巴西专利BR102017017510A2 CONTROL SYSTEM AND METHOD FOR AUTONOMOUS STEERING VEHICLE

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专利摘要:
a control system facing a self-driving vehicle comprising an operating device configured to be operated by the driver; a notification device configured to provide notification to the driver; and an electronic control unit. autonomous driving is performed. When the driver operates the operating device during autonomous steering, the autonomous steering is terminated and the vehicle steering is switched to manual steering. In addition, when the driver is asked to complete autonomous driving during autonomous driving, the notification device is controlled to first notify a request for preparation for manual driving with the driver and then to notify a request to the completion of autonomous driving to the driver.
公开号:BR102017017510A2
申请号:R102017017510-3
申请日:2017-08-15
公开日:2018-02-27
发明作者:Sato Jun；Kawamori Yuma；Tosaki Keiko
申请人:Toyota Jidosha Kabushiki Kaisha；
IPC主号:

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(54) Title: CONTROL SYSTEM AND METHOD FOR AUTONOMIC STEERING VEHICLE (51) Int. Cl .: B60W 30/182 (30) Unionist Priority: 08/15/2016 JP 2016159248 (73) Holder (s): TOYOTA JIDOSHA KABUSHIKI KAISHA (72) Inventor (s): JUN SATO; YUMA KAWAMORI; KEIKO TOSAKI (74) Attorney (s): DANIEL ADVOGADOS (ALT.DE DANIEL & CIA) (57) Summary: A control system aimed at an autonomously driven vehicle comprising an operating device configured to be operated by the driver; a notification device configured to provide notification to the driver; and an electronic control unit. Autonomous steering is performed. When the driver operates the operating device during autonomous steering, the autonomous steering is terminated and the vehicle's steering is switched to manual steering. In addition, when the driver is asked to complete autonomous driving during autonomous driving, the notification device is controlled to first notify a request for preparation for manual steering with the driver and then notify a request for the completion of autonomous steering to the driver.
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CONTROL SYSTEM AND METHOD FOR AUTONOMIC STEERING VEHICLES
RELATED ORDER [001] This order claims the benefit arising from Japanese deposit N ° 2016-159248, the entire content of which is incorporated into this order as a reference.
BACKGROUND OF THE INVENTION
1. Field of Invention [002] The present specification refers to a control system and a method of controlling an autonomously driven vehicle.
2. Related Technique [003] An autonomously driven vehicle is already known in the technical area, with it providing information to the driver in the event that the vehicle approaches an area where automatic steering may present difficulties (for example, see the Publication of Japanese Patent No. 2013-544695A). In one example, the vehicle requests control to drive, accelerate, decelerate, etc. with the driver.
SUMMARY [004] However, when, for example, autonomous steering is performed over a relatively long period of time, if the autonomous steering is closed, that is, manual steering is requested by the driver, it may not present conditions to quickly complete autonomous steering and initiate manual steering. At this point, this problem can be solved if there is a continuing demand for the driver to complete autonomous steering before the vehicle reaches a point where the driver must complete autonomous steering or d} and start manual steering. However, in this case, the driver may feel uncomfortable.
[005] According to one modality of this specification, it has Petition 870170059080, of 08/15/2017, p. 37/77
2/29 if the provision of a control system for an autonomously driven vehicle, comprising: an operating device configured to be operated by a driver; a notification device configured to provide notification to the driver; and an electronic control unit comprising: a steering control part configured to perform autonomous steering, and to complete autonomous steering and switch the vehicle's steering to manual steering when the driver operates the operating device during autonomous driving; and a notification control part configured to control the notification device to first notify a request for preparation for manual driving with the driver and then notify a request for the end of autonomous driving with the driver when the driver becomes asked to complete autonomous driving during autonomous driving.
[006] In accordance with another modality of this specification, a method of controlling an autonomously driven vehicle is provided, comprising: an operating device configured to be operated by the driver; a notification device configured to provide notification to the driver; and an electronic control unit, with the control method including a performance step from autonomous steering, and completion of autonomous steering and switching from vehicle steering to manual steering when the driver operates the operating device during autonomous driving, making use of of the electronic control unit, the method also includes a step of controlling the notification device to first inform a request for preparation by manual steering to the driver and then notify a request for the end of autonomous steering to the driver when it comes to be prompted by the completion of autonomous steering during autonomous steering, using the electronic control unit.
[007] This specification can be more fully understood at
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3/29 starting from the descriptive part of the preferred modalities according to the present report, established below, together with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS [008] Fig. 1 consists of a block diagram of a control system for an autonomous steering vehicle of a modality according to this report.
[009] Fig. 2 consists of a schematic view showing an external sensor of a modality according to the present report.
[010] Fig. 3 consists of a visualization showing a passenger cabin of a modality according to the present report.
[011] Fig. 4 consists of a block diagram showing a function of an electronic control unit of a modality according to the present report.
[012] Fig. 5 consists of a schematic view of an example of a desired route.
[013] Fig. 6 consists of a schematic view of a vehicle's operating condition in a mode according to the present report.
[014] Fig. 7 consists of a schematic view showing changes over time in terms of the condition of a driver in a situation where no request for preparation by manual steering came to be notified.
[015] Fig. 8 consists of a schematic view showing the changes over time in terms of the condition of a driver in a mode according to the present report.
[016] Fig. 9 consists of a visualization showing a map of a second interval.
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4/29 [017] Fig. 10 consists of a visualization clarifying the relationships between several factors and a degree of difficulty in manual steering.
[018] Fig. 11 consists of a flowchart showing a notification control routine for a modality according to the present report.
[019] Fig. 12 consists of a flowchart showing a vehicle operation control routine in another mode according to the present report.
