JP7006516B2 - Automatic operation control device - Google Patents

Description

The present disclosure relates to an automatic driving control device.

Conventionally, a vehicle control device capable of switching the automation level of vehicle traveling is known (for example, Patent Document 1). In a conventional vehicle control device, for example, when the amount of movement by the driver's operation in at least one of the steering, the brake pedal, the accelerator pedal, and the winker switch is within the allowable range, the automation level. Is lowered. Specifically, this vehicle control device lowers the automation level, for example, when the rotation angle of the steering operated by the driver is within an allowable range (80 ° to 100 °).

Japanese Unexamined Patent Publication No. 2017-1563

In a conventional vehicle control device, the driver needs to operate the steering wheel (steering wheel) or the like within an allowable range in order to lower the automation level. In order to perform such an operation, the driver needs to concentrate on the operation. Therefore, the burden on the driver increases. In addition, by concentrating on the operation, the driver's attention to the surroundings of the vehicle may be distracted. Further, the operation of rotating the steering is the same as the handover operation generally used when switching from the automatic operation to the manual operation. Therefore, when the steering rotation angle is used to determine whether to lower the automation level while maintaining the automatic driving, the driver either switches to manual driving or lowers the automation level. It may be difficult to distinguish whether the driver wants it or not.

The present disclosure has been made to solve the above-mentioned problems, and can be realized as the following forms.

According to one embodiment of the present disclosure, an automatic driving control device (100) for controlling a vehicle (500) including a steering device (200) is provided. In this form of the automated driving control device, the automated driving control unit (114) that executes the automated driving according to one of the plurality of automation levels and the driver of the vehicle can switch the automation level. The notification unit (130) for notifying the guidance, and the tension applied to the steering device by the driver and detecting the tension in the driver side direction (+ dx) in the steering axis direction (dx). A detection unit (140) and a switching determination unit (122) for determining whether or not the automation level needs to be switched are provided, and the switching determination unit sets the automation level to the first by the notification unit. When the tension detection unit detects that the tension is equal to or higher than a predetermined threshold after notifying that the level is switched to the second level lower than the first level, the first level is used. Determined that switching to the second level is necessary, the automated operation control unit is instructed to switch the automation level from the first level to the second level, and the automated operation control unit is instructed to switch to the second level. , The automation level is switched according to the instruction.

According to this embodiment, the switching determination unit needs to switch the automation level from the first level to the second level when the tension detection unit detects a tension equal to or higher than a predetermined threshold value. judge. That is, the driver can switch the automation level by pulling the steering device in the steering axis direction. Therefore, the automation level can be switched by an operation different from the handover operation generally used when switching from the automatic operation to the manual operation. Further, since the operation of pulling does not include a complicated operation, it is possible to reduce the possibility that the driver is neglected to pay attention to the surroundings of the vehicle.

The present disclosure can be realized in various forms other than the automatic operation control device. For example, it can be realized in the form of a vehicle equipped with an automatic driving control device, a control method of the automatic driving control device, a computer program for executing the method, a non-temporary tangible recording medium in which the computer program is stored, and the like.

The block diagram which shows the structure of the vehicle which carries the automatic driving system in 1st Embodiment. The schematic diagram which shows the tension detection part in 1st Embodiment. An explanatory diagram for explaining a switching intention confirmation section in the first embodiment. The flowchart which shows the switching determination process which is executed in the switching determination in 1st Embodiment. The block diagram which shows the structure of the vehicle which mounts the automatic driving control device which concerns on 2nd Embodiment. The flowchart which shows the switching determination process which is executed in 2nd Embodiment. The flowchart which shows the switching determination process which is executed in 3rd Embodiment. The flowchart which shows the switching determination process which is executed in 4th Embodiment.

A. First Embodiment As shown in FIG. 1, the vehicle 500 of the first embodiment includes an input device 70, a travel control device 80, an automatic driving control device 100, and a steering device 200. The vehicle 500 is a vehicle whose traveling is controlled by either automatic driving or manual driving. In this embodiment, the vehicle 500 is also referred to as the own vehicle 500. As shown in FIG. 2, the steering device 200 includes a steering wheel 210 and a steering shaft 220, and inputs a steering angle requested by the driver to the travel control device 80 (FIG. 1) according to the operation of the driver.

In the present embodiment, the "automatic operation" means an operation in which the drive unit control, the braking unit control, and the steering angle control are automatically executed without the driver performing a driving operation. Therefore, in the automatic operation, the operating condition of the driving unit, the operating condition of the brake mechanism as the braking unit, and the operating condition of the steering unit that determines the direction of the wheels according to the steering angle are automatically determined. Specifically, "automated driving" is, for example, driving that falls under level 3 or higher of the automation levels defined by the American Society of Automotive Engineers of Japan (SAE). Further, for example, even if the automation level is level 2, if the operation status of the drive unit, the operation status of the braking unit, and the operation status of the steering unit are automatically determined, it corresponds to automatic operation. .. Further, in the present embodiment, "manual operation" means an operation for controlling the drive unit (depressing the accelerator pedal), an operation for controlling the braking unit (depressing the brake pedal), and an operation for controlling the steering unit. (Rotation of the handle 210 (FIG. 2)) and at least one of the following means an operation performed by the driver. Specifically, "manual operation" is, for example, an operation corresponding to level 1 or lower among the automation levels defined by SAE. Further, for example, even if the automation level is level 2, if at least one of the operation status of the drive unit, the operation status of the braking unit, and the operation status of the steering unit is not automatically determined, manual operation is performed. Applicable.

