JP2018062237A - Vehicle control system, vehicle control method and vehicle control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control system that allows an occupant to grasp a peripheral state in stopping a vehicle, and to provide a vehicle control method and a vehicle control program.SOLUTION: A vehicle control system includes: an automatic operation control part for automatically controlling travelling of a vehicle; and a display control part for controlling a display part to display different images depending on a reason for stopping a vehicle when the automatic operation control part controls the vehicle to stop.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control system, a vehicle control method, and a vehicle control program.

  2. Description of the Related Art In recent years, research has been conducted on a technique for generating a target track on which a vehicle will travel in the future and automatically controlling at least one of vehicle speed control and steering control based on the generated target track. In relation to this, a technique is disclosed in which an image of the external world is acquired by an external recognition sensor, and the braking force of the hydraulic brake is controlled based on the predicted stop position and the predicted stop time calculated from the acquired image. (For example, refer to Patent Document 1).

JP2015-81011A

  However, conventionally, it has been difficult for an occupant to grasp the surrounding situation when the vehicle is stopped.

  The present invention has been made in consideration of such circumstances, and provides a vehicle control system, a vehicle control method, and a vehicle control program that allow an occupant to grasp a surrounding situation when the vehicle is stopped. Is one of the purposes.

  According to the first aspect of the present invention, the automatic operation control unit (121, 122, 123, 131) that automatically controls the traveling of the vehicle and the reason for stopping the vehicle when the automatic operation control unit stops the vehicle. And a display control unit (141) that causes the display unit (31) to display different images depending on the vehicle control system.

  Invention of Claim 2 is a vehicle control system of Claim 1, Comprising: The imaging part (10) which images the circumference | surroundings of the said vehicle, The action plan production | generation part (123) which produces | generates the action plan of the said vehicle ), And the automatic driving control unit automatically controls driving of the vehicle based on the behavior plan generated by the behavior plan generating unit, and the display control unit is configured to control the automatic driving control unit. When the vehicle is stopped based on the sudden event, the image captured by the image capturing unit is displayed on the display unit, and when the automatic operation control unit stops the vehicle based on the action plan. Is to display an image based on the content of the action plan on the display unit.

  A third aspect of the present invention is the vehicle control system according to the second aspect, wherein the image based on the content of the action plan includes an image indicating a future target trajectory of the vehicle.

  Invention of Claim 4 is a vehicle control system of Claim 2 or 3, Comprising: The said imaging part which images a some direction is provided, The said display control part is by the said some imaging part Of the plurality of captured images, an image selected based on a direction in which the vehicle is stopped by the automatic driving control unit is displayed on the display unit.

  A fifth aspect of the present invention is the vehicle control system according to the fourth aspect, wherein the display control unit assumes that an occupant of the vehicle gets off after the automatic operation control unit stops the vehicle. An image obtained by imaging the direction to be displayed is displayed on the display unit.

  A sixth aspect of the present invention is the vehicle control system according to any one of the second to fifth aspects, wherein the display control unit adds an image captured by the imaging unit to the vehicle. The scheduled stop position is superimposed and displayed on the display unit.

  The invention according to claim 7 is the vehicle control system according to any one of claims 2 to 5, wherein the outside recognition unit determines whether an obstacle exists around the vehicle. (121), and the display control unit is included in the image captured by the imaging unit when the outside recognition unit determines that there is an obstacle on the route to the planned stop position of the vehicle. The area of the obstacle to be displayed is highlighted and displayed on the display unit.

  The invention according to an eighth aspect is the vehicle control system according to any one of the second to seventh aspects, wherein the outside recognition unit determines whether there is an obstacle around the vehicle. (121), and the action plan generation unit changes the planned stop position of the vehicle when the outside world recognition unit determines that an obstacle exists on the route to the planned stop position of the vehicle. An action plan is generated.

  The invention according to claim 9 is the vehicle control system according to any one of claims 1 to 8, wherein the automatic operation control unit stops the vehicle based on a sudden event. And a notification unit (20, 30) for notifying the vehicle of information indicating that the vehicle has stopped.

  A tenth aspect of the present invention is the vehicle control system according to any one of the first to ninth aspects, wherein it is determined that the physical condition of the occupant of the vehicle has deteriorated as one of the sudden events. In such a case, a seat control unit for driving the seat on which the occupant is seated is further provided so as to increase the reclining angle.

  Invention of Claim 11 is the vehicle control system of any one of Claim 1 to 10, Comprising: The said display control part is the reason which stopped the said vehicle, the time which stopped, or At least one of the stopped locations is displayed on the display unit.

  The invention according to claim 12 is a vehicle control method in which the in-vehicle computer automatically controls the traveling of the vehicle, and when the vehicle is stopped, the display unit displays different images depending on the reason for stopping the vehicle. is there.

  According to a thirteenth aspect of the present invention, there is provided a vehicle control program for causing a vehicle-mounted computer to automatically control traveling of a vehicle and to display different images on a display unit depending on the reason for stopping when the vehicle is stopped. is there.

  According to invention of Claim 1, 12, and 13, a crew member can be made to grasp | ascertain the surrounding condition at the time of stopping a vehicle.

  According to the second aspect of the present invention, it is possible to grasp the situation of the vehicle based on the content displayed on the display unit. Further, by performing image display based on the sudden event, it is possible to allow the occupant to grasp the situation around the vehicle.