[020] Fig. 13 consists of a schematic view of a vehicle's operating condition in another mode according to this report.
[021] Fig. 14 consists of a block diagram of a control system facing an autonomously driven vehicle in yet another modality according to the present report.
[022] Fig. 15 consists of a flowchart according to a notification control routine and, yet another modality according to the present report.
DESCRIPTION OF THE PREFERRED EMBODIMENTS [023] FIG. 1 comprises a block diagram of a control system facing an autonomously driven vehicle of a modality according to this report. With reference to Fig. 1, there is the provision of a control system for an autonomously driven vehicle of the modality according to the present report containing an external sensor 1, a GPS receiver 2, internal sensor 3, bank map. data 4, navigation system 5, storage device 6, various actuators 7, operating device 8, area information storage device 9, driver condition quantitative device 10, area condition device 11, health record device 12, notification device 13, and unit
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5/29 of electronic control 20 (ECU).
[024] External sensor 1 is configured to detect information outside or in the vicinity of a shared vehicle. External sensor 1 is provided incorporating at least one radar, camera and LIDAR (Detection and Laser Range of the Surroundings). In the modality according to the present report, as shown in Fig. 2, the external sensor 1 comes with LIDARs 1a, radars 1b and camera 1c ..
[025] The LIDAR 1a comprises a device aimed at detecting a highway where the shared vehicle is running or detecting external obstacles, using laser beams. In the example shown in Fig. 2, four LIDARs 1a are fixed, respectively, next to the dampers in the four corners of the vehicle V. The LIDARs 1a successively activate the laser beams towards the vicinity of the shared vehicle V and measure the distances along the highway and the obstacles around the highway from the reflected light detecting the highway and the obstacles around the shared vehicle V in the form of a 3D image. The 3D image of the highway and the obstacles detected by LIDARs 1a is transmitted to the electronic control unit 20. On the other hand, radar 1b comprises a device aimed at detecting obstacles present on the outside of the shared vehicle using waves electromagnetic. In the example shown in Fig. 2, four radars 1 b are attached to the dampers near the four corners of vehicle V. Radars 1b emit electromagnetic waves from radars 1b to the vicinity of the shared vehicle V and measure the distances to obstacles in the vicinity. of the shared vehicle V from the reflected waves. The information regarding the obstacles detected by the radars 1b comes to be sent to the electronic control unit 20. The camera 1c, in the example shown in Fig. 2, is provided containing a front camera provided next to an internal part of a front glass
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6/29 of vehicle V. Front camera 1c captures a monochrome or color image of the front of the shared vehicle V. The monochrome or color image information obtained by the front camera 1c is transmitted to the electronic control unit 20.
[026] The GPS receiver 2 is configured to receive signals from three or more GPS satellites in order to detect an absolute position of the shared vehicle V (for example, the latitude and longitude of the shared vehicle V). The absolute position information of the shared V vehicle detected by the GPS receiver 2 is transmitted to the electronic control unit
20.
[027] The internal sensor 3 is configured to detect the operating condition of vehicle V. The operating condition of the shared vehicle V is expressed, at least, or by the speed, acceleration, and posture of the shared vehicle. The internal sensor 3 is provided containing, both one and both devices, the vehicle speed sensor and the IMU (inertial measurement unit). In the mode according to the present specification, the internal sensor 3 is provided containing a vehicle speed sensor and the IMU. The vehicle speed sensor detects a shared vehicle V speed. The IMU is provided containing, for example, a 3-direction, three-axis gyroscopic acceleration sensor, detecting a 3D angular speed and acceleration of the shared vehicle V , and detects the acceleration and posture of the V vehicle based on these elements. Information about the operating condition of vehicle V detected by the internal sensor 3 is transmitted to the electronic control unit 20.
[028] The database map 4 consists of a database related to the map information. This database map 4 comes to be stored, for example, in an HDD (hard disk drive) installed in the vehicle.
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The map information includes, for example, the position information of the roads and the shape information of the roads (for example, the width, curves or straight lines of the roads, the curvature of the curves, the positions of the intersections, marginal points, and points branching, etc.).
[029] The navigation system 5 is configured to guide the shared vehicle V to a destination entrance by the driver of the shared vehicle V to the navigation system 5. This navigation system 5 calculates a desired route to the destination based on current position information of the shared vehicle V detected by the GPS receiver 2 and the map information from the database map 4. The desired route information from the shared vehicle V is transmitted to the electronic control unit 20.
[030] Storage device 6 stores a road map epsially designed for autonomous driving prepared based on three-dimensional images of obstacles detected by LIDARs 1a and resulting in detection by LIDARs 1a. 3D images of obstacles and the road map are constantly or periodically updated.
[031] Actuators 7 consist of devices aimed at controlling the operating operations of the shared vehicle V, according to the control signals from the electronic control unit 20. The operating operations of the vehicle V include energizing, braking, and steering of vehicle V. Actuators 7 include at least one energizing actuator, braking actuator, and steering actuator. In the mode according to this report, actuators 7 include an energizing actuator, braking actuator, and steering actuator. The energizing actuator controls an output from an engine or an electric motor by providing transmission energy to vehicle V and thereby controlling a vehicle energizing operation. The braking actuator operates a vehicle V braking system and thereby controls an operation
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8/29 vehicle V braking. The steering actuator operates a vehicle V steering system and thereby controls vehicle V steering operation.
[032] Operating device 8 is configured to be operated by the driver of the vehicle. Operating device 8 is provided with, for example, at least one control key, toggle switch, lever, touch panel, voice recognition device (microphone), steering wheel, accelerator pedal, and brake pedal. In the example shown in Fig. 3, the operating device 8 is provided with an operating key 8a. In addition, in the example shown in Fig. 3, the operating key 8a is arranged on the steering wheel STR. A signal indicating that the operating device 8 has been actuated is sent to the electronic control unit 20.