The automatic operation control device 100 (FIG. 1) includes an automatic operation device 110, a switching determination device 120, a notification unit 130, and a tension detection unit 140. The automatic driving control device 100 can switch the automation level indicating the degree of automation of driving, and controls the running of the vehicle 500 according to the selected automation level. The notification unit 130 notifies the driver of the guidance for switching the automation level. The notification unit 130 includes, for example, a speaker for notifying the guidance by voice and a monitor for notifying the guidance by video.

The automatic driving device 110 includes a CPU and a memory, and performs various controls for executing automatic driving of the vehicle 500 by executing a computer program stored in the memory. The automatic driving device 110 includes a recognition unit 111, a vehicle position estimation unit 112, a course information acquisition unit 113, an automatic driving control unit 114, a target speed calculation unit 115, and a target steering angle calculation unit 116. ..

The recognition unit 111 recognizes the surrounding environment by using the information acquired by the detector (not shown) provided in the vehicle 500. As the detector, for example, various sensors such as a camera, a laser radar, and a millimeter wave radar can be used. The surrounding environment is, for example, obstacles or road equipment in the course of the vehicle 500. The information indicating the environment recognized by the recognition unit 111 is output to the automatic operation control unit 114.

The own vehicle position estimation unit 112 stores in advance the position information of the vehicle 500 detected by the GNSS (Global Navigation Satellite System) device, the information around the vehicle 500 acquired from a detector such as a camera, and the memory. The position of the vehicle 500 is estimated using map information and topographical information. The information around the vehicle 500 is, for example, a road sign or a landscape. For example, it is possible to estimate the position of the own vehicle by comparing the information around the vehicle 500 with the map information and the topographical information stored in advance. The information indicating the own vehicle position estimated by the own vehicle position estimation unit 112 is output to the course information acquisition unit 113.

The route information acquisition unit 113 acquires the planned travel route of the own vehicle 500 by using the destination, the map information, and the estimated own vehicle position. The acquisition of the travel route is not limited to this. For example, information acquired from another sensor such as a gyro sensor may be used to acquire the planned travel route. Further, for example, the control center may calculate the planned travel route according to the destination of the own vehicle 500, and may acquire the planned travel route calculated by the control center. The acquired information indicating the planned travel route is output to the automatic driving control unit 114 and the switching determination unit 122. Further, the acquired planned travel route may be transmitted to the control center using a communication device (not shown).

The automatic driving control unit 114 sets an operation target value indicating the operation of the target vehicle 500 according to the information input from the recognition unit 111 and the course information acquisition unit 113 to the target speed calculation unit 115 and the target steering angle calculation unit 116. By outputting to and, automatic driving in the vehicle 500 is executed. The target speed calculation unit 115 calculates the target speed of the vehicle 500 according to the operation target value output from the automatic operation control unit 114, and the operation of the braking force control device 83 and the driving force control device 82 according to the target speed. To control. The target steering angle calculation unit 116 calculates the target steering angle of the vehicle 500 according to the operation target value output from the automatic operation control unit 114, and controls the operation of the steering torque control device 81 according to the target steering angle.

The automatic operation control unit 114 executes automatic operation according to one level selected by the switching determination device 120 from the plurality of automation levels. In the present embodiment, there are two levels of automation that can be selected: a first level at which automated operation without monitoring obligation is executed, and a second level at which semi-automatic driving with monitoring obligation is executed. In automatic operation without monitoring obligation and semi-automatic operation with monitoring obligation, all of the drive unit control, the braking unit control, and the steering angle control are performed by the automatic operation control unit 114 without the driver performing a driving operation. In the present embodiment, the automatic driving without monitoring obligation and the semi-automatic driving with monitoring obligation are different in that the driver is obliged to monitor the driving condition of the vehicle 500. In automatic driving without monitoring obligation, the driver does not bear the monitoring obligation, for example, the automatic driving control device 100 mounted on the vehicle 500 bears it. On the other hand, in semi-automatic driving with monitoring obligation, the driver is obliged to monitor. The automatic operation without monitoring obligation in the present embodiment is an operation corresponding to level 4 of the automation levels defined by SAE. In addition, semi-automatic operation with monitoring obligation is operation corresponding to level 2 of the automation levels defined by SAE.

