Vehicle control device and vehicle control method

Abstract

The present invention relates to a vehicle control device and a vehicle control method. The control device performs the following processing: a first processing of performing a vehicle stop control upon sensing that autonomous driving control cannot be continued; a second processing of determining whether there is a person in the vehicle; and a third processing of unlocking the vehicle door locks even if there is a person in the vehicle after the vehicle stops by the first processing.

Description

Technical Field

[0001] The present invention relates to a control device provided in a vehicle that performs autonomous driving control and a control method for the vehicle. Background Art

[0002] In a vehicle that performs autonomous driving control, when the autonomous driving control cannot be continued during the autonomous driving control, it is necessary to stop the vehicle safely. Conventionally, various techniques have been proposed for stopping a vehicle when the autonomous driving control cannot be continued.

[0003] Japanese Patent Application Laid-Open No. 2016-200986 discloses a vehicle control device that prevents subsequent movement of the vehicle from becoming difficult even if the vehicle stops due to inability to continue autonomous driving control during the autonomous driving control.

[0004] When the control device determines that the autonomous driving control cannot be continued, the control device stops the vehicle after the vehicle is driven to a safe retreat location. When the vehicle stops, the control device ends with the parking device inactive. This prevents the vehicle from becoming difficult to move after it stops.

[0005] It is conceivable that the purpose of the operation of the vehicle under autonomous driving control is to transport people for a human flow purpose and to transport goods for a logistics purpose. In particular, if the level of autonomous driving is improved, it is assumed that an operator in the vehicle is not required (autonomous driving above level 4), and if the purpose of the vehicle operation is for a logistics purpose, it is assumed that there is no one in the vehicle.

[0006] If the vehicle door locks remain locked after the vehicle stops when autonomous driving control cannot be continued, the escape route of the people in the vehicle will be blocked. On the other hand, if the vehicle door locks are unlocked, the goods may be stolen when the vehicle is running for logistics purposes and no one is in the vehicle. For example, if the vehicle control device is maliciously attacked, the items in the vehicle can be easily accessed after the vehicle stops. Summary of the invention

[0007] The present invention has been made in view of the above-mentioned problems, and provides a vehicle control device and a vehicle control method that can appropriately protect people or cargo in a vehicle that performs autonomous driving control after the vehicle stops because the autonomous driving control cannot be continued.

[0008] A control device according to one embodiment of the present invention is provided in a vehicle that performs autonomous driving control. The control device performs the following processing: a first processing of performing a stop control of the vehicle upon sensing that the autonomous driving control cannot be continued; a second processing of determining whether there is a person in the vehicle; and a third processing of unlocking the door locks of the vehicle even if there is a person in the vehicle after the vehicle stops by the first processing.

[0009] The control device may lock the door locks in the third process when no one is in the vehicle.

[0010] Alternatively, in the second process, it is also determined whether there is cargo in the vehicle, and in the third process, if there is no one in the vehicle and there is cargo, the door locks are locked. In addition, at this time, if the purpose of the vehicle operation is logistics, it is considered that there is cargo in the vehicle in the second process.

[0011] A control method according to one embodiment of the present invention relates to control of a vehicle that performs autonomous driving control. The control method comprises the following steps: a first step of stopping the vehicle upon sensing that the autonomous driving control cannot be continued; a second step of determining whether there is a person in the vehicle; and a third step of unlocking the vehicle door locks even if it is determined in the second step that there is a person in the vehicle.

[0012] The control method may lock the door locks in the third step when it is determined in the second step that no one is in the vehicle.

[0013] Alternatively, in the second step, it may be determined whether there is cargo in the vehicle, and in the third step, if it is determined in the second step that there is no one in the vehicle and there is cargo, the door locks are locked.

[0014] According to the vehicle control device and vehicle control method of the present invention, after the vehicle stops because the autonomous driving control cannot be continued, it is determined whether to unlock or lock the vehicle door locks according to the condition of the people in the vehicle. Thus, the people or goods in the vehicle after the vehicle stops can be properly protected. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0016] Figure 1 It is a block diagram showing the configuration of a vehicle system of a vehicle including the control device according to the present embodiment.