  According to the invention described in claim 3, it is possible to allow the occupant to grasp the contents of the future travel control based on the action plan.

  According to the inventions described in claims 4 and 5, it is possible to select and display an image in a direction that the occupant wants to confirm when the vehicle is stopped, and allow the occupant to grasp the image.

  According to the sixth aspect of the present invention, it is possible to allow the occupant to grasp the planned stop position of the vehicle and that the vehicle is performing travel control related to the stop.

  According to the seventh aspect of the invention, the occupant can recognize that there is an obstacle, and the occupant can recognize that the vehicle can recognize the obstacle.

  According to the eighth aspect of the invention, the vehicle can be stopped at a safe position without colliding with an obstacle.

  According to the ninth aspect of the present invention, it is possible to notify the outside of the vehicle of a vehicle failure, a deterioration of the physical condition of the occupant, and the like.

  According to the invention described in claim 10, it is possible to make the occupant have a comfortable posture.

  According to the eleventh aspect of the present invention, when the occupant wakes up after the vehicle stops, the current situation of the vehicle can be easily grasped.

1 is a configuration diagram of a vehicle system 1 including an automatic operation control unit 100. FIG. It is a figure which shows a mode that the relative position and attitude | position of the own vehicle M with respect to the driving lane L1 are recognized by the own vehicle position recognition part 122. FIG. It is a figure which shows a mode that a target track is produced | generated based on a recommended lane. It is a figure which shows an example of the track | orbit generation of the action plan production | generation part 123 in an emergency stop event. It is a figure for demonstrating the example of a production | generation of the action plan when there exists an obstruction in the stop stop position of the own vehicle. It is a figure which shows the example which superimposed and displayed the stop planned position 302 on the image imaged with the camera. It is a figure which shows an example of the display screen at the time of stopping the own vehicle M for reasons other than an emergency stop. It is a figure which shows an example of the display screen in case the obstruction is highlighted. It is a figure which shows the example of a display of the information based on the reason which the own vehicle M stopped. It is a figure for demonstrating the image area displayed on the display apparatus 31 at the time of emergency stop control of the own vehicle M. FIG. It is a figure which shows an example of the image displayed on the display apparatus 31 at the time of the emergency stop of the own vehicle M. FIG. It is a flowchart which shows an example of the determination process of the emergency stop based on a passenger | crew's state. It is a flowchart which shows an example of the determination process of the emergency stop based on the state of a vehicle. It is a flowchart which shows an example of an emergency stop process.

  Hereinafter, embodiments of a vehicle control system, a vehicle control method, and a vehicle control program of the present invention will be described with reference to the drawings.

  FIG. 1 is a configuration diagram of a vehicle system 1 including an automatic driving control unit 100. The vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell.

  The vehicle system 1 includes, for example, a camera (imaging unit) 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a navigation device 50, and an MPU. (Micro-Processing Unit) 60, vehicle sensor 70, driving operator 80, vehicle interior camera 90, automatic driving control unit 100, traveling driving force output device 200, brake device 210, steering device 220, Is provided. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration illustrated in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  The “vehicle control system” includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI 30, an MPU 60, a vehicle sensor 70, a driving operator 80, Automatic operation control unit 100. In addition, the communication device 20 and the HMI 30 including a part or all of them are examples of the “notification unit”.

  The camera 10 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). One or a plurality of cameras 10 are attached to any part of a vehicle (hereinafter referred to as “own vehicle M”) on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. When imaging the rear, the camera 10 is attached to an upper part of the rear windshield, a back door, or the like. When imaging the side, the camera 10 is attached to a door mirror or the like. For example, the camera 10 periodically and repeatedly images the periphery of the host vehicle M. The camera 10 may be a stereo camera.

  The radar device 12 radiates a radio wave such as a millimeter wave around the host vehicle M, and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and azimuth) of the object. One or a plurality of radar devices 12 are attached to arbitrary locations of the host vehicle M. The radar apparatus 12 may detect the position and speed of an object by FM-CW (Frequency Modulated Continuous Wave) method.

  The finder 14 is LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) that measures the scattered light with respect to the irradiation light and detects the distance to the target. One or a plurality of the finders 14 are attached to arbitrary locations of the host vehicle M.

  The object recognition device 16 performs sensor fusion processing on detection results of some or all of the camera 10, the radar device 12, and the finder 14 to recognize the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control unit 100.

  The communication device 20 communicates with other vehicles around the host vehicle M using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. It communicates with various server apparatuses via a base station.

  The HMI 30 presents various information to the occupant of the host vehicle M and accepts an input operation by the occupant. The HMI 30 includes, for example, a display device (display unit) 31, a speaker 32, a sheet device 33, and various operation switches 34. The display device 31 is an LCD (Liquid Crystal Display), an organic EL (Electro Luminescence) display device, or the like. The display device 31 is, for example, a touch panel display device having a function of displaying an image and a function of accepting an approach position and operation content of an operator's finger with respect to the display surface. For example, the speaker 32 outputs a sound based on the content displayed on the display device 31 or outputs an alarm or the like.

  The seat device 33 is a seat (seat) on which an occupant of the host vehicle M is seated, and is an electrically drivable seat. The seat device 33 may include not only a driver's seat for driving the host vehicle M manually, but also a passenger seat next to the driver's seat, a rear seat behind the driver's seat and the passenger seat, and the like. Good. The seat device 33 includes a seat driving unit that drives a motor or the like to freely change a seat reclining angle, a position in the front-rear and up-down directions, a yaw angle indicating a rotation angle, and the like at a predetermined speed.