In the present embodiment, the vehicle 500 can execute the first level of automatic driving only when the automation condition for executing the first level of automatic driving is satisfied. The automation condition in the present embodiment is that both the first condition and the second condition are satisfied. The first condition is that the vehicle 500 travels in a lane dedicated to an autonomous driving vehicle in which traveling of a vehicle other than a vehicle performing automatic driving without monitoring obligation is prohibited. The second condition is that it is possible to run in a platoon following a vehicle that performs automatic driving without obligation to monitor. In the vehicle 500, when the automatic driving without the monitoring obligation can be executed, the notification unit 130 notifies the driver that the automatic driving without the monitoring obligation can be executed. The driver determines whether or not to execute the automatic operation without the obligation to monitor, and when the automatic operation without the obligation to monitor is performed, the driver switches the changeover switch of the automatic operation.

The switching determination device 120 includes a CPU and a memory, and determines whether or not it is necessary to execute automation level switching by executing a computer program stored in the memory. The switching determination device 120 includes a preceding vehicle information acquisition unit 121 and a switching determination unit 122.

The preceding vehicle information acquisition unit 121 acquires the planned travel route of the preceding vehicle. As the planned travel route of the preceding vehicle, the planned travel route of the preceding vehicle received from the control center by communication using a communication device may be acquired. Further, the planned travel route of the preceding vehicle may be acquired by directly communicating with the preceding vehicle without going through the control center. The acquired travel schedule of the preceding vehicle is output to the switching determination unit 122.

The switching determination unit 122 determines whether or not to switch the automation level by using the planned travel route of the own vehicle 500 and the planned travel route of the preceding vehicle. In the present embodiment, the switching determination unit 122 determines that the automation level needs to be switched when the switching operation is executed in the switching intention confirmation section set on the planned travel route of the own vehicle 500. In the switching operation, when the automation level is switched from the first level to the second level, the driver can monitor the operation of the own vehicle 500, and the driver executes the switching of the automation level. This is an operation for indicating to the switching determination unit 122 that there is a will. In the present embodiment, the switching operation for switching the automation level from the first level to the second level is to pull the handle 210 (FIG. 2) of the steering device 200 toward the driver side. Details of the processing executed by the switching determination unit 122 will be described later.

The tension detection unit 140 detects the tension in the driver side direction + dx in the steering axial direction dx (FIG. 2) applied to the steering device 200 by the driver. As shown in FIG. 2, the tension detection unit 140 is arranged on the steering shaft 220 of the steering device 200. The tension detection unit 140 detects the tension independently of the rotational force applied to the steering device 200 in response to the rotation operation of the steering wheel 210 by the driver. For example, a strain gauge can be used for the tension detection unit 140. In this case, the strain gauge as the tension detecting unit 140 can detect the tension according to the tensile strain generated in the steering shaft 220. Further, for example, when the steering device 200 has a coupling surface substantially perpendicular to the steering axis direction dx, a pressure sensor can be used for the tension detection unit 140. In this case, the pressure sensor as the tension detecting unit 140 is provided on the coupling surface of the steering device 200, and can detect the tension according to the pressure applied to the coupling surface by tension.

The input device 70 (FIG. 1) inputs to the travel control device 80 the amount of operation of each configuration used for traveling the vehicle 500 in response to the driver's request. The input device 70 includes a steering angle input device 71, a driving force input device 72, and a braking force input device 73. The steering angle input device 71 has a sensor for detecting the rotation amount of the steering shaft 220, and inputs the steering angle requested by the driver according to the detected rotation amount to the travel control device 80. The driving force input device 72 has a sensor for detecting the amount of depression of the accelerator pedal for inputting the driving force required by the driver, and inputs the driving force according to the detected operation amount to the traveling control device 80. The braking force input device 73 has a sensor for detecting the amount of depression of the brake pedal for inputting the braking force required by the driver, and inputs the braking force according to the detected operation amount to the traveling control device 80. In addition, when the automatic driving is executed in the vehicle 500, the input device 70 does not input the operation amount to the travel control device 80 even if the operation is performed by the driver.

The travel control device 80 is a part that executes various controls for driving the vehicle 500, and is driven in both automatic driving and manual driving. The travel control device 80 includes a steering torque control device 81, a driving force control device 82, and a braking force control device 83. The steering torque control device 81 acquires the steering torque input from the steering angle input device 71 via the steering torque detection unit 85. The steering torque control device 81 controls the steering torque output to the wheels of the vehicle 500 according to the input steering torque. The steering torque control device 81 may control the steering torque output to the wheels by assisting the steering torque input from the steering angle input device 71 when the manual operation is being executed. Further, the steering torque control device 81 outputs the steering torque to the wheels by determining the steering torque to be output to the wheels according to the target steering angle input from the target steering angle calculation unit 116 when the automatic operation is executed. The steering torque may be controlled. The steering torque control device 81 is configured as, for example, an electric power steering system. The driving force control device 82 controls a driving unit that drives the wheels of the vehicle 500. The drive unit of the wheel is, for example, a prime mover such as an internal combustion engine or an electric motor. The braking force control device 83 executes braking force control of the vehicle 500. The braking force control device 83 is configured as, for example, an electronically controlled brake system.