[0017] Figure 2This is a flowchart showing the processing executed by the stop control unit.

[0018] Figure 3 This is a flowchart showing the processing executed by the stop control unit according to the first modification of the present embodiment.

[0019] Figure 4 This is a flowchart showing the processing executed by the stop control unit according to the second modification of the present embodiment. DETAILED DESCRIPTION

[0020] 1. Composition

[0021] The control device of this embodiment is equipped on a vehicle that performs autonomous driving control. The operation purpose of the vehicle can be either a passenger flow purpose of transporting people or a logistics purpose of transporting goods. In the case of a passenger flow purpose, the vehicle is, for example, a vehicle that carries multiple passengers and moves by autonomous driving. In the case of a logistics purpose, for example, a vehicle that carries multiple goods and autonomously drives to a specific location to transport the goods. In addition, the vehicle is provided with one or more doors for people to board or for placing goods, and each door has the function of a door lock. The door is opened by unlocking the door lock, and the door cannot be opened if the door lock is locked.

[0022] It should be noted that the vehicle equipped with the control device of this embodiment may also include a vehicle used for both passenger flow and logistics purposes, for example, a vehicle used for passenger flow in a certain time period and for logistics purposes in another certain time period.

[0023] Figure 1 1 is a block diagram showing the configuration of a vehicle system 10 of a vehicle having a control device 100 of the present embodiment. The vehicle system 10 includes the control device 100, a sensor system 200, an HMI device 210, a communication device 220, and an actuator system 300. The control device 100 is electrically connected to the sensor system 200, the HMI device 210, the communication device 220, and the actuator system 300 or wirelessly connected, and is configured to be able to transmit information to each other.

[0024] The sensor system 200 detects and outputs information about the driving environment of the vehicle (driving environment information). The sensor system 200 includes a driving state detection sensor 201 , a surrounding environment detection sensor 202 , and an in-vehicle environment detection sensor 203 .

[0025] The running state detection sensor 201 detects and outputs the running state of the vehicle (vehicle speed, acceleration, yaw rate, etc.) The running state detection sensor 201 is, for example, a wheel speed sensor, a G sensor, a gyro sensor, or the like.

[0026] The surrounding environment detection sensor 202 detects and outputs information about the environment around the vehicle (lane, obstacle, preceding vehicle, etc.) Examples of the surrounding environment detection sensor 202 are millimeter wave radar, camera, LiDAR (Light Detection And Ranging), and the like.

[0027] The in-vehicle environment detection sensor 203 detects information about the environment in the vehicle (people, goods, etc. in the vehicle) and outputs it. The in-vehicle environment detection sensor 203 is, for example, a camera that takes pictures of the inside of the vehicle, a radar that detects goods in the vehicle, etc. The information output by the in-vehicle environment detection sensor 203 includes at least information that can determine whether there is a person in the vehicle in the processing performed by the control device 100 described later. For example, when the control device 100 can determine whether there is a person in the vehicle based on an image through image analysis, the in-vehicle environment detection sensor 203 outputs image data representing the environment in the vehicle. Alternatively, the in-vehicle environment detection sensor 203 can also directly output information about whether there is a person in the vehicle.

[0028] It should be noted that the sensor system 200 may also include sensors for detecting other driving environment information.

[0029] The HMI device 210 provides various information (operation information) to the control device 100 through human operation, and also transmits information of the processing performed by the control device 100 (hereinafter also referred to as "processing information") to the human based on the control signal provided from the control device 100. The HMI device 210 is, for example, a switch, an indicator, a speaker, a touch panel, a car navigation device, or a combination or set thereof. The operation information includes, for example, the on / off setting of the control function, the working sensitivity setting of the control function, the unlocking or locking of the door lock, the setting of the destination in the autonomous driving control, etc. The processing information includes, for example, the working state of the control function, the setting state of the control function, etc.

[0030] The HMI device 210 may be installed in the vehicle or may be a device outside the vehicle. For example, it may be a terminal owned by an operator outside the vehicle and may be a device that transmits information from outside the vehicle to the control device 100. In this case, the HMI device 210 transmits information to and from the control device 100 via the communication device 220 described later.