  The various operation switches 34 are arranged at arbitrary locations in the host vehicle M. The various operation switches 34 include, for example, automatic operation switching. The automatic operation changeover switch is a switch that instructs start (or future start) and stop of automatic operation. The various operation switches 34 may be either GUI (Graphical User Interface) switches or mechanical switches. In addition to the above-described configuration, the HMI 30 may have a mail function for sending and receiving e-mail with the outside and a call function for making a call using the communication device 20.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The first map information 54 is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Holding. The GNSS receiver specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 70. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above. The route determination unit 53, for example, determines the route from the position of the host vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52. This is determined with reference to one map information 54. The first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link. The first map information 54 may include road curvature and POI (Point Of Interest) information. The route determined by the route determination unit 53 is output to the MPU 60. Further, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the route determined by the route determination unit 53. In addition, the navigation apparatus 50 may be implement | achieved by the function of terminal devices, such as a smart phone and a tablet terminal which a user holds, for example. Further, the navigation device 50 may acquire the route returned from the navigation server by transmitting the current position and the destination to the navigation server via the communication device 20.

  For example, the MPU 60 functions as the recommended lane determining unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 for each block. Determine the recommended lane. The recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel. The recommended lane determining unit 61 determines a recommended lane so that the host vehicle M can travel on a reasonable travel route for proceeding to the branch destination when there is a branching point, a joining point, or the like on the route.

  The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane. The second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as expressway, toll road, national road, prefectural road, number of road lanes, emergency parking area, width of each lane, road gradient, road position (longitude , Latitude and height (three-dimensional coordinates), lane curve curvature, lane merging and branch point positions, road markings, and other information. The second map information 62 may be updated at any time by accessing another device using the communication device 20.

  The vehicle sensor 70 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around the vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like. Further, the vehicle sensor 70 includes a brake failure detection sensor that detects deterioration of the brake actuator of the brake device 210, a pneumatic sensor that detects whether the tire pressure during traveling is equal to or less than a threshold value, and the like.

  The driving operation element 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, and other operation elements. A sensor that detects the amount of operation or the presence or absence of an operation is attached to the driving operator 80, and the detection result is the automatic driving control unit 100, or the traveling driving force output device 200, the brake device 210, and the steering device. 220 is output to one or both of 220.

  The vehicle interior camera 90 images the upper body around the face of the occupant seated in the driver's seat. A captured image of the vehicle interior camera 90 is output to the automatic driving control unit 100.

  The automatic operation control unit 100 includes, for example, a first control unit 120, a second control unit 130, and a third control unit 140. The first control unit 120, the second control unit 130, and the third control unit 140 are each realized by a processor (software) executing a processor such as a CPU (Central Processing Unit). In addition, some or all of the functional units of the first control unit 120, the second control unit 130, and the third control unit 140 described below are LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit). Further, it may be realized by hardware such as an FPGA (Field-Programmable Gate Array), or may be realized by cooperation of software and hardware.

  Moreover, what includes a part or all of the outside world recognition unit 121, the vehicle position recognition unit 122, the action plan generation unit 123, and the travel control unit 131 of the second control unit 130 described later. , Is an example of an “automatic operation control unit”. The automatic operation control unit automatically controls the traveling of the host vehicle M. The automatic control of traveling includes at least automatically controlling the speed of the host vehicle M, and may include automatically controlling the steering of the host vehicle M.

  The first control unit 120 includes, for example, an external environment recognition unit 121, a vehicle position recognition unit 122, an action plan generation unit 123, and an abnormal state determination unit 124.

  The external environment recognition unit 121 determines the position of the surrounding vehicle and the state such as speed and acceleration based on information input directly from the camera 10, the radar device 12, and the finder 14 or via the object recognition device 16. recognize. The position of the surrounding vehicle may be represented by a representative point such as the center of gravity or corner of the surrounding vehicle, or may be represented by an area expressed by the outline of the surrounding vehicle. The “state” of the surrounding vehicle may include acceleration and jerk of the surrounding vehicle, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed).

  In addition to the surrounding vehicles, the external environment recognition unit 121 may recognize the positions of guardrails, utility poles, parked vehicles, pedestrians, and other objects. In this case, the external environment recognition unit 121 determines, for example, whether there is an obstacle at the planned stop position of the host vehicle M in automatic driving based on the recognition result by the object recognition device 16. Obstacles are other vehicles, pedestrians and other objects. When it is determined that there is an obstacle at the planned stop position, the external environment recognition unit 121 instructs the action plan generation unit 123 to change the target trajectory. In addition, when there is an obstacle at the planned stop position, the external environment recognition unit 121 outputs information regarding the position where the obstacle exists to the third control unit 140.

  The own vehicle position recognition unit 122 recognizes, for example, the lane (traveling lane) in which the own vehicle M is traveling, and the relative position and posture of the own vehicle M with respect to the traveling lane. The own vehicle position recognition unit 122, for example, includes a road marking line pattern (for example, an arrangement of solid lines and broken lines) obtained from the second map information 62 and an area around the own vehicle M recognized from an image captured by the camera 10. The traveling lane is recognized by comparing the road marking line pattern. In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account.