The switching intention confirmation section SR shown in FIG. 3 is a section for confirming the switching intention of the automation level to the vehicle 500 when the automation level is changed from the first level to the second level. The switching intention confirmation section SR is a section set before the departure point P0 in the planned route R1 of the own vehicle 500. The departure point P0 is a point at which the condition for maintaining the first level of automatic driving is not satisfied on the planned route of the own vehicle 500.

In the present embodiment, the switching intention confirmation section SR is set according to the departure point P0, the distance ws required for preparation for departure, and the distance xs required for the switching operation. In the present embodiment, the departure point P0 is a point where the planned route R1 of the own vehicle 500 departs from the planned route R2 of the preceding vehicle. Further, the preparation for withdrawal is, for example, the operation of the turn signal when the lane change or the right / left turn is accompanied at the time of withdrawal. In the present embodiment, the distance ws required for preparation for withdrawal is 30 meters and the distance obtained by multiplying the speed limit of the traveling road by 3 seconds, whichever is larger.

In the present embodiment, when calculating the switching intention confirmation section SR, the switching determination unit 122 calculates the departure point P0 according to the result of comparison between the planned route R1 of the own vehicle 500 and the planned route R2 of the preceding vehicle. do. After calculating the departure point P0, the switching determination unit 122 calculates the distance required for the switching operation. In the present embodiment, the distance xs required for the switching operation is a distance obtained by multiplying the speed limit on the road to which the switching intention confirmation section SR belongs and the time required for the switching operation. The time required for the switching operation is, in addition to the time required for the switching operation itself, the time required for the driver to notice that the switching operation is necessary and the time required for the driver to determine whether or not to execute the switching operation. Is the time including. In the present embodiment, the time required for the switching operation is the time set at the time of manufacture, and is set according to the experimental results by a plurality of subjects. In this case, for example, the time required by the person who took the longest time for the switching operation among the plurality of subjects may be adopted. After calculating the distance required for the switching operation, the switching determination unit 122 calculates the start point PS of the switching intention confirmation section SR. The starting point PS is a point in the planned route R1 of the own vehicle 500, which is the total distance before the distance ws and the distance xs of the departure point P0. After calculating the start point PS, the end point PE of the switching intention confirmation section SR is calculated. The end point PE is a point within the planned route R1 of the own vehicle 500, which is the distance ws before the departure point P0. The switching intention confirmation section SR defined by the start point PS and the end point PE is a section having a length of distance xs. The calculated start point PS and end point PE are stored in the memory of the switching determination device 120.

As shown in FIG. 4, when the switching determination process in the switching determination unit 122 is started, the process of step S101 is first executed. In the process of step S101, the switching determination unit 122 reaches the start point PS of the own vehicle 500 by comparing the own vehicle position output from the own vehicle position estimation unit 112 with the start point PS stored in advance. Determine if it has been done. In the determination in step S101, it is determined that the own vehicle 500 has reached the start point PS even when the position of the own vehicle and the start point PS are not completely the same but also when they are substantially the same. The substantially coincidence is, for example, a case where the difference between the position of the own vehicle and the position of the starting point PS is within the allowable range A (for example, within a radius of 3 m) determined in consideration of the estimation error of the own vehicle position. The permissible range A may be appropriately changed depending on the accuracy of the position information of the GNSS system and the road environment. If the own vehicle 500 has not reached the processing start point as a result of the processing in step S101 (step S102: No), the switching determination unit 122 performs the processing in step S101 again.

If the own vehicle 500 has reached the processing start point as a result of the processing in step S101 (step S101: Yes), the switching determination unit 122 refers to the notification unit 130 from the first level to the second. The level is notified to switch the automation level (step S102). In addition to switching the automation level, this notification may include a notification prompting the execution of the switching operation. In the present embodiment, for example, a voice urging the driver to pull the steering wheel 210 is reproduced as a notification to urge the execution of the switching operation.

After executing the process of step S102, the switching determination unit 122 determines the end point of the own vehicle 500 by comparing the own vehicle position output from the own vehicle position estimation unit 112 with the end point PE stored in advance. It is determined whether or not the PE has been reached (step S103). In the determination in step S103, it is determined that the own vehicle 500 has reached the end point PE even when the position of the own vehicle and the end point PE are not completely the same but also when they are substantially the same. The substantially coincidence is, for example, a case where the difference between the position of the own vehicle and the position of the end point PE is within the allowable range A (for example, within a radius of 3 m) determined in consideration of the estimation error of the own vehicle position.

If the own vehicle 500 has not reached the processing end point as a result of the processing in step S103 (step S103: No), the switching determination unit 122 detects the tension equal to or higher than the predetermined threshold value by the tension detecting unit 140. It is determined whether or not this is done (step S104). The predetermined threshold value is set to a value larger than the value output in response to the normal operation of the steering wheel in manual driving, and is higher than the value output in response to the tension of a driver with low strength such as the elderly. Is also set to a small value. The predetermined threshold value is set according to, for example, the result of a pulling test of the handle by a plurality of subjects having different strengths. As a result of the process of step S104, if the tension detection unit 140 does not detect the tension equal to or higher than the threshold value (step S104: No), the switching determination unit 122 executes the process of step S102 again. That is, in the present embodiment, the reproduction of the voice prompting the driver to pull the steering wheel 210 is repeated.