[033] Area 9 storage device is configured to store at least position information from areas suitable for autonomous driving. Areas suitable for autonomous driving and areas inappropriate for autonomous driving will be explained later.
[034] The driver condition quantitative acquisition device 10 is configured to obtain a driver condition quantification. The quantification of the driver's condition is expressed, for example, at least through a degree of lack of attention from the driver, a tendency to have the driver's gaze, a period during which the eyes are closed, etc. For example, when the blink frequency is high, compared to the blink frequency is low, the degree of lack of attention from the driver is high. The trend regarding the driver's gaze is expressed, for example, through rates of a period where the driver's gaze is directed towards the front near the outside of the vehicle, a period during which the driver's gaze is directed towards the side next to the vehicle's exterior, a period during which the driver's gaze is directed towards the rear of the vehicle's exterior and a period during which the driver's gaze is directed towards the interior of the vehicle.
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9/29 vehicle. The autonomous driving duration period consists of a period of time during which the autonomous driving proceeds in the autonomous driving. In a situation where the quantification of the driver's condition is expressed by the degree of the driver's lack of attention or the tendency to stare, the quantitative driver condition acquisition device 10 is provided with, for example, a driver's camera attached to the inside of vehicle V in order to expose the driver. In a situation where the quantification of the driver's condition is expressed by the duration of autonomous driving, the device for quantitative acquisition of the driver's condition 10 is provided with a stopwatch. Information related to the driver's condition quantification obtained by the driver's condition quantitative acquisition device 10 is sent to the electronic control unit 20.
[035] In the mode according to the present report, presented in accordance with Fig. 3, the device for quantitative acquisition of the condition of the driver 10 is provided with a camera for device 10a fixed next to the vehicle's IP instrument panel V in order to introduce the driver.
[036] The area condition acquisition device 11 is configured to obtain information regarding the condition of an area inappropriate for autonomous driving. The condition of an area unsuitable for autonomous driving is expressed, for example, at least through climate information (for example, if the sky is clear, cloudy, rains, fog, or snows or the amount of rain, amount of snow , degree of fog, wind speed, etc.) and traffic information (for example, existence of traffic accidents, degree of congestion, etc.) in areas inappropriate for the autonomous direction in question. In the modality according to the present report, the area condition acquisition device 11 is provided, for example, with an information receiving device and receives weather information, traffic information, etc., sent from the outside
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10/29 of the vehicle. Information regarding the condition of an area unsuitable for autonomous driving required by the area condition acquisition device 11 is transmitted to the electronic control unit 20.
[037] The health recorder 12 is configured to store the health record for vehicle V. The health record for vehicle V includes whether vehicle V has to run on a certain highway, the number of times vehicle V has to run on a certain highway, etc. The operating record of vehicle V is transmitted to the electronic control unit 20.
[038] Operating device 13 is configured to provide notification to the driver. This notification includes at least, for example, visual notification, audio notification, notification of sensation of body presence. In a situation where the notification is a visual notification, the notification device 13 is provided with a display device where the driver can do the visualization. The display device is provided, at least, for example, with a monitor, lamp, etc. The monitor includes, for example, a measurement monitor 13a1 provided next to an IP instrument panel behind a STR steering wheel, an orientation monitor 13a2 provided next to the IP instrument panel above measurement meter 13a1, a central monitor 13a3 provided next to the IF instrument panel next to a substantial central part in a vehicle width direction, etc., as shown in Fig. 3. Measurement monitor 13a1 displays, for example, vehicle speed, engine speed, quantity remaining fuel, remaining battery power, etc. The central monitor 13a3 is used by the navigation system 5 to visualize the desired route and guide the visualization to the destination (turn left next to the next intersection, etc.). In a situation where the notification device 13 is provided with a monitor, the notification device 13 displays information by text or image information next to the monitor to provide with
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11/29 information to the driver. On the other hand, the lamp includes, for example, an LED 13a4 (Light Emitting Diode) attached to the STR steering wheel, as shown in Fig. 3. In a situation where the notification device 13 turns on the lamp or flashes the lamp to provide with notification to the driver.
[039] On the other hand, in a situation where a notification consists of an audio notification, the notification device 13 is provided, for example, with a loudspeaker. The loudspeaker includes, for example, a pair of loudspeakers 13b provided next to a top part of the IP instrument panel, as shown in Fig. 3. In a situation where notification device 13 is provided with loudspeakers, notification device 13 emits at least one voice and audio alarm from the speakers to provide notification to the driver.
[040] In a situation where the notification consists of a notification of the sensation of body presence, the notification device 13 comes with, for example, a vibrator providing vibration to the driver. The vibrator includes, for example, a vibrator 13c built next to the driver's seat, as shown in Fig. 3. In a situation where the notification device 13 makes the vibrator functional to provide notification to the driver.
[041] In an embodiment according to the present report, the notification device 13 is provided with at least one measuring monitor 13a1, orientation monitor 13a2, central monitor 13a3, STR LED of direction 13a4, speakers 13b , and vibrator 13c. The notification device 13 is controlled based on a control signal coming from the electronic control unit 20.
[042] The electronic control unit 20 consists of a computer provided with components connected to each other by means of a bidirectional bus, such as a ROM 21 (read-only memory), RAM 22 (random access memory), CPU 23 ( central processing unit), etc. Fig. 4 comprises a block diagram showing the function of the
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12/29 electronic control 20 of the modality in accordance with this report. In the mode according to this report, the electronic control unit 20 is provided with a steering control part 20a and a notification control part 20b. The functions of the steering control part 20a and the notification control part 20b are obtained by ROM 21, RAM 22, CPU 23, etc. The steering control part 20a and the notification control part 20b will be explained later.