  And the own vehicle position recognition part 122 recognizes the position and attitude | position of the own vehicle M with respect to a travel lane, for example. FIG. 2 is a diagram illustrating a state in which the vehicle position recognition unit 122 recognizes the relative position and posture of the vehicle M with respect to the travel lane L1. The own vehicle position recognizing unit 122 makes, for example, a line connecting the deviation OS of the reference point (for example, the center of gravity) of the own vehicle M from the travel lane center CL and the travel lane center CL in the traveling direction of the own vehicle M. The angle θ is recognized as the relative position and posture of the host vehicle M with respect to the traveling lane L1. Instead, the host vehicle position recognition unit 122 recognizes the position of the reference point of the host vehicle M with respect to any side end of the travel lane L1 as the relative position of the host vehicle M with respect to the travel lane. Also good. The relative position of the host vehicle M recognized by the host vehicle position recognition unit 122 is provided to the recommended lane determination unit 61 and the action plan generation unit 123.

  The action plan generation unit 123 generates an action plan for the host vehicle M to perform automatic driving or manual driving on a destination or the like. For example, the action plan generation unit 123 determines events that are sequentially executed in automatic driving so as to travel in the recommended lane determined by the recommended lane determination unit 61 and to cope with the surrounding situation of the host vehicle M. To do. Events include, for example, a constant speed event that travels in the same lane at a constant speed, a follow-up event that follows the preceding vehicle, a lane change event, a merge event, a branch event, an emergency stop event, and automatic driving There is a handover event for switching to manual operation. Further, during execution of these events, actions for avoidance may be planned based on the surrounding situation of the host vehicle M (the presence of surrounding vehicles and pedestrians, lane narrowing due to road construction, etc.).

  The action plan generation unit 123 generates a target track on which the host vehicle M will travel in the future. The target trajectory includes, for example, a velocity element. For example, the target trajectory is generated as a set of target points (orbit points) that should be set at a plurality of future reference times for each predetermined sampling time (for example, about 0 comma [sec]) and reach these reference times. The For this reason, when the width | variety of a track point is wide, it has shown running in the area between the track points at high speed.

  FIG. 3 is a diagram illustrating a state in which a target track is generated based on the recommended lane. As shown in the figure, the recommended lane is set so as to be convenient for traveling along the route to the destination. The action plan generation unit 123 activates a lane change event, a branch event, a merge event, or the like when it reaches a predetermined distance before the recommended lane switching point (may be determined according to the type of event). If it becomes necessary to avoid an obstacle during the execution of each event, an avoidance trajectory is generated as shown in the figure.

  For example, the action plan generation unit 123 generates a plurality of candidate target trajectories, and selects an optimal target trajectory at that time point based on safety and efficiency. Moreover, the action plan production | generation part 123 performs an emergency stop event, when the abnormal condition determination part 124 determines with the passenger | crew or the own vehicle M being an abnormal condition. The emergency stop event in the embodiment means, for example, that the own vehicle M is stopped at a safe position (for example, emergency parking zone, roadside zone, road shoulder, parking area, etc.) based on MRM (Minimum Risk Maneuver). This is an event for executing a degeneration operation for stopping M.

  FIG. 4 is a diagram illustrating an example of trajectory generation of the action plan generation unit 123 in an emergency stop event. The action plan generation unit 123 generates a target track for emergency stop of the host vehicle M by the travel control unit 131 when the abnormal state determination unit 124 determines that the occupant or the host vehicle M is in an abnormal state.

  In this case, first, the action plan generation unit 123 refers to the second map information 62, and determines that the host vehicle M can be safely stopped based on the current position and traveling direction of the host vehicle M ( For example, the area of the emergency parking zone 300 in the traveling direction of the host vehicle M) is extracted. Next, the action plan generation unit 123 sets the planned stop position 302 of the host vehicle M for the extracted area of the emergency parking zone 300. Next, the action plan generation unit 123 generates a target track from the current position of the host vehicle M to the planned stop position 302. The area where the host vehicle M is stopped is not limited to the illustrated emergency parking zone 300, and may be, for example, a roadside belt or a shoulder to the driving lane L1, or a nearby parking area in the traveling direction. It may be near the emergency exit.

  In addition, when it is determined by the external environment recognition unit 121 that there is an obstacle on the route to the planned stop position 302 of the host vehicle M, the action plan generation unit 123 avoids the determined obstacle from the host vehicle M. Generate an action plan to stop As an example of a case where it is determined that there is an obstacle on the route to the planned stop position 302 of the own vehicle M, the vehicle stops when the route and the obstacle overlap, or when the planned stop position 302 and the obstacle overlap. For example, the distance between the planned position 302 and the obstacle is within a predetermined distance.

  FIG. 5 is a diagram for explaining an example of generating an action plan when there is an obstacle at the planned stop position of the host vehicle M. The action plan generation unit 123 changes the current traveling track to another position when the outside recognition unit 121 determines that an obstacle (for example, another vehicle mA) exists at the planned stop position 302 of the host vehicle M. Generate an action plan to stop. In the example shown in the figure, there is an area in the area of the emergency parking zone 300 that can be stopped at a position ahead of the other vehicle mA that is an obstacle. Therefore, the action plan generation unit 123 sets a new planned stop position 304 at a position ahead of the other vehicle mA of the emergency parking zone 300 and generates an action plan for stopping at the set planned stop position 304. The action plan generation unit 123 outputs the generated traveling track to the traveling control unit 131. Thereby, the travel control unit 131 described later executes travel control for stopping at a new planned stop position 304.