If the tension detection unit 140 has detected a tension equal to or higher than the threshold value as a result of the processing in step S104 (step S104: Yes), the switching determination unit 122 changes the automation level from the first level to the second level. The automatic operation control unit 114 is instructed to switch the automation level of the above (step S105).

After the process of step S105, the switching determination unit 122 instructs the notification unit 130 to notify the notification unit 130 that the switching from the first level to the second level of the automation level is completed (step S106). The switching determination unit 122 ends the switching determination process by executing the process of step S106.

In the process of step S103, when the own vehicle 500 reaches the end point PE (step S103: Yes), the switching determination unit 122 does not instruct the switching of the automation level (step S110). In the present embodiment, the automatic operation control unit 114 interrupts the switching of the automation level and maintains the automatic operation of the first level. In this case, the vehicle deviates from the planned route and follows the preceding vehicle. The switching determination unit 122 ends the switching determination process when the process of step S110 is executed. When the process of step S110 is executed, the switching determination unit 122 calculates a new departure point or the like for joining the planned route.

According to the automatic operation control device 100 of the first embodiment described above, when the tension of the switching determination unit 122 or more is detected by the tension detection unit 140, the switching determination unit 122 is second from the first level. Judge that it is necessary to switch to the level of. That is, the driver switches the automation level by pulling the handle 210 of the steering device 200 in the steering axis direction dx. Therefore, the automation level can be switched by an operation different from the handover operation generally used when switching from the automatic operation to the manual operation. Further, since the operation of pulling the steering wheel 210, which is adopted as the switching operation, does not include a complicated operation, it is possible to reduce the possibility that the driver neglects to pay attention to the vicinity of the vehicle 500 when performing the switching operation.

Further, according to the automatic operation control device 100 of the first embodiment described above, whether the switching determination unit 122 switches the automation level by using the tension applied in the direction along the steering axis direction dx of the steering device 200. Judge whether or not. Therefore, even when pressure is applied to the steering wheel 210 due to the driver leaning back or the like, the switching determination unit 122 reduces the possibility of erroneously determining that the driver has the intention of switching the automation level. can.

Further, according to the automatic operation control device 100 of the first embodiment described above, the tension detecting unit 140 can detect the tension independently of the rotational force applied to the steering shaft 220 of the steering device 200. Therefore, in the automatic driving control device 100, even when a force other than the tension and the tension (for example, a rotational force) is applied to the steering shaft 220 according to the operation of the driver, the tension and other forces are applied. Tension can be detected without separating the force applied by the operation. This makes it possible to reduce the processing load in the switching determination process. Further, according to the automatic operation control device 100, the operation of rotating the handle 210 is used as an operation other than the operation of switching from the first level to the second level, for example, an operation for switching from automatic operation to manual operation. Is possible.

B. Second Embodiment As shown in FIG. 5, the automatic operation control device 600 according to the second embodiment moves the position of the handle 210 along the steering axis direction dx according to the tension in the steering axis direction dx. It differs from the automatic operation control device 100 according to the first embodiment in that the mechanism 230 is provided. Further, the content of the switching determination process is different from that of the automatic operation control device 100 according to the first embodiment. In the following, the same configurations and processes as in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

In the present embodiment, the moving mechanism 230 is an electric telescopic system having a telescopic structure provided on the steering shaft 220 and a drive motor that assists the expansion and contraction of the telescopic structure. The driver can use the moving mechanism 230 to adjust the position of the handle 210 when performing manual driving and second level automatic driving. In the present embodiment, the moving mechanism 230 is set so that the position of the handle 210 is farther from the driver than the position of the handle 210 when the manual operation is executed when the first level automatic operation is started. Automatically adjusts to. Further, in the present embodiment, the moving mechanism 230 has a locking function that prevents the driver from changing the position of the handle 210. The lock function is activated in principle while the vehicle 500 is in operation, and is released when it is necessary to release the lock function. The case where the release is necessary is, for example, the case where the driver performs an operation for releasing the lock function. Further, in the present embodiment, the lock function is released when the vehicle 500 is traveling in the switching intention confirmation section SR. Therefore, in the switching intention confirmation section SR, the driver can change the position of the handle 210 by using the moving mechanism 230.