[043] In the modality according to the present report, an area where the V vehicle can work comes to be divided into areas adapted or appropriate for autonomous driving, and areas not adapted or inappropriate for autonomous driving, Areas inappropriate for autonomous driving include , for example, locations where highways converge, locations where highways divide, locations with construction works, etc. It should be noted that, in the mode according to the present report, the area information storage device 9 stores position information of areas not suitable for autonomous driving, but does not store position information for areas suitable for autonomous driving. Areas suitable for autonomous driving are identified as areas that do not comprise areas inappropriate for autonomous driving. In another mode (not shown), the area information storage device 9 stores only position information from areas suitable for autonomous driving. In this case, areas inappropriate for autonomous driving are identified as areas that do not comprise areas suitable for autonomous driving. In yet another modality (not shown), the area information storage device 9 stores position information of areas unsuitable for autonomous driving and position information of areas suitable for autonomous driving.
[044] Fig. 5 schematically shows an example of a route
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13/29 desired RT from present location PL of vehicle V to destination DST. In the example shown in Fig. 5 next to the intended route RT, the areas suitable for autonomous direction AA and areas inappropriate for autonomous direction AIA are scattered. Therefore, if Appendix V works along the intended route RT, there will be cases where vehicle V will operate through areas suitable for autonomous direction AA and cases where it will operate through areas inappropriate for autonomous direction AIA.
[045] Therefore, in the modality presented in accordance with this report, the notification control part 20b assesses the duration of manual steering if autonomous driving is possible. For example, if vehicle V is present in the appropriate area for autonomous steering AA and an external condition of vehicle V can be reliably detected by external sensor 1, it is assessed that autonomous steering is possible. In contrast to this, if vehicle V is present in the area unsuitable for autonomous steering AIA or the external condition of vehicle V cannot be reliably detected by external sensor 1, an assessment is made of whether autonomous driving is possible. In the event that the notification control part 20b asserts that autonomous steering is possible, the notification control part 20b controls notification device 13 to notify the driver that autonomous steering is possible. Then, if the driver operates the operating device 8, the steering control part 20a initiates the autonomous steering, that is, the operating operations of vehicle V, that is, the energization, braking, and steering, being controlled by actuators 7. On the other hand, if the driver operates the operating device 8 during autonomous steering and switches the vehicle's steering from autonomous to manual steering. In this case, the operating operations of vehicle V, that is, the energization, braking, and steering being performed by the driver.
[046] It should be noted that, in the case where the operating device 8 is
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14/29 provided with the operation key 8a, an operation for completing the autonomous steering consists of a downward pulse of the operation key 8a by the driver during the autonomous steering. Alternatively, in a case where the operating device 8 is provided with the steering wheel, the operation for completing the autonomous steering comprises an operation of the steering wheel by the driver for a predetermined or greater limit quantity during the autonomous steering. In a case where the operating device 8 is provided with the accelerator pedal, the operation for completing the autonomous steering consists of a depression of the accelerator pedal by the driver by a predetermined limit or greater amount during autonomous steering. In a case where the operating device 8 is provided containing the brake pedal, the operation by completing the autonomous steering comprises a depression of the brake pedal by the driver by a predetermined or greater limit quantity during autonomous driving.
[047] In the area already suitable for autonomous steering AIA, manual steering is preferable. Therefore, in the mode according to this report, when vehicle V approaches the area inappropriate for autonomous driving AIA along the intended route RT, the notification control part 20B controls the notification device 13 during autonomous driving by notifying the driver regarding a request for the completion of autonomous management. That is, the driver is asked to operate the operating device 8 in order to complete the autonomous steering. This will be explained further with reference to Fig. 6. It should be noted that, in the mode according to the present report, if the period of time required for vehicle V reaches an area inappropriate for autonomous AIA driving, it is equal or shorter than a predetermined period of adjustment time, it is assessed that vehicle V came to approach the area inappropriate for autonomous steering AIA, while if the time period
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15/29 required is longer than the established period of time, an assessment is not made in the sense that vehicle V came to approach the area inappropriate for autonomous AIA driving.
[048] Fig. 6 schematically presents a condition where vehicle V is operating along a desired route RT through an area suitable for autonomous steering AA with autonomous steering. In Fig. 6, t0 shows a synchronization where the vehicle V reaches a point inappropriate for the autonomous direction AIA, while P0 presents a starting position of the area inappropriate for the autonomous direction AIA. In the mode according to the present report, the notification control part 20b sets a tRT synchronization for a first predetermined interval dt1 (for example, a constant value) before the t0 synchronization where vehicle V will reach the inappropriate area to the AIA autonomous management, according to a notification synchronization requesting completion, and notifying a request for the termination of autonomous driving to the driver when the notification synchronization requesting the tRT completion has become known. In other words, when vehicle V arrives at a PRT position corresponding to the notification synchronization requesting the completion of the tRT, the notification control part 20b notifies the driver of the request for the completion of autonomous steering. Note that the arrival synchronization t0 is calculated from a distance from the present position of the vehicle V to the holding position P0 of the area inappropriate for the autonomous direction AIA and a vehicle speed V.
[049] The request for the completion of the autonomous management is notified, for example, according to the manner explained below. That is, in an example, the monitor, such as the measurement monitor 13a1, the orientation monitor 13a2, or the central monitor 13a3 displays the information in text, as please complete the autonomous driving. In another example, speakers 13b are designed to
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16/29 issue vocal information, as please complete the autonomous direction. In yet another example, the text information above and the vocal information are provided to the driver in an overlapping manner. The provision of notification to the driver using a plurality of items of the notification device 13 in this way allows the driver to understand or more fully recognize a notification.