[0031] The communication device 220 transmits and receives various information (communication information) by communicating with devices outside the vehicle. The communication device 220 is, for example, a device for vehicle-to-vehicle communication, road-to-vehicle communication, a device that provides GPS (Global Positioning System) functions, a device that is connected to a communication network and transmits and receives communication information with a server configured on the network, etc. The communication information obtained by the control device 100 via the communication device 220 is, for example, map information, road traffic information, vehicle position information on a map obtained by a GPS function, etc. The communication of the communication device 220 can be performed in any form. For example, it can be performed by transmitting and receiving radio waves, or it can be the transmission and reception of information via a network.

[0032] The control device 100 performs various processes for controlling the vehicle based on the information (driving environment information, operation information, and communication information) acquired from the sensor system 200, the HMI device 210, and the communication device 220, and generates a control signal. Then, the control signal is output to the actuator system 300 described later. In addition, the control device 100 outputs the control signal to which the processing information is given to the HMI device 210.

[0033] The control device 100 is typically an ECU (Electronic Control Unit) of a vehicle having a memory and a processor. The memory includes a RAM (Random Access Memory) that temporarily stores data and a ROM (Read Only Memory) that stores programs that can be executed by the processor and various data of the programs. The information acquired by the control device 100 is stored in the memory. The processor reads the program from the memory and executes processing according to the program based on the various data read from the memory.

[0034] The control device 100 includes at least an autonomous driving control unit 110 and a stop control unit 120. The autonomous driving control unit 110 performs processing for autonomous driving control of the vehicle and generates control signals for autonomous driving control. Typically, a driving plan to a destination (a route on a map to the destination, an arrival time, etc.) is set, and control signals for acceleration, braking, and steering are generated in such a way that the vehicle travels along a driving route generated based on the driving plan and driving environment information, etc.

[0035] When the stop control unit 120 senses (fault sensing) that the autonomous driving control unit 110 cannot continue the autonomous driving control, it executes a process of stopping the vehicle and generates a control signal for the stop control. In particular, the control signal generated by the stop control unit 120 includes a control signal for controlling the door locks of the vehicle. The method of fault sensing and the details of the process executed by the stop control unit 120 will be described later.

[0036] The autonomous driving control unit 110 and the stop control unit 120 may be implemented as parts of the processing in the program, or may be implemented by separate processors. Alternatively, the autonomous driving control unit 110 and the stop control unit 120 may be respectively constituted by separate ECUs. In this case, the control device 100 is constituted by a plurality of ECUs. In this case, each ECU is configured to transmit information to each other to the extent that the information required for the execution of the processing can be obtained.

[0037] It should be noted that the processing performed by the control device 100 is not limited to the processing performed by the autonomous driving control unit 110 and the stop control unit 120, and the control device 100 may also perform other control processing. For example, the control device 100 may also perform a process of unlocking or locking the vehicle door lock based on the operation information obtained from the HMI device 210.

[0038] The actuator system 300 is an actuator system that operates according to a control signal given from the control device 100. The actuator system 300 includes an engine unit 301, a brake unit 302, a steering unit 303, and a door lock unit 304. However, other actuators may be included.

[0039] The engine unit 301 represents an actuator that drives an engine (e.g., including an electric motor, an internal combustion engine, or a hybrid power thereof) equipped in the vehicle. Acceleration control is achieved by giving a control signal to the engine unit 301. The brake unit 302 represents an actuator that drives a brake equipped in the vehicle. Braking control is achieved by giving a control signal to the brake unit 302. The steering unit 303 represents an actuator that drives the steering of the vehicle. Steering control is achieved by giving a control signal to the steering unit 303. The door lock unit 304 represents an actuator that unlocks or locks the door locks of the vehicle. The door locks of the vehicle are controlled by giving a control signal to the door lock unit 304.

[0040] 2. Function

[0041] 2-1. Fault Sensing

[0042] The stop control unit 120 senses that the autonomous driving control unit 110 cannot continue the autonomous driving control (failure sensing). Failure sensing may be performed in any form. An example of the form of failure sensing is described below.

