatic parking based on the driver information acquired by the driver information acquisition device 18. Regarding the behavior of the driver to be recognized, a behavior that changes sequentially according to the degree of experience with automatic driving is appropriately selected.

  In the present embodiment, as the driver's behavior to be recognized, the degree of concentration of the line of sight of the driver at the closest point to the adjacent parked vehicle in automatic parking is recognized. If the driver's experience of automatic driving is shallow and he / she is uneasy about automatic driving, the line of sight tends to be concentrated at the closest point to the adjacent parked vehicle in automatic parking, and the degree of gaze concentration becomes high. On the other hand, if the driver's experience of automatic driving is deep and he / she is not worried about the automatic driving, the automatic parking tends to look over the entire parking situation, resulting in low gaze concentration. When recognizing the gaze concentration degree as the behavior of the driver, an in-vehicle camera for capturing the image of the driver by capturing the inside of the vehicle is used as the driver information acquisition device 18, and the behavior recognition unit 64 is Based on the image data of the driver, the driver's gaze concentration degree in automatic parking is recognized.

  Also, instead of the driver's gaze concentration degree, the driver's tension degree may be used. If the driver's experience of automatic driving is small and he is uneasy about automatic driving, the degree of tension in automatic parking becomes high. On the other hand, if the driver's experience of automatic driving is deep and he / she is not worried about the automatic driving, the degree of tension in the automatic parking becomes low. When recognizing the degree of tension of the driver, various sensors are used as the driver information acquisition device 18 in addition to the above-described on-vehicle camera and various sensors that are disposed on the steering wheel and detect the pulse, sweating, grip strength, etc. of the driver. The behavior recognition unit 64 recognizes the driver's degree of tension by image recognition of the acquired image data of the driver's face and analyzing data detected by various sensors.

  When the number of times of use of the automatic parking calculated by the number-of-uses calculation unit 30 is one or more, the margin change unit 62 sets the margin determined by the margin determination unit 32 as the upper limit of the margin. It has a function to change based on the driver's behavior recognized by the behavior recognition unit 64 in the previous automatic parking. In the present embodiment, when the gaze concentration degree of the driver in the previous automatic parking is lower than the gaze concentration degree of the normal driver assumed from the number of times of use of the automatic parking, the margin determination unit 32 determines. The degree of margin is changed according to the low degree of gaze concentration.

  The HMI control unit 40 has a function of controlling the HMI device 22 to notify the driver based on the margin when the margin is determined by the margin determining unit 32. Further, the HMI control unit 40 has a function of controlling the HMI device 22 to notify the driver based on the change of the margin when the margin is changed by the margin change unit 62.

  The margin changing step in the automatic driving method of the present embodiment will be described with reference to FIG.

Number of times used judgment step S60
It is determined whether the number of times of use of automatic parking calculated based on the use history of automatic parking in the autonomous driving vehicle is zero. If the number of times of use of automatic parking is zero, the process proceeds to a margin degree notification step S61. If the number of times of use of the automatic parking is not zero, the process proceeds to a margin change determination step S65.

Margin degree notification step S61
If the number of uses of the automatic parking is zero, the driver is notified of the number of uses of the automatic parking and the margin calculated from the number of uses.

Margin change input determination step S62
The driver can perform change input to change the margin with the margin as the upper limit based on the number of times of use of the automatic parking and the margin notified in the margin notification step S61. When the driver inputs a change of the margin, the process proceeds to a margin change step S63 based on the change input. If the driver has not made an input for changing the degree of margin, the process proceeds to an automatic parking step S68.

Margin change step S63 based on change input
Change the degree of margin based on the change input of the degree of margin by the driver.

Margin change notification step S64 by change input
A notice is given to the driver based on the change of the margin by the change input.

Margin change determination step S65
On the other hand, if the number of times of use of the automatic parking is not zero, it is determined whether or not the margin is to be changed based on the behavior of the driver in the previous automatic parking. In the present embodiment, when the gaze concentration degree of the driver in the previous automatic parking is lower than the gaze concentration degree of the normal driver assumed from the number of times of use of the automatic parking, the margin is changed. When changing the degree of margin, the process proceeds to the step of changing the degree of margin based on the behavior. If the margin is not changed, the process proceeds to the automatic parking step.

Behavior-based margin changing step S66
Based on the behavior of the driver, the margin calculated from the number of times of use is changed with the margin as the upper limit. In the present embodiment, the margin calculated from the number of times of use is reduced according to the low degree of gaze concentration of the driver in the previous automatic parking.

Behavior change notice step S67
The driver is notified based on the change in the spare capacity.

Automatic parking step S68
The self-driving vehicle is parked automatically based on the margin determined in the margin determining step or the margin changed in steps S63 and S66.

Behavior recognition step S69
In automatic parking, driver information is acquired, and the behavior of the driver is recognized based on the acquired driver information. In the present embodiment, the inside of the vehicle is photographed to obtain image data of the driver, and based on the acquired image data of the driver, the line-of-sight concentration degree of the driver to the closest approach position to the adjacent parked vehicle is recognized. .

  The following effects can be obtained from the autonomous driving vehicle and method of the present embodiment.

  In the automatically driven vehicle and method of the present embodiment, the number of times of use of automatic parking in the automatic parking vehicle is calculated based on the usage history of automatic parking recorded in the automatic parking vehicle, and the margin is determined. There is. When using such a degree of margin as it is, although there is sufficient experience of automatic parking in other automatic parking vehicles, for drivers who use automatic parking with a small number of automatic parking vehicles in regular automatic parking vehicles, automatic parking will be used. On the other hand, despite the fact that there is no sense of anxiety at all, automatic parking with a margin is performed, and optimal automatic parking will not be performed.