In the switching intention confirmation section SR, the moving mechanism 230 pushes the steering wheel 210 toward the driver when a tension equal to or higher than a predetermined threshold value is generated on the steering shaft 220. Further, when the tension becomes less than the threshold value while pushing out the handle 210, the moving mechanism 230 pulls the handle 210 toward the back side so as to be away from the driver side. In the switching determination process (FIG. 6) in the present embodiment, the switching determination unit 122 moves from the first level to the second level depending on whether or not the position of the handle 210 has been moved to a predetermined position by the moving mechanism 230. Determines whether to switch the automation level to the level of. In the present embodiment, the predetermined position (predetermined position) is the position of the handle 210 in the manual operation and the second level automatic operation set by the driver, and is stored in advance in the memory of the switching determination device 120. Has been done.

As shown in FIG. 6, in the switching determination process in the second embodiment, the switching determination unit 122 positions the handle 210 in advance after the tension equal to or higher than the threshold value is detected in the process of step S104 (step S104: Yes). It is determined whether or not the device has moved to a predetermined position (step S201). Here, the threshold value in step S104 is the same value as the threshold value set for determining whether or not the moving mechanism 230 pushes out the handle 210. In this embodiment, the tension detection unit 140 may have a configuration different from that of the first embodiment, for example, a current sensor that detects a current value in the drive motor of the moving mechanism 230.

When the handle 210 has not moved to a predetermined position as a result of the process of step S201 (step S201: No), the switching determination unit 122 reaches the end point PE of the own vehicle 500 as in the process of step S103. It is determined whether or not it has been done (step S202). If the own vehicle 500 has not reached the end point PE as a result of the process of step S202 (step S202: No), the switching determination unit 122 executes the process of step S104 again. When the own vehicle 500 has reached the end point PE (step S202: Yes), the switching determination unit 122 executes the process of step S110 and ends the switching determination process. When executing the process of step S110, the handle 210 is pulled to the position at the first level to lock the moving mechanism 230.

When the handle 210 has moved to a predetermined position as a result of the process of step S201 (step S201: Yes), the switching determination unit 122 executes the processes of step S105 and step S106, and ends the switching determination process. do.

According to the second embodiment described above, the same effect is obtained in that it has the same configuration as the first embodiment. Further, according to the automatic operation control device 600 according to the second embodiment, the switching determination unit 122 continues to detect the tension equal to or higher than the threshold value until the handle 210 moves to a predetermined position, the automatic operation control is performed. Instruct unit 114 to switch from the first level to the second level. Therefore, it is possible to prevent the automation level from being switched when tension is temporarily applied due to an erroneous operation.

Further, according to the second embodiment described above, the automatic operation control device 600 determines the position of the handle 210 of the steering device 200 according to the detected tension during the period of traveling in the switching intention confirmation section SR. A moving mechanism 230 for moving along the steering axis direction dx is provided. Therefore, the driver can confirm that the switching operation is correctly performed by moving the handle 210.

Further, according to the second embodiment described above, the operation for indicating the intention to switch the automation level from the first level to the second level (switching operation) and the position of the handle 210 when switching the automation level are set. It is possible to perform the operation for changing and the operation for changing in one operation. Therefore, it is easy to switch the automation level.

C. Third Embodiment The automated driving control device 100 according to the third embodiment is the automated driving according to the first embodiment in the content of the switching operation performed by the driver when switching the automation level from the first level to the second level. It is different from the control device 100. Further, the automatic operation control device 100 according to the third embodiment is different from the automatic operation control device 100 according to the first embodiment in the content of the switching determination process. In the following, the same configurations and processes as in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The switching operation in the third embodiment is a series of operations in which the handle 210 is pulled toward the driver side, and after the pull, the force for pulling the handle 210 is weakened before a predetermined time elapses. As shown in FIG. 7, in the switching determination process in the third embodiment, the switching determination unit 122 refers to the notification unit 130 after the tension equal to or higher than the threshold value is detected in the process of step S104 (step S104: Yes). , A notification prompting the driver to take his / her hand off the steering wheel 210 is executed (step S301). After the process of step S102, the switching determination unit 122 determines whether or not the driver has released his / her hand from the steering wheel 210 according to the tension detected by the tension detection unit 140 (step S302). In the process of step S302, determination is made depending on whether or not the tension detected by the tension detecting unit 140 is less than a predetermined threshold value. When the tension becomes less than the threshold value, the switching determination unit 122 determines that the driver has released his / her hand from the steering wheel 210 (step S302: Yes). In this case, the switching determination unit 122 executes the processing of steps S105 and S106, and ends the switching determination processing.

On the other hand, when the tension is equal to or higher than the threshold value, the switching determination unit 122 determines that the driver has not released the handle 210 (step S302; No). In this case, the switching determination unit 122 determines whether or not the own vehicle 500 has reached the end point PE, as in the process of step S103 (step S303). If the own vehicle 500 has not reached the end point PE as a result of the process of step S103 (step S303: No), the process of step S301 is executed again. When the own vehicle 500 has reached the end point PE (step S303: Yes), the process of step S110 is executed, and the switching determination process is terminated.