  The abnormal state determination unit 124 determines whether at least one of the occupant driving the host vehicle M or the host vehicle M is in an abnormal state, for example. The abnormal state of the occupant driving the host vehicle M is a sudden event such as deterioration of the physical condition of the occupant, for example, and may include a state in which the occupant is sleeping or an unconscious state due to illness, injury, or the like. The abnormal state of the host vehicle M is a sudden event such as a failure of the host vehicle M.

  For example, although the abnormal state determination unit 124 notifies the occupant driving the host vehicle M of a handover request for shifting from the automatic driving of the host vehicle M to the manual driving more than a predetermined number of times, If the occupant's manual operation cannot be detected, it is determined that the occupant is in an abnormal state. The manual driving operation is, for example, an operation in which an occupant grips the steering wheel, or an operation such as placing a foot on an accelerator pedal or a brake pedal or depressing the pedal. The abnormal state of the occupant is, for example, a state in which the occupant is sleeping or a state in which the consciousness is unknown due to illness or injury. In addition, the abnormal state determination unit 124 analyzes an image of the occupant photographed by the vehicle interior camera 90, and when it is determined that the occupant is sleeping or stunned, the occupant is in an abnormal state. May be determined.

  Moreover, the abnormal state determination part 124 determines with the own vehicle M being in an abnormal state, for example, when the failure of the own vehicle M is detected. The failure of the host vehicle M is a state in which normal traveling is difficult or state in which manual traveling is not possible in automatic operation or manual operation. The contents of the failure include, for example, a brake operation failure due to deterioration of the brake actuator of the brake device 210, a running failure due to a decrease in tire air pressure during running, and the like. The abnormal state determination unit 124 determines the presence or absence of a failure from the detection result obtained from the vehicle sensor 70 or the like. The abnormal state determination unit 124 outputs the determined result to the action plan generation unit 123 or the third control unit 140.

  The second control unit 130 includes, for example, a travel control unit 131 and a switching control unit 132.

  The traveling control unit 131 controls the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the host vehicle M passes the target track generated by the action plan generating unit 123 at a scheduled time. To do. In addition, for example, when the first control unit 120 performs emergency stop control, the travel control unit 131 performs control to stop at the planned stop position generated by the action plan generation unit 123 and shifts the shift to “P (parking). ) ”Or control to turn on EPB (Electronic Parking Brake).

  For example, the switching control unit 132 switches between the automatic operation mode and the manual operation mode based on a signal input from an automatic operation switch provided in the various operation switches 34 of the HMI 30. In addition, the switching control unit 132 switches the driving mode based on an operation for instructing acceleration, deceleration, or steering with respect to the driving operator 80 such as an access pedal, a brake pedal, and a steering wheel.

  In addition, the switching control unit 132 performs handover control for shifting from automatic driving to manual driving in the vicinity of the planned end point of automatic driving set by the action plan generated by the action plan generating unit 123. Handover control is control executed by the above-described handover event. When performing the handover control, the switching control unit 132 instructs the third control unit 140 to notify the occupant of the handover request.

  In addition, when the emergency stop control in the embodiment is performed, the switching control unit 132 performs control so as not to switch to automatic driving if there is no predetermined manual operation by the occupant. Thus, the safety | security of the own vehicle M can be improved by adding a fixed restriction | limiting to the operation control of the own vehicle M after an emergency stop.

  The third control unit 140 includes, for example, a display control unit 141, a vehicle outside notification control unit 142, and a seat control unit 143.

  The display control unit 141 controls information output to the HMI 30. The display control unit 141 acquires information received by the HMI 30. For example, the display control unit 141 causes the display device 31 to display an image indicating a handover request for causing an occupant to perform an operation of switching to manual driving based on the handover request from the switching control unit 132. The display control unit 141 may notify the occupant of information related to the handover request using the speaker 32, or may notify the occupant by vibrating the seat device 33.

  In addition, when the traveling control unit 131 stops the host vehicle M, the display control unit 141 causes the display device 31 to display different images depending on the reason for stopping. For example, when the travel control unit 131 stops the host vehicle M based on the sudden event, the display control unit 141 superimposes and superimposes the planned stop position 302 of the host vehicle M on the image captured by the camera 10. The image is displayed on the display device 31.

  FIG. 6 is a diagram illustrating an example in which the planned stop position 302 is superimposed on the image captured by the camera 10 and displayed. When the action plan generating unit 123 sets the planned stop position 302 in the emergency parking zone 300 as shown in FIG. 4, the display control unit 141 is obtained from the camera 10 as shown in FIG. 6. The planned stop position 302 is superimposed on the image, and the superimposed image is displayed on the display device 31. For example, the planned stop position 302 may overlap a region corresponding to the size of the host vehicle M, or may overlap characters, symbols, marks, and the like. Thereby, the passenger | crew can grasp | ascertain easily the position where the own vehicle M stops. Therefore, for example, even when the host vehicle M is moving in the direction of the emergency parking zone 300 due to an emergency stop, the occupant can know that traveling control related to stopping is being performed, and the occupant can feel secure. Can be given.

  In addition, the display control unit 141 causes the HMI 30 to output information based on the reason for the emergency stop of the host vehicle M by the travel control unit 131, for example. In addition, when the second control unit 130 stops the host vehicle M for a reason other than an emergency stop, the display control unit 141 is information on a future traveling track based on the action plan generated by the action plan generation unit 123. Is displayed on the display device 31. The stop other than the emergency stop is, for example, a stop scheduled in advance according to an action plan for automatic driving, a stop due to manual driving of an occupant, a stop due to follow-up traveling of a preceding vehicle, or the like.