[0043] An example of a fault sensing method is a method of sensing a fault by interruption of a signal that is stably supplied from the autonomous driving control unit 110. Typically, the autonomous driving control unit 110 and the stop control unit 120 transmit signals to each other at a predetermined cycle. Therefore, when the signal transmitted from the autonomous driving control unit 110 to the stop control unit 120 is interrupted for a certain period of time, it can be determined that the autonomous driving control unit 110 is not operating normally.

[0044] Another example of a fault sensing form is when the autonomous driving control unit 110 has a self-diagnosis function. When the autonomous driving control unit 110 determines that the autonomous driving control cannot be continued through self-diagnosis, it notifies the stop control unit 120 of the fault. Then, the stop control unit 120 performs fault sensing by acquiring the notification. The self-diagnosis of the autonomous driving control unit 110 is, for example, a watchdog timer, abnormality sensing of acquired driving environment information, and the like.

[0045] Another example of a fault sensing method is a method in which the stop control unit 120 sends a signal to the autonomous driving control unit 110 for determining whether the autonomous driving control unit 110 is operating normally, and performs fault sensing based on the response of the autonomous driving control unit 110 to the signal. For example, the method is performed based on whether an ACK (acknowledgment) to the transmitted signal can be received, or the method is performed by error detection (checksum, CRC (cyclic redundancy check) etc.) of the response signal to the transmitted signal.

[0046] Another example of a fault sensing method is a method of performing fault sensing based on the control state of the autonomous driving control unit 110. In this case, the stop control unit 120 acquires information on the control state of the autonomous driving control unit 110. Information on the control state may be, for example, a driving plan, a driving route, a control signal, etc. of the autonomous driving control. The stop control unit 120 performs fault sensing when the control state of the autonomous driving control unit 110 is abnormal. For example, when the driving route of the autonomous driving control deviates from the range of safe driving calculated by the stop control unit 120.

[0047] 2-2. Stop control unit

[0048] When a failure is detected, the stop control unit 120 executes a process for stop control of the vehicle and generates a control signal for the stop control. Figure 2 2 is a flowchart showing the processing executed by the stop control unit 120 . Figure 2 The illustrated process is executed when the stop control unit 120 detects a failure.

[0049] In step S100 (first process), the stop control unit 120 performs stop control to stop the vehicle and generates a control signal for stopping the vehicle. Here, the method of stopping the vehicle is not particularly limited. For example, the vehicle may be stopped near the shoulder of the road or simply braked to stop the vehicle. After the vehicle stops, the process proceeds to step S110.

[0050] In step S110 (second processing), the stop control unit 120 determines whether there is a person in the vehicle based on the acquired driving environment information. For example, when image data representing the environment in the vehicle is acquired as driving environment information, the stop control unit 120 determines whether there is a person in the vehicle by image analysis. Alternatively, information on whether there is a person in the vehicle may be acquired as driving environment information, and the determination is made based on the information. After step S110, the process proceeds to step S120.

[0051] In step S120 (third process), the stop control unit 120 generates a control signal for the door lock according to the status of the person in the vehicle. Even if there is one person in the vehicle (step S121; yes), the door lock is unlocked (step S122). When there is no one in the vehicle (step S121; no), the door lock is locked (step S123). Here, in step S122 or step S123, the door lock to be unlocked or locked is the door lock provided on all or one door of the vehicle.

[0052] After step S120, the process ends. It should be noted that, after the process ends, the operator of the vehicle can unlock or lock the door locks of the vehicle via the HMI device 210. Thus, the operator can determine whether to unlock or lock the door locks after the process is executed.

[0053] 3. Effect

[0054] As described above, after the control device 100 of the present embodiment senses that the autonomous driving control cannot be continued and stops the vehicle, the vehicle door locks are unlocked even if there is one person in the vehicle to ensure an escape route, and the vehicle door locks are locked when there is no one. Thus, the person or cargo in the vehicle after the vehicle is stopped can be appropriately protected.

[0055] 4. Modifications

[0056] The control device 100 of the present embodiment may also adopt the following modified aspects. It should be noted that, in the following, matters described in the above contents are appropriately omitted.