[050] In addition, the request for the completion of autonomous driving is notified, in one example, from when the notification synchronization requesting the completion of the tRT arrives when the operating device 8 is operated by the driver. In another example, the request for the completion of autonomous driving is notified as of the arrival of the notification synchronization requesting the end of tRT when a predetermined period of time ends.
[051] If the driver operates operating device 8 during autonomous steering, as explained earlier, autonomous steering is completed and manual steering is initiated. On the other hand, in the mode according to this report, if the driver does not operate the operating device 8 despite the request for the completion of the autonomous steering to be notified to the driver, the steering control part 20a performs the processing for the stop of vehicle V. Specifically, vehicle V is automatically stopped, for example, next to a shoulder on the highway. This provides conditions for vehicle V to be reliably evacuated in a situation where, for example, the driver has lost consciousness and is therefore unable to operate the operating device 8.
[052] In this regard, as explained at the beginning of this specification, when a request for the completion of autonomous driving is notified to the driver, the driver may not be able to quickly end autonomous driving and initiate manual steering.
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17/29 [053] Therefore, in the mode according to the present report, there is also that when the notification control part 20b must notify a request for the completion of autonomous driving to the driver, the notification control part 20b controls the notification device 13 to first notify a request for preparing for manual steering to the driver and then notifying the request mentioned above by the end of the autonomous steering to the driver. That is, the driver is asked to establish conditions by preparing by manual steering. This will be explained later with reference to Fig. 6.
[054] In the mode according to the present report, the notification control part 20b, shown according to Fig. 6, sets a tRP synchronization in a second predetermined interval dt2 before the notification synchronization requesting the completion of the tRT , in the form of a notification synchronization requesting preparation, and notifying the request for the completion of manual steering to the driver when the notification synchronization requesting tRP preparation has arrived. In other words, when vehicle V arrives at a PRP position corresponding to the notification synchronization requesting the tRP preparation, the notification control part 20b notifies the preparation request regarding manual steering to the driver.
[055] In the form presented in accordance with this report, the conditions for preparation by manual management include at least one condition of readiness attitude. The readiness attitude condition includes, for example, a condition of the driver placing his hands next to the STR steering wheel, a condition of the driver holding the STR steering wheel firmly, etc. In another mode (not shown), the conditions for preparation by manual steering include, in addition the condition of readiness attitude, a condition of the driver placing his feet next to the brake pedal, a condition where the
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18/29 the driver's gaze is directed towards the front of the vehicle, etc.
[056] A request for preparation by manual steering is notified, for example, within the same manner as a request for the completion of autonomous steering. That is, in one example, the monitor, such as the measurement monitor 13a1, the orientation monitor 13a2, or the central monitor 13a3 displays text information, such as, please, prepare manual steering. In another example, speakers 13b are designed to emit vocal information so please prepare manual steering. In yet another example, the text information and the vocal information above are provided to the motoritsta in overlapping ways.
[057] In addition, the request for preparation for manual steering is notified, in one example, from when notification synchronization requesting tRP preparation arrives when notification synchronization requesting tRT completion comes. In another example, the request for preparation for manual steering is notified when the notification synchronization requesting the completion of the tRT comes. In another example, the request for preparation for manual steering is notified when the notification synchronization requesting the tRP preparation arrives when a predetermined period of time ends. In yet another example, the request for preparation by manual direction is notified when the notification synchronization establishes the conditions for preparation by manual direction. In this case, a sensor is provided to detect whether the driver has come to establish the conditions regarding the preparation for manual steering. This sensor includes, for example, a touch sensor on the steering wheel detecting whether the driver is in a ready attitude condition.
[058] Thus, in the mode in accordance with this report, the request for preparation by manual steering is notified to the driver before the request for the completion of autonomous steering is notified to the driver. If
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19/29 the driver presents himself in a condition for preparation by manual steering when the request for the completion of autonomous steering comes to be notified, the driver can quickly end autonomous steering and initiate manual steering.
[059] In addition, the request for preparation by manual steering does not prompt the driver to complete autonomous steering. That is, the driver can establish conditions by preparing for manual steering while continuing with autonomous steering. Therefore, the driver is saved from inconvenience.
[060] In this way, the request for preparation by manual steering asks the driver to establish the conditions for preparation by manual steering, while the driver proceeds with autonomous steering. Therefore, the request for preparation by manual steering differs completely in nature from the request for the termination of autonomous steering, which requests the completion of autonomous steering.
[061] In this regard, the conditions regarding preparation by manual steering include, for example, the condition of an attitude of readiness where the driver firmly holds the steering wheel, as explained above. On the other hand, during autonomous driving, the driver may present himself in a condition of removing his hands from the steering wheel, that is, he may perform a condition of hands outside the steering wheel.
[062] Figures 7 and 8 show schematically changes over time in terms of driver conditions. Fig. 7 presents a situation where a request for the termination of the autonomous steering RT is notified without having been notified of the request for preparation by the autonomous steering when the autonomous steering is being processed and the driver is in an out of hand condition steering wheel. In this case, the condition of the driver changes from the condition of hands off the steering wheel to a condition of manual steering. At the
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20/29 example shown in Fig. 7, the annual steering is started after vehicle V enters areas inappropriate for autonomous AIA steering, which is not preferred.
[063] In opposition to this, Fig. 8 presents a situation of the modality according to the present report, that is, a situation where a request for preparation by the manual RP direction is first notified and, then, a request for completion of the autonomous steering RT is notified when the autonomous steering is being processed and the driver is in a hands off-steering condition. In this case, the condition of the driver changes from the condition of hands off the wheel to the condition of readiness attitude, that is, a condition for the preparation for manual steering, and then, it changes from the condition of readiness attitude to the manual steering condition. In the example shown in Fig. 8, manual steering is initiated just before vehicle V reaches the area inappropriate for autonomous AIA steering. Thus, in the mode according to the present report, the driver's condition is switched from the condition of hands off the wheel, that is, from the condition of autonomous driving, to the condition of attitude of readiness, that is, the condition for the driver. preparation by manual steering, taking the condition of manual steering. To date, there is no knowledge of such a technical concept.