  FIG. 7 is a diagram illustrating an example of a display screen when the host vehicle M is stopped for a reason other than an emergency stop. When the host vehicle M is stopped for reasons other than emergency stop, the display control unit 141 causes the display device 31 to output the traveling track after the automatic driving is resumed. In the illustrated example, the predicted trajectory after the automatic stop is superimposed on the image of the parking area 310 of the expressway corresponding to the situation around the host vehicle M acquired from the second map information 62 using a plurality of trajectory points. it's shown. This predicted trajectory is a future travel trajectory generated by the action plan generator 123. In this way, by displaying the predicted trajectory on the display device 31, the occupant can easily grasp the future trajectory of the host vehicle M. In addition, when the own vehicle M arrives at the destination and stops, the display control unit 141 does not perform the subsequent travel, and thus does not have to display the predicted trajectory.

  The display control unit 141 highlights the area of the obstacle included in the image captured by the camera 10 when the outside recognition unit 121 determines that an obstacle exists at the planned stop position 302 of the host vehicle M. Then, it is displayed on the display device 31.

  FIG. 8 is a diagram illustrating an example of a display screen when an obstacle is highlighted. For example, as illustrated in FIG. 8, when there is another vehicle mA at the planned stop position 302, the display control unit 141 highlights the area of the other vehicle mA included in the image captured by the camera 10 and displays the display device. 31 to output. The highlighting includes, for example, displaying the area of the other vehicle mA in a color different from the background color, blinking the area, or displaying with an oblique line, a pattern, a mark, or the like. As a result, it is possible to make it easier for the occupant to know that an obstacle is present at the planned stop position, and to notify the occupant that the host vehicle M can recognize the obstacle. Thereby, a passenger can be provided with a sense of security.

  Further, the display control unit 141 generates at least one of the reason for stopping, the stop time, or the stop location as information based on the reason for stopping the host vehicle M, and causes the HMI 30 to output the generated information.

  FIG. 9 is a diagram illustrating a display example of information based on the reason that the host vehicle M has stopped. As shown in the figure, the display control unit 141 causes the display device 31 to display information on the current state of the host vehicle M, the reason for stopping, the stopping time, and the stopping place. When there are a plurality of reasons for stopping, each reason may be displayed. Further, the stop time may be an elapsed time after an emergency stop, or may be a time determined to perform an emergency stop operation.

  Further, the stop location may be a location using road information based on map information (for example, a point 1 km from the XX interchange to Tokyo), information on an address, information on latitude and longitude. In addition, the display control unit 141 displays a map display button 320 that is a GUI switch on the display device 31, and when the map display button 320 is touched by an occupant, displays map information corresponding to the stop location on the screen. Also good. In addition, the display control unit 141 may output information based on the reason for stopping the host vehicle M from the speaker 32 of the HMI 30 or the like.

  Thereby, for example, even if the occupant was sleeping or fainted while the host vehicle M was performing emergency stop control, the reason for the emergency stop or the like can be determined by looking at the display device 31 at the time of waking up. It can be easily grasped. The display control unit 141 displays information based on the reason for the emergency stop on the display device 31 and then stops the host vehicle M when detecting that the steering wheel is gripped by an occupant or the like. Information display or audio output based on the information may be deleted.

  In addition, the display control unit 141 switches and displays the image obtained from the camera 10 after the host vehicle M is stopped by an emergency stop. Specifically, the display control unit 141 causes the display device 31 to display an image obtained by capturing the direction in which the passenger of the host vehicle M is expected to get off after stopping the host vehicle M.

  FIG. 10 is a diagram for explaining an image area to be displayed on the display device 31 during emergency stop control of the host vehicle M. For example, as shown in the figure, the other vehicle mA travels on the right driving lane L1 of the own vehicle M when the own vehicle M stops in the emergency parking zone 300 on the left side of the driving lane L1 by the emergency stop control. is there. Further, when the host vehicle M is a right steering wheel, it is assumed that the passenger gets out of the right door of the host vehicle M. Therefore, when the host vehicle M is stopped by an emergency stop, the display control unit 141 generates a camera image including the region 330 on the right side of the host vehicle M.

  FIG. 11 is a diagram illustrating an example of an image displayed on the display device 31 when the host vehicle M is in an emergency stop. When performing an emergency stop of the host vehicle M, the display control unit 141 switches and displays the camera image on the right rear side of the host vehicle M as illustrated. In the example shown in the drawing, a horizontally reversed image is used so that the right road can be easily recognized. However, the image may not be reversed. Thereby, after the own vehicle M stops at the emergency parking zone 300 or the like, when the occupant gets off from the own vehicle M, while traveling on the traveling lanes L1 and L2 while checking the screen displayed on the display device 31. You can get off safely with awareness of the vehicle.

  The illustrated image is an image including the right rear of the host vehicle M, but is not limited to this, and may be, for example, a multi-view image in which images taken in different directions by a plurality of cameras are arranged. The display control unit 141 can display the multi-view image on the display device 31 to make it easier for the occupant to check the situation around the host vehicle M. Further, the display control unit 141 may display not only the image obtained by the camera 10 but also the information obtained by the radar device 12 and the finder 14 on the display device 31. Further, when the camera 10 is a camera capable of photographing all directions, the entire image photographed by the camera 10 may be displayed on the display device 31, and an image in the direction in which the occupant gets off is cut out and displayed. 31 may be displayed.