[0057] 4-1. Modification 1

[0058] The stop control unit 120 may request the operator of the vehicle to determine whether to unlock or lock the door locks after the vehicle stops when no one is in the vehicle. Figure 3 1 is a flowchart showing the processing performed by the stop control unit 120 of the first modification of the present embodiment. When there is no one in the vehicle (step S121; No), the stop control unit 120 of the first modification does not lock the door locks but notifies the operator of the vehicle (step S124). The notification, for example, conveys that the vehicle cannot continue the autonomous driving control and stops, and requests the determination of whether to unlock or lock the door locks of the vehicle.

[0059] The operator of the vehicle receives the notification via the HMI device 210 and determines whether to unlock or lock the door locks of the vehicle. Then, the operator unlocks or locks the door locks of the vehicle via the HMI device 210.

[0060] By adopting such a modified scheme, an escape route can be immediately ensured even if there is only one person in the vehicle. On the other hand, when there is no one in the vehicle, the door locks can be unlocked or locked according to the situation and the judgment made by the vehicle operator.

[0061] 4-2. Modification 2

[0062] The stop control unit 120 may lock the vehicle doors after the vehicle stops when there is no one in the vehicle and there is cargo in the vehicle. Figure 4 1 is a flowchart showing the processing performed by the stop control unit 120 of the second modification of the present embodiment. In step S111 (second processing), the stop control unit 120 of the second modification determines whether there is a person in the vehicle and whether there is cargo in the vehicle based on the acquired driving environment information. This determination can be performed by the stop control unit 120 analyzing the driving environment information, or the information on whether there is a person in the vehicle and whether there is cargo in the vehicle can be directly given as the driving environment information.

[0063] Then, when there is no one in the vehicle (step S121; No), the stop control unit 120 unlocks or locks the door locks of the vehicle according to whether there is cargo in the vehicle (step S125). When there is cargo in the vehicle (step S125; Yes), the door locks of the vehicle are locked (step S123). When there is no cargo in the vehicle (step S125; No), the operator is notified (step S124).

[0064] By adopting such a modified scheme, when there is no one in the vehicle and there is cargo in the vehicle, the door lock is locked, thereby appropriately protecting the cargo. On the other hand, when there is no one in the vehicle and there is no cargo in the vehicle, there is no object to be immediately protected, and the door lock can be unlocked or locked according to the judgment of the operator.

[0065] Here, in step S111, the determination of whether there is cargo in the vehicle can be made based on the operation purpose of the vehicle. That is, when the operation purpose of the vehicle is logistics, it can be considered that there is cargo. Thus, an appropriate determination corresponding to the operation purpose can be made.

[0066] In addition, the determination of whether the vehicle's operation purpose is for the flow of people or for the flow of goods may be made based on the setting made by the vehicle operator. In this case, the vehicle operator sets whether the vehicle's operation purpose is for the flow of people or for the flow of goods via the HMI device 210 .

Claims

1. A vehicle control device, provided in a vehicle that performs autonomous driving control, wherein the control device is characterized in that: The first process is to sense that the autonomous driving control cannot be continued and to perform a vehicle stop control; The second process is to determine whether there are people and cargo in the vehicle; as well as The third processing is to unlock the door locks of the vehicle after the vehicle stops through the first processing even if there is one person in the vehicle, and to notify the operator of the vehicle when there is no one in the vehicle and there is cargo, and to unlock or lock the door locks according to the judgment of the operator.

2. The vehicle control device according to claim 1, characterized in that: In the second process, when the operation purpose of the vehicle is the logistics purpose of transporting goods, it is deemed that there are goods in the vehicle.

3. A method for controlling a vehicle, wherein the vehicle performs autonomous driving control, the method comprising: The first step is to sense that the autonomous driving control cannot continue and stop the vehicle; The second step is to determine whether there are people and cargo in the vehicle; as well as The third step is to unlock the door locks of the vehicle even if it is determined in the second step that there is one person in the vehicle, and to notify the operator of the vehicle when there is no one in the vehicle and there is cargo, and to unlock or lock the door locks according to the judgment made by the operator.

Images