[064] Next, there are the description of several examples of calculations of the second interval dt2 explained with reference to Fig. 6. In a first calculation example, the notification control part 20b calculates the second interval dt2 according to with a degree of difficulty of manual steering in the area unsuitable for autonomous steering AIA through which the V is coming. In specific terms, according to the presentation in Fig. 9, when the degree of difficulty of manual steering in the area inappropriate for autonomous steering AIA is high, compared to when the degree of difficulty of manual steering is low, the second interval dt2 is considered to be greater. In this case, the
Petition 870170059080, of 8/15/2017, p. 56/77
21/29 notification 20b determines, for example, the degree of difficulty of manual steering as follows. That is, as shown in Fig. 10, if the highway in the area unsuitable for autonomous driving AIA is curved, compared to a straight highway, the degree of difficulty of manual steering is higher. Alternatively, if the width of the highway in the area inappropriate for the autonomous AIA direction is narrow, in combination with a wide highway condition, the degree of difficulty of manual steering is higher. Alternatively, if the climate next to the area inappropriate for autonomous EIA driving is rainy, foggy, or snowy, compared to the condition of clean or cloudy weather, the degree of difficulty of manual steering is higher. Alternatively, if a traffic accident occurred near the area unsuitable for autonomous driving AIA, in comparison with there having been no traffic accident near the area unsuitable for autonomous driving AIA, the degree of difficulty of manual steering is higher . Alternatively, if the driver has no experience with driving through the area unsuitable for autonomous AIA driving, in comparison with the situation where the driver has experience with driving along the area unsuitable for autonomous AIA driving, the degree of difficulty of the manual direction is higher. That is, in the first calculation example, if the degree of difficulty of manual steering in the area inappropriate for autonomous AIA driving is higher, the synchronization of notification of tRP notification of a request for preparation for manual steering is carried out in prematurely. Therefore, the driver can prepare himself sufficiently for manual steering. In addition, if the degree of difficulty for autonomous AIA driving is low, the synchronization of tRP notification of a request for preparation by manual steering is delayed, and therefore, any inconvenience to the driver is further restricted.
Petition 870170059080, of 8/15/2017, p. 57/77
22/29 [065] In a second calculation example, notification control part 20b calculates the second interval dt2 according to a motor condition quantification acquired by the driver condition quantization acquisition device 10. In the According to this report, the quantification of the driver's condition obtained by the driver's condition quantification acquisition device 10 represents a preparatory time where a period of time required for the driver to establish the conditions for the preparation of manual steering. That is, in a situation where the quantification of the driver's condition is expressed by the driver's level of attention, if the driver's level of attention is low, in comparison if the level of attention is high, the preparatory time is assumed to be more prolonged. Alternatively, in a situation where the driver's condition quantification is expressed by the driver's stare allocation trend, for example, if a time rate during which the driver's stare is directed towards the front of the vehicle is low , compared to the time rate being high, the preparatory time is assumed to be longer. Alternatively, in a situation where the quantification of the driver's condition is expressed by the duration of autonomous driving, if the duration of autonomous driving is long, compared to the duration of autonomous driving being short, the time preparatory is assumed to be more prolonged.
[066] Therefore, in the second calculation example, if the preparatory time period is long, compared to the case of the preparatory time period being short, the second interval dt2 is assumed to be longer. That is, in a situation where the quantification of the driver's condition is expressed by the driver's attention level, if the driver's attention level is low, compared to if the attention level is high, the second dt2 interval is assumed to be longer. Alternatively, in a situation
Petition 870170059080, of 8/15/2017, p. 58/77
23/29 where the quantification of the driver's condition is expressed by the trend regarding the driver's stare allocation, for example, if a time rate is low during which the driver's stare is directed to the front of the vehicle , compared to the time rate being high, the second interval dt2 is assumed to be longer. Alternatively, in a situation where the quantification of the driver's condition is expressed by an autonomous driving time duration, if the autonomous driving time duration is long, compared to the autonomous driving time being short, the second interval dt2 is assumed to be longer. It has to be said that the driver can reliably establish the conditions for preparation as regards manual steering from when there is a request for preparation by manual steering being notified until when a request for the completion of autonomous steering is notified , without disturbing the driver.
[067] In a third calculation example, notification control part 20b calculates the second interval dt2 according to the degree of difficulty of manual steering in the area inappropriate for autonomous AIA driving and the quantification of the driver's condition. That is, if the degree of difficulty of manual steering is higher and the preparatory time is greater, in comparison if the degree of difficulty of manual steering is lower and the preparatory time is shorter, the second interval dt2 is assumed to be longer .