According to the third embodiment described above, the same effect is obtained in that it has the same configuration as the first embodiment. Further, according to the third embodiment, when the switching determination unit 122 detects the tension above the threshold value and the tension below the threshold value is detected within a predetermined period after the tension is detected. Instructs the automatic operation control unit 114 to switch from the first level to the second level. Further, when the tension above the threshold value is detected, the switching determination unit 122 sends the automatic operation control unit 114 to the automatic operation control unit 114 when the tension below the threshold value is not detected within a predetermined period after the tension is detected. Do not instruct to switch from the first level to the second level. Therefore, the automatic driving control device 100 can determine whether or not the driver intends to switch the automatic driving level in two steps. Therefore, it is possible to reduce the possibility that the automation level switching is performed against the driver's will. The "predetermined period after the tension is detected" is the time from when the tension equal to or higher than the threshold value is detected in the process of step S104 until the own vehicle 500 reaches the end point PE in the present embodiment. Is.

D. Fourth Embodiment The automatic operation control device 100 according to the fourth embodiment is automatic according to the first embodiment in that it can be switched to manual operation when the first level automatic operation is executed. It is different from the operation control device 100. In the following, the same configurations and processes as in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

In the present embodiment, the switching to the manual operation is executed when the release operation for indicating the driver's intention to release the automatic operation is detected. The release operation is an operation that can be distinguished from a normal operation that is executed when the automatic operation is executed. The release operation is, for example, an operation on the handle 210, the accelerator pedal, or the brake pedal. In the present embodiment, the release operation is a handover operation in which the handle 210 is rotated with a rotational force equal to or higher than a predetermined force. The steering torque detection unit 85 is used to acquire the rotational force applied to the steering wheel 210.

As shown in FIG. 8, in the switching determination process in the present embodiment, the switching determination unit 122 determines whether or not the release operation has been executed before the process in step S101 is executed (step S401). When the release operation is executed (step S401: Yes), the switching determination unit 122 ends the switching from the first level automatic operation to the manual operation (step S402) and the switching determination process. If the release operation is not executed as a result of the process of step S401 (step S401: No), the switching determination unit 122 executes the process of step S101. In the process of step S101, if the vehicle 500 has not reached the start point PS (step S101: No), the switching determination unit 122 executes the process of step S401 again.

According to the fourth embodiment described above, the same effect is obtained in that it has the same configuration as the first embodiment. Further, according to the fourth embodiment, when the first level of automatic operation is being executed, it is possible to switch to manual operation.

E. Other Embodiment E1. First Other Embodiment In the above embodiment, the tension detecting unit 140 (FIGS. 1 and 5) detects the tension independently of the rotational force applied to the steering axial dx of the steering device 200. Not limited to this. For example, a pressure sensor arranged on a coupling surface extending in a direction in which the steering device 200 intersects the steering axis direction dx may be used. The pressure sensor arranged in this way outputs the combined value of the rotational force and the tension. In this case, for example, a sensor for detecting the rotation angle of the handle 210 is further provided, and the tension is acquired by removing the rotational force from the value output from the pressure sensor as the tension detection unit 140 according to the rotation angle. You may.

E2. 2nd Other Embodiment In the 2nd embodiment, the switching determination unit 122 (FIG. 5) automatically controls operation when the tension exceeding the threshold value is continuously detected until the handle 210 moves to a predetermined position. Unit 114 is instructed to switch from the first level to the second level, but is not limited to this. For example, when the tension equal to or higher than the threshold value is detected regardless of the position of the handle 210, the automatic operation control unit 114 may be instructed to switch from the first level to the second level. In this case, the moving mechanism 230 may automatically push out the handle 210 after the tension equal to or higher than the threshold value is detected.

E3. Third Other Embodiment In the above embodiment, the tension detecting unit 140 (FIGS. 1 and 5) detects the tension using a sensor provided on the steering shaft 220, but the present invention is not limited to this. For example, the tension may be detected by using a sensor provided on the handle 210 of the steering device 200. For example, the pressure sensor may be provided on the first surface of the steering wheel 210 facing the driver and the second surface opposite the driver. In this case, when the pressure on the second surface is larger than the pressure on the first surface, it can be determined that the tension is applied by the operation of the driver. Therefore, even with such a tension detecting unit 140, the tension can be detected by using the difference between the pressure applied to the first surface and the pressure applied to the second surface.

E4. Fourth Other Embodiment In the above embodiment, the first level corresponds to level 4 at the automation level defined by SAE. The second level corresponds to level 2 in the automation level defined by SAE. However, the first level and the second level are not limited to this. The first level may be an automation level higher than the second level. For example, if the second level corresponds to level 2 at the automation level defined by SAE, the first level may correspond to level 3 at the automation level defined by SAE and corresponds to level 5. It may be a level. Further, for example, when the second level is a level corresponding to level 3, the first level may be a level corresponding to level 4 or a level corresponding to level 5. ..

E5. Fifth Other Embodiment The automatic operation control device 100 according to the third embodiment may have a moving mechanism 230 (FIG. 5). In this case, the processing of step S301 (FIG. 7) and the processing of step S302 may be executed after the processing of step S201 performed in the switching operation (FIG. 6) in the second embodiment.