  In this embodiment, the driver who uses automatic parking for the first time in the automatic parking vehicle is notified on the basis of the number of uses of automatic parking in the automatic parking vehicle and the allowance determined from the number of uses. It is possible to change and change the margin with the margin as the upper limit. For this reason, for a driver who has experience of automatic parking sufficiently with other automatic parking vehicles, automatic parking can be performed after changing the allowance to a low level, and optimal automatic parking can be performed. ing.

  Also, if it is determined that the driver's experience of automatic parking is deep from the behavior of the driver in the previous automatic parking, the margin is automatically reduced according to the driver's experience of automatic parking. ing. Therefore, for a driver who has sufficient experience of automatic parking with other automatic parking vehicles, the margin is automatically reduced when automatic parking is performed with the automatic driving vehicle, which is optimal. It is possible to carry out automatic parking.

  In this embodiment, the margin calculated from the number of times of use of automatic parking in an automatic parking vehicle is changed with the margin as the upper limit, but various changes can be made using the margin as a reference value .

  In each embodiment described above, although the number of times of use is calculated from the use history of automatic driving as the degree of experience of automatic driving, it is possible to use other various indexes or calculation methods. For example, as the degree of experience of automatic driving, the number of times of use weighted using the number of times of use of automatic driving may be used. For example, when performing automatic parking with an autonomous driving vehicle, if there is no adjacent parking vehicle or other obstacle, or if the parking space is sufficiently large, the own vehicle may sufficiently approach the adjacent parking vehicle etc. Because there is not, the driver's automatic parking experience does not deepen as much. For this reason, the number of times of use may be weighted according to the presence or absence of an adjacent parking vehicle or other obstacle in automatic parking, and the size of the parking space.

  In addition, while the driver is selected as the passenger who calculates the degree of experience and determines the degree of margin, in addition to the driver, the degree of experience of the passenger on the passenger seat may be added to the determination of the degree of margin. Good. Even when riding on the passenger seat, a person who usually drives a vehicle may feel uneasy in automatic driving and may prompt the driver to perform manual operation intervention. Unnecessary manual operation by the driver attributable to the passenger of the passenger seat by calculating the margin based on the lower one of the driver's experience and the experience of the passenger on the passenger seat. It is also possible to prevent the intervention.

  In the above-described embodiments and modifications thereof, the automatic driving apparatus and method have been described. However, programs for causing the computer to realize various functions of the automatic driving apparatus according to the embodiments and the modifications thereof And the program for performing the various procedures of the automatic driving | running method of the modification is also contained in the scope of the present invention.

14 Automatic Parking Device 30 Number of Uses Calculation Unit 32 Margin Determination Unit 34 Closest Distance Setting Unit 40 HMI Control Unit 50 Line Change Device 54 Offset Distance Setting Unit 60 Change Input Device 62 Margin Change unit 64-Behavior recognition unit

Claims (12)

An experience degree calculating unit (30) for calculating the degree of experience of the occupant for automatic driving;
A margin determining unit (32) that determines a margin in automatic driving control based on the degree of experience;
A parameter setting unit (34; 54) configured to set a parameter in automatic operation control based on the degree of margin;
Automatic driving device (14; 50). The experience level calculation unit calculates the experience level according to the number of times automatic driving is used by the automatic driving device.
The automatic driving device according to claim 1. The margin determination unit decreases the margin according to an increase in the experience level if the experience level is less than or equal to a predetermined threshold, and the margin level if the experience level exceeds a predetermined threshold. As a predetermined lower limit,
The automatic driving device according to claim 1. The parameter setting unit sets an inter-vehicle distance between the host vehicle and another vehicle as the parameter, and reduces the inter-vehicle distance according to a decrease in the margin.
The automatic driving device according to claim 1. The parameter setting unit sets the speed of the vehicle as the parameter, and increases the speed of the vehicle according to a decrease in the margin.
The automatic driving device according to claim 1. The system further comprises a notification control unit (40) for notifying the occupant based on at least one of the degree of experience, the degree of margin, and the parameter.
The automatic driving device according to claim 1. The margin degree changing unit (62) is further provided to change the margin degree determined by the margin degree determination unit according to the change input from the change input device (60) based on the margin degree.
The automatic driving device according to claim 1. A behavior recognition unit (64) for recognizing the behavior of the occupant in automatic driving;
A margin changing unit (62) for changing the margin determined by the margin determining unit based on the behavior with reference to the margin;
The autonomous driving apparatus according to claim 1, further comprising: Experience degree calculation step for calculating the degree of experience of the occupant in automatic driving;
A margin determining step of determining a margin in automatic driving control based on the degree of experience;
A parameter setting step of setting a parameter in automatic operation control based on the degree of margin;
Automatic operation method equipped with. On the computer
Experience degree calculation function to calculate the degree of experience of the crew for automatic driving;
A margin determining function that determines a margin in automatic driving control based on the degree of experience;
A parameter setting function of setting parameters in automatic operation control based on the degree of margin;
Operation program to realize the   An automatically driven vehicle in which an inter-vehicle distance between the host vehicle and another vehicle in the autonomous driving decreases or the speed of the host vehicle increases as the number of times of use of the autonomous driving increases. An autonomous driving vehicle that notifies an occupant that the experience level of the occupant for automatic driving has increased or the allowance in automatic driving control has decreased as the number of times of use of the autonomous driving increases.