  The out-of-vehicle notification control unit 142 notifies the outside of the vehicle when the abnormal state determination unit 124 determines that the occupant or the host vehicle M is in an abnormal state based on the sudden event. Examples of the notification to the outside of the vehicle include turning on a hazard lamp of the host vehicle M, sounding a horn at a certain timing, outputting an alarm from the speaker 32 to the outside, a digital signage provided in the host vehicle M, etc. To output information (for example, characters or marks) indicating an emergency state.

  Further, the outside notification control unit 142 may send an e-mail to a preset emergency contact or make a call by the communication device 20 as a notification outside the vehicle using the HMI 30. In this case, the content of the notification or call is information based on the reason for stopping the vehicle M described above, for example.

  When the abnormal state determining unit 124 determines that the occupant is in an abnormal state such as deterioration of physical condition, the seat control unit 143 increases the reclining angle with respect to the seat device 33 on which the occupant in the abnormal state is seated. To control. As a result, the passenger can be put in a comfortable posture.

  The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling of the vehicle to driving wheels. The traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above-described configuration according to information input from the travel control unit 131 or information input from the driving operator 80.

  The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the travel control unit 131 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls the actuator according to information input from the travel control unit 131 and transmits the hydraulic pressure of the master cylinder to the cylinder. Good. Further, the brake device 210 may include a plurality of brake devices in consideration of safety.

  The steering device 220 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor according to the information input from the travel control unit 131 or the information input from the driving operator 80, and changes the direction of the steered wheels.

  Next, processing contents when various processes in the above-described embodiment are executed by a program installed in an in-vehicle computer of the host vehicle M will be described using a flowchart.

  FIG. 12 is a flowchart illustrating an example of emergency stop determination processing based on the occupant state. The process of FIG. 12 is repeatedly executed at a predetermined timing during the traveling of the automatic driving.

  First, the switching control unit 132 determines whether or not a handover request notification event has occurred from automatic operation (S100). When a handover request notification event occurs, the switching control unit 132 notifies the occupant of the handover request (step S102). Next, the abnormal state determination unit 124 initializes the number of handover requests to “1” (step S104), and determines whether or not there is a response from the passenger corresponding to the handover request (step S106).

  When there is no response to the handover request, the abnormal state determination unit 124 determines whether the number of requests is a predetermined number or more (for example, three times or more) (step S108). If the request count is not equal to or greater than the predetermined count, the abnormal state determination unit 124 waits for a predetermined time (step S110), increments the request count by 1 (step S112), and returns to the process of step S106.

  In the process of step S108, if the number of requests is equal to or greater than the predetermined number, the abnormal state determination unit 124 determines that the occupant is abnormal and performs an emergency stop process (step S114). A specific example of the emergency stop process will be described later.

  In step S106, if there is a response to the handover request from the occupant, the abnormal state determination unit 124 determines that there is no abnormality in the occupant and ends the process as it is. In this case, the switching control unit 132 performs switching control from automatic operation to manual operation. Further, in the process of step S100, when the notification event of the handover request has not occurred, the abnormal state determination unit 124 determines whether or not the occupant's physical condition is deteriorated by an image from the vehicle interior camera 90 ( Step S116). When it is determined that the occupant's physical condition is deteriorated, the abnormal state determination unit 124 performs an emergency stop process (step S114). If it is determined that the physical condition of the occupant has not deteriorated, the process is terminated as it is. Thereby, the process of this flowchart is complete | finished.

  The emergency stop determination process described above may be performed not only when the passenger is in the state but also when the vehicle is in an abnormal state. Hereinafter, the emergency stop determination process based on the state of the vehicle will be described using a flowchart.

  FIG. 13 is a flowchart illustrating an example of an emergency stop determination process based on the state of the vehicle. The process of FIG. 13 is repeatedly executed at a predetermined timing in the automatic driving or the manual driving of the host vehicle M.

  The abnormal state determination unit 124 determines whether or not a failure of the host vehicle M has been detected (step S200). When a failure of the host vehicle M is detected, the abnormal state determination unit 124 determines whether or not the host vehicle M needs to be urgently stopped (step S202). When the host vehicle M needs to be urgently stopped, the abnormal state determination unit 124 performs an emergency stop process (step S204). If the host vehicle M does not need to be urgently stopped, the display control unit 141 causes the display device 31 or the speaker 32 of the HMI 30 to output a warning regarding the failure content (step S206). The case where the host vehicle M does not need to be urgently stopped is, for example, a case where the light is not turned on or the battery power is low and does not immediately affect automatic driving or manual driving. This is a case of failure. When no failure of the host vehicle M is detected, the process of this flowchart ends.

  FIG. 14 is a flowchart illustrating an example of an emergency stop process. The process of FIG. 14 corresponds to the processes of step S114 and step S204. First, the action plan generation unit 123 extracts a stoppable area of the host vehicle M from the second map information 62 (step S300), and sets a planned stop position from the extracted stoppable area (step S302). Next, the action plan generation unit 123 generates a travel track for stopping at the planned stop position from the current position information of the host vehicle M (step S304).