[068] Fig. 11 presents a routine for the performance of the notification control mentioned above of the modality according to the present report. With reference to Fig. 11, in step 100, an assessment is made as to whether vehicle V presents itself in an autonomous steering process. If vehicle V does not present itself in an autonomous steering process, that is, if it appears in a manual steering process, the processing cycle is concluded. If vehicle V is in an autonomous driving process, the routine proceeds in
Petition 870170059080, of 8/15/2017, p. 59/77
24/29 followed by step 101, where the assessment is made whether vehicle V came to approach the area inappropriate for autonomous AIA steering. If it is not confirmed that vehicle V has approached the area inappropriate for autonomous AIA steering, the processing cycle is completed. If it is assessed that vehicle V has approached the area inappropriate for autonomous AIA direction, the routine proceeds to step 102 where the tRT notification synchronization requesting completion and the tRP notification synchronization requesting preparation are calculated. In front of step 103 below, it is assessed whether the synchronization of the tRP notification for the preparation request has already arrived. If the tRP notification synchronization for the preparation request has not yet arrived, the routine returns to step 103. If the tRP notification synchronization for the preparation request has arrived, the routine proceeds to step 104, where the request for preparation by manual steering is notified to the driver. In the next step 105, the assessment is made as to whether the synchronization of the tRT notification regarding the request for completion has already arrived. If the synchronization of the tRT notification for the completion request has not yet arrived, the routine returns to step 105. Once the synchronization of the tRT notification regarding the request for completion has arrived, the routine proceeds to step 106, where the request for the end of autonomous driving is notified to the driver.
[069] Fig. 12 shows a routine aimed at executing the direction control mentioned above of the modality according to the present report. This routine is performed by interrupting each set of predetermined time period. With reference to Fig. 12, in step 200, an evaluation is made of whether the autonomous direction is being processed. If the autonomous steering is not being processed, that is, if the manual steering is in process, the routine then proceeds to step 201 where the possibility of the autonomous steering is evaluated. If autonomous steering is not possible, the driving cycle
Petition 870170059080, of 8/15/2017, p. 60/77
25/29 processing is terminated. If autonomous steering is possible, the routine then proceeds to step 202 where it is assessed whether the driver came to operate the operating device 8 to perform autonomous steering. If the operating device 8 has not been operated, the processing cycle is ended. If the operating device 8 has been operated, the routine then proceeds to step 203, where the autonomous steering is performed.
[070] On the other hand, if autonomous steering is in process, the routine proceeds from step 200 to step 204 where it is assessed whether the driver came to operate the operating device 8 for the completion of autonomous steering. If the operating device 8 has been operated, the routine then proceeds to step 205, where the autonomous steering is completed. That is, manual steering is started. As opposed to isyo, if the operating device 8 has not been operated, the routine proceeds from step 204 to step 206, where it is assessed whether the request for the end of autonomous steering has been notified to the driver. If no request has been notified for the completion of the autonomous management, the processing cycle is ended. If the request for the closure of the autonomous steering was notified, that is, if the driver did not come to operate the operating device 8 despite the request for the completion of the autonomous steering to be notified, the routine then proceeds to step 207 where the Processing for vehicle interruption is performed. It should be noted that, in the mode according to the present report, if the driver does not operate the operating device 8 despite the fact that a certain period of time has elapsed since the request for the completion of the autonomous management was notified, the processing for the interruption of the vehicle is carried out.
[071] Fig. 13 shows another modality according to the present report. In the embodiment shown in Fig. 13, the notification control part 20b establishes a tRP synchronization for a third predetermined interval
Petition 870170059080, of 8/15/2017, p. 61/77
26/29 before t0 synchronization when vehicle V will reach the area unsuitable for autonomous steering AIA, according to the synchronization for the preparation request, and notifies the request for preparation by manual steering to the driver when the notification synchronization requesting tRP preparation comes.
[072] The denoting control part 20b calculates the third interval dt3, for example, in the same way as the second interval dt2. That is, in one example, the third interval dt3 is calculated according to the degree of difficulty of manual steering in the area inappropriate for autonomous steering AIA through which vehicle V is operating. In another example, the third interval dt3 is calculated according to the driver's condition quantification. In yet another example, the third interval dt3 is calculated according to the degree of difficulty of manual steering in the area inappropriate for autonomous steering AIA and the quantification of the driver's condition.
[073] In the modality presented in Fig. 13, it is also possible for the driver to establish the conditions for preparation by manual steering in a reliable way from when the request for the preparation of manual steering is notified until the request for completion of autonomous driving comes to be notified, while restricting inconvenience to the driver.
[074] Fig. 14 presents yet another modality according to the present report. In the modality shown in Fig.14, the control system for an autonomously driven vehicle further comprises a deactivation device 14 configured to be operated by the driver of the vehicle. The deactivation device 14 is provided with, for example, at least one operation key, toggle switch, lever, touch panel, and voice recognition device (microphone). A signal indicating that the deactivation device 14 came into operation is sent to the electronic control unit 20. The electronic control unit 20 in the mode shown in Fig. 14 is also provided with a part
Petition 870170059080, of 8/15/2017, p. 62/77
27/29 direction control 20a and a notification control part 20b, similar to the electronic control unit 20 in the modality shown in Fig. 1.
[075] In the modalities according to the present report explained above, in case the driver should have to request the completion of autonomous driving during autonomous driving, the driver is always first notified about a request for the preparation of autonomous driving. In contrast to this, in the modality shown in Fig. 14, if the driver should have to request the completion of autonomous driving during autonomous driving after this driver has operated the deactivation device 14, the notification control part 20b notifies the driver as to a request for completion of autonomous driving without notifying this driver of a request for preparing manual steering. On the other hand, until the driver operates the deactivation device 14, the notification control part 20b notifies the driver of a request for the preparation of manual steering and requests the completion of autonomous steering, [076] If the driver can give quickly initiates manual steering when a request for the completion of the autonomous steering operation comes to be notified depending on your skill and effectiveness. Therefore, if a request for the preparation of manual steering is notified to the driver who can quickly start manual steering, this driver may feel uncomfortable. In the modality shown in Fig. 14, in such a situation, the driver can deactivate the notification of a request by preparing the manual steering and, therefore, allowing the restriction of inconvenience to the driver.