E6. The automatic operation control devices 100 and 600 according to the second and third embodiments of the sixth other embodiment are manually operated when the first level of automatic operation is executed, as in the fourth embodiment. It may be possible to switch to.

E7. Seventh Other Embodiment The switching determination unit 122 in the above embodiment calculates the switching intention confirmation section SR after starting the automatic operation of the first level, but the present invention is not limited to this. For example, the switching intention confirmation section SR may be calculated before the first level of automatic operation is started.

E8. Eighth Other Embodiment When the own vehicle 500 reaches the end point PE as a result of the process of step S103 (for example, FIG. 4), the switching determination unit 122 in the above embodiment (step S103: Yes), step S110. Is being executed, but is not limited to this. If the safety of the own vehicle 500 can be ensured, a process other than step S110 may be executed. For example, when the own vehicle 500 can be stopped, the switching determination unit 122 may instruct the own vehicle 500 to stop instead of the step S110.

E9. 9th Other Embodiment In the above embodiment, when the vehicle 500 satisfies both the first condition and the second condition as the automation conditions, the first level of automatic driving is performed. It is possible, but not limited to. For example, when one of the first condition and the second condition is satisfied, the first level of automatic operation may be possible. Further, the automatic operation control devices 100 and 600 may have different conditions as automation conditions instead of at least one of the first condition and the second condition. If the automation conditions are different, the method of calculating the departure point P0 by the switching determination unit 122 and the method of calculating the switching intention confirmation section SR may be appropriately changed. For example, the automatic driving control devices 100 and 600 may have the vehicle 500 traveling on a national road or a highway among general roads as an automation condition. In this case, the switching determination unit 122 may calculate the point where the planned route R1 of the own vehicle 500 is changed from the national highway or the expressway to the general road other than the national highway as the departure point P0. Further, the automation condition is that, for example, the information and functions lacking for the own vehicle 500 to perform the first level of automatic driving can be acquired from the outside, for example, another vehicle or a road. May be good. In this case, the automation condition corresponds to, for example, the case where the own vehicle 500 is equipped with a magnetic sensor and information can be acquired from a magnetic marker embedded in the road.

The present disclosure is not limited to the above-described embodiment, and can be realized by various configurations within a range not deviating from the gist thereof. For example, the technical features in the present embodiment corresponding to the technical features in each embodiment described in the column of the outline of the invention are for solving a part or all of the above-mentioned problems, or for the above-mentioned effects. It is possible to replace or combine as appropriate to achieve some or all. Further, if the technical feature is not described as essential in the present specification, it can be appropriately deleted.

100 automatic driving control device, 114 automatic driving control unit, 122 switching judgment unit, 130 notification unit, 140 tension detection unit, 200 steering device, 210 handle, 230 movement mechanism, 500 vehicle, 600 automatic driving control device, dx steering axis direction , + Dx Driver side direction

Claims (5)

An automatic driving control device (100, 600) that controls a vehicle (500) provided with a steering device (200).
An automatic operation control unit (114) that executes automatic operation according to one of a plurality of automation levels, and
A notification unit (130) that notifies the driver of the vehicle of guidance for switching the automation level, and
A tension detection unit (140) that detects the tension applied to the steering device by the driver in the driver side direction (+ dx) in the steering axis direction (dx).
A switching determination unit (122) for determining whether or not the automation level needs to be switched is provided.
After the switching determination unit notifies that the automation level is switched from the first level to the second level lower than the first level by the notification unit, the tension is predetermined by the tension detection unit. When it is detected that it is above the threshold value,
It is determined that switching from the first level to the second level is necessary, and the automatic operation control unit is instructed to switch the automation level from the first level to the second level.
The automatic operation control unit executes the switching of the automation level in response to the instruction.
Automatic operation control device. The automatic operation control device according to claim 1.
The tension detecting unit is an automatic driving control device that detects the tension independently of the rotational force applied to the steering shaft of the steering device. The automatic operation control device according to claim 1 or 2.
When tension above the threshold is detected,
If tension below the threshold is detected during a predetermined period after the tension is detected,
The switching determination unit instructs the automatic operation control unit to switch the automation level from the first level to the second level.
The automatic operation control unit executes the switching of the automation level in response to the instruction, and the automatic operation control unit performs the switching of the automation level.
If tension below the threshold is not detected within a predetermined period after the tension is detected,
The switching determination unit does not instruct the automatic operation control unit to switch the automation level from the first level to the second level.
The automatic operation control unit does not execute the switching of the automation level.
Automatic operation control device. The automatic operation control device according to any one of claims 1 to 3, further comprising.
An automatic driving control device including a moving mechanism (230) that moves the position of a handle (210) of the steering device along the steering axis direction according to the tension. The automatic operation control device according to claim 4.
The switching determination unit receives when a tension equal to or higher than the threshold value is detected.
When the tension above the threshold value continues to be detected until the handle moves to a predetermined position, the automatic operation control unit switches the automation level from the first level to the second level. Automatic operation control device to instruct.

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