  Next, the external environment recognition unit 121 determines whether there is an obstacle at the planned stop position included in the image captured by the camera 10 (step S306). When there is an obstacle at the planned stop position included in the captured image, the action plan generating unit 123 generates a travel path for stopping at another planned stop (step S308).

  After the process of step S308 or when there is no obstacle at the planned stop position in the process of step S306, the display control unit 141 displays an image on which the planned stop position is superimposed on the display device 31 (step S310). Next, the travel control unit 131 performs travel control for making an emergency stop at the planned stop position (step S312). Next, the display control unit 141 generates information based on the reason why the host vehicle M has been urgently stopped (step S314), and outputs a captured image from the camera 10 based on the generated information and the direction of the stop to the display device 31. (Step S316). Thereby, the process of this flowchart is complete | finished.

  According to the vehicle control system, the vehicle control method, and the vehicle control program in the embodiment described above, the reason why the host vehicle M is stopped can be clearly notified to the occupant. In addition, by notifying information according to the stopping situation, the occupant can immediately grasp the surrounding situation. Therefore, for example, even when the host vehicle M stops on the road shoulder due to an emergency stop during automatic driving, the current situation can be obtained by notifying at least one of the reason for stopping, the stopping time, the stopping position, etc. It can make it easier to grasp. Further, even when the occupant is sleeping during the emergency stop operation, the occupant can immediately grasp the surrounding situation by notifying the information based on the emergency stop when the passenger wakes up.

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, In the range which does not deviate from the summary of this invention, various deformation | transformation and substitution Can be added.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle system, 10 ... Camera, 12 ... Radar device, 14 ... Finder, 16 ... Object recognition device, 20 ... Communication device, 30 ... HMI, 50 ... Navigation device, 60 ... MPU, 70 ... Vehicle sensor, 80 ... Driving Operating unit 90 ... In-vehicle camera 100 ... Automatic driving control unit 120 ... First control unit 121 ... External world recognition unit 122 ... Self-vehicle position recognition unit 123 ... Action plan generation unit 124 ... Abnormal state determination unit , 130 ... second control unit, 131 ... travel control unit, 132 ... switching control unit, 140 ... third control unit, 141 ... display control unit, 142 ... outside notification control unit, 143 ... seat control unit, 200 ... travel drive Force output device 210 ... Brake device 220 ... Steering device M ... Own vehicle

Claims (13)

An automatic operation control unit that automatically controls the traveling of the vehicle;
When the automatic driving control unit stops the vehicle, a display control unit that displays different images on the display unit according to the reason for stopping the vehicle,
A vehicle control system comprising: An imaging unit for imaging the periphery of the vehicle;
An action plan generating unit for generating an action plan for the vehicle,
The automatic driving control unit automatically controls the traveling of the vehicle based on the behavior plan generated by the behavior plan generation unit,
When the automatic driving control unit stops the vehicle based on the sudden event, the display control unit displays an image captured by the imaging unit on the display unit, and the automatic driving control unit When stopping the vehicle based on a plan, an image based on the content of the action plan is displayed on the display unit.
The vehicle control system according to claim 1. The image based on the content of the action plan includes an image showing a future target trajectory of the vehicle,
The vehicle control system according to claim 2. Comprising a plurality of the imaging units for imaging a plurality of directions;
The display control unit causes the display unit to display an image selected based on a direction in which the vehicle is stopped by the automatic driving control unit among a plurality of images captured by the plurality of imaging units.
The vehicle control system according to claim 2 or 3. The display control unit causes the display unit to display an image obtained by capturing a direction in which an occupant of the vehicle is supposed to get off after the vehicle is stopped by the automatic driving control unit.
The vehicle control system according to claim 4. The display control unit superimposes the planned stop position of the vehicle on the image captured by the imaging unit and causes the display unit to display the image.
The vehicle control system according to any one of claims 2 to 5. An external recognition unit that determines whether there is an obstacle around the vehicle;
The display control unit is configured to display an area of the obstacle included in the image captured by the imaging unit when the outside recognition unit determines that an obstacle exists on the route to the planned stop position of the vehicle. To highlight and display on the display,
The vehicle control system according to any one of claims 2 to 6. An external recognition unit that determines whether there is an obstacle around the vehicle;
The action plan generation unit generates an action plan in which the planned stop position of the vehicle is changed when it is determined by the external environment recognition unit that an obstacle exists on the route to the planned stop position of the vehicle.
The vehicle control system according to any one of claims 2 to 7. When the automatic driving control unit stops the vehicle based on a sudden event, the automatic driving control unit further includes a notification unit for notifying the vehicle of information indicating that the vehicle has stopped.
The vehicle control system according to any one of claims 1 to 8. When it is determined that the physical condition of the occupant of the vehicle has deteriorated as one of the sudden events, the vehicle further includes a seat control unit that drives the seat on which the occupant is seated so as to increase the reclining angle.
The vehicle control system according to any one of claims 1 to 9. The display control unit causes the display unit to display at least one of a reason for stopping the vehicle, a time when the vehicle is stopped, or a place where the vehicle is stopped.
The vehicle control system according to any one of claims 1 to 10. In-vehicle computer
Automatically control the running of the vehicle,
When the vehicle is stopped, a different image is displayed on the display unit depending on the reason for stopping.
Vehicle control method. On-board computer
Automatically control the driving of the vehicle,
When the vehicle is stopped, a different image is displayed on the display unit depending on the reason for stopping.
Vehicle control program.

Images