[077] Note that, in the modality shown in Fig. 14, when the notification of a request for the preparation of the manual steering is deactivated, if the deactivation device 14 is operated again by the driver, the notification of a request for the preparation of the steering manual is activated once more. Therefore, it is possible to switch between enabling and disabling notification of
Petition 870170059080, of 8/15/2017, p. 63/77
28/29 a request for the preparation of manual steering depending on, for example, the drivers, [078] Fig. 15 presents a routine for the performance of the control regarding the notification of the modality shown in Fig. 14. Next, there is the explanation of the differences between the routine shown in Fig. 15 and the routine shown in Fig. 11. If, in step 101, it is assessed that vehicle V has approached an area inappropriate for the autonomous AIA direction, then the routine proceeds to step 101a where it is assessed whether notification of a request for preparing manual steering should be disabled. If the notification of a request for the preparation of manual steering should not be deactivated, the routine then proceeds to step 102. On the other hand, if the notification of a request for the preparation of manual steering should be deactivated, the routine continues then to step 102a, where notification timing for the completion of the tRT request is calculated. The routine then skips to step 105.
[079] Note that, in the mode shown in Fig. 14, the operating device 8 and the deactivation device 14 comprise mutually differentiated devices. However, as long as it is possible to discriminate when the operation by the driver consists of an operation by notifying a request for preparation of manual steering or if it is an operation by completing or starting autonomous steering, the operation 8 and the deactivation device 15 may comprise the same interleaved devices.
[080] It is possible to restrict disturbances to the driver while giving him the conditions to start manual steering more quickly.
[081] While this report has been described with reference to the specific modalities selected for illustrative purposes, it must be
Petition 870170059080, of 8/15/2017, p. 64/77
29/29 It is evident that numerous modifications can be made to it, by specialists in the field, without deviating from the concept and basic areas of this report.
Petition 870170059080, of 8/15/2017, p. 65/77
1/3

权利要求:
Claims (10)
[1]
1. Control system aimed at an autonomously driven vehicle, CHARACTERIZED by understanding:
an operating device configured to be operated by the driver; a notification device configured to provide notification to the driver; and an electronic control unit comprising:
a steering control part configured to perform autonomous steering, and to complete autonomous steering and switch the vehicle's steering to manual steering when the driver operates the operating device during autonomous steering; and a notification control part configured to control the notification device to first notify a request for preparation for manual driving with the driver and then notify a request for the end of autonomous driving with the driver when the driver is requested to complete autonomous driving during autonomous driving.
[2]
2. Control system aimed at an autonomously driven vehicle, according to claim 1, CHARACTERIZED by the fact that the notification control part is configured to notify the request for the completion of autonomous driving with the driver within a first pre-interval determined before a synchronization when the vehicle will arrive at a predetermined area inappropriate for autonomous driving.
[3]
3. Control system aimed at an autonomously driven vehicle, according to claim 2, CHARACTERIZED by the fact that the notification control part is configured to notify the driver of the request for preparation by manual steering within a second pre- determined prior to the synchronization of the request notification for the completion of the autonomous
Petition 870170059080, of 08/15/2017, p. 66/77
2/3 driver.
[4]
4. Control system aimed at an autonomously driven vehicle, according to claim 3, CHARACTERIZED by the fact that the notification control part is configured according to the degree of difficulty of manual steering in the inappropriate area of autonomous steering.
[5]
5. Control system aimed at an autonomously driven vehicle, according to claim 3 or 4, CHARACTERIZED by the fact that it also includes a device for quantifying the driver's condition configured to obtain a quantification of the driver's condition, being that the notification control part is configured to calculate the second interval according to the quantification of the driver's condition obtained by the quantified driver's condition acquisition device.
[6]
6. Control system for an autonomously driven vehicle, according to claim 1 or 2, CHARACTERIZED by the fact that the notification control part is configured to notify the request for the preparation of manual steering to the driver of a third pre interval -determined before synchronization when the vehicle will arrive at a predetermined area inappropriate for autonomous driving.
[7]
7. Control system aimed at an autonomously driven vehicle, according to claim 6, CHARACTERIZED by the fact that the notification control part is configured to calculate the third interval according to a degree of difficulty of manual steering in the inappropriate area for autonomous steering.
[8]
8. Control system aimed at an autonomously driven vehicle, according to claim 6 or 7, CHARACTERIZED by the fact that it also comprises a driver condition quantification acquisition device configured to obtain a driver condition quantification, being that the notification control part is configured to calculate the third interval according to
Petition 870170059080, of 08/15/2017, p. 67/77
3/3 with the driver condition quantification obtained by the driver condition quantification acquisition device.
[9]
9. Control system aimed at an autonomously driven vehicle, according to any of claims 1 to 8, CHARACTERIZED by the fact that it also includes a deactivation device configured to be operated by the driver, the notification control part being is configured to control the notification device to notify the request for completion of autonomous driving with the driver without notifying the driver of the request for preparation by manual steering if the driver is required to complete autonomous driving during autonomous driving after the driver operates the deactivation device.
[10]
10. Control method of an autonomously driven vehicle, CHARACTERIZED by understanding:
a notification device configured to provide notification to the driver;
a notification device configured to be operated by the driver; and an electronic control unit, with the control method including an autonomous steering performance step, and the completion of autonomous steering and switching from vehicle steering to manual steering when the driver operates the operating device during autonomous driving, making use of the electronic control unit, with the control method also including a notification device control step to first notify a request for preparation by manual steering with the driver and then notify a request as to the completion of the autonomous steering to the driver when the driver is asked to complete autonomous driving during autonomous driving, using the electronic control unit.
Petition 870170059080, of 08/15/2017, p. 68/77
1/8

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法律状态:
2018-02-27| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

优先权:

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JP2016159248A|JP6831190B2|2016-08-15|2016-08-15|Control system and control method for autonomous vehicles|

JP2016-159248|2016-08-